Driving Three-Phase Stepper Motor With BLDC Motor 10-bit 200-ksps ADC with internal reference,...

MnSLEEP

IN1 ± IN3

8 V to 60 V

V3P3

EN1 ± EN3

nFAULT 2.5-A max/phase

Three-Phase Stepper Motor

MSP430G2553Controller DRV8313

Potentiometer

Spi-By-Wire

Copyright © 2017, Texas Instruments Incorporated

1 2

STATUS

GreenGND

1 2

nFAULT

Red

1TIDUCN7–January 2017Submit Documentation Feedback


Driving Three-Phase Stepper Motor With BLDC Motor Driver ReferenceDesign

TI DesignsDriving Three-Phase Stepper Motor With BLDC MotorDriver Reference Design

DescriptionThe TIDA-01362 reference design demonstrates howto drive a three-phase stepper motor using the samehardware structure of a brushless DC (BLDC) driver.By regulating the pulse-width modulation (PWM) signalschemes, the design achieves a smooth sinusoidal-output current. The DRV8313 device is used for theimplementation of this design.

Resources

TIDA-01362 Design FolderDRV8313 Product FolderMSP430G2553 Product FolderDRV8313EVM Product Folder

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Features• Smooth Current• Low Noise Operation• Compact Design• Open Loop; No Current Feedback Required• Can Be Driven With Most TI BLDC Driver• Very Low to Zero Vibrations

Applications• Textile Equipment• Dome Cameras• Gimbals• Analytical and Medical Instruments• Robotics

An IMPORTANT NOTICE at the end of this TI reference design addresses authorized use, intellectual property matters and otherimportant disclaimers and information.

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http://www.ti.com/tool/TIDA-01362

http://www.ti.com/product/drv8313

http://www.ti.com/product/MSP430G2553

http://www.ti.com/tool/drv8313evm

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MnSLEEP

IN1 ± IN3

8 V to 60 V

V3P3

EN1 ± EN3

nFAULT 2.5-A max/phase

Three-Phase Stepper Motor

MSP430G2553Controller DRV8313

Potentiometer

Spi-By-Wire


1 2

STATUS

GreenGND

1 2

nFAULT

Red

System Overview www.ti.com

2 TIDUCN7–January 2017Submit Documentation Feedback



1 System Overview

1.1 System DescriptionThis TIDA-01362 TI Design achieves a three-phase, high-resolution, micro-stepping module using TexasInstruments DRV8313 brushless DC (BLDC) motor driver. This design demonstrates how to create aPWM signal sequence to control the three-phase currents, sinusoidal, and 120º of phase shift.

1.2 Key System Specifications

Table 1. Key System Specifications

PARAMETER DESCRIPTION VALUEVoltage Input voltage for motor 10 V to 18 V

Current Maximum motor phasecurrent 3.5 A

Resistance Motor windingresistance 4.5 Ω

Inductance Motor windinginductance 20 mH

Frequency Microcontroller PWMsignal frequency 20 kHz

1.3 Block Diagram

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1.4 Highlighted Products

1.4.1 DRV8313The DRV8313 provides three individually-controllable, half-H-bridge drivers (see Figure 1). The device isintended to drive a three-phase BLDC motor, although it can also be used to drive solenoids or otherloads. Each output driver channel consists of N-channel power MOSFETs configured in a ½-H-bridgeconfiguration. Each ½-H-bridge driver has a dedicated ground terminal, which allows independent externalcurrent sensing.

An uncommitted comparator is integrated into the DRV8313, which allows for the construction of current-limit circuitry or other functions.

Internal protection functions are provided for undervoltage, charge pump faults, overcurrent, short circuits,and overtemperature. Fault conditions are indicated by the nFAULT pin.

Features:• Triple ½-H-bridge driver IC

– Three-phase BLDC motors• High Current-drive capability: 2.5-A peak• Low MOSFET ON-resistance• Independent ½-H-bridge control• Uncommitted comparator can be used for current limit or other functions• Built-in 3.3-V, 10-mA low-dropout (LDO) regulator• 8-V to 60-V operating supply-voltage range• Sleep mode for standby operation• Small package and footprint

– 28-Pin HTSSOP (PowerPAD™ integrated circuit package)– 36-Pin VQFN

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System Overview www.ti.com




Figure 1. DRV8313 Block Diagram

1.4.2 MSP430G2533The Texas Instruments MSP430™ family of ultra-low-power microcontrollers (MCUs) consists of severaldevices featuring different sets of peripherals targeted for various applications. The architecture, combinedwith five low-power modes, is optimized to achieve extended battery life in portable measurementapplications. The device features a powerful 16-bit reduced instruction set computing (RISC) CPU, 16-bitregisters, and constant generators that contribute to maximum code efficiency. The digitally controlledoscillator (DCO) allows wake-up from low-power modes to active mode in less than 1 µs.

The MSP430G2x13 and MSP430G2x53 series are ultra-low-power mixed signal MCUs with built-in 16-bittimers, up to 24 I/O capacitive-touch enabled pins, a versatile analog comparator, and built-incommunication capability using the universal serial communication interface (see Figure 2). In addition,the devices in the MSP430G2x53 family have a 10-bit analog-to-digital (ADC) converter.

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Clock

System

Brownout

Protection

RST/NMI

DVCC DVSS

MCLK

Watchdog

WDT+

15-Bit

Timer0_A3

3 CC

Registers

16MHz

CPU

incl. 16

Registers

Emulation

2BP

JTAG

Interface

SMCLK

ACLK

MDB

MAB

Port P1

8 I/O

Interrupt

capability

pullup/down

resistors

P1.x

8

P2.x

Port P2

8 I/O

Interrupt

capability

pullup/down

resistors

Spy-Bi-

Wire

Comp_A+

8 Channels

Timer1_A3

3 CC

Registers

XIN XOUT

Port P3

8 I/O

pullup/

pulldown

resistors

P3.x

8 8

RAM

512B

256B

Flash

16KB

8KB

4KB

2KB

USCI A0

UART/

LIN, IrDA,

SPI

USCI B0

SPI, I2C

ADC

10-Bit

8 Ch.

Autoscan

1 ch DMA


www.ti.com System Overview




Features:• Low supply-voltage range: 1.8 V to 3.6 V• Ultra-low-power consumption

– Active mode: 230 µA at 1 MHz, 2.2 V– Standby mode: 0.5 µA– Off mode (RAM retention): 0.1 µA

• Five power-saving modes• Ultra-fast wake-up from standby mode in less than 1 µs• 16-bit RISC architecture, 62.5-ns instruction cycle time• Basic clock module configurations

– Internal frequencies up to 16 MHz with four calibrated frequency– Internal very-low-power low-frequency (LF) oscillator– 32-kHz crystal– External digital clock source

• Two 16-bit Timer_A with three capture/compare registers• Up to 24 capacitive-touch enabled I/O pins• Universal serial communication interface (USCI)

– Enhanced universal asynchronous receiver/transmitter (UART) supporting auto baudrate detection(LIN)

– IrDA encoder and decoder– Synchronous serial peripheral interface (SPI)– I2C

• On-chip comparator for analog signal compare function or slope analog-to-digital conversion• 10-bit 200-ksps ADC with internal reference, sample-and-hold, and autoscan• Brownout detector• Serial onboard programming, no external programming voltage required, programmable code

protection by security fuse• On-chip emulation logic with Spy-Bi-Wire interface

Figure 2. MSP430G2553 Functional Block Diagram

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VM C3

0.01µF

V3P3

IN1

EN

IN2

IN3

EN

nRESET

nSLEEP

OUT3

OUT2

OUT1

CPH

CPL

10µFC6

GND

10k

R13

GND

0.47µFC4

GND

GND

D3082-05

GNDGNDCOMPN

22COMPP

21

CPH6

CPL5

EN11

EN235

EN333

GND3

GND17

GND23

GND24

GND30

GND31

GND32

RSVD18

GND20

IN12

IN236

IN334

NC14

NC4

NC8

OUT110

OUT213

OUT315

PAD37

PGND111

PGND212

PGND316

V3P325

VCP7

VM9

VM19

COMPO29

FAULT28

RESET26

SLEEP27

DRV8313

DRV8313RHHR

0.1µFC7

0.1µFC8

5

4

1

2

3

6

J3

IN1IN2IN3EN

EN

nFAULT

0.1µF

C5

VM

nFAULTV3P3

VCP

GND

GND


System Design Theory www.ti.com




2 System Design TheoryThree-phase stepper motors are useful in applications that require very-high resolution (micro-stepping) aswell as minimal noise and vibration. This TIDA-01362 design achieves all of these requirements by drivinga three-phase stepper motor using Texas Instruments DRV8313 brushless DC (BLDC) motor driver. Thethree half-bridges of the BLDC device drive the three phases of the stepper motor in an open-loop system.Any TI BLDC device can be used to drive a three-phase stepper motor; for practicality, the DRV8313device has been selected for its compact design because it offers integrated power MOSFETs.

Driving the three-phase stepper motor is achieved by implementing and controlling the duty cycle of PWMsignals of the MCU. The modulated signal controls the ON and OFF time of the power MOSFETs in thehalf-bridges, which in turn controls the output current and voltage supplied to the windings of the three-phase stepper motor.

The three phases of the motor are driven by the three outputs of the DRV8313, as Figure 3 shows.

Figure 3. DRV8313

Pins IN1, IN2, and IN3 are the three PWM inputs from the microcontroller into the DRV8313 (seeFigure 4). Also, the enable pin, EN, is driven from the MCU. The EN1, EN2, and EN3 input pins in theDRV8313, enable or disable the outputs of the driver OUT1, OUT2, and OUT3, respectively. For thisdesign, the three EN pins always remain high because the implementation only depends on the PWMsignals.

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GND

TEST

RESET

nFAULT

0.1µFC2

GND

V3P3

DVCC1

P1.0/TA0CLK/ACLK/A0/CA02

P1.1/TA0.0/UCA0RXD/UCA0SOMI/A1/CA13

P1.2/TA0.1/UCA0TXD/UCA0SIMO/A2/CA24

P1.3/ADC10CLK/A3/VREF-/VEREF-/CA3/CAOUT5

P1.4/SMCLK/UCB0STE/UCA0CLK/A4/VREF+/VEREF+/CA4/TCK6

P1.5/TA0.0/UCB0CLK/UCA0STE/A5/CA5/TMS7

P2.0/TA1.08

P2.1/TA1.19

P2.2/TA1.110

P2.3/TA1.011

P2.4/TA1.212

P2.5/TA1.213

P1.6/TA0.1/A6/CA6/UCB0SOMI/UCB0SCL/TDI/TCLK14

P1.7/A7/CA7/CAOUT/UCB0SIMO/UCB0SDA/TDO/TDI15

RST/NMI/SBWTDIO16

TEST/SBWTCK17

P2.7/XOUT18

P2.6/XIN/TA0.119

DVSS20

MSP430G2553

MSP430G2553IPW20R

0

R12PWMB

PWMC

EN

POT

nRESET

STATUS

PUSH

nSLEEP

0

R9

0

R7PWMA IN1

IN2

IN3

0

R6

0

R8

0

R11

0

R10


www.ti.com System Design Theory




Figure 4. MSP430G2553

The three PWM signals implemented from the MSP430G2553 MCU follow a sine-wave scheme. For eachoutput phase of the stepper motor, the same scheme is executed with a 120° phase shift.

The duty cycle of the modulated signals are set to change between 10% to 90% duty cycle. These ONand OFF time variations create the sine waves required to drive the stepper motor.

The following Figure 5 shows the PWM scheme to produce the microstepping-sine waveform output.

As Figure 5 shows, the three PWM signals from the MCU create the three current waves. The sequencestarts at 50% duty cycle and increases to maximum, which represents the peak of the sine wave. Then,the duty cycle starts decreasing down to 50% all the way to the minimum, which is the valley of the wave.This commutation is the same for all three phases with the 120º delay.

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System Design Theory www.ti.com




Figure 5. PWM Scheme for Sine Waveform Output

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STATUSLED

nFAULT Spy-Bi-Wire Connector

Potentiometer

Stepper Motor Connection

Input Voltage

W V U

www.ti.com Getting Started Hardware




3 Getting Started Hardware

3.1 HardwareThe VM pin headers are the input voltage supply for the board. The output to the three-phase steppermotor is through the VOUT pin header connectors, as Figure 6 shows.

Figure 6. Input and Output Connections

The board has two light-emitting diodes (LEDs), the status LED (green) to acknowledge a functional boardand the nFAULT LED (red) when a fault occurs in the DRV8313 driver. The board also has apotentiomenter for speed, direction input control, or both, and a Spy-Bi-Wire connector to program theMCU of the board, MSP430G2553. Figure 7 shows the board hardware.

Figure 7. Board Hardware

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Potentiometer ADC

0

1

2

3,4

5

6

7

Read Convert

<

<<

<<<

<

<<

<<<

EN pin Disabled

Update Interrupt(Change Frequency)

50 ��± 1 N�� 3-Bit Resolution

Getting Started Hardware www.ti.com




3.2 SoftwareThe firmware for this TI Design was developed using the TI Code Composer Studio™ software version6.1.3. The code uploaded to the MSP430G2553 MCU was programmed through Spy-Bi-Wire protocol(two-wire Joint Test Action Group (JTAG)).

This firmware can be downloaded from the TIDA-01362 design folder (see Section 6). The high-leveldescription implemented in the design is as follows.1. Define the pins used in the MCU then set the PWM frequency.2. Create a sine look-up table for the stepper motor3. Configure the clock and timers. TA0CCR1 is used for phase U, TA1CCR1 is used for phase V, and

TA1CCR2 is used for phase W.4. Set the timer interrupt and update the values for each phase according to the sine look-up table

values.

Although firmware for the speed control and direction feature is not implemented in the code provided withthe reference design, it can easily be implemented to reproduce a typical stepper motor application bysetting the ADC feature of the MCU (see Figure 8).

Figure 8. Speed and Direction Implementation

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www.ti.com Testing and Results




4 Testing and ResultsTwo different type of motors are tested with this design, the first being a Nema 34 and the second a Nema17 stepper motor. The captures in Figure 9 through Figure 13 have been generated while running theNema 34 stepper motor at 10 V. Motor specificaitions are listed on Table 1

Figure 9. Three PWM Input Signals and Current Output Phase U

Figure 10. Output Currents of Three-Phase Stepper Motor

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Testing and Results www.ti.com




Figure 11. IN2 (PWM_V) 50% DC, Output Phase V at 0º


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www.ti.com Testing and Results





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Add ground through stitching to reduce impedances (good

practice to reduce EMI.)

Placing small vias directly under the PowerPadTM is

recommended to aid thermal dissipation to the ground

plane.

Short path from Input Voltage to VCC pins. Low ESR

capacitors placed in between VM and VCC.

Design Files www.ti.com




5 Design Files

5.1 SchematicsTo download the schematics, see the design files at TIDA-01362.

5.2 Bill of MaterialsTo download the bill of materials (BOM), see the design files at TIDA-01362.

5.3 PCB Layout RecommendationsFigure 14 shows a few layout guidelines for this design. The complete layout can be downloaded fro thedesign files at TIDA-01362.

Figure 14. TIDA-01362 Layout Recommendations

5.3.1 Layout PrintsTo download the layer plots, see the design files at TIDA-01362.

5.4 Altium ProjectTo download the Altium project files, see the design files at TIDA-01362.

5.5 Gerber FilesTo download the Gerber files, see the design files at TIDA-01362.

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www.ti.com Design Files




5.6 Assembly DrawingsTo download the assembly drawings, see the design files at TIDA-01362.

6 Software FilesTo download the software files, see the design files at TIDA-01362.

7 Related Documentation

1. Texas Instruments, DRV8313EVM User’s Guide, DRV8313EVM User’s Guide (SLVU815)

7.1 TrademarksPowerPAD, MSP430, Code Composer Studio are trademarks of Texas Instruments.

8 About the AuthorLUIS RIVEROS-LUQUE is an applications engineer at Texas Instruments where he is currently part of theApplications Rotational Program. He supports a broad portfolio of motor drivers. Luis earned hisbachelor's of science in electrical engineering from Virginia Tech in Blacksburg VA.

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Driving Three-Phase Stepper Motor With BLDC Motor 10-bit 200-ksps ADC with internal reference,...

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