FRDM-17531EP-EVB User Guide Datasheet by NXP USA Inc.

:5’ freescalew

Freescale Semiconductor

User’s Guide

Document Number: KTFRDM17531EPUG

Rev. 2.0, 10/2015

FRDM-17531EP-EVB Evaluation Board

Figure 1. FRDM-17531EP-EVB

KTFRDM17531EPUG, Rev. 2.0

2Freescale Semiconductor, Inc.

Table of Contents

1 Important Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3 Getting to Know the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

5 Installing the Software and Setting up the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

6 Installing the Processor Expert Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

7 Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8 Silkscreens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

9 Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

10 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

11 Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

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Freescale Semiconductor 3

Important Notice

1 Important Notice

Freescale provides the enclosed product(s) under the following conditions:

This evaluation kit is intended for use of ENGINEERING DEVELOPMENT OR EVALUATION PURPOSES

ONLY. It is provided as a sample IC pre-soldered to a printed circuit board to make it easier to access inputs,

outputs, and supply terminals. This evaluation kit may be used with any development system or other source

of I/O signals by simply connecting it to the host MCU or computer board via off-the-shelf cables. Final device

in an application will be heavily dependent on proper printed circuit board layout and heat sinking design as

well as attention to supply filtering, transient suppression, and I/O signal quality.

The goods provided may not be complete in terms of required design, marketing, and or manufacturing related

protective considerations, including product safety measures typically found in the end product incorporating

the goods. Due to the open construction of the product, it is the user's responsibility to take any and all

appropriate precautions with regard to electrostatic discharge. In order to minimize risks associated with the

customers applications, adequate design and operating safeguards must be provided by the customer to

minimize inherent or procedural hazards. For any safety concerns, contact Freescale sales and technical

support services.

Should this evaluation kit not meet the specifications indicated in the kit, it may be returned within 30 days from

the date of delivery and will be replaced by a new kit.

Freescale reserves the right to make changes without further notice to any products herein. Freescale makes

no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor

does Freescale assume any liability arising out of the application or use of any product or circuit, and

specifically disclaims any and all liability, including without limitation consequential or incidental damages.

“Typical” parameters can and do vary in different applications and actual performance may vary over time. All

operating parameters, including “Typical”, must be validated for each customer application by customer’s

technical experts.

Freescale does not convey any license under its patent rights nor the rights of others. Freescale products are

not designed, intended, or authorized for use as components in systems intended for surgical implant into the

body, or other applications intended to support or sustain life, or for any other application in which the failure

of the Freescale product could create a situation where personal injury or death may occur.

Should the Buyer purchase or use Freescale products for any such unintended or unauthorized application,

the Buyer shall indemnify and hold Freescale and its officers, employees, subsidiaries, affiliates, and

distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising

out of, directly or indirectly, any claim of personal injury or death associated with such unintended or

unauthorized use, even if such claim alleges that Freescale was negligent regarding the design or manufacture

of the part. Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other

product or service names are the property of their respective owners. © Freescale Semiconductor, Inc. 2015

n Jump aluminum

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Getting Started

2 Getting Started

2.1 Kit Contents/Packing List

The FRDM-17531EP-EVB contents include:

• Assembled and tested evaluation board/module in an anti-static bag

• Quick Start Guide, Analog Tools

• Arduino™ R3 connectors (2 ea 2x8, 1 ea 2x10, 1 ea 2x6)

• Warranty card

2.2 Jump Start

Freescale’s analog product development boards help to easily evaluate Freescale products. These tools support analog mixed signal and

power solutions including monolithic ICs using proven high-volume SMARTMOS mixed signal technology, and system-in-package devices

utilizing power, SMARTMOS and MCU dies. Freescale products enable longer battery life, smaller form factor, component count reduction,

ease of design, lower system cost and improved performance in powering state of the art systems.

•Go to www.freescale.com/FRDM-17531EP-EVB

•Review your Tool Summary Page

• Look for

• Download documents, software, and other information

Once the files are downloaded, review the user guide in the bundle. The user guide includes setup instructions, BOM and schematics.

Jump start bundles are available on each tool summary page with the most relevant and current information. The information includes

everything needed for design.

2.3 Required Equipment and Software

To use this kit, you need:

• DC Power supply (2.0 V to 8.6 V, 0.1 A to 0.7 A, depending on stepper motor requirements)

• USB A to mini-B cable

• Oscilloscope (preferably 4-channel) with current probe(s)

• Digital multimeter

• FRDM-KL25Z Freedom Development Platform

• Typical loads (stepper motor, brushed DC motors, or power resistors)

• 3/16" blade screwdriver

• One 12-pin (PPTC062LFBN-RC), two 16-pin (PPTC082LFBN-RC), and one 20-pin (PPTC102LFBN-RC) female connector, by

Sullins Connector Solutions, or equivalent soldered to FRDM-KL25Z

2.4 System Requirements

The kit requires the following:

• USB-enabled PC with Windows® XP or higher

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Getting to Know the Hardware

3 Getting to Know the Hardware

3.1 Board Overview

The FRDM-17531EP-EVB evaluation board features the MPC17531A dual H-Bridge IC, which features the ability to drive either a single

two phase stepper motor or two brushed DC motors. The MPC17531A incorporates internal control logic, a charge pump, gate drive, and

high current, low RDS(on) MOSFET output circuitry.

3.2 Board Features

The FRDM-17531EP-EVB evaluation board is designed to easily evaluate and test the main component, the MPC17531A. The board's

main features are as follows:

• Compatible with Freedom series evaluation boards such as FRDM-KL25Z

• Built in fuse for both part and load protection

• Screw terminals to provide easy connection of power and loads

• Test points to allow probing of signals

• Built in voltage regulator to supply logic level circuitry

• LED to indicate status of Logic power supply of the evaluation board, as well as a general purpose indicator

3.3 FRDM-KL25Z Features

The FRDM-KL25Z board features are as follows:

• MKL25Z128VLK4 MCU - 48 MHz, 128 KB Flash, 16 KB SRAM, USB OTG (FS), 80LQFP

• Capacitive touch slider, MMA8451Q accelerometer, Tri-color LED

• Flexible power supply options - USB, coin cell battery, external source

• Easy access to MCU I/O

• Battery-ready, power-measurement access points

• Form factor compatible with Arduino™ R3 pin layout

• New, OpenSDA debug interface

• Mass storage device flash programming interface (default) - no tool installation required to evaluate demonstration applications

• P&E Debug interface provides run-control debugging and compatibility with IDE tools

• CMSIS-DAP interface: new ARM standard for embedded debug interface

Additional reference documents are available on freescale.com/FRDM-KL25Z.

3.4 Device Features

This evaluation board features the following Freescale product:

Table 1. Device Features

Device Description Features

MPC17531A

The MPC17531A is a dual H-Bridge

motor driver IC intended for operating

stepper motors

• Voltage range of operation from 2.0 V to 8.6 V

• Output Current of 0.7 A (DC) continuous, 1.4 A peak

• 700 mRDS(on) H-Bridge MOSFET outputs

• 3.3/5.0 V TTL/CMOS compatible inputs

• PWM frequencies up to 200 kHz

• Undervoltage shutdown

• Cross conduction (shoot through) suppression

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Getting to Know the Hardware

3.5 Board Description

This evaluation board consists mainly of an MPC17531A. The following sections describe the additional hardware used to support the

dual H-Bridge driver.

Figure 2. Board Description

Table 2. Board Description

Name Description

U1 MPC17531A H-Bridge motor drive IC

F1 Overcurrent protection fuse

D4 User defined LED output

OUT1A Output 1A connect motor phase 1 lead to this terminal

OUT1B Output 1B connect motor phase 1 lead to this terminal

OUT2A Output 2A connect motor phase 2 lead to this terminal

OUT2B Output 2B connect motor phase 2 lead to this terminal

CRES Charge pump voltage

VM Power supply input

GND Ground terminal

SNS Not used – connection to FRDM-KL25Z input

ANL Not used – connection to FRDM-KL25Z input

GND Ground terminal

MPC17531A

LED outputProtection Fuse

OUT1A

OUT1B

OUT2A

OUT2B

Charge Pump Voltage

Power Supply Input

Not Used

Ground

CONNECT PHASE 1

OF STEPPER TO

THESE TERMINALS

CONNECT PHASE 2

OF STEPPER TO

THESE TERMINALS

Ground

Not Used

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Getting to Know the Hardware

3.6 LED Display

An LED is provided as a visual output device for the FRDM-17531EP-EVB evaluation board:

3.7 Test Point Definitions

The following test-points provide access to signals on the FRDM-17531EP-EVB. These signals are:

Table 3. Board Description

Name Description

LED1 (D4 board designator) Illuminated with an output from the FRDM-KL25Z. The on board voltage regulator must be

operating for the LED to operate

Table 4. Test Point Definitions

TP# Signal Name Description

TP1 GND Ground

TP2 OUT2A H-Bridge 2 Output A

TP3 OUT2B H-Bridge 2 Output B

TP4 OUT1A H-Bridge 1 Output A

TP5 IN1A H-Bridge 1 Input A

TP6 IN1B H-Bridge 1 Input B

TP7 PSAVE Standby/Enable pin

TP8 READY Logic signal from microcontroller. This signal causes the green LED to operate

TP9 SNSIN Not Used

TP10 ANLIN Not Used

TP11 VDDPWRGOOD Signal to the microcontroller indicating the voltage regulator is operating (3.3 V)

TP12 IN2A H-Bridge 2 Input A

TP13 IN2B H-Bridge 2 Input B

TP14 OUT1B H-Bridge 1 Output B

TP15 VDD Logic power supply from the voltage regulator on the evaluation board

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Getting to Know the Hardware

3.8 Input Signal Definitions

The MPC17531A IC has five input signals that are used to control certain outputs or functions inside the circuit. These signals are:

3.9 Output Signal Definitions

The MPC17531A IC has four output signals used to drive a 2 phase stepper motor. These signals are:

3.10 Screw Terminal Connections

There are four connectors on the FRDM-17531EP-EVB which provide connections to the following signals:

3.11 Jumper J9

The FRDM-17531EP-EVB has provision (not populated) for a jumper to accommodate higher currents than the on board fuse is capable

of handling (1.25 A). If the fuse is bypassed, use extreme care to make sure the maximum current for the MPC17531A is not exceeded

(0.7 A continuous, 1.4 A peak/transients).

Table 5. Input Signal Definitions

Name Description

IN1A Controls OUT1A

IN1B Controls OUT1B

IN2A Controls OUT2A

IN2B Controls OUT2B

PSAVE Enables Outputs 1A, 1B and Outputs 2A, 2B

Table 6. Output Signal Definitions

Name Description

OUT1A Output A of H-Bridge 1

OUT1B Output B of H-Bridge 1

OUT2A Output A of H-Bridge 2

OUT2B Output B of H-Bridge 2

Table 7: Screw Terminal Connections

Name Signal Signal Description

OUT1A H-Bridge 1 output A

OUT1B H-Bridge 1 output B

CRES Charge pump voltage for H-Bridge gate drive

VM Motor supply input (this is also the supply for the on board voltage regulator)

GND This is the primary ground connection for the motor power supply

OUT2A H-Bridge 2 output A

OUT2B H-Bridge 2 output B

SNS Not Used

ANL Not Used

GND Additional ground

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Freescale Semiconductor 9

FRDM-KL25Z Freedom Development Platform

4 FRDM-KL25Z Freedom Development Platform

The Freescale Freedom development platform is a set of software and hardware tools for evaluation and development. It is ideal for rapid

prototyping of microcontroller-based applications. The Freescale Freedom KL25Z hardware, FRDM-KL25Z, is a simple, yet sophisticated

design featuring a Kinetis L Series microcontroller, the industry's first microcontroller built on the ARM® Cortex™-M0+ core.

4.1 Connecting FRDM-KL25Z to the Board

The FRDM-17531EP-EVB kit may be used with many of the Freedom platform evaluation boards featuring Kinetis processors. The

FRDM-KL25Z evaluation board has been chosen specifically to work with the FRDM-17531EP-EVB kit because of its low cost and

features. The FRDM-KL25Z board makes use of the USB, built in LEDs, and I/O ports available with Freescale’s Kinetis KL2x family of

microcontrollers. The main functions provided by the FRDM-KL25Z are to allow control of a stepper motor using a PC computer over USB,

and to drive the necessary inputs on the FRDM-17531EP-EVB evaluation kit to operate the motor.

The FRDM-17531EP-EVB is connected to the FRDM-KL25Z using four dual row headers. The connections are as follows:

Table 8: FRDM-17531EP-EVB to FRDM-KL25Z Connections

FRDM-17531EP-EVB FRDM-KL25Z PIn Hardware Name

Description

Header Pin Header Pin FRDM-17531EP-EVB FRDM-KL25Z

J1 1J9 1RUNPWRGD PTB8 Regulator voltage present

J1 2J9 2 N/C SDA_PTD5 No connection

J1 3J9 3GND PTB9 System ground

J1 4J9 4 N/C P3V3 No connection

J1 5J9 5GND PTB10 System ground

J1 6J9 6 N/C RESET/PTA20 No connection

J1 7J9 7GND PTB11 System ground

J1 8J9 8 N/C P3V3 No connection

J1 9J9 9 N/C PTE2 No connection

J1 10 J9 10 N/C P5V_USB No connection

J1 11 J9 11 N/C PTE3 No connection

J1 12 J9 12 GND GND System ground

J1 13 J9 13 N/C PTE4 No connection

J1 14 J9 14 N/C GND No connection

J1 15 J9 15 N/C PTE5 No connection

J1 16 J9 16 N/C P5-9V_VIN No connection

J2 1J1 1PSAVE PTC7 Enable

J2 2J1 2 N/C PTA1 No connection

J2 3J1 3 N/C PTC0 No connection

J2 4J1 4 N/C PTD4 No connection

J2 5J1 5 N/C PTC3 No connection

J2 6J1 6 IN1A PTD4 Input 1A

J2 7J1 7 N/C PTC4 No connection

J2 8J1 8 IN1B PTA12 Input 1B

J2 9J1 9READY PTC5 No connection green LED (from KL25Z)

J2 10 J1 10 IN2A PTA4 Input 2A

J2 11 J1 11 SNSIN PTC6 Not used

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10 Freescale Semiconductor, Inc.

FRDM-KL25Z Freedom Development Platform

J2 12 J1 12 IN2B PTA5 Input 2B

J2 13 J1 13 N/C PTC10 No connection

J2 14 J1 14 N/C PTC8 No connection

J2 15 J1 15 N/C PTC11 No connection

J2 16 J1 16 N/C PTC9 No connection

J3 1J2 1 N/C PTC12 No connection

J3 2J2 2 N/C PTA13 No connection

J3 3J2 3 N/C PTC13 No connection

J3 4J2 4 N/C PTD5 No connection

J3 5J2 5 N/C PTC16 No connection

J3 6J2 6 N/C PTD0 No connection

J3 7J2 7 N/C PTC17 No connection

J3 8J2 8 N/C PTD2 No connection

J3 9J2 9 N/C PTA16 No connection

J3 10 J2 10 N/C PTD3 No connection

J3 11 J2 11 N/C PTA17 No connection

J3 12 J2 12 N/C PTD1 No connection

J3 13 J2 13 N/C PTE31 No connection

J3 14 J2 14 N/C GND No connection

J3 15 J2 15 N/C N/C No connection

J3 16 J2 16 N/C VREFH No connection

J3 17 J2 17 N/C PTD6 No connection

J3 18 J2 18 N/C PTE0 No connection

J3 19 J2 19 N/C PTD7 No connection

J3 20 J2 20 N/C PTE1 No connection

J4 1J10 1 N/C PTE20 No connection

J4 2J10 2 N/C PTB0 No connection

J4 3J10 3 N/C PTE21 No connection

J4 4J10 4 N/C PTB1 No connection

J4 5J10 5 N/C PTE22 No connection

J4 6J10 6 N/C PTB2 No connection

J4 7J10 7 N/C PTE23 No connection

J4 8J10 8 N/C PTB3 No connection

J4 9J10 9 N/C PTE29 No connection

J4 10 J10 10 ANLIN PTC2 Not used

J4 11 J10 11 N/C PTE30 No connection

J4 12 J10 12 N/C PTC1 No connection

Table 8: FRDM-17531EP-EVB to FRDM-KL25Z Connections (continued)

FRDM-17531EP-EVB FRDM-KL25Z PIn Hardware Name

Description

Header Pin Header Pin FRDM-17531EP-EVB FRDM-KL25Z

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Freescale Semiconductor 11

Installing the Software and Setting up the Hardware

5 Installing the Software and Setting up the Hardware

5.1 Installing the Motor Control Graphical User Interface (GUI) on your

Computer

The latest version of the Motor Control GUI is designed to run on any Windows 8, Windows 7, Vista, or XP-based operating system. To

install the software, go to www.freescale.com/analogtools and select your kit. Click on that link to open the corresponding Tool Summary

Page. Look for "Jump Start Your Design". Download to your computer desktop the Motor Control GUI software.

Run the installed program from the desktop. The Installation Wizard will guide you through the rest of the process.

To use the Motor Control GUI, go to the Windows Start menu, then Programs, then Motor Control GUI, and click on the Freescale icon.

The Motor Control Graphic User Interface (GUI) will appear. The GUI is shown in Figure 3. The hex address numbers at the top are loaded

with the vendor ID for Freescale (0x15A2), and the part ID (0x138). The left side panel displays these numbers only if the PC is

communicating with the FRDM-KL25Z via the USB interface.

Figure 3. Motor Control GUI

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Installing the Software and Setting up the Hardware

5.2 Configuring the Hardware

Figure 4 shows the configuration diagram for FRDM-17531EP-EVB.

Figure 4. FRDM-17531EP-EVB plus FRDM-KL25Z Board Setup

5.2.1 Step-by-step Instructions for Setting Up the Hardware Using Motor

Control GUI

When using the FRDM-17531EP-EVB make sure that the following operating parameters are followed or damage may occur.

• The maximum motor supply voltage (VM) cannot exceed 8.6 V, and must be at least 3.3 V

• The nominal operating current of the stepper motor cannot exceed 0.7 A (1.4 A peak)

In order to perform the demonstration example, first set up the evaluation board hardware and software as follows:

1. Setup the FRDM-KL25Z to accept code from the mbed online compiler. The instructions are at mbed.org

(mbed.org/handbook/mbed-FRDM-KL25Z-Upgrade). You will need to switch to the other USB port on the FRDM-KL25Z, and

back after you load the project. mbed is a developer site for ARM based microcontrollers.

2. Go to the Freescale page on mbed.org and look for the repository named "LVHB DC Motor Drive".

(developer.mbed.org/teams/Freescale/code/LVHB-Stepper-Motor-Drive/) Save the compiled code on your local drive, and then

drag and drop it onto the mbed drive (which is the FRDM-KL25Z). Move the USB connector back to the other USB port on the

FRDM-KL25Z.

NOTE

You may be asked to create a user before you can download the code.

3. Connect the FRDM-17531EP-EVB to the FRDM-KL25Z. This is best accomplished by soldering the female connectors to the

FRDM-KL25Z, and then connecting to the male pins provided on the FRDM-17531EP-EVB.

4. Ready the computer, install the "Stepper Motor Driver GUI Software" (See Section 5.1).

5. Attach DC power supply (without turning on the power) to the VM and GND terminals.

6. Attach one set of coils of the stepper motor to the OUT 1A and OUT 1B output terminals. Attach the other phase coil of the

stepper motor to terminals OUT2A and OUT2B. Launch the "Stepper Motor Driver GUI Software".

7. Make sure the GUI recognizes the FRDM-KL25Z. This is determined by seeing the hex Vendor ID (0x15A2), and Part ID

(0x138) under USB connection in the upper left hand corner of the GUI. If the GUI does not recognize the FRDM-KL25Z, you

need to disconnect and reconnect the USB cable to the FRDM-KL25Z.

Computer

USB Cable FRDM-KL25Z

Use this USB Port

Stepper Motor

FRDM-17531EP-EVB

Mounted on Top

DC Power Supply

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Installing the Software and Setting up the Hardware

8. Turn on the DC power supply.

9. Click on the "Enable Target" checkbox on the GUI. The demo is now ready to run.

10. Click the "Run" button to run the motor. Notice that some options of the GUI are disabled while the motor is running. To make

changes, click the "Stop" button on the GUI, make the desired changes, and then click "Run" on the GUI to continue.

11. When finished, click "Enable Target" button on the GUI, and then "Quit". Turn off DC power supply. Remove USB cable.

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14 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

6 Installing the Processor Expert Software

6.1 Installing CodeWarrior on your Computer

This procedure explains how to obtain and install the latest version of CodeWarrior (version 10.6 in this guide).

NOTE

The sample software in this kit requires CodeWarrior 10.6 or newer. The component and some

examples in the component package are intended for Kinetis Design Studio 3.0.0. If you have

CodeWarrior 10.6 and Kinetis Design Studio 3.0.0 already installed on your system, skip this section.

1. Obtain the latest CodeWarrior installer file from the Freescale CodeWarrior website.

2. Run the executable file and follow the instructions.

3. In the Choose Components window, select the Kinetis component, and then click Next to complete the installation.

Figure 5. Select Components GUI

6.2 Downloading the LVHBridge Component and Example Projects

The examples used in this section are based on a pre-configured CodeWarrior project. You must first download the project and its

associated components:

1. Go to the Freescale website www.freescale.com/LVHBRIDGE-PEXPERT.

2. Download example projects and H-Bridge component zip file.

3. Unzip the downloaded file and check that the folder contains the files listed in Ta ble 9.

Table 9. LVHBridge Example Project and Components

Folder Name Folder Contents

CodeWarrior_Examples Example project folder for CodeWarrior

LVH_KL25Z_brush_MC34933 Example project for DC brush motor control using FRDM-34933EP-EVB H-Bridge board and

FRDM-KL25Z MCU board

LVH_KL25Z_brush_MPC17510 Example project for DC brush motor control using FRDM-17510EJ-EVB H-Bridge board and

FRDM-KL25Z MCU board

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Installing the Processor Expert Software

LVH_KL25Z_stepper Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and

FRDM-KL25Z MCU board

LVH_KL25Z_stepper_ramp Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and

FRDM-KL25Z MCU board. Acceleration ramp is enabled.

Component Processor Expert component folder

KDS_Examples Example project folder for Kinetis Design Studio 3.0.0 or newer

LVH_K20D50M_brush_MC34933 Example project for DC brush motor control using FRDM-34933EP-EVB H-Bridge board and

FRDM-K20D50M MCU board

LVH_K20D50M_brush_MPC17510 Example project for DC brush motor control using FRDM-17510EJ-EVB H-Bridge board and FRDM-

K20D50M MCU board

LVH_K20D50M_stepper_bitIO Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and

FRDM- K20D50M MCU board

LVH_K20D50M_stepper_ramp_bitIO Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and

FRDM- K20D50M MCU board. Acceleration ramp is enabled.

LVH_KL25Z_brush_MC34933 Example project for DC brush motor control using FRDM-34933EP-EVB H-Bridge board and

FRDM-KL25Z MCU board

LVH_KL25Z_brush_MPC17510 Example project for DC brush motor control using FRDM-17510EJ-EVB H-Bridge board and

FRDM-KL25Z MCU board

LVH_KL25Z_brush_FreeMASTER Example project intended to control DC brush motor using FreeMASTER tool. Latest Freemaster

installation package: http://www.freescale.com/freemaster

LVH_KL25Z_step_FreeMASTER Example project intended to control stepper motor using FreeMASTER tool.

LVH_KL25Z_stepper Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and

FRDM-KL25Z MCU board

LVH_KL25Z_stepper_ramp Example project intended to control stepper motor using MC34933 H-Bridge freedom board and

FRDM-KL25Z MCU board. Acceleration ramp is enabled.

LVH_KL26Z_stepper Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and

FRDM-KL26Z MCU board

LVH_KL26Z_stepper_iar Example project intended to control stepper motor using FRDM-34933EP-EVB H-Bridge board and

FRDM-KL26Z MCU board. IAR compiler is used instead of GNU C compiler

Table 9. LVHBridge Example Project and Components (continued)

Folder Name Folder Contents

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Installing the Processor Expert Software

6.2.1 Import the LVHBridge Component into Processor Expert Library

1. Launch CodeWarrior by clicking on the CodeWarrior icon (located on your desktop or in Program Files -> Freescale Codewarrior

folder). When the CodeWarrior IDE opens, go to the menu bar and click Processor Expert -> Import Component(s).

2. In the pop-up window, locate the component file (.PEupd) in the example project folder 'LVHBridge_PEx_SW\Component'.

Select LVHBridge_b1508.PEupd and ChannelAllocator_b1508.PEupd files, and then click Open (see Figure 6).

Figure 6. Import LVHBridge component

3. If the import is successful, the LVHBridge component appears in Components Library -> SW -> User Components (see

Figure 7). Note that the component ChannelAllocator is not visible, because it is not designed to be used by users.

The LVHBridge component is ready to use.

Figure 7. LVHBridge component location after CodeWarrior import

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Installing the Processor Expert Software

6.2.2 Import an Example Project into CodeWarrior

The following steps show how to import an example from the downloaded zip file into CodeWarrior.

1. In the CodeWarrior menu, click File -> Import. In the pop-up window, select General -> Existing Projects into Workspace, and

then click Next.

2. Locate the example in folder: LVHBridge_PEx_SW\CodeWarrior_Examples (see Figure 8, which shows

LVH_KL25Z_brush_MC34933 as the imported project). Click Finish.

The project is now in the CodeWarrior workspace where you can build and run it.

Figure 8. Example project import

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18 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

6.3 Create a New Project with Processor Expert and LVHBridge Component

If you choose not to use the example project, the following instructions describe how to create and setup a new project that uses the

LVHBridge component. If you do not have the LVHBridge component in the Processor Expert Library, please follow steps in Section 6.2.1.

1. Create and name an MCU Bareboard project (see Figure 9).

Figure 9. Create an MCU bareboard project

2. Choose the MCU class to be used in the freedom MCU board (MKL25Z128 in this example). Then select the connections to be

used (see Figure 10).

Figure 10. Select the MCU class and connections

3. Select the Processor Expert option, and then click Finish (see Figure 11).

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Freescale Semiconductor 19

Installing the Processor Expert Software

Figure 11. Select the Processor Expert option

6.3.1 Add LVHBridge Component into the Project

1. Find LVHBridge in the Components Library and add it into your project (see Figure 12).

Figure 12. Add the LVHBridge component to the project

2. Double click on the LVHBridge component in the Components window (see Figure 13) to show the configuration in the

Component Inspector view.

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20 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

Figure 13. Select the component

Figure 14. Component Inspector view

6.3.2 General Settings of LVHBridge Component

Component settings in the Component Inspector view have a tree structure. H-Bridge Model is on top of the tree.

Active Mode defines the H-Bridge device operational mode (normal or power-conserving sleep mode), which is controlled by the enabling

pin. Selection of the enabling pin is in the Enable Pins group. For more information, see your H-Bridge model’s data sheet. The mode can

be changed later using the C code method SetMode.

The Motor Control group involves timer settings, H-Bridge device and motor control settings. The Timer Settings group contains the

Primary Timer Component property (the name of a linked TimerUnit_LDD component) and the name of the hardware timer being used

(defined in the Primary Timer Device component). The Secondary Timer Component encompasses the properties of an additional

timer.

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Installing the Processor Expert Software

Note that the Secondary Timer Component property must use a different TimerUnit_LDD component than the Primary Timer

Component property. The purpose of the primary and secondary timers is to allow the input control pins of an H-Bridge device to be

connected to different timers (this applies for some freedom H-Bridge boards and freedom MCUs). But these timers must be synchronized

to control a stepper motor. So the primary timer is designed to be the source for the global time base and the secondary timer is

synchronized with the primary timer. Please see your MCU’s data sheet to find out which timer provides the global time base (GTB) and

set the Primary Timer Device property accordingly. An example of a timer selection using the FRDM-KL25Z MCU is shown in Figure 15.

If you are using a single timer, set the Secondary Timer Component to Disabled.

Figure 15. Selection of a FRDM-KL25Z MCU Primary and a Secondary Timer device

H-Bridge 1 MCU Interface and H-Bridge 2 MCU Interface allow you to set H-Bridge control function. The H-Bridge 2 MCU Interface is

shown only for dual H-Bridge models (for example MC34933). The DC Brush group is described in Section 6.3.3. The Input Control Pins

allow you to select the H-Bridge input control pins that utilize timer channels or GPIO pins.

Figure 16. LVHBridge component — General Settings

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22 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

6.3.3 Setting up a Project to Control a DC Brushed Motor

1. Select the H-Bridge model you want to configure and set the Motor Control property to Brushed.

Figure 17. Setup of the component to control a brush motor

2. Set the Control Mode property. There are two ways to control the DC brushed motor:

•Speed Control - Motor speed is controlled by your settings. The TimerUnit_LDD component is used to generate the PWM

signal. The PWM Frequency property is visible in this mode only. If you set the Speed Control mode on both interfaces (i.e.

Interface 1 and Interface 2), the PWM Frequency property on Interface 2 will be set automatically to the same value as Interface

1 (because Interface 2 uses the same timer).

•State Control - Motor is controlled by GPIO pins (BitIO_LDD components). This means you can switch the motor on or off

without speed adjustments. The advantage of this mode is that you do not need timer channels. If you set State Control on both

interfaces or you have only a single H-Bridge model (one interface) with State Control, the TimerUnit_LDD component is not

required anymore by LVHBridge component and you can remove it from the project.

3. Set the PWM frequency.

4. Set the Direction Control property. The Direction Control property determines what direction the motor is allowed to move in.

Setting the property to Forward restricts the motor's movement to the forward direction only. Setting the property to Reverse

restricts movement to the reverse direction only. A Bidirectional setting allows the motor to move in either direction. The

Bidirectional mode requires two timer channels. Forward or Reverse requires only one timer channel and one GPIO port. This

setting is available only when Speed Control mode is set in the Control Mode property.

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Installing the Processor Expert Software

6.3.4 Setting up a Project to Control a Stepper Motor

Select the dual H-Bridge model you want to configure and set Stepper in the Motor Control property. Note that the dual H-Bridge model

is required, because a two phase bipolar stepper motor has four inputs.

Figure 18. Component settings to control a Stepper Motor

In the Stepper Motor group, set the properties that apply to your environment.

•The Output Control property defines the control method. With PWM selected the component utilizes four channels of a timer to

control the stepper motor. Signal is generated in hardware and micro-step mode is also available. In GPIO mode, GPIO pins are

used instead of timer channels and only full-step mode is available (no micro-step mode).

•The Manual Timer Setting property is only visible when you switch the visibility of the component properties to Advanced (see

later). It is designed to change the Counter frequency of the linked TimerUnit_LDD component. By default the Counter

frequency is set automatically by LVHBridge component. In some cases the frequency value does not have to be set

appropriately (user wants to set a different value or there an error has occurred). For more information see Section 6.3.5.

•Motor Control Mode allows you to select the Step Mode. Selecting Full-step and Micro-step mode allows you to switch

between full-stepping and micro-stepping in C code.

• The Full-step Configuration group contains speed and acceleration settings. Code for the acceleration and deceleration ramp

is generated when the Acceleration property is set to a value greater than zero. Note that acceleration is always the same as

deceleration. An example of an acceleration ramp is depicted in Figure 19. The acceleration setting is 400, as shown in Figure 18.

• Desired motor speed is set to 100 full-steps per second. This value is defined by property Speed in Processor

Expert GUI and can be changed in C code.

• Acceleration and deceleration is set to 400 full-steps per second2. This value is defined by the Acceleration

property. Note that the motor reaches the speed in 0.25 second (desired_speed / acceleration = 100 / 400 = 0.25).

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24 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

Figure 19. Acceleration and deceleration ramp

• Micro-step Configuration group settings are similar to those of the Full-step Configuration. PWM Frequency is the frequency

of the micro-step PWM signal. Micro-step per Step is the number of micro-steps per one full-step

6.3.5 Stepper Motor Speed

The LVHBridge component defines the stepper motor’s minimum and maximum speed. These limit values are used by the component

methods. Minimum speed in full-step and micro-step modes is one step per second. Maximum speed is 5000 steps per second. There is

a specific case in which minimum full-stepping speed is affected by timer input frequency. This applies only when you are using one FTM

timer to control the stepper motor. In this case, the Primary Timer Device property must use FTM timer values (FTM0_CNT, or

FTM1_CNT, etc.). The Secondary Timer property must be set to Disabled. The Stepper Motor Output Control property must be set to

PWM. Figure 20 illustrates this configuration.

Figure 20. Stepper mode configuration that affects minimum Full-stepping speed

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Freescale Semiconductor 25

Installing the Processor Expert Software

Possible values for the timer input frequency (Counter frequency property in TimerUnit_LDD) are in Table 10. Input frequency values

depend on LVHBridge component settings. Note that two frequency values are needed in Full-step and Micro-step mode in one case

(LVHBridge component switches in runtime between these two values).

6.3.5.1 Computation of Minimum Full-stepping Speed

The minimum full-stepping speed depends on the timer input frequency only when the Primary Timer Device is set to FTM (FTM0_CNT,

or FTM1_CNT, etc.), the Secondary Timer property is disabled and Output Control is set to PWM. The Full-step signal is generated by

a timer while channels toggle on compare (See Figure 21).

Figure 21. Generating the Full-step control signal

Table 10. Minimum and Maximum Timer Input Frequency per Stepper Control Mode

Mode

Description

LVHBridge component properties Primary Timer Input Frequency Secondary Timer

Input Frequency

Timer Device Secondary

Timer

Output

Control

Motor Control

Mode Values Min. Max.

Full-step mode TPM Don't care PWM Full-step 1 131 kHz 1 MHz Any value (user

selection)

Full-step and

Micro-step

mode

TPM Don't care PWM Full-step and

Micro-step 1 1.2 MHz 10 MHz Any value (user

selection)

Full-step mode

(SW control) FTM or TPM Disabled GPIO Full-step 1 131 kHz 1 MHz Secondary timer is

not enabled

Full-step mode FTM Disabled PWM Full-step 1 131 kHz 1 MHz Secondary timer is

not enabled

Full-step mode FTM Enabled PWM Full-step 1 131 kHz 1 MHz The same values as

for primary timer

Full-step and

Micro-step

mode

FTM Disabled PWM Full-step and

Micro-step 2

1st value for

Full-step: 131 kHz

1st value for

Full-step: 1 MHz Secondary timer is

not enabled

2nd value for

Micro-step:1.2

MHz

2nd value for

Micro-step:10

MHz

Full-step and

Micro-step

mode

FTM Enabled PWM Full-step 1 1.2 MHz 10 MHz The same values as

for primary timer

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26 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

The Full-step minimum speed is derived from the input frequency of the timer device (the counter frequency property of the TimerUnit_LDD

component being used). You can find minimum values for speed in the LVHBridge header file (see constant

<component_name>_MIN_FULLSTEP_ SPEED). The formula for calculation of this value is as follows:

where:

Counter_frequency = input frequency of the timer device

65536 = maximum value of TimerUnit_LDD counter (16-bit counter).

Adding 1 ensures that the 16-bit counter does not overflow (which is the point of the formula.)

For example if the Counter frequency is set to 187,500 Hz, the minimum speed is:

The MCU rounds the value down, so the result is 6 full-steps per second.

6.3.5.2 Setting the Minimum Full-stepping Speed

This section describes how to change the input frequency of the TimerUnit_LDD component.

1. Launch Processor and select the LVHBridge component.

2. In the Processor Expert menu bar, set component visibility to Advanced.

3. In the Properties tab, find the Motor Control -> Stepper Motor -> Manual timer setting property and set the value to Enabled. If

you do not see this property, make sure that component visibility is set to Advanced (see Figure 22).

4. Set the TimerUnit_LDD frequency.

• In the Components view, double click on the TimerUnit_LDD component.

• Press the button in the Counter frequency field (see Figure 23).

• Set the frequency value (187.5 kHz in illustration). The list of available frequencies depends on the CPU component settings

(with an external crystal as the clock source and a core clock of 48 MHz).

•Set the Allowed Error value at 10% (see Figure 24).

Figure 22. Enabling the Manual Frequency setting

Speedmin = + 1

2 X Counter_frequency

65536

Speedmin = + 1 = + 1 = 6.72

2 X Counter_frequency

65536

2 X 187500

65536

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Freescale Semiconductor 27

Installing the Processor Expert Software

Figure 23. Component TimerUnit_LDD Timing dialog

Figure 24. Component TimerUnit_LDD Timing dialog — select Input Frequency

6.3.6 Generating Application Code

After configuration, generate the source code by clicking on the icon in the upper right corner of the Components screen.

Figure 25. Generating the source code

The driver code for the H-Bridge device is generated in the Generated_Code folder in the project view. The component only generates

application driver code. It does not generate application code.

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Figure 26. Generated files

6.3.7 Using the Interface

Application code can be written and tested in the project. For example, you can open the LVHBridge component method list, drag and

drop RotateProportional to main.c (see Figure 27), add any necessary parameters, then compile the program.

Figure 27. Using the interface

To compile, download and debug on board, click compile, then click the debug icon in the toolbar. CodeWarrior will download

and launch the program on board (see Figure 28).

Figure 28. Compile and download the application

A description of each LVHBridge method appears in the pop-up window (see Figure 29).

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Installing the Processor Expert Software

Figure 29. LVHBridge method information

6.4 Stepper Motor Control Application Notes

The LVHBridge component is designed to control a two phase bipolar stepper motor. Because a stepper motor uses

electrical commutation to rotate, it requires a dual H-Bridge device. The basic control method is full-stepping which fully

powers each coil in sequence. Increased precision is achieved by using PWM to control coil current (open loop control). This

method is called micro-stepping (available in the LVHBridge component).

In both micro-step and full-step mode you can control motor speed, direction, acceleration and deceleration and the position

of the stepper motor.

The following application notes apply to stepper motor control:

• The LVHBridge component was tested with a core clock frequency ranging from 20 MHz (minimum value) to 120 MHz.

• Do not change the settings of the timer device (TimerUnit_LDD) linked by the LVHBridge component. The component sets the

timer device automatically.

• The acceleration and deceleration ramp of the stepper motor is computed in real-time using integer arithmetic. This solution is

based on the article “Generate stepper-motor speed profiles in real time" (Austin, David. 2005.)

• The stepper motor holds its position (coils are powered) after motor movement is completed. Use method DisableMotor to set

H-Bridge outputs to LOW (coils are not powered).

• Forward motor direction indicates that steps are executed in the order depicted in Figure 30. IN1 through IN4 are the input pins

of the H-Bridge device which control H-Bridge outputs. These pins input to the stepper motor. You must connect the stepper motor

to output pins OUT1-OUT4 and select control input pins on your MCU in the component settings.

• The FTM or TPM timer device is needed by stepper control logic.

•The AlignRotor method affects the position of the motor. This method executes four full-steps. It is available only when full-step

mode is enabled.

6.4.1 Full-step Control Mode

The component uses normal drive mode where two coils are powered at the same time.

As mentioned in Section 6.3.4, you can generate a full-stepping signal either by using four channels of a timer or by using

four GPIO pins. The signal generated by the MCU (inputs of H-Bridge device) using four timer channels is shown in

Figure 30. The voltage levels applied to the coils of the stepper motor are depicted in Figure 31. Note that the voltage is

applied to both coils at the same time.

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30 Freescale Semiconductor, Inc.

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Figure 30. Signals of logic input pins generated by the MCU in Full-step mode

Figure 31. Output of the H-Bridge device in Full-step mode

6.4.2 Micro-step Control Mode

Micro-stepping allows for smoother motor movement and increased precision. The current varies in motor windings A and

B depending on the micro-step position. A PWM signal is used to reach the desired current value (see the following

equations). This method is called sine cosine micro-stepping.

IA = IMAX X sin()

IB = IMAX X cos()

where:

IA = the current in winding A

IB = the current in winding B,

IMAX = the maximum allowable current

 = the electrical angle

In micro-step mode, a full-step is divided into smaller steps (micro-steps). The LVHBridge component offers 2, 4, 8, 16 and

32 micro-steps per full-step. The micro-step size is defined by the property Micro-steps per Step and can be changed later

in C code.

1/2 1/4 1/6 1/16 1/32 A E 1/2 1/4 1/3 1/16 1/32 A B 0 0 0 0 0 0,0 0 100 4 3 16 32 64 160 0 -100 1 2.6 4.91 99 66 65 162 6 -4 91 -99,66 1 2 5.6 9 6 99 52 33 66 165 6 96 -99,52 3 8.4 14 67 93 92 67 166 4 -14,67 -96,92 1 2 4 11.3 1951 9306 17 34 63 1913 -19,51 -96,06 5 14.1 24.3 97 69 194 1 -24.3 -97 3 6 16.9 29 03 95 69 35 70 196 9 -29,03 -95,69 7 19.7 33 69 9415 71 199 7 -33,69 -94,15 1 2 4 6 22.5 36 27 92 39 9 13 36 72 202 5 -36,27 -92,39 9 25.3 42 76 90.4 73 205 3 -42,76 -90.4 5 10 26.1 4714 3319 37 74 2061 -47,14 -66,19 11 30.9 5141 35 77 75 210 9 -51,41 -65,77 3 6 12 33.3 55 56 3315 19 36 76 213 3 -55,56 -63,15 13 36.6 59 57 30 32 77 216 6 -59,57 -60,32 7 14 39.4 63 44 77.3 39 73 219 4 -63,44 -77.3 15 42.2 6716 74.1 79 222 2 -67,16 -74.1 1 2 4 6 16 45 70 71 70 71 5 10 20 40 30 225 -70,71 -70,71 17 47.3 74.1 6716 61 227 6 -74.1 -67,16 9 16 50.6 77.3 63 44 41 62 230 6 -77.3 -63,44 19 53.4 30 32 59 57 63 233 4 -60,32 -59,57 5 10 20 56.3 33 15 55 56 21 42 64 236 3 -63,15 -55,56 21 59.1 35 77 5141 65 2391 -65,77 -51,41 11 22 61.9 3619 4714 43 66 2419 -66,19 -47,14 23 64.7 90.4 42 76 67 244 7 -90.4 -42,76 3 6 12 24 67.5 92 39 33 27 11 22 44 33 247 5 -92,39 -36,27 25 70.3 9415 33 69 69 250 3 -94,15 -33,69 13 26 73.1 95 69 29 03 45 90 253 1 -95,69 -29,03 27 75.9 97 24.3 91 255 9 -97 -24.3 7 14 26 76.3 96 06 19 51 23 46 92 256 3 -96,06 -19,51 29 61.6 93 92 1467 93 261 6 -96,92 -14,67

KTFRDM17531EPUG, Rev. 2.0

Freescale Semiconductor 31

Installing the Processor Expert Software

Figure 32. Micro-stepping phase diagram

Table 11. Micro-Step Phase Table(1)

Micro-step size Angle I [% of IMAX] Micro-step size Angle I [% of IMAX]

1/2 1/4 1/8 1/16 1/32 A B 1/2 1/4 1/8 1/16 1/32 A B

0 0 0 0 0 0.0 0 100 4 8 16 32 64 180 0 -100

1 2.8 4.91 99.88 65 182.8 -4.91 -99.88

1 2 5.6 9.8 99.52 33 66 185.6 -9.8 -99.52

3 8.4 14.67 98.92 67 188.4 -14.67 -98.92

1 2 4 11.3 19.51 98.08 17 34 68 191.3 -19.51 -98.08

5 14.1 24.3 97 69 194.1 -24.3 -97

3 6 16.9 29.03 95.69 35 70 196.9 -29.03 -95.69

7 19.7 33.69 94.15 71 199.7 -33.69 -94.15

1 2 4 8 22.5 38.27 92.39 9 18 36 72 202.5 -38.27 -92.39

9 25.3 42.76 90.4 73 205.3 -42.76 -90.4

5 10 28.1 47.14 88.19 37 74 208.1 -47.14 -88.19

11 30.9 51.41 85.77 75 210.9 -51.41 -85.77

3 6 12 33.8 55.56 83.15 19 38 76 213.8 -55.56 -83.15

13 36.6 59.57 80.32 77 216.6 -59.57 -80.32

7 14 39.4 63.44 77.3 39 78 219.4 -63.44 -77.3

15 42.2 67.16 74.1 79 222.2 -67.16 -74.1

1 2 4 8 16 45 70.71 70.71 5 10 20 40 80 225 -70.71 -70.71

17 47.8 74.1 67.16 81 227.8 -74.1 -67.16

9 18 50.6 77.3 63.44 41 82 230.6 -77.3 -63.44

19 53.4 80.32 59.57 83 233.4 -80.32 -59.57

5 10 20 56.3 83.15 55.56 21 42 84 236.3 -83.15 -55.56

21 59.1 85.77 51.41 85 239.1 -85.77 -51.41

11 22 61.9 88.19 47.14 43 86 241.9 -88.19 -47.14

23 64.7 90.4 42.76 87 244.7 -90.4 -42.76

3 6 12 24 67.5 92.39 38.27 11 22 44 88 247.5 -92.39 -38.27

25 70.3 94.15 33.69 89 250.3 -94.15 -33.69

13 26 73.1 95.69 29.03 45 90 253.1 -95.69 -29.03

27 75.9 97 24.3 91 255.9 -97 -24.3

7 14 28 78.8 98.08 19.51 23 46 92 258.8 -98.08 -19.51

29 81.6 98.92 14.67 93 261.6 -98.92 -14.67

104

112

120 0

IA = sin(22.5) = 38.75%

IB = cos(22.5) = 92.39%

1/2 1/4 1/6 1/16 1/32 A E 1/2 1/4 1/6 1/16 1/32 A B 15 30 64.4 99 52 9 6 47 94 264 4 -99,52 96 31 66.4 99.6 6 3 95 266 4 -99.6 63 2 4 B 16 32 90 100 0.00 6 12 24 48 96 270 -100 0.00 33 92.6 99 66 -4,91 97 272 6 -99.66 491 17 34 95.6 99 52 -9.6 49 96 275 6 -99.52 9.6 35 96.4 96 92 -14.67 99 276 4 -96.92 14.67 9 16 36 1013 96 06 -19.51 25 50 100 261 3 -96,06 19.51 37 104.1 97 -24,3 101 264 1 -97 24 3 19 36 1069 95 69 -29.03 51 102 266 9 -95,69 29.03 39 1097 9415 -33.69 103 269 7 -94.15 33.69 5 10 20 40 112 5 92 39 -36.27 13 26 52 104 292 5 -92,39 36.27 41 1153 90.4 —42.76 105 295 3 -90.4 42.76 21 42 116.1 6619 —47.14 53 106 2961 6619 47.14 43 1209 65 77 -51.41 107 300 9 -65.77 51.41 11 22 44 123 6 63 15 -55.56 27 54 106 303 6 -63,15 55.56 45 1266 60 32 -59.57 109 306 6 -60.32 59.57 23 46 1294 77.3 -63.44 55 110 309 4 -77.3 63.44 47 1322 74.1 -67.16 111 312 2 -74.1 67.16 3 6 12 24 46 135 70 71 -70.71 7 14 26 56 112 315 -70,71 70.71 49 1376 6716 -74,1 113 317 6 -67.16 74.1 25 50 1406 63 44 -77,3 57 114 320 6 -63,44 77 3 51 1434 59 57 -60.32 115 323 4 -59.57 60.32 13 26 52 146 3 55 56 -63.15 29 56 116 326 3 -55,56 63.15 53 149.1 5141 -65.77 117 3291 -51.41 65.77 27 54 1519 4714 -66.19 59 116 3319 -47,14 66.19 55 1547 42 76 -90,4 119 334 7 -42.76 90.4 7 14 26 56 157 5 36 27 -92.39 15 30 60 120 337 5 -36,27 92.39 57 1603 33 69 -94.15 121 340 3 -33.69 94.15 29 56 163.1 29 03 -95.69 61 122 343 1 -29,03 95.69 59 1659 24.3 -97 123 345 9 -24.3 97 15 30 60 166 6 19 51 -96.06 31 62 124 346 6 -19,51 96.06 61 1716 14 67 -96.92 125 3516 -14.67 96.92 31 62 1744 9 6 -99.52 63 126 354 4 -9.6 99.52 63 1764 6 3 -99,6 127 356 4 -6,3 99 6 4 a 16 32 64 130 0.00 -100 8 16 32 64 128 360 0.00 100

KTFRDM17531EPUG, Rev. 2.0

32 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

The micro-stepping signal is generated using four timer channels (see Figure 33). Output from logic analyzer in Figure 34

shows the change of PWM duty with respect to the micro-step position. Current values applied to the stepper motor coils

are depicted in Figure 35.

15 30 84.4 99.52 9.8 47 94 264.4 -99.52 -9.8

31 86.4 99.8 6.3 95 266.4 -99.8 -6.3

2 4 8 16 32 90 100 0.00 612 24 48 96 270 -100 0.00

33 92.8 99.88 -4.91 97 272.8 -99.88 4.91

17 34 95.6 99.52 -9.8 49 98 275.6 -99.52 9.8

35 98.4 98.92 -14.67 99 278.4 -98.92 14.67

9 18 36 101.3 98.08 -19.51 25 50 100 281.3 -98.08 19.51

37 104.1 97 -24.3 101 284.1 -97 24.3

19 38 106.9 95.69 -29.03 51 102 286.9 -95.69 29.03

39 109.7 94.15 -33.69 103 289.7 -94.15 33.69

5 10 20 40 112.5 92.39 -38.27 13 26 52 104 292.5 -92.39 38.27

41 115.3 90.4 -42.76 105 295.3 -90.4 42.76

21 42 118.1 88.19 -47.14 53 106 298.1 -88.19 47.14

43 120.9 85.77 -51.41 107 300.9 -85.77 51.41

11 22 44 123.8 83.15 -55.56 27 54 108 303.8 -83.15 55.56

45 126.6 80.32 -59.57 109 306.6 -80.32 59.57

23 46 129.4 77.3 -63.44 55 110 309.4 -77.3 63.44

47 132.2 74.1 -67.16 111 312.2 -74.1 67.16

3 6 12 24 48 135 70.71 -70.71 7 14 28 56 112 315 -70.71 70.71

49 137.8 67.16 -74.1 113 317.8 -67.16 74.1

25 50 140.6 63.44 -77.3 57 114 320.6 -63.44 77.3

51 143.4 59.57 -80.32 115 323.4 -59.57 80.32

13 26 52 146.3 55.56 -83.15 29 58 116 326.3 -55.56 83.15

53 149.1 51.41 -85.77 117 329.1 -51.41 85.77

27 54 151.9 47.14 -88.19 59 118 331.9 -47.14 88.19

55 154.7 42.76 -90.4 119 334.7 -42.76 90.4

7 14 28 56 157.5 38.27 -92.39 15 30 60 120 337.5 -38.27 92.39

57 160.3 33.69 -94.15 121 340.3 -33.69 94.15

29 58 163.1 29.03 -95.69 61 122 343.1 -29.03 95.69

59 165.9 24.3 -97 123 345.9 -24.3 97

15 30 60 168.8 19.51 -98.08 31 62 124 348.8 -19.51 98.08

61 171.6 14.67 -98.92 125 351.6 -14.67 98.92

31 62 174.4 9.8 -99.52 63 126 354.4 -9.8 99.52

63 176.4 6.3 -99.8 127 356.4 -6.3 99.8

4 8 16 32 64 180 0.00 -100 816 32 64 128 360 0.00 100

Notes:

1. Shaded rows indicate one quarter step of the motor

Table 11. Micro-Step Phase Table(1) (continued)

Micro-step size Angle I [% of IMAX] Micro-step size Angle I [% of IMAX]

1/2 1/4 1/8 1/16 1/32 A B 1/2 1/4 1/8 1/16 1/32 A B

mw VIM: INI mm.‘ m: m 90 1 n z m ml vzme IN2 Emma mas H mm vzme INJ Emma m: H mm mm Im Emma m: m 90 1 n z m Microrstepno 0 1 2 3 4 <—~—~—><—n—> lNl \Mnd. 1 IN2 IN3 Wind. 2 IN4 Factorollhe 1 n cunenl um) +Wmdlng] os -.—wmu.... z ”0 Eleclmzl ”ﬂu-ale m 05 -ID

KTFRDM17531EPUG, Rev. 2.0

Freescale Semiconductor 33

Installing the Processor Expert Software

Figure 33. Logic input pin signals generated by the MCU in Micro-step mode

Figure 34. Logic analyzer output

Figure 35. H-Bridge device output in Micro-Step mode

A ! urzmlmummx. Y Dchmsh A ! 02mm! Mod: Spud Camml Y PWMFmpmq 5m: Cnnﬂlcun mvmmmmm plane! Dneman (m Bvdvvedmnal E mum :z a Hrs/:2 u vem, {Vargas a V = a 1 mm, owning; o my; Dmnplmn . o [m u an“) o Guzman: mung Umpndzd 5m.“ MKnpt Dmmnmmnmmniunmm p‘m mm Frugal: mm

KTFRDM17531EPUG, Rev. 2.0

34 Freescale Semiconductor, Inc.

Installing the Processor Expert Software

6.5 Frequently Asked Questions

Q: How do I set up the LVHBridge component when two or more components with conflicting values are configured to

control brushed motors? (See Figure 36)

Figure 36. Conflict in the required values for components in the project

A: You can use more LVHBridge components in same project. These components can share the same timer device in

brushed motor control mode, but PWM Frequency and Timer Device properties must conform in all of the components.

Q: I sometimes get the following unexpected error while generating Processor Expert code: "Generator: FAILURE:

Unexpected status of script: Drivers\Kinetis\TimerUnit_LDD.drv, please contact Freescale support". What causes this?

A: Occasionally, when you enable the LVHBridge component in your project, the TimerUnit_LDD component channels

have not been allocated. If this occurs, changing certain LVHBridge properties will force allocation of the channels. If you

are configuring a stepper motor (Motor Control property set to Stepper), try changing the Output Control property to

GPIO and then back to PWM. If you are configuring a brushed motor (Motor Control property set to Brushed), change

the Control Mode property to State Control and then back to Speed Control on interface 1 or interface 2.

Figure 37. Unexpected error related to the LVHBridge TimerUnit_LDD component

Q: I have set up several CPU clock configurations (via the Clock configurations property of the CPU component).

Sometimes during runtime, when I switch between these configuration (using the CPU SetClockConfiguration method),

the speed of the stepper motor appears to be inaccurate. Why does this occur?

A: Switching to a different configuration results in the use of a different input frequency by a timer device. LVHBridge may

not pick up the new value and continues to use the previous value in its calculations.

Q: What does the error message "The component has no method to enable its event (OnCounterRestart)" raised in an

LVHBridge TimerUnit_LDD component mean?

A: This occurs only when you add an LVHBridge component to a project and set the Motor Control property to Stepper.

The error will disappear if you change any property of the LVHBridge component.

:r’rmscm

KTFRDM17531EPUG, Rev. 2.0

Freescale Semiconductor 35

Schematic

7 Schematic

Figure 38. Schematic

D D

C C

B B

A A

MOTOR DRIVER

FREEDOM BOARD CONNECTOR INTERFACE

OUT2A OUT2B

CRES

RUNPWRGD

ANLIN

SNSIN

PSAVE

READY

SNSIN

IN1A

IN1B

ANLIN

IN2A

IN2B

OUT1A OUT1B

READY

IN1A

IN1B

IN2A

IN2B

PSAVE

OUT1B

OUT2B

OUT1A

OUT2A

CRES

RUNPWRGD

0 0

Drawing Title:

Size Document Number Rev

Date: Sheet of

Page Title:

ICAP Classification: FCP: FIUO: PUBI:

SCH-28190 PDF: SPF-28190 A

FRDM-17531-EP

Friday, March 07, 2014

Schematic

___ ___

Drawing Title:

Size Document Number Rev

Date: Sheet of

Page Title:

ICAP Classification: FCP: FIUO: PUBI:

SCH-28190 PDF: SPF-28190 A

FRDM-17531-EP

Friday, March 07, 2014

Schematic

___ ___

Drawing Title:

Size Document Number Rev

Date: Sheet of

Page Title:

ICAP Classification: FCP: FIUO: PUBI:

SCH-28190 PDF: SPF-28190 A

FRDM-17531-EP

Friday, March 07, 2014

Schematic

___ ___

33K

DNP

TP13

DNP

TP4

DNP

TP1

DNP

C11

0.01UF

DNP

TP2

DNP

HDR_2X6

1 2

3 4

7 8

9 10

11 12

TP6

DNP

HDR_2X8

1 2

3 4

7 8

9 10

11 12

13 14

15 16

TP10

DNP

R10

33K

DNP

HDR_1X2

DNP

C12

0.01UF

DNP

0.1 UF

10uF

TP3

DNP

0.1 UF

TP11

DNP

TP15

DNP

0.1 UF

TP5

DNP

TP9

DNP

220

0.01UF

DNP

10k

C10

0.01UF

DNP

33K

DNP

3216FF750

1 2

SUBASSY_TB_3x1

MIC5205

GND

ADJ

OUT 5

TP14

DNP

MPC17531ATEP/R2

VDD 22

IN1A

IN1B

PSAVE

OUT2A 3

PGND1

OUT1A 5

VM1 8

CRES

9C2H

C1H

11 C1L

C2L

13 OUT1B 14

PGND2

OUT2B 16

VM2 18

IN2B

19 IN2A

LGND

NC1 1

NC2 6

NC3 7

NC4 17

EPAD

LED GREEN

A C

HDR_2X8

6 5

910

1112

1314

1516

SUB_TB_2x1

TP12

DNP

HDR_10X2

6 5

910

1112

1314

1516

1718

1920

BSS138

2 3

2.2UF

SUB_TB_2x1

TP7

DNP

9.1K

SUBASSY_TB_3x1

TP8

DNP

MMSZ5237BT1G

A C

15K

KTFRDM17531EPUG, Rev. 2.0

36 Freescale Semiconductor, Inc.

Silkscreens

8 Silkscreens

8.1 Silkscreen Top

HDR 2X8 TH |DDMIL CTR TSW-1UB-U7-G-D HDR 2X10 TH TDDMIL CTR TSW-MO-m-S-D HDR 2X6 TH |DDMIL CTR TSW-1UE-U7-S-D SUBASSEMBLV CON Txa TE TH 3,81MM SP SUEASSEMBLV CON Txa TE TH 3,81MM SP

KTFRDM17531EPUG, Rev. 2.0

Freescale Semiconductor 37

Bill of Materials

9 Bill of Materials

Table 12. Bill of Materials (2)

Item Qty Schematic

Label Value Description Part Number Assy Opt

Active Components

1 1 U1 TSSOP24 H-Bridge motor driver MPC17531ATEP (3)

Other Components

2 1 U2 SOT23-5 Linear Reg LDO 1.5-15 V 150 mA 2.5-16 V MIC5205 (3)

Transistors

3 2 Q1, Q2 SOT-23 Transistor NMOS 50 V 220 mA BSS138

Diodes

4 1 D1 SOD123 Diode Zener – 6.2 V 0.5 W MMSZ5234B

LEDs

5 1 D4 0603 LED Green Single 20 mA LG L29K-G2J1-24-Z

Capacitors

6 3 C1, C2, C3 0.1 uF Ceramic 0.1 F 50 V 10% X7R 0805

7 1 C4 10 uF Ceramic 10 F 35V 10% X7R 1210

8 1 C8 2.2 uF Ceramic 2.2 F 16 V 10% X7R 0805

9 1 C7 470 pF Ceramic 470 pF 50 V 5% COG 0805

Fuses

10 1 F1 1.25 A Fuse Fast 1.25 A 63 V SMT

Resistors

11 1 R3 10 k Metal Film 10 k 1/10 W 1% 0805

12 1 R5 220 Metal Film 220  1/8 W 1% 0805

13 1 R8 9.1 k Metal Film 9.1 k 1/10 W 1% 0805

14 1 R9 15 k Metal Film 15 k 1/8 W 5% 0805

Connectors

15 2 J1, J2 HDR 2X8 TH 100MIL CTR TSW-108-07-G-D

SAMTEC HDR 2X8

16 1 J3 HDR 2X10 TH 100MIL CTR TSW-110-07-S-D

SAMTEC HDR 2X10

17 1 J4 HDR 2X6 TH 100MIL CTR TSW-106-07-S-D

SAMTEC HDR 2X6

18 2 J5, J7

SUBASSEMBLY CON 1X3 TB TH 3.81MM SP

201H -- 138L + TERM BLOCK PLUG 3.81MM

2POS

210-80097, 210-80098

TERM BLOCK 1x2

19 2 J6, J8

SUBASSEMBLY CON 1X3 TB TH 3.81MM SP

201H -- 138L + TERM BLOCK PLUG 3.81MM

3POS210-80099, 211-79220

TERM BLOCK 1x3

Notes:

2. Freescale does not assume liability, endorse, or warrant components from external manufacturers that are referenced in circuit drawings or tables.

While Freescale offers component recommendations in this configuration, it is the customer’s responsibility to validate their application.

3. Critical components. For critical components, it is vital to use the manufacturer listed.

Freesca‘e

KTFRDM17531EPUG, Rev. 2.0

38 Freescale Semiconductor, Inc.

References

10 References

Following are URLs where you can obtain information on related Freescale products and application solutions:

10.1 Support

Visit www.freescale.com/support for a list of phone numbers within your region.

10.2 Warranty

Visit www.freescale.com/warranty to submit a request for tool warranty.

Freescale.com

Support Pages Description URL

FRDM-17531EP-EVB Tool Summary

Page www.freescale.com/FRDM-17531EP-EVB

MCP17531 Product Summary

Page www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPC17531

FRDM-KL25Z

Freescale

Development

Platform

www.freescale.com/webapp/sps/site/prod_summary.jsp?code=FRDM-KL25Z

Processor Expert www.freescale.com/webapp/sps/site/homepage.jsp?code=BEAN_STORE_MAIN&fsrch=1

Analog Home

Page freescale.com/analog

Automotive Home

Page www.freescale.com/automotive

mbed Home Page www.mbed.org

KTFRDM17531EPUG, Rev. 2.0

Freescale Semiconductor 39

Revision History

11 Revision History

Revision Date Description of Changes

1.0 11/2014 • Initial release

2.0

9/2015 • Added Processor Expert Section

10/2015 • Minor corrections to text and table values

‘/ROHS O O '0 :" freescale‘“

Document Number: KTFRDM17531EPUG

Rev. 2.0

10/2015

Information in this document is provided solely to enable system and software implementers to use Freescale products.

There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits based

on the information in this document.

Freescale reserves the right to make changes without further notice to any products herein. Freescale makes no

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Freescale assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any

and all liability, including without limitation consequential or incidental damages. “Typical” parameters that may be

provided in Freescale data sheets and/or specifications can and do vary in different applications, and actual performance

may vary over time. All operating parameters, including “typicals,” must be validated for each customer application by

customer’s technical experts. Freescale does not convey any license under its patent rights nor the rights of others.

Freescale sells products pursuant to standard terms and conditions of sale, which can be found at the following address:

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Products related to this Datasheet

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