Application Note Tutorial

AURIX™ TC3xx Motor Control Application Kit

Getting Started

AP32542
v1.0

Please read the Important Notice and

Warnings at the end of this document
About this document

Scope and purpose

› This tutorial describes the content of AURIX™ TC3xx Motor Control
Application Kit and explain instructions to get it running
› This document is valid for AURIX™ TC3xx Family
› Validated on AURIX™ TC387-A-Step

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 2

Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 3

Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 4

AURIX™ TC3xx Motor Control Application Kit
Overview

› AURIX™ TC387 Application Kit with TFT › AURIX™ TC3xx Motor Control Power Board

› Power Supply Adapter Sunny SYS1541- › NANOTEC DB42S02-KHIT with WEDL5541-B14-

2412:12V, 2A (plugs USA, UK, EU) KIT encoder

EU

UK
USA

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 5

Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 6

AURIX™ TC3xx Motor Control Power Board
Block Diagram
Low Power
DC connector

High side DC
link current
sensing

Motor Connector
DC link DC/DC +5V

Low Power
voltage TLE42744DV50 3-Phase Power Phase
Half-Bridge Voltage
I/O Connectors BU6 and BU7

sensing 0-40V to 5V
3x IPG20N04S4-08A Sensing
Gate Driver
TLE9180
Phase Current
Sensing & low side
DC link Current

Connector
Sensing

Interface

Sensor
HALL

HALL
+5V

Connector Connector
Interface
Resolver

Resolver
Interface
Encoder

Encoder
AURIXTM TC3xx Motor Control Power Board

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AURIX™ TC3xx Motor Control Power Board
Top and Bottom View

› Top View › Bottom View

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AURIX™ TC3xx Motor Control Power Board
Connectors
› Connection with AURIXTM TC3xx
Application Kit with TFT
– BU6 Connector: 40 Pins
– BU7 Connector: 40 Pins

› Power Supply Connectors

Color Coding:
• Black: Ground (GND)
• Red: +12V (VBAT)

› Motor Connectors
Color Coding:
• Black: Phase U
• Red: Phase V
• Yellow: Phase W

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AURIX™ TC3xx Motor Control Power Board
Connectors
› Incremental encoder connector
N.C. 1 2 +5V

GND 3 4 N.C.

ENC_CH_AN 5 6 ENC_CH_A

ENC_CH_BN 7 8 ENC_CH_B

ENC_CH_ZN 9 10 ENC_CH_Z

› Hall sensors connector

1 2 3 4 5 6
+5V

HALL A

HALL B

HALL C

N.C.

GND

› Resolver connector
1 2 3 4 5 6
S2(Res. SIN -)

S4(Res. COS -)
S1(Res. SIN +)

S6 (Res. Exc -)
S5(Res. Exc +)
S3(Res. COS +)

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AURIX™ TC3xx Motor Control Power Board
Connectors

› BU6 and BU7 Pinout

BU6 connected to App. Kit with TFT X102 connector BU7 connected to App. Kit with TFT X103 connector

N.C. 39 40 N.C. VEXTB 2 1 VCC_IN

N.C. 37 38 /SOFF GND 4 3 GND
N.C. 35 36 N.C. N.C. 6 5 N.C.
N.C. 33 34 N.C. N.C. 8 7 N.C.
/ERR 31 32 N.C. /INH 10 9 N.C.
CSN 29 30 CLK_SPI N.C. 12 11 N.C.
MOSI 27 28 MISO CGPWM_P(Prim.Coil) 14 13 CGPWM_N(Prim.Coil)
N.C. 25 26 ENA HALL A 16 15 N.C.
N.C. 23 24 N.C. HALL_C 18 17 HALL_B
N.C. 21 22 N.C. ENC_B 20 19 ENC_A
N.C. 19 20 PFB2 N.C. 22 21 ENC_C
PFB1_Enable 17 18 PFB3 IL1 24 23 N.C.
N.C. 15 16 GS0_HS IL2 26 25 /IH1
PFB1 13 14 GS1_HS IL3 28 27 /IH2
VRO 11 12 VO1 N.C. 30 29 /IH3
COS- (VCC/2) 9 10 COS+ N.C. 32 31 N.C.
BEMF_U 7 8 VOLT_DC N.C. 34 33 N.C.
SIN- (VCC/2) 5 6 SIN+ IDC_HS 36 35 BEMF_V
GND 3 4 GND VO3 38 37 N.C.
VCC_IN 1 2 VEXTA VO2 40 39 BEMF_W

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Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 12

Motor and Incremental Encoder

› Nanotec DB42S02: Electric motor › WEDL5541-B14-KIT (5 mm):

– NEMA: 17 Incremental Encoder
– Rated Power: 42 W – Index
– No. of Poles/Phase: 8/3 – Encoder Signal Type: incremental
– Rated Torque: 5 Ncm – Shaft Diameter: 5 mm
– Rated Current: 3.57 A – Output Signals phase: A, A\, B, B\, I, I\
– Rated Speed: 8000 rpm – Limit Frequency: 100 kHz
– Rotor Inertia: 24 gcm² – Phase Shift: 90° ± 45°
– Line to Line Inductance: 0.25 mH – Max. Output Current per Channel: 0 ~ 5 mA
– Storage Temperature: -40 °C - 100 °C
– Weight: 0.25 kg
– Line: Driver
– Size: 42 mm – Encoder Resolution: 1000 CPR
– Rated Voltage (VDC): 17 V – Operating Voltage (Encoder): 5 V
– Peak Torque: 15 Ncm – Current Consumption: ≤ 60 mA
– Peak Current: 10.78 A – Limit Speed: 6000 RPM
– Torque Constan: t 1.4 Ncm/A – Signal Level: VH 85% VCC, VL ≤ 0.3 V
– Line to Line Resistance: 0.19 Ohm – Operating Temperature: -25 °C - 100 °C
– Length: "A" 41 mm – Humidity: max. 90 % (no condensation)
› ZK-WEDL-8-500: Encoder Cable

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Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 14

AURIX™ TC387 Application Kit with TFT
Overview

› KIT_A2G_TC387_5V_TFT: Components
– Infineon’s Multi Voltage Safety Micro Processor
Supply TLF35584QV
– LED to validate power supply (5V or 3,3Volt)
– LED indicating RESET (ESR0) active state
– LED indicating active miniWiggler JDS
– LED switched via DAS software
– Infineon’s High Speed CAN Transceiver TLE 9251V
(CAN FD capable)
– Infineon’s LIN-Transceiver TLE 7259-3GE
– QSPI Real-Time Clock/Calendar with SRAM and
unique MAC Id MCP79511 (if CPU not support I2C)
– I2C Real-Time Clock/Calendar with SRAM and
unique MAC Id MCP79411 (if CPU support I2C)
– USB to UART bridge FT2232HL (FTDI)
– Integrated 10/100/1000M Ethernet Precision
Transceiver RTL8211FI-CG (Realtek)
– Touch screen controller ADS7843
– 4 general purpose LEDs – Reset switch
– Wake switch
– Xilinx CPLD XC9572XL

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AURIX™ TC387 Application Kit with TFT
Overview

› KIT_A2G_TC387_5V_TFT: Connectors
– Standard power connector
– Micro USB connector for ASC Interface (ASC0) and
miniWiggler
– RJ45 connector for Ethernet (if Gigabit Ethernet
supported by assembled CPU)
– 16-pin header for JTAG interface (OCDS)
– 10-pin header for DAP
– 10-pin (2x5-pin) Header for LIN Transceiver (LIN)
– 10-pin (2x5-pin) Header for CAN High Speed
Transceiver (CAN0)
– two 40-pin connectors with I/O signals
– mini SD card slot

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AURIX™ TC387 Application Kit with TFT
Overview

› KIT_A2G_TC387_5V_TFT: IO Connectors
Pinout

› Changes that was required when using with

AURIX™ TC387 Motor Control Application Kit
To be able to supply AURIX™ TC387
Application Kit with TFT from power
board and run the program, one
should solder 0 Ω resistor or just
make short circuit on R113.

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 17

Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 18

AURIX™ TC3xx Motor Control Software

› System overview
GPIO
Monitoring Scheduler

VDC
QSPI

Vα TonU 3-Phase
U
SVM TonV GTM as 2-Level Voltage V 3-Phase
Modulator TonW PWM Unit Source Inverter PMSM
Vβ W
(VSI)
Field Oriented Control
(FOC)
Trigger
Iu
Iv Current
Iw Calculation
1x Rshunt or
3x Rshunt

ᵠ ω EVADC

BEMF_U
BEMF_V
BEMF_W
V_DC
I_DC_HS

Optional
Legend:

TC3xx Pheripherals
Angle and Speed feedbacks from Encoder
Software

Angle & Speed

Power
GPT12 Encoder
Calculation
Sensors

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AURIX™ TC3xx Motor Control Software

› Field Oriented Control: controls the stator currents by providing control

voltages to the three-phase system.
– stator DQ current is given as reference to control torque and flux
– forward path is the three-phase voltages generation
– feedback paths are the stator currents and rotor position acquisitions
Regulation_mode
Ramp 0 – Speed
1 – Current
Id_ref_extern

Id PI
Id_Ref = 0 Id_ref Vd_ref Valpha_ref Ton_U
Controller Inverse Park Space Vector GTM as
Ton_V
Ramp Transform Modulator PWM Unit
Iq PI Ton_W
Iq_ref Vq_ref Vbeta_ref
Iq_ref_extern Controller

Ramp
Speed PI
Speed_ref
Controller RotorAngle
Angle & Speed
GPT12
Calculation
RotorSpeed

Legend:

TC3xx Peripherals
Iq Ialpha I_U
Software Park Clarke Current
I_V EVADC
References
Transform Transform Reconstruction
Id Ibeta I_W

› Regulation mode:
– Speed (by default): Output of speed regulator is Q-axis current reference, the D-axis current
reference is set to 0. Speed can be set by using buttons available on touch screen or manually
in debug mode
– Current: The D- and Q-axis current references could be set manually in debug mode

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 20

Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 21

Run motor
Components connecting

1. Connect AURIX™ TC387

Application Kit with TFT
(connectors X102 and X103) and
power board (connectors BU6 1
and BU7)
2. Connect one side of encoder
cable and power board
(connector X4)
3. Connect second side of encoder
cable with encoder
4. Connect motor phase
connectors and power board 5
(connectors BU1, BU2 and BU3)
5. Connect power supply adapter
extension cables and power
2
board (connectors BU4 and
BU5)
6. Connect power supply

4
3

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Run motor
Local command set and basic monitoring

Page: iMENU
– Software version and corresponding power board
– Time elapsed
– Status
– Speed: actual rotor speed in rpm
– Ref: reference speed in rpm
– Position: actual rotor position measured by position sensor in
deg
– State: Actual control state
– Control
– CAL: trigger calibration routine
Demo cycle: speed reference profile – DEMO: trigger predefined speed reference profile and start
Speed ref. [rpm] motor
– SPEED ↑: increase speed reference, 100 rpm step size
– SPEED ↓: decrease speed reference, 100 rpm step size
6000

50 [rpm] – START: start motor

– STOP: stop motor

200 [ms] Time [s]

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Run motor
Local command set and basic monitoring

Page: STDOUT0
– Software version and corresponding power board
– Speed reference and actual speed
– Phase currents
– Iu [A]
– Iv [A]
– Iw [A]
– D- and Q-axis current references and actual values
– IdRef [A], IdMeas [A]
– IqRef [A], IqMeas [A]
– D- and Q-axis voltage reverences
– VdRef [p.u.]
– VqRef [p.u.]
– Αβ voltage references
– ValphaRef [p.u.]
– VbetaRef [p.u.]

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 24

Agenda

1 AURIX™ TC3xx Motor Control Application Kit Overview

2 AURIX™ TC3xx Motor Control Power Board

3 Motor and Incremental Encoder

4 AURIX™ TC387 Application Kit with TFT

5 AURIX™ TC3xx PMSM FOC Motor Control Software

6 Run motor

7 Acronyms, references, revision history

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 25

Acronyms, references, revision history
Acronyms
Term Definition
EVADC Enhanced Versatile Analog-to-Digital Converter
FOC Field Oriented Control
GPIO General Purpose Input Output
GPT12 General Purpose Timer Unit
GTM Generic Timer Module
PMSM Permanent Magnet Synchronous Motor
QSPI Queued Synchronous Peripheral Interface
SVM Space Vector Modulation

References
› [1] AP32541 AURIX TC3xx Motor Control Power Board, v1.0

› [2] AP32540 PMSM FOC motor control using AURIX TC3xx, v1.0

› [3] Application Kit TC3x7 User Manual, v2.1

› [4] User Manual AURIX™ TC3xx, revision 1.5

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 26

Acronyms, references, revision history
Revision history
Revision Description of change
V1.0 Initial version

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 Trademarks
All referenced product or service names and trademarks are the property of their respective owners .

IMPORTANT NOTICE
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as a hint for the implementation of the product only and terms and conditions and prices please contact your
shall in no event be regarded as a description or warranty of nearest Infineon Technologies office (www.infineon.com).
a certain functionality, condition or quality of the product.
Published by Before implementation of the product, the recipient of this
Infineon Technologies AG application note must verify any function and other WARNINGS
81726 Neubiberg, Germany technical information given herein in the real application. Due to technical requirements products may contain
Infineon Technologies hereby disclaims any and all dangerous substances. For information on the types in
warranties and liabilities of any kind (including without question please contact your nearest Infineon Technologies
limitation warranties of non-infringement of intellectual office.
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Email: [email protected] all information given in this application note.
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document with respect to such application.

2020-08-21 Copyright © Infineon Technologies AG 2020. All rights reserved. 28