CONFIGURABLE DIGITAL MOTOR DRIVE MODULE …Configuration software is provided with the SMCV motor drive that simplifies the process configuring, tuning and testing the motor drive

SENSITRON SEMICONDUCTOR

TECHNICAL DATA SHEET 5128, REV C.1

©2012 Sensitron Semiconductor 221 West Industry Court Deer Park, NY 11729

(631) 586 7600, FAX 631 242 9798 www.sensitron.com [email protected] Page 1

SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

CONFIGURABLE DIGITAL MOTOR DRIVE MODULE 100V/80A, 250V/60A, 600V/50A, 1200V/40A

FEATURES:

Fully integrated 3-Phase brushless

DC motor control subsystem

includes power stage, non-isolated

driver stage, and controller stage

Programmable Sinusoidal Sensorless

or Hall Sensor Speed Control

FOC with space vector PWM

Closed-loop current control.

Closed-loop speed control.

Low Rdson MOSFETs rated 100V,

250V.

Low Vce saturation IGBT’s rated

600V, 1200V

Speed greater than 70,000 RPM for

a 4 pole motor

Re-configurable firmware

Programmable PWM 6-25Khz

Isolated RS232 interface provides

Feedback (temperature, current,

voltage, speed, Status and Faults)

Smart gate drivers with de-sat

protection

Boot-strap powered high sided gate

driver

DC bus voltage sensor

Package size: 3.59" x 1.55" x 0.80"

Total Weight 5.0 OZ.

PROTECTION:

Over-current shutdown

Over-voltage shutdown

Under-voltage shutdown

Critical over-voltage detection

Startup phase loss detection

Zero speed detection

Over-temperature shutdown

Case temperature feedback

RS232 Watchdog timeout

Hall feedback fault

E-STOP input fault

APPLICATIONS:

This product is intended to be used in high reliability military and industrial motor control applications.

The design can be used for pump, compressor and fan applications in the following markets:

Military Ground Vehicles

Industrial Equipment

Heavy Duty Vehicles

Air Handlers

Lifts





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

The information in this data sheet is for version 4.0 Firmware and 4.0 Configuration Utility

DESCRIPTION:

Sensitron’s Digital Motor Drive series, SMCV family, is designed for high performance and high

reliability motor control applications that require compact packaging. The motor drive is composed of a

3-phase power inverter, a motor controller, and the communications processor as shown in Figure 1.

The motor control operates independantly of the communications processor using FOC and SVM

hardware to perform its functions. There are over one hundred tunable configuration parameters, the

flexibility of this design allows for use of a single device/part number for multiple motor applications

with few hardware changes. Sensitron provides an SMCV Configuration Utility for updates and changes.

The motor drive configuration is stored in non-volatile memory which is written via the isolated RS232

communications port. The communcations processor can be used to change the speed or monitor any

number of motor control variables without compromising the FOC/SVM control operations. The

processor performs motor control start/stop sequencing, status reporting, I/O monitoring, and motor

control application configuration data download. The device can be configured to run using an analog or

digital speed setting. The motor drive may be configured in either sensorless speed loop mode or Hall

startup speed loop mode. A variety of discrete and analog I/O configurations may also be utilized. The

torque loop and speed loop both use P+I (proportional plus integral) loop compensators. The P gains

and I gains are configurable. These allow adjusting motor control performance for stability and

bandwidth. The 3-phase power inverter converts the SVM PWM digital signals to appropriate voltage

transistor gate drive signals. No extra power supplies are required for the high side gate drivers. Pre-

charge of the high side boot strap power supplies is performed automatically by the motor controller.

Phase current sensing and VDC bus voltage sensing are included in this design. Space vector

modulation (SVM) and field oriented control (FOC) provide for efficient use of the DC bus supply voltage

as well as smooth torque generation in the motor.

P+I

P+I

AMP

A/D

IA,B,C

I

Vd,q

Idcmd

FOC

|Vdq|

P+I

IDC

Speedest

+5V_Iso

GND_Iso

RS232-In

RS232-Out

+3.3V +15VDGnd

+VDC

PH A

PH B

PH C

VDC_RTN

Motor ControlComm

Id,q

A/D

OverVoltage

Dig_In2(HA)

Dig_In3(HB)

R/S(E-STOP)

HC

Analog1

Analog2

A/D

A/D

AGnd

3.3V

reset

Figure 1: Block Diagram





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

CONFIGURATION UTILITY SOFTWARE:

Configuration software is provided with the SMCV motor drive that simplifies the process

configuring, tuning and testing the motor drive application. The Sensitron Configuration Utility operates

on any Windows XP or Win7 based PC. This software is a graphical user interface (GUI) that is

composed of multiple control panels: Drive Configuration, Motor Control, I/O Configuration, Current Loop Tuning, Speed Loop Tuning, Motor Commutation Source, Data Logger, etc. as seen in Figure 2

Configuration Utility. Additional detailed information is available for this software package. Key panels are

described below.

Drive Configuration panel: used to compute the setup parameters for the motor drive based on

motor drive application load, motor, and loop performance. The current and speed loops can be tuned

based on the motor parameters, and operating conditions. The I/O configuration is used to configure

the motor command settings for digital or analog operation. The GUI generates, downloads, and stores

in non-volatile memory, the register data set required by the SMCV device through the RS232 interface.

Motor Control panel: provided for quick evaluation of motor drive operation. Start, stop, set

speed, and read status, functions are provided. The Motor Control panel emulates a user embedded

system. Motor control is done through the RS232 interface or the Analog or Digital input pins. The list

below shows the motor input parameters and typical Application parameters:

Motor Input Parameters

Motor rpm

RMS rated current

number of poles

motor inertia (including load)

phase stator resistance

phase stator Inductances: Lq and Ld

Torque constant Kt

Back emf constant Ke.

Application Information

Maximum rpm

Minimum rpm

Nominal DC bus voltage

Current Limits (Start, motoring, Regeneration)

Protection Levels – Speed, Phase Loss

DC Bus Under Voltage,

DC Bus Over Voltage

Over-temperature protection

Over-current protection

Current loop Bandwidth

Speed loop Bandwidth

Please contact the factory for more information on this software.

Figure 2 Configuration Utility





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Characteristic

Maximum

Operating Motor

DC Bus Supply

Voltage

Maximum DC Bus

Supply Voltage

Current Rating

SMCV6G040-120-1 700V 1200V See Table 2: Ordering

Information SMCV6G050-060-1 350V 600V

SMCV6M060-025-1 150V 250V

SMCV6M080-010-1 60V 100V

Storage Temperature -55oC to +150oC

Operating Base Plate Temperature -55oC to +85oC

Operating Ambient Temperature -55oC to +105oC

Operating Junction Temperature 150oC

IGBT Thermal Resistance RthjC , SMCV6GXXX-XXX-1X

Diode Thermal Resistance RthjC , SMCV6GXXX-XXX-1X

MOSFET Thermal Resistance RthjC , SMCV6M060-025-1X

MOSFET Thermal Resistance RthjC , SMCV6M080-010-1X

0.5 oC/W

0.80 oC/W

0.45 oC/W

0.55 oC/W

Pin-to-Case Voltage Isolation, at room conditions 1500V DC

Lead Soldering Temperature, 10 seconds maximum, 0.125” from case 300°C

Weight 5 oz

Part Number

Recommended

Operating DC

Bus Supply

Voltage

Absolute

Peak

DC Bus

Voltage

Recommended

RMS Output

Motor Current

Peak Over

Current

Shutdown

Protection

Design

Peak

Output

Current

SMCV6G040-120-1 600 1200 20 39 42

SMCV6G050-060-1 300 600 25 39 80

SMCV6M060-025-1 120 250 25 39 80

SMCV6M080-010-1 50 100* 25 39 80

High Current Applications

SMCV6G050-060-1A 300 600 50 74 80

SMCV6M060-025-1A 120 250 50 74 80

SMCV6M080-010-1A 50 100* 50 74 80

*suitable for 28VDC Bus Applications

Table 1: ABSOLUTE MAXIMUM RATINGS

Table 2: Ordering Information





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

PARAMETER SYMBOL CONDITIONS (1)

MIN. TYP MAX UNITS

Power Output Section (2)

Collector-to-Emitter Saturation Voltage VCEsat

SMCV6G050-060-1 IC=30A

IC=50A

IC=70A

SMCV6G040-120-1 IC=20A

IC=40A

1.20 1.50 1.70 1.8 1.9

1.40 1.70 1.9 2.0 2.2

V

Diode Forward Voltage

SMCV6G050-060-1 IC=30A

IC=70A

SMCV6G040-120-1 IC=40A

1.20

1.60

1.8

1.40

1.90

2.20

V

Drain-to-Source On Resistance, ID=50A

SMCV6M060-025-1

SMCV6M080-010-1

0.015

0.005

0.018

0.006

Source-to-Drain Voltage,

SMCV6M060-025-1 IS= 60A

SMCV6M080-010-1 IS= 80A

0.9

0.8

1.1

1.0

V

DC Bus Leakage Current

SMCV6G040-120-1 at 960V

SMCV6G050-060-1 at 480V

SMCV6G060-025-1 at 200V

SMCV6M080-010-1 at 80V

2

mA

Power Supplies

Input Supply Current

Icc at +15V supply +/-10%

Icc at +5V supply +/- 5%

Icc at +3.3V supply +/- 5%

30

30

100

mA

Over Current limit

Peak Current Shutdown for SMCV6XXXX-XXX-1 35 39 44 A

Peak Current Shutdown for SMCV6XXXX-XXX-1A. 66 74 83 A

Analog Inputs 0 1.9 V

Digital Inputs High Level Input Voltage Threshold

Low Level Input Voltage Threshold

2.0

-

-

-

3.60

0.80

V

V

Digital Outputs IOH > 24mA at VOH=2.4V

IOL > 18mA at VOL = 0.4V. 0 3.6 V

RS232 Input

RS232-In -25 25 V

RS232-Out -13.2 13.2 V

Output PWM Frequency

PWM Frequency fS, user configurable 6 10 25 kHz

NOTES:

1-All parameters specified for Ta = 25oC, Vcc = +15Vdc, and all Phase Outputs

unloaded. All negative currents shown are sourced flow from the Pin under test.

2-Pulse Test: Pulse Width < 300 µSec, Duty Cycle < 2%.

Table 3 Controller Parameters





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Command Response Time

The propagation delay from the issued command to the response from the controller is command

defendant. The following formula can be used to determine the time: The large portion of the time to

start/stop is just the RS232 transfer.

Time = 57600 bits/sec * 10bits/byte * N bytes/message + "a few microseconds"

Motor Speed Range:

The maximum operating speed of the motor is a function of the PWM frequency and number of motor

poles. This is calculated by the Configuration Manager Software. Examples are indicated in the table

below. The minimum speed is 10% of the Max RPM.

Table 4: Maximum Speeds

Motor Poles PWM kHz Max RPM

4 10 37K

20 74K

6 10 25K

20 50K

8 10 19K

20 37K

10 10 15K

20 30K

Table 5 : PIN DEFINITION

PIN

NUMBER NAME DESCRIPTION

1 +5V Iso

Input

The +5V power supply connection for the RS232 line driver/receiver, and

magnetic isolator. The return of +5V is Pin 4.

2 RS232-Out RS232 driver output

3 RS232-In RS232 receiver input

4 Gnd_Iso Signal and power return for +5V Iso, RS232 In, RS232 Out

5 +15V Input

The +15V power supply connection for the controller. Under-voltage

lockout keeps all outputs off for Vcc below 9 to 10.5V. The return of

+15V is Pin 6.

6 DGnd Return for +15V and +3.3V supplies

Signal Ground for all digital input/output signals

7 +3.3V Input The +3.3V power supply connection for the controller. Return of+3.3V is

Pin 6. UV lockout (Reset active) at 1.5V to 1.72V with 40mV hysteresis.

8 Dig_In2(HA)

Digital input with TTL logic levels. User configurable as discrete speed

control, Hall input ‘A’, or as Dig_Out2 control. Internal pull up to 3.3V by

10kOhms. VINmax < 3.6V.

9 Dig_In3(HB)

Digital input with TTL logic levels. User configurable as discrete speed

control, Hall input ‘B’, or as Dig_Out2 control. Internal pull up to 3.3V by

10kOhms. VINmax < 3.6V.

10 HC Digital input with TTL logic levels. Hall input ‘C’. Internal pull up to 3.3V

by 10kOhms. VINmax < 3.6V.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

11 AGnd

Analog ground. Ground reference for Analog1 and Analog2 inputs. The

power ground (DC bus return) is internally connected to analog ground.

Do not connect AGnd externally to DC bus return.

12 Analog1 Analog Input, Value may be read via the RS232 port. Internal pull down

to AGnd by 10kOhms. Cin < 4pF. VOFFSETmax = 26mV.

13 Analog2

Analog Input, Value may be read via the RS232 port. User configurable

as speed command. 0V = Max negative speed, 1.2V = max positive

speed, 0.6V = zero speed. Internal pull down to AGnd by 10kOhms.

Cin < 4pF, VOFFSETmax = 26mV.

14 Reset

Digital input/output with TTL logic levels and open drain output. This is a

controller reset input. When active the controller is disabled and

uninitialized. Initialization begins when reset transitions to logic high.

Internally pulled high to 3.3V by 5kOhms.

15 R/S

(E-STOP)

Digital input with TTL logic levels. User configurable as Run/Stop

control, E-STOP fault control, or unused. Input polarity is configurable.

Internal pull-down to DGnd by 10kOhms.

16 Reserved For Future Use. Keep floating. Internal pull up to 3.3V by 10kOhms

17 Dout1

DIG-OUT-FAULT. Combines all digital faults as described in appendix.

User configurable for active high or active low. Internal pull down to

DGnd by 10K ohms

18 Reserved For Future Use. Keep floating. Internal pull up to 3.3V by 10K ohms

19 Reserved For Future Use. Keep floating. Internal pull up to 3.3V by 10K ohms

20 Reserved For Future Use. Keep floating.

21 Dout2

Digital output with 3.3V CMOS logic levels. User configurable to be

controlled by: digital inputs, RS232 command, or DC bus precharge

signal. Output polarity is configurable. Internal pull down to DGnd by

10kOhms.




25, 26 PH A Output

(5)

Phase A Motor terminals. Both terminals shall be used.

27, 28 PH B

Output(5)

Phase B Motor terminals. Both terminals shall be used.

29, 30 PH C

Output(5)

Phase C Motor terminals. Both terminals shall be used.

31, 32 +VDC

Return(4)

Motor supply DC bus return.

This pin is internally connected to Agnd and Dgnd.

33, 34 +VDC(4)

These pins are the motor input power supply positive terminal. Both Pins

shall be used.

Case NC Electrically isolated (4) DC BUS POSITVE AND RETURN WIRES should be twisted together. (5) MOTOR PHASE WIRES A,B,C should be twisted together.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Figure 3: Mechanical Outline- All dimensions are in inches, tolerance is +/- 0.010”

Figure 4: Package Pin Locations-All dimensions are in inches, tolerance is +/-

0.005” except otherwise specified

SMC6GXXX-XXX-1





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Application Setup

Setting up a motor controller to operate efficiently requires information about the motor, system

and controller. The SMCV device utilizes a motor control algorithm to achieve performance goals.

This section reviews these parameters and details of the SMCV operation.

1. MEASURING THE MOTOR PARAMETERS

Each parameter is scaled based on the maximum speed, current, voltage, etc. The Configuration

Utility is supplied so the designer can enter motor, hardware and application specific information in

standard engineering units. Default parameter values are specific to an in house test motor and shall

be changed to fit the actual application.

To begin configuring the target motor, its specifications need to be entered into the appropriate

sections of the Configuration Utility. Often, some of these values can be found on the motor

nameplate and/or the motor datasheet. However, datasheets are not always clear about the motor

specifications. The user should pay close attention to units and other variations such as line-line vs.

line-neutral measurements and peak-peak vs. rms values.

Note: The datasheet motor characteristics are specified for Δ-connected motors are different than for

Y-connected motors. The values to Configuration Utility are based on a Y connected motor. However,

if the parameters are measured, using the procedures that follows, then the correct value will be

found regardless of motor connection.

Most motor characteristics can also be easily measured, except for three values. The rated current,

rated speed, and maximum speed. These should be obtained from the motor manufacturer if they are

not available in the datasheet or nameplate. The maximum speed entered into the Configuration

Utility should be based on the application requirements and be less than or equal to the

manufacturer’s stated maximum speed.

Additional values to input into the Configuration Utility include: minimum running speed. The

minimum running speed is generally set to 5 – 10% of the rated motor speed for initial testing though

it may be changed for application specific requirements. The remainder of the motor characteristics

can be measured and calculated using an Ohmmeter, LCR meter and oscilloscope:

1.1 Motor Stator Resistance— Attach the Ohmmeter to two phases of the motor and record the

resistance. Measure all three combinations of phases to check the balance of the phases (they

should all be nearly the same). Average the three resistance values to the line to line resistance

needed by the Configuration Utility.

1.2 Motor Ld & Lq Inductance—Attach the LCR meter to two phases of the motor. Change the

position of the rotor, seeking out the maximum and minimum value of the inductance. (The

rotor should be stationary and the inductance value stable to get a good measurement.)

Repeat for the other combinations of phases. Average the maximum values from each

phase combination to calculate the value of Lq. Repeat this calculation with the minimum

values to get the value of Ld.

Note: The inductance does not vary with the rotor position for all motors. An interior permanent

magnet (IPM) motor has Lq > Ld, and can generally produce a larger torque per Amp. In a surface

permanent magnet (SPM) motor, Ld = Lq. In this case, enter the same number for both.

1.3 Motor poles number (P) and Back EMF Constant (Ke)— Connect two phases of the

motor to an oscilloscope or an rms meter. Turn the motor at a constant speed and record





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

the line to line rms voltage and the frequency (in Hz), then perform the following

calculations :

rpm = (frequency *120/poles )

Ke = 1000 * (rms line to line Voltage) / rpm V/krpm

The final units of Ke are Vrms, line-line /krpm. For accuracy, repeat this measurement at several

speeds for each phase pair, and average the Ke calculated from each waveform.

1.4 Motor Torque Constant (Kt)—If this is not provided by the motor manufacturer, it can be

estimated from Ke. If Ld = Lq, indicating an SPM, then

Kt = ( 9 * Ke ) / ( 100 *3.14*√3)

where the units of Ke are Vrms line-neutral /krpm and the units of Kt are Nm/Arms. If Lq > Ld

(for an IPM), then the torque constant is current dependent. To estimate, increase the value

calculated above by 5%.

1.5 Motor Total Shaft Inertia—This parameter is application dependent. The inertia is used to

estimate the motor speed during the open-loop period of the start-up sequence as well as

auto-tune the speed loop P+I for a given bandwidth. In practice, this parameter does not

need to be extremely accurate. During application testing, this can be varied to optimize the

start-up performance of the motor.

The SMCV Series sensorless motor controller can tolerate +/-10% motor parameter error without

noticeable performance degradation. An increased parameter mismatch between the motor and

controller will result in a degradation of torque per Amp capability. The degree of degradation is

dependent on the operating conditions (speed, load) and motor characteristics.

2.0 Power Supply Connections

The SMCV has an isolated communication input powered by the 5 VDC input connected to D_Gnd The

ISO_GND should be kept common only to the communications interface ground. The Power for the

3.3 and 15 VDC is for internal motor control and gate drive circuitry. The power ground (DC bus

return) is internally connected to analog ground and Dig GND. Do not connect D_nd or AGnd

externally to DC bus return as this can cause ground loops.

2.0.1 Communications Connection

The device is programed via the RS232 pins. The appropriate termination should be included on the

users design. This is an isolated input from the main controller circuitry that connects to internal

processor to interface with the motor control circuitry.

2.0.2 Over current protection

The over current protection circuit prevents damage to the motor and inverter by shutting down the

PWM switching outputs of the control IC when the current across the DC link shunt resistor reaches

the overcurrent threshold level. The over-current limit is internally set to 39A for SMCV6XXXX-XXX-1,

and 74A for SMCV6XXXX-XXX-1A.

2.1 Start up

Sensorless motor control is performed without commutation sensors. Instead, a flux estimator

calculates rotor flux position by integrating motor Back Electro Motive Force (BEMF). The flux

estimator begins to fail at low speeds (typically less than 5% rated rpm) because motor BEMF

becomes too low to measure accurately. Because of this, the flux estimator cannot be used at startup.

A startup sequence is implemented to provide stable motor start for sensorless operation. Startup

control components are provided for drive startup and can be configured based on application





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

requirements using the Configuration Utility. Three unique operating states are used: Parking, Open-

loop, or Closed-loop. These three states are illustrated in Figure 5 and described below.

The controller start up technique and parameters are set in the Configuration Utility. Optimum

alignment of the rotor with the magnetic flux is essential to maximize performance. Sensorless start

up can be accomplished by a “Parking” technique outlined below or by controlling the open loop

acceleration rate. When using hall sensors, alignment is achieved by hall devices for startup. This is

also programmable. As the motor reaches the configured switchover speed, closed loop operation

begins where the speed estimator and speed command are used to control motor speed. When using

motors with a Hall interface, the motor controller immediately starts closed loop operation using Hall

signals to provide speed feedback rather than the speed estimator. When the motor speed reaches

the sensorless switchover speed, sensorless speed control mode is entered automatically. The speed

feedback automatically switches back to Hall speed when the motor speed drops below the sensorless

switchover speed. Figure 5: Startup Modes & Timing shows the technique and Figure 8 Phase Current

During Start Up displays the typical start up current waveform from a motor phase. The SMCV

controller requires a minimum motor speed to reliably perform startup and maintain closed-loop

speed control. If there are start-up problems, increasing minimum motor speed may help.

2.1.1 Parking

The controller has an option of using a parking technique that uses a DC current injected into the

motor during the to align the rotor to the magnetic field. The parking time sets the duration of the

parking stage of the start-up sequence. It defines the current in terms of the peak rated motor

current. The actual parking current in a particular phase will also depend on the parking angle. During

parking, two parking angles are used which are defined relative to the motor U-phase. The drive will

first use 120° for 25% of the total parking duration. Thereafter, the parking angle will switch to 90°

to complete the parking duration.

To improve Sensorless motor drive start-up performance, the motor torque must be large enough to

overcome drive stiction and friction. Load characteristics can cause the motor shaft stiction and

friction to vary or increase significantly. An example of this is the stiction of a pump at cold

temperature is higher. Motor shafts can even be partially jammed. This condition requires tuning of

open-loop startup parameters and parking current to avoid a startup problem. If the startup failure

persists, it can be detected during mode transition (open-loop to closed-loop). The startup failure is

detected in the Sensorless FOC block that provides a start fail detection signal so that appropriate

action can be taken by the master motor control sequencer such as startup retry, upon drive startup

failure/detection. For ‘start fail’ to be indicated, the ‘Start OK Delay’ must have a value other than

zero. If ‘Start OK Delay’ is zero, the ‘start fail’ status flag never goes active.

When the drive controller is in the startup mode, it enters a quasi-open-loop mode. The rotor angle is

determined in an open-loop fashion, unlike the traditional open-loop control which does not use

feedback signals, in the quasi open-loop control mode, current regulation is maintained. This limits

the maximum current capability imposed by the power stage. If there is a large mismatch between

external load characteristics and the internal motor-load model, start-up performance will suffer. Thus,

minor tuning may be required to achieve optimum (max torque per ampere) startup performance.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Region 1: Parking

The rotor angle at start up is forced by applying a DC parking current vector to the motor winding.

The rotor will pull towards the current vector and form alignment as shown in Figure 6 a and b. It

may be possible that the unaligned rotor’s flux is 180 degrees out of phase with the applied parking

current vector (Figurec).

The parking current is applied in 2 steps as shown in Figure 7. First, a current vector is applied with

configurable amplitude and angle. Second, (occurs at time 25% of “Parking Time”), a second current

vector of the equal amplitude but different angle is applied. This is to ensure flux alignment if the

rotor flux is at 300° (180° from the park angle 120°). The rotor may be either at 120° or 300°. The

second step will align at 90° no matter which angle the first step stopped at. At completion of the

second step, the rotor flux will be at 90°. Figure6cError! Reference source not found. illustrates the measured current.

The effect is pulling rotor to the prescribed current vector position using the 2-step parking technique.

Figure Shows the phase current and flux vector angle used in the two steps.

Figure 5: Startup Modes &

Timing

Figure 6: Flux and Current

Displacement





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Region 2: Open-loop Angle Estimation

Parking can be eliminated in most applications by controlling the open loop acceleration.

The ‘Startup Accel’ parameter in the Configuration Utility is used to control this open loop

acceleration. The slower the accel, the more reliable the startup will be but startup duration will

be longer. The open loop phase current during acceleration is shown in Figure .

Region 3: Closed-loop Angle Estimation

As the motor speed increases during start-up, the motor voltage also increases. This provides

information for rotor angle estimation by extracting the motor voltage (using the PWM modulation,

motor parameters, and DC bus voltage). The drive will enter Closed-loop control mode as shown in

Figure . This crossover is controlled in the Configuration Manager using the ‘Speed Minimum’

parameter. Crossover is at 95% of ‘Speed Minimum’. Closed loop phase current is shown in Figure

2.1.2 Hall Interface

The controller can be configured for hall interface via the Configuration Utility. This provides positional

information required for startup. It is then programmable for switch over speeds to sensorless

operation.

3.0 Optimizing Running Parameters

Included with the descriptions will be procedures and suggestions on how to tune and optimize the

control parameters for your application.

Figure 7: Parking Stage

Figure 8 Phase Current During

Start Up





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

3.1 Control Loop Structure & Tuning

There are 3 main control loops associated with SMCV Series; the current control loop, speed

control loop and field-weakening control loop. The following summarizes the parameter

dependence of each control loop.

3.1.1 Speed Controller

The speed loop is the outer control loop, determining the torque required based on the error

between the reference speed and the speed feedback. A P+I controller allows tuning the speed loop

bandwidth and step response. Torque required by the speed loop is used as a command to the inner

current controller.

3.1.2 Current Controller

The current controller utilizes a field-oriented, synchronously rotating d-q reference frame. Field-

orientation provides significant simplification to the control dynamics of the current loop. The ‘d’ axis

of the rotating frame is maintained in alignment with the rotor flux direction. With this alignment,

current controlled in the ‘q’ axis is directly proportional to motor torque, and current controlled in the

‘d’ axis is proportional to field weakening flux. The current control loop is depicted in Figure . The

motor can be represented by a first order lag with a time constant T = L/R. This time constant is a

function of the motor inductance and equivalent resistance (R = cable + winding). For a surface

mounted permanent magnet motor, the Ld and Lq inductances are almost equal. In the case of an

interior permanent magnet (IPM) motor, Lq inductance is normally higher than Ld inductance.

The field weakening current vector opposes the motor flux. This allows the controller to maintain

speed when the voltage is not sufficient. This comes at the expense of reduced torque. This

parameter can be set in the Configuration Manager. Continuous operation in this mode can damage

the motor.

In the current loop diagram, Figure 9 , the forward gain, ‘A’, models the conversion of the digital

controller output to voltage (including inverter gain) and the feedback gain, ‘B’, models the

transformation of the current feedback (Amps) to internal digital counts via an A/D converter. The

calculation of the controller gains (Kx Ireg, KpIreg_D) is done by using a pole-zero cancellation

technique, where the current controller is rearranged to give transfer function block C(S). Setting

KpIreg_D/KxIreg of C(S) equal to the time constant of the motor (T), the controller zero will cancel

the motor pole leaving only the integrator. With the motor pole cancelled, the model in Figure 3 is

now realized. Bandwidth is now directly controlled by KxIreg.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Based on the pole-zero cancellation technique, the controller gains are evaluated by:

Where A and B are the internal digital controller scaling factors .

3.1.3 Field Weakening A field weakening algorithm may be configured to allow higher motor speed than a given VDC bus

voltage would provide for. This algorithm allows for the use of a high torque motor in a high speed

application even when bus voltage is limited. The algorithm sacrifices torque for speed by weakening

the rotor magnetic field. The motor speed constant, Kv, is reduced when the rotor field is reduced.

Because Vmotor = Kv * Speed, less motor voltage is required to achieve a particular speed. Because

the motor torque constant essentially equals the speed constant (Kv = Kt) the maximum torque

available must be sacrificed.

3.1.4 Speed Control Operating speeds range from max speed, as listed in Table 4, to 10% of max in sensorless mode, or

to 0 RPM in Hall startup mode. The Maximum speed is set in the Configuration Utility.

Figure 9: Current Loop Pole Zero Cancellation

Figure 3: Simplified Current Control Dynamics Due to Pole Zero





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Motor drive control source and monitoring outputs are configurable. The speed command can be

utilized one of three ways; via the RS232 commands, set by up to using the digital discrete input logic

on the Dig_In pins or an analog voltage. Utilization of digital discrete inputs as the source up to four

preset speeds may be selected. RUN/STOP control of the motor drive may be selected to come from

the RS232 port or from the R/S discrete input. The polarity of the R/S input is configurable (active

high or active low). When the R/S discrete is not used for the RUN/STOP function, it becomes an

emergency stop, E-STOP, signal. E-STOP must be inactive for the motor drive to run. When active,

an E-STOP fault is generated. The polarity of this E-STOP input is configurable. Acceleration and

deceleration limits are configurable. Torque limits are also configurable for both motoring and

regeneration operating modes of the motor. An isolation barrier is recommended for all digital inputs.

3.1.4 Faults When faults are detected, they are available in device memory and on the Dig_Out 1 pin. Phase loss

fault, zero speed fault, communications timeout fault, and over temperature fault, are all configurable.

Detection of phase loss is performed at startup and, when configured, will fault if the test current

error is greater than the configured phase loss threshold. Detection of near zero speed will generate

a fault if configured. This is useful in sensorless mode as an indication that good motor control is no

longer probable. Communications timeout fault occurs, when configured, when no valid RS232

message has been received after a time. Repetitive messaging is required to keep the fault from

occurring. This fault can be used as a safety measure to stop the drive if RS232 communications is

disrupted and RS232 run/stop is the configured way to stop the drive. The Dout1 discrete output

goes active with any detected motor drive fault. The polarity of this output may be selected. An

isolation barrier is recommended for all digital outputs.

3.1.5 Status The controller provides status registers and a status flags for the start up sequence. These registers

provide the status of ; 2 phase PWM, FOC, PWM, Closed Loop, Parking, Startup Failure and Start up

Success. An isolation barrier is recommended for all digital outputs.

3.1.6 Precharge Bypass The Dout2 discrete output may be configured to be controlled from one of five sources. The RS232

port, the discrete Dig_In2, the discrete Dig_In3, both Dig_In2 and Dig_In3, or the precharge bypass

algorithm output may be used to control the Dout2 input pin. With the RS232 source, Dout2 may

simply be set active or inactive. With the Dig_In2 or Dig_In3 as the source, the same is true. With

both Dig_in2 and Dig_In3, the ‘OR’ of the two sets Dout2 active. With precharge bypass as the

control source, the output is inactive at power on and goes active only when the VDC bus voltage is at

a constant voltage (not ramping up). The polarity of the Dout2 discrete may also be selected. An

isolation barrier is recommended for all digital outputs.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

3.1.7 Space Vector PWM Transfer Characteristics

There are eight possible switching states in a three-phase two-level inverter with dc link

configuration that generate the output voltage of the inverter. Each state generates a voltage Space

Vector with; V1 to V6 active vectors, V0 and V7 zero voltage vectors, in the Space Vector plane

(Figure). The magnitude of each active vector is 2/3 Vdc (dc bus voltage).

The modulation inputs U_Alpha and U_Beta are related to the modulation depth by:

The maximum achievable modulation in the linear operation is when modulation (Umag) reaches

100%. In this condition the voltage vector touches the unit circle (see Figure 4). The corresponding

inverter line-to-line rms voltage is Vdc / sqrt ( 2 ) ( Vdc – dc bus voltage ). The PWM inverter should

be operated in the linear range to minimize current harmonics. The linear modulation range where

Umag < 100%, the theoretical relationship between inverter output voltage (Vllrms) and modulation

depth (Umag) is given by:

Note: In practice, when Umag = 100%, the inverter output voltage will be slightly lower than the

theoretical value, Vdc / sqrt ( 2 ), due to inverter losses, switching devices voltage drop and inverter

blanking time insertion.

When Umag > 100%, over modulation occurs. This condition is when the voltage vector in Figure 4

increases beyond the hexagon boundary. The Space Vector PWM algorithm will rescale the magnitude

of the voltage vector to fit within the Hexagon limit, thus preventing over modulation. The voltage

vector is restricted within the Hexagon; but the phase angle (θ) is always preserved. The PWM

modulator reduces transfer gain and becomes non-linear in the over modulation region (Figure 4).

Figure11: Space Vector Diagram Figure 4: Voltage Vector Rescaling





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

4.0 Three-Phase and Two-Phase Modulation

This device also provides algorithm for three-phase and two-phase Space Vector PWM. The Volt-sec

generated by the two PWM schemes are the same modulation depth input. Using a two-phase

modulation the switching instances per PWM cycle is reduced as shown in Figure , The total inverter

loss is reduced and the loss reduction is significant at higher switching frequencies (>10KHz). Figure

shows the switching pattern for one PWM cycle when the voltage vector is inside sector 1.

The algorithm transitions three-phase to two-phase SVPWM when motor speed exceeds a speed

threshold. Three-phase SVPWM will resume when motor speed drops below speed threshold.

Figure 13: Three-Phase and Two-Phase





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

IGBT and Diode Switching Characteristics and Waveforms

(for SMCV6G050-060-1)

1- Test Conditions: VCE=280V, IC= 25A

Test Results: Rise time tr= 66 nsec, Fall time tf= 52 nsec

Current Scale is 20A/div, Voltage Scale is 50V/div, Power Loss Scale is 2000Watt/div

Turn On Switching Loss = 0.47 mJ, Turn Off Switching Loss = 0.8 mJ

Fig. 14: IGBT Switching Performance





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

IGBT and Diode Switching Characteristics and Waveforms

(for SMCV6G040-120-1)

g.1- Test Conditions: VCE=500V, IC= 30A

Test Results: Rise time tr= 50 nsec, Fall time tf= 150 nsec

Current Scale is 10A/div, Voltage Scale is 100V/div, Power Loss Scale is 5000Watt/div

Turn On Switching Loss = 2.24 mJ, Turn Off Switching Loss = 2.56 mJ

VCE

IC

PL

Figure 15: Switching Waveforms at IC = 30A

Diode Reverse Recovery Current





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

5.0 Controller Power Loss Calculation

The Power Loss is calculated in half an electrical cycle for the high side IGBT/MOSFET and the low side diode. The same values apply to all 6 IGBTs/MOSFETs and 6 diodes. The following data is specified for each module at rated test condition and TC=25

oC.

Controller Part Number

Power Loss Test Conditions

IGBT VCE.sat

MOSFET VDS

Diode VF

EIGBT

or

MOSFET

EDiode.off IGBT/ MOSFET

RthjC oC/W

Diode RthjC oC/W

Bus

Voltage Current

SMCV6G040-120-1 600V 40 2.2 2.2 7.68 1.4 0.5 0.8

SMCV6G050-060-1 300V 50 1.7 1.8 2.7 0.5 0.5 0.8

SMCV6M060-025-1 150V 60 1.1 1.1 0.66 0.2 0.45 -

SMCV6M080-010-1 50V 80 0.48 1 0.34 0.15 0.55 -

The motor max speed that can be supported by a DC bus voltage, VBus, and maximum modulation is

Where ke is the motor back emf constant, Line-to-Line rms volt/rpm The controller modulation index is a function of the motor speed, DC bus voltage, and motor back emf constant. Notice that the maximum modulation index is about 95%.

The motor average current in one-half an electrical cycle is

The motor rms current is

Where Iq, and Id are q and d axis motor current. These values can be read from the motor control window. Using the above operating conditions, the IGBT/MOSFET conduction and switching losses can be calculated at any operating conditions.

Table 6 Power Loss





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

For controllers with IGBT power stage, Part Numbers SMCV6GXXX-XXX

Total IGBT Power Loss, P.IGBT

Total Diode Power Loss, P.Diode

For controllers with MOSFET power stage, Part Numbers SMCV6MXXX-XXX

Total MOSFET Power Loss, P.MOSFET Since the diode is intrinsic in the MOSFT transistor,

The motor input current power factor, pf, can be calculated from the motor parameters and the load conditions.

where





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

5.1 Other Power Losses in Current Sense Resistance and PCB,

About 6.2 m ohm on the PCB and current sense resistor, Rshunt

5.2 Module Total Power Loss The following power loss calculation is done for an IGBT power stage, similar calculation can be done using the MOSFET power stage.

6.0 Junction Temperature Rise Using IGBT (RthJC) and Diode (RthJCD) Junction to Case Thermal Resistance From the SMCV Module Data

During Slow Motor Rotation Where Motor Electrical Frequency is Less than 5Hz, the Concern Will be About Peak Junction Temperature Due to Peak Power Loss Peak Power Dissipation is 3.14* Average Power Dissipation for Any IGBT or Diode





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

6.0 DC Bus Filtering

Large transients that occur in power disruption and sudden changes in speed must be

accounted for. +VDC bus should be bypassed to +VDC Rtn with adequately voltage-rated,

low ESR capacitor. Ensure that adequate filtering is provided for your system as describes

below.

To minimize the circuit parasitic inductance effect on the power stage, the layout of Figure is

suggested. C1 and C2 are 0.5uF ceramic capacitors. Also, a bulk polarized capacitor C3 or a film

capacitor, with adequately voltage-rated and low ESR, should be connected across the DC bus. The

capacitor value depends on the ESR of the capacitor and the allowable DC bus voltage repel.

The DC bus bulk capacitor value depends on many factors: Capacitor type: If low ESR film capacitor is used, as UP36BN0070 rated at 1200V/8A, then 14-28uF

will be fine. Allowable DC bus voltage ripple: This is a supply constraint. Lower DC bus ripple will require larger

DC bus capacitor bank. The nature of the DC bus. Is it rectified AC or battery. The motor load and speed, the DC bus current ripple is directly proportional to motor load and speed. As an example: at 600V bus, 40A motor current. The maximum DC bus current corresponds to 50%

motor speed, 50% PWM duty cycle. The DC bus rms ripple current is 0.5Im = 20A rms. Therefore, 3

capacitors of UP36BN0070 will be fine.

Another limiter in DC bus capacitor filter size is the voltage rise due to motor inductive energy when

the motor is stopped.

dV Vdc2 Lm

CdcIm1

2 Vdc

Where dv is the DC bus voltage rise.

Vdc is operating bus voltage,

Lm is the motor line-to-line inductance,

Im1 is the sine peak motor current. It is recommended to design for worst case current, which is the

controller over-current shutdown current

dV + Vdc should be less than the controller breakdown voltage.

Figure 16: DC Bus Bypass Capacitors





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

8.0 Cleaning Process:

Suggested precaution following cleaning procedure:

If the parts are to be cleaned in an aqueous based cleaning solution, it is recommended that the parts be

baked immediately after cleaning. This is to remove any moisture that may have permeated into the

device during the cleaning process. For aqueous based solutions, the recommended process is to bake

for at least 2 hours at 125oC.

Do not use solvents based cleaners.

9.0 Soldering Procedure:

Recommended soldering procedure

Signal pins 1-24: 210oC for 10 seconds max

Power pins 25-34: 260oC for 10 seconds max. Pre-warm module to 125 oC to aid in power pins soldering





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Appendix I – RS232 Protocol

1.0 SMCV COMMUNCATION PROTOCOL REVISION C 12/01/11

1.1 Introduction

The SMCV communication protocol consists of packets, frames, and messages. A packet consists of one physical

frame of the physical interface. A frame consists of multiple packets. The joined data bytes from these packets

define message type, application data payload, and error checking information (frame format and data accuracy). A

message consists of a transmitted ‘command’ frame, a received ‘acknowledge’ or ‘ack’ frame, and a received

‘response’ frame. The SMCV acts upon each received ‘command’ and replies with an ‘ack’ and ‘response’.

‘Commands’ may only be initiated by the host that is connected to the SMCV communications port. The SMCV

never sends unsolicited messages.

1.2 The RS232 Packet

The RS232 the packet contains one start bit, eight data bits, and one stop bit. Table 7 shows these packet bits in the

order they appear on the physical wires. The voltage levels shown in Figure 5 are the RS232 single ended voltage.

The data bits are transmitted least significant bit first. The physical interface is three wire for RS232 The SMCV

transmitter uses +/- 5V for signaling levels where -5V represents a logic ‘1’ and +5V represents a logic ‘0’. The

transmit line stays at logic ‘1’ (stop state) until a packet transmission begins with the ‘start’ bit (logic ‘0’). The

SMCV receiver is compliant with voltage levels as defined by the RS232/RS422/RS485 standards. The

transmit/receive baud rate is fixed at 57,600 bits per second. Each ten bit packet will transmit in 174 us. In SMCV

modules that offer CAN and RS422, the baud rate may be configured through the Configuration Utility Comm

Config Panel.

Table 7: SMCV RS232 Packet (example data hex ‘41’)

Start D0 D1 D2 D3 D4 D5 D6 D7 Stop

0 1 0 0 0 0 0 1 0 1

-5V

+5V

Figure 5: RS2323 Voltage Levels

1.3 The Frame

The SMCV frame is composed of multiple packets and contains message type, message data, frame checksum

(FCS), frame delimiters ( ‘SOF’ and ‘EOF’), and possibly special ‘ESC’ bytes. The data payload of the packets

contains these bytes. A frame always begins with the special byte ‘SOF’ (start of frame) and ends with the special

byte ‘EOF’ (end of frame) followed with the ‘FCS’ (checksum) byte. Table 8 diagrams a multibyte frame that

contains all zero’s as the data.

A special ‘ESC’ byte is defined to allow the use of these special bytes within the frame delimiters. This is the ‘ESC

method’. To include SOF, EOF, or ESC as data within the frame, first, the ESC byte is inserted ahead of the special

byte, and second, the special byte data is replaced with itself ‘XOR’d with 20h (in other words, bit 5 is inverted).

Table 9 diagrams an example of inserting 7E (the EOF byte) as data.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

The FCS byte is the last byte of the frame after the EOF is transmitted. The FCS is computed from the original

frame data (no extra ESC or ‘XOR’d data) and is the sum of all frame bytes between the SOF and EOF bytes.. Only

the bottom eight bits of this sum are used as the checksum. If the SMCV receives a frame with a bad FCS or

misplaced delimiters, the frame is ignored and no ‘ack’ or ‘response’ is sent.

The SOF byte is defined at 7E hex. The EOF byte is defined at 7E hex (same as SOF). The ESC byte is defined as

7D hex.

Table 8: SMCV Frame – Data all zeros

SOF Byte

0

Byte

1

Byte

…

Byte

n-1

Byte

n

EOF FCS

0x7E 00 00 00 00 00 0x7E 00

Table 9: SMCV Frame – Data all zeros with one 0x7E (EOF) as data

SOF Byte

0

Byte

1

Byte

0

Byte

…

Byte

n-1

Byte

n

EOF FCS

0x7E 00 0x7D 0x5E 00 00 00 0x7E 0x7E

A frame will always contain a ‘frame type’ or FTYPE byte. The value of this may be COM, ACK or MSG (0x00,

0x01 or 0x02, respectively).

When FTYPE = ACK then no bytes other than EOF and FCS appear in the frame (see Table 10). The FCS in this

case, always equals ACK (0x01).

Table 10: Frame with FTYPE = ACK

SOF ACK EOF FCS

When the frame FTYPE = COM or MSG, then the frame will always contain a ‘message type’ or MTYPE byte. The

value of MTYPE may be COMCMD, COMRSP, REGCMD, REGRSP, CTRLCMD, or CTRLRSP (0xB3, 0x3B,

0x80, 0x08, 0x91, or 0x19, respectively). These MSG or COM frames vary in size and contain additional APP bytes

that further define the command’s required action. The generic MSG frame is shown in Table 11.

Table 11: Frame with FTYPE = MSG or COM

SOF FTYPE MTYPE APP1 APP2 … APPn-1 APPn EOF FCS

The specific frame format for each type of MSG or COM frame can be seen in Table 12, Table 13, Table 14,

Table 15, Table 16, and Table 17.

For MTYPE = REGCMD, APP1 is either RD or WR (0x20 or 0x50 respectively).

For MTYPE = REGRSP, APP1 is either RDACK OR WRACK (0xA0 or 0x80 respectively)

For MTYPE = CTRLCMD, APP1 is REBOOT or VER (0x80 or 0xA0 respectively)

For MTYPE = CTRLRSP, APP1 may only be VERACK (0xB0)

For MTYPE = COMCMD, APP1 may only be COMVER (0x61)

For MTYPE = COMRSP, APP1 may only be COMVER (0x61)

The REGxxx MTYPE’s contain PAGE, OFFSET, ECHO, DATALOW, and DATAHIGH bytes.

PAGE and OFFSET together form a register pointer. PAGE may be one of three values: DPREG, FREG, or HREG

(0x01, 0x11, or 0x21, respectively). OFFSET may be any value from 0x00 to 0xFF (note that values of 0x7E or

0x7D must use the ‘ESC method’ to include them in the frame data).





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

The ECHO byte is not used by the SMCV and may be any value in REGCMD frames. Values of 0x7D or 0x7E

must use the ‘ESC method’. Responses from the SMCV in REGRSP frames will include the ECHO byte unaltered

from the one sent in the REGCMD in the message (see messages description)..

DATALOW and DATAHIGH are unsigned bytes that represent a single 16 bit Value. The relationships between

‘Value’, DATALOW, and DATAHIGH are shown in the following equations.

Value = DATALOW + (256 * DATAHIGH)

DATALOW = Value % 256 ( % is the ‘modulus’ function)

DATAHIGH = Floor(Value/256) (Floor is the ‘greatest integer’ function)

If DATALOW or DATAHIGH evaluate to 0x7E or 0x7D then the ‘ESC method’ must be used to include them in the

frame data.

The tables demonstrate how the FCS byte is a sum of the original bytes between SOF and EOF.

Table 12: MSG Frame with MTYPE = REGCMD, APP1 = WR

SOF MSG REGCMD WR PAGE OFFSET ECHO DATA

LOW

DATA

HIGH

EOF MSG+

REGCMD +

WR +

PAGE+

OFFSET+

ECHO+

DATALOW+

DATAHIGH

Table 13: MSG Frame with MTYPE = REGRSP, APP1 = WR

SOF MSG REGRSP WRACK PAGE OFFSET ECHO DATA

HIGH

DATA

LOW

EOF MSG+

REGRSP +

WRACK +

PAGE+

OFFSET+

ECHO+

DATALOW+

DATAHIGH

Note: In this REGRSP frame, DATAHIGH and DATALOW are swapped compared to other REGxxx frames.

Table 14: MSG Frame with MTYPE = REGCMD, APP1 = RD

SOF MSG REGCMD RD PAGE OFFSET ECHO EOF MSG+

REGCMD +

RD +

PAGE+

OFFSET+

ECHO





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Table 15: MSG Frame with MTYPE = REGRSP, APP1 = RD

SOF MSG REGRSP RDACK PAGE OFFSET ECHO DATA

LOW

DATA

HIGH

EOF MSG+

REGRSP +

RDACK +

PAGE+

OFFSET+

ECHO+

DATALOW+

DATAHIGH

Table 16: MSG Frame with MTYPE = CTRLCMD

SOF MSG CTRLCMD REBOOT

or VER

EOF MSG+

CTRLCMD +

REBOOT/VER

Table 17: MSG Frame with MTYPE = CTRLRSP

SOF MSG CTRLRSP VERACK Multiple

Message

bytes…

EOF MSG+

CTRLCMD +

VERACK +

All message bytes

Table 18: Summary of Values for Named Frame Bytes

FTYPE’s MTYPE’s APP1’s Special

Name Value Name Value Name Value Name Value

ACK 0x01 SOF 0x7E

MSG 0x02 REGCMD 0x80 RD 0x20 EOF 0x7E

WR 0x50 ESC 0x7D

REGRSP 0x08 RDACK 0xA0 DPREG 0x01

WRACK 0x80 FREG 0x11

CTRLCMD 0x91 REBOOT 0x80 HREG 0x21

VER 0xA0

CTRLRSP 0x19 VERACK 0x0B

COM 0x00 COMCMD 0xB3 COMVER 0x61 (large module only)

COMRSP 0x3B COMVER 0x61





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

1.4 The Messages

A complete message transfer consists of a MSG frame sent by the host, an ACK frame sent by the SMCV, a MSG

frame sent by the SMCV, and an ACK frame sent by the host. MSG frames sent by the host are ‘commands’ and

MSG frames sent by the SMCV are ‘responses’ to the host command. ACK frames are used to confirm that a MSG

frame was properly received. If no ACK is received from the SMCV, this means the MSG frame sent has been

discarded.

A complete message:

1. ‘command’ frame, host to SMCV

2. ACK frame, SMCV to host

3. ‘response’ frame, SMCV to host

4. ACK frame, host to SMCV

The ‘command’ and ‘response’ frames come as pairs. The ‘command’ frames are COMCMD, REGCMD and

CTRLCMD MTYPE’s. The ‘response’ frames are COMRSP, REGRSP and CTRLRSP MTYPE’s. In messages,

COMCMD is paired with COMRSP, REGCMD is paired with REGRSP, and CTRLCMD is paired with CTRLRSP.

Table 19: SMCV Message Commands

Message Name MTYPE APP1 PAGE OFFSET

Get Controller Fault Register REGCMD RD HREG 0x08

Get Auxiliary Fault Register REGCMD RD HREG 0x07

Get Status Register REGCMD RD FREG 0xC8

Get Filtered Speed Feedback REGCMD RD FREG 0xC7

Get Speed Feedback REGCMD RD DPREG 0x03

Get Motor Iq Current Fdbk REGCMD RD FREG 0xC1

Get Motor Id Current Fdbk REGCMD RD FREG 0xC0

Get Motor Vq Voltage REGCMD RD FREG 0xC3

Get Motor Vd Voltage REGCMD RD FREG 0xC2

Get DC Bus Voltage REGCMD RD FREG 0xB2

Get Baseplate Temperature REGCMD RD FREG 0xAD

Get Analog Input 2 REGCMD RD FREG 0xAC

Set Speed Command REGCMD WR HREG 0x2A

Set Run/Stop-Clear State REGCMD WR HREG 0x2B

Set Dout2 State REGCMD WR HREG 0x2C

Reboot SMCV CTRLCMD REBOOT n/a n/a

Get Firmware Version CTRLCMD VER n/a n/a

Get Comm Version COMCMD COMVER (large module only)

1.4.1.1 Get Controller Fault Register

This message gets the 16-bit SMCV Controller fault register. The FaultsHi and FaultsLo bytes of the REGRSP

frame contain auxiliary fault information. A fault bit set to ‘1’ means that the fault has occurred. Faults are

‘sticky’, meaning they will not be cleared until the Run/Stop-Clear signal is set to the Stop-Clear state. The

definitions of each bit are shown in Table 20 and Table 21.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Table 20: SMCV FaultsLo Controller Fault Bits

FaultsLo Name Bit # Reason for fault

Reserved 0 -

Reserved 1 -

PWM Sync Error 2 Internal interrupts from the controller

are not occurring simultaneously as

required. Contact Sensitron if this

fault occurs.

Reserved 3 -

Reserved 4 -

Reserved 5 -

Reserved 6 -

Reserved 7 -

Table 21: SMCV FaultsHi Controller Fault Bits

FautlsHi Name Bit # Reason for fault

Over current fault 0 Motor current has exceeded the

instantaneous “Overcurrent

Shutdown Level”. This level is the

value named

“OvercurrentShutdownLevel” in the

ScaleFactors.txt file generated by the

Configuration Utility.

Reserved 1 -

Phase Loss Fault 2 During ‘Parking’, the expected

current in motor phase C is different

by more the “Phase Loss Threshold”

that is set in the configuration. This

may be disabled by unchecking

“Phase Loss Detection Enabled” in

the configuration.

Zero Speed Fault 3 The speed feedback indicated less

than half of “Speed Minimum” for

more than 2 seconds. Usually occurs

when motor shaft is overloaded.

This may be disabled by unchecking

“Low Speed Fault Enabled” in the

configuration.

Auxiliary Fault 4 An SMCV Auxiliary Fault has

occurred. This bit is set when any of

the 16 auxiliary faults occurs..

Reserved 5 -

Reserved 6 -

Reserved 7 -





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Command – Host to SMCV

SOF FTYPE MTYPE APP1 PAGE OFFSET ECHO EOF FCS

0x7E 0x02 0x80 0x20 0x21 0x08 0x10 0x7E 0xDB

ACK – SMCV to Host

SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

Response – SMCV to Host

SOF FTYPE MTYPE APP1 PAGE OFFSET ECHO DATA

LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x21 0x08 0x10 FaultsLo FaultsHi 0x7E 0xE3+

FaultsLo+

FaultsHi

ACK – Host to SMCV

SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.2 Get Auxiliary Fault Register

This message gets the 16-bit SMCV auxiliary fault register. The FaultsHi and FaultsLo bytes of the REGRSP

frame contain auxiliary fault information. A fault bit set to ‘1’ means that the fault has occurred. Faults are

‘sticky’, meaning they will not be cleared until the Run/Stop-Clear signal is set to the Stop-Clear state. The

definitions of each bit are shown in Table 22 and Table 23.

Table 22: SMCV FaultsLo Auxiliary Fault Bits

FaultsLo Name Bit # Reason for fault

Low DC Bus Voltage Fault 0 DC bus voltage dropped below the

“DC Bus Under Voltage” level

config setting

Over Voltage on DC Bus Fault 1 DC bus voltage exceeded the “DC

Bus Over Voltage” config setting

Critical Overvoltage Fault 2 DC bus voltage exceeded the “DC

Bus Critical Voltage” config setting.

The SMCV keeps phases A, B, C,

connected to +VDC_rtn when this

fault is active.

Reserved 3 -

Reserved 4 -

Reserved 5 -

Bad Configuration Detected 6 Parameters in EEPROM have a bad

checksum.

Desat Fault 7 Vce of active power transistor

exceeded 8V. Occurs with very high

current in transistor. This may also

occur if the SMCV 15V is too low.





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Table 23: SMCV FaultsHi Auxiliary Fault Bits

FautlsHi Name Bit # Reason for fault

Overtemperature Fault 0 Baseplate temperature exceeded the

“Baseplate Temperature Limit”

config setting.

ESTOP fault 1 The SMCV ESTOP digital input is

active. The active state of ESTOP is

defined in the “Digital I/O” config

settings.

Comm Watchdog Fault 2 The time between reception of valid

RS232 frames has exceeded the

“Comm Wathcdog Timeout” config

setting when Comm Wathcdog is

enabled.

Controller execution overrun fault 3 The controller function did not

complete execution before requested

to execute again. Caused by high

PWM rate along with high comm

data rate.

Timer functions overrun fault 4 Timer function did not complete

execution before requested to execute

again. Contact Sensitron if this fault

occurs.

Hall feedback fault 5 The hall code is either 000 or 111,

both illegal for commutation.

Reserved 6 -

Reserved 7 -



0x7E 0x02 0x80 0x20 0x21 0x07 0x10 0x7E 0xDA


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x21 0x07 0x10 FaultsLo FaultsHi 0x7E 0xE2+

FaultsLo+

FaultsHi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

1.4.1.3 Get Status Register

This message gets the SMCV status register. The ‘status’ byte of the REGRSP frame contains information about

the current running state of the SMCV motor drive. See Table 24.

Table 24: SMCV Status Bits

Status Value Definition

Bit Name Bit

#

‘0’ ‘1’

Two Phase State 0 Two Phase SVM not active Two Phase SVM is active

FOC State 1 FOC P+I controllers are disabled FOC P+I controllers are active

Power Device State 2 Power devices are disabled Power devices are active

Closed Loop State 3 Speed loop is disabled Speed loop is active (ramp to min

speed completed)

Parking state 4 Parking not completed Parking complete

Parking 1 state 5 Stage 1 of parking not completed Parking stage 1 complete

Startup Failed 6 No failure detected Startup failure detected (bad flux

level)

Startup Succeeded 7 Success not detected Startup success detected (good flux

level)



0x7E 0x02 0x80 0x20 0x11 0xC8 0x10 0x7E 0x8B


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xC8 0x10 Status 0x00 0x7E 0x93+

Status


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

1.4.1.4 Get Filtered Speed Feedback

This message gets the speed measured by the SMCV speed estimator filtered both by the speed feedback filter,

whose bandwidth is set through the Configuration Utility, and by an internal filter, whose bandwidth is fixed at

30Hz.

The Dlo and Dhi bytes of the REGRSP frame, together, define the ‘value’ for the monitored speed.

Value = Dlo + (256*Dhi)

‘Dhi’ and’ Dlo’ are treated as unsigned, 16 bit, numbers, while‘Value’ is treated as a signed, 15-bit integer. The

high bit of Dhi must be ignored. The scale factor for converting the integer to units of RPM is named

“SpeedFBCountsperRPM” in the ScaleFactors.txt file generated by the Configuration Utility.

Speed (in RPM) = (signed int)Value / “SpeedFBCountsperRPM”

For example, to get the voltage represented by Dlo = 0x55 and Dhi = 0x5D and “SpeedFBCountsperRPM” = 5, do

as follows:

Value = 0x55 + 0x5D<<8 = 0x5D55

Ignore bit 16: 0x5D55 & 0x7FFF = 0x5D55

Treat value as 15 bit signed number: ((int16)(2*0x5D55))/2 = 0xDD55 = -8875

Speed = -8875 / 5 = -1775 RPM



0x7E 0x02 0x80 0x20 0x11 0xC7 0x10 0x7E 0x8A


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xC7 0x10 Dlo Dhi 0x7E 0x92+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.5 Get Speed Feedback

This message gets the speed measured by the SMCV speed estimator filtered by the speed feedback filter, whose

bandwidth is set through the Configuration Utility.

The Dlo and Dhi bytes of the REGRSP frame, together, define the ‘value’ for the monitored speed.


The scale factor for converting the integer to units of RPM is named “SpeedFBCountsperRPM” in the

ScaleFactors.txt file generated by the Configuration Utility.

Speed (in RPM) = (signed int)Value / “SpeedFBCountsperRPM”

For example, to get the voltage represented by Dlo = 0x55 and Dhi = 0x5D and “SpeedFBCountsperRPM” = 5, do

as follows:

Value = 0x55 + 0x5D<<8 = 0x5D55 = 23893

Speed = 23893 / 5 = 4779 RPM





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1



0x7E 0x02 0x80 0x20 0x01 0x03 0x10 0x7E 0x8A


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x01 0x03 0x10 Dlo Dhi 0x7E 0x92+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.6 Get Motor Iq Current Feedback

This message gets Iqfb, the ‘quadrature’ component of the vector current measured in the motor. The Dlo and Dhi

bytes of the REGRSP frame, together, define the ‘value’ for the monitored current.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units of Amps is named

“IdqCountsperApk” in the ScaleFactors.txt file generated by the Configuration Utility.

Id (in Amps) = (signed int)Value / “IdqCountsperApk”

For example, to get the current represented by Dlo = 0x07, Dhi = 0x05, and “IdqCountsperApk” = 295, do as

follows:

Value = 0x07 + (256 * 0x05) = 0x0507 = +1287

Iq = 1287 / 295 = 4.3 Amps

Total motor current, in RMS, can be computed from Id and Iq Amps:

2

)()()(Im

22 AmpsIqAmpsIdArmsotor





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

The value of Iq is proportional to the torque produced on the motor shaft.



0x7E 0x02 0x80 0x20 0x11 0xC1 0x10 0x7E 0x84


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xC1 0x10 Dlo Dhi 0x7E 0x8C+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.7 Get Motor Id Current Feedback

This message gets Idfb, the ‘direct’ component of the vector current measured in the motor. The Dlo and Dhi

bytes of the REGRSP frame, together, define the ‘value’ for the monitored current.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units of Amps is named

“IdqCountsperApk” in the ScaleFactors.txt file generated by the Configuration Utility.

Id (in Amps) = (signed int)Value / “IdqCountsperApk”

For example, to get the current represented by Dlo = 0x07, Dhi = 0x05, and “Idq Counts per Apk” = 295, do as

follows:

Value = 0x07 + (256 * 0x05) = 0x0507 = +1287

Id = 1287 / 295 = 4.3 Amps

Total motor current, in RMS, can be computed from Id and Iq Amps:

2

)()()(Im

22 AmpsIqAmpsIdArmsotor





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

In brushless DC motor applications, Id is typically zero. When field weakening is active, Id increases to cancel

flux from the motor rotor magnets.



0x7E 0x02 0x80 0x20 0x11 0xC0 0x10 0x7E 0x83


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xC0 0x10 Dlo Dhi 0x7E 0x8B+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.8 Get MotorVq Voltage

This message gets the commanded Vq ‘quadrature’ component of the vector voltage applied to the motor. The Dlo

and Dhi bytes of the REGRSP frame, together, define the ‘value’ for the monitored voltage.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units % of bus voltage is

named “VdqCountsperVbusPct” in the ScaleFactors.txt file generated by the Configuration Utility.

Vq (in volts) = 0.01 * Vbus (in Volts) * (signed int)Value / “VdqCountsperVbusPct”

For example, to get the voltage represented by Dlo = 0x07, Dhi = 0x05, “VdqCountsperVbusPct” = 14.3, and

Vbus = 500V, do as follows:

Value = 0x07 + (256 * 0x05) = 0x0507 = +1287

Vq = 0.01 * 500 * 1287 / 14.3 = 450V

Total motor voltage, in RMS, can be computed from Vd and Vq volts:

2

)()()(

22 voltsVqvoltsVdVrmsVmotor





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1



0x7E 0x02 0x80 0x20 0x11 0xC3 0x10 0x7E 0x86


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xC3 0x10 Dlo Dhi 0x7E 0x8E+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.9 Get Motor Vd Voltage

This message gets the commanded Vd ‘direct’ component of the vector voltage applied to the motor. The Dlo and

Dhi bytes of the REGRSP frame, together, define the ‘value’ for the monitored voltage.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units % of bus voltage is

named “VdqCountsperVbusPct” in the ScaleFactors.txt file generated by the Configuration Utility.

Vd (in volts) = 0.01 * Vbus (in Volts) * (signed int)Value / “VdqCountsperVbusPct”

For example, to get the voltage represented by Dlo = 0x07, Dhi = 0x05, “VdqCountsperVbusPct ” = 14.3, and

Vbus = 500V, do as follows:

Value = 0x07 + (256 * 0x05) = 0x0507 = +1287

Vd = 0.01 * 500 * 1287 / 14.3 = 450V

Total motor voltage, in RMS, can be computed from Vd and Vq volts:

2

)()()(

22 voltsVqvoltsVdVrmsVmotor



0x7E 0x02 0x80 0x20 0x11 0xC2 0x10 0x7E 0x85


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xC2 0x10 Dlo Dhi 0x7E 0x8D+

Dlo+

Dhi





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.10 Get DC Bus Voltage

This message gets the measured bus voltage seen across the +VDC and +VDC_RTN pins of the SMCV module.

The Dlo and Dhi bytes of the REGRSP frame, together, define the ‘value’ for the monitored voltage.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units Volts is named

“DCBusCountperV” in the ScaleFactors.txt file generated by the Configuration Utility.

VDC (in volts) = (signed int)Value / “DCBusCountperV”

For example, to get the voltage represented by Dlo = 0xF6 and Dhi = 0x09 and “DCBusCountperV” = 8.5, do as

follows:

Value = 0xF6 + (256 * 0x09) = 0x09F6 = +2550

Vcmd = 2550 / 8.5 = 300V



0x7E 0x02 0x80 0x20 0x11 0xB2 0x10 0x7E 0x75


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xB2 0x10 Dlo Dhi 0x7E 0x7D+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

1.4.1.11 Get Baseplate Temperature

This message gets the measured baseplate temperature of the SMCV . The Dlo and Dhi bytes of the REGRSP

frame, together, define the ‘value’ for the monitored temperature.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units °C is named

“TemperatureCountsperDegC” in the ScaleFactors.txt file generated by the Configuration Utility.

Temperature (in °C) = (signed int)Value / “TemperatureCountsperDegC”

For example, to get the temperature represented by Dlo = 0x02 and Dhi = 0x08 and “TemperatureCountsperDegC”

= 20.5, do as follows:

Value = 0x02 + (256 * 0x08) = 0x0802 = +2050

Vcmd = 2050 / 20.5 = 100°C



0x7E 0x02 0x80 0x20 0x11 0xAD 0x10 0x7E 0x70


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xAD 0x10 Dlo Dhi 0x7E 0x78+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

1.4.1.12 Get Analog Input 2 (Vcmd)

This message gets the voltage measured at the SMCV Analog Input 2 (Vcmd). The Dlo and Dhi bytes of the

REGRSP frame, together, define the ‘value’ for the monitored voltage.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units Volts is named

“VcmdCountsperV” in the ScaleFactors.txt file generated by the Configuration Utility.

Vcmd (in Volts) = (signed int)Value / “VcmdCountsperV”

For example, to get the voltage represented by Dlo = 0x55 and Dhi = 0x0D and “VcmdCountsperV” = 3412.5, do

as follows:

Value = 0x55 + (256 * 0x0D) = 0x0D55 = +3413

Vcmd = 3413 / 3412.5 = 1.0V



0x7E 0x02 0x80 0x20 0x11 0xAC 0x10 0x7E 0x6F


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x08 0xA0 0x11 0xAC 0x10 Dlo Dhi 0x7E 0x77+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

1.4.1.13 Set Speed Command

This message sets the commanded speed for the SMCV motor drive if ‘Comm’ is configured as the “Speed

Command Source”. The Dlo and Dhi bytes together set the ‘value’ for the speed.


‘Value’ is treated as a signed, 16-bit integer. The scale factor for converting the integer to units RPM is named

“SpeedCMDCountsperRPM” in the ScaleFactors.txt file generated by the Configuration Utility.

Speed (in RPM) = (signed int)Value / “SpeedCMDCountsperRPM”

For example, to set speed at -200RPM with “SpeedCMDCountsperRPM” = 5, set Dlo and Dhi bytes as follows:

Value = -200 * 5 = -1000 = 0xFC18 (2’s complement of the 16-bit 0x03E8)

Dhi = 0xFC (the upper byte of Value)

Dlo = 0x18 (the lower byte of Value)



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x80 0x50 0x21 0x2A 0x10 Dlo Dhi 0x7E 0x2D+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



HIGH

DATA

LOW

EOF FCS

0x7E 0x02 0x08 0x80 0x21 0x2A 0x10 Dhi Dlo 0x7E 0xE5+

Dlo+

Dhi


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.14 Set Run/Stop-Clear State

This message controls the running and stopping of the SMCV motor drive if ‘Comm’ is configured as the

“Run/Stop/Fault_Clear Source”.

Setting the Dlo byte in the command frame to 0x01 sets the motor drive into the ‘RUN state. In this state, the

power devices are made active and the startup sequence is initiated (offset comp, bootstrap charge, park, open loop

ramp). On startup success, speed control begins.

Setting the Dlo byte in the command frame to 0x00 sets the motor drive into the ‘STOP/FAULT_CLEAR’ state.

In this state the power devices are made inactive and faults are cleared or reset.. For this reason, fault registers

should be read prior to setting the STOP state. Offset comp is continuously run in this state.



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x80 0x50 0x21 0x2B 0x10 Dlo 0x00 0x7E 0x2E+Dlo





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



HIGH

DATA

LOW

EOF FCS

0x7E 0x02 0x08 0x80 0x21 0x2B 0x10 0x00 Dlo 0x7E 0xE6+

Dlo


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

1.4.1.15 Set Dout2 State (Digout Status)

This message controls the ‘Dout2’ digital output of the SMCV module if ‘Comm’ is configured as the “Dig Out

Status Source”. Setting the Dlo byte in the command frame to 0x00 sets Dout2 in its inactive state. Setting the

Dlo byte in the command frame to 0x01 sets Dout2 in its active state.

The meaning of active and inactive is controlled by the ‘Dig Out Status Polarity’ setting in the configuration. With

‘Dig Out Status Polarity’ set ‘Active High’, the active voltage level of the SMCV Dout2 line is 3.3V and the

inactive voltage level is 0V. With ‘Dig Out Status Polarity’ set ‘Active Low’, the active voltage level of the

SMCV Dout2 line is 0V and the inactive voltage level is 3.3V.



LOW

DATA

HIGH

EOF FCS

0x7E 0x02 0x80 0x50 0x21 0x2C 0x10 Dlo 0x00 0x7E 0x2F+Dlo


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01



HIGH

DATA

LOW

EOF FCS

0x7E 0x02 0x08 0x80 0x21 0x2C 0x10 0x00 Dlo 0x7E 0xE7+

Dlo


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

1.4.1.16 Reboot Message

On receipt of this command, the SMCV embedded firmware is restarted as if power was cycled off and on.

No ‘response’ is sent to the host.


SOF FTYPE MTYPE APP1 EOF FCS

0x7E 0x02 0x91 0x80 0x7E 0x13


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01

No ‘response’ frame comes from SMCV as it reboots the firmware.

1.4.1.17 Get Firmware Version Message

This message gets the SMCV design version information.. The information is sent as strings of ASCII text.

The ‘response’ frame below shows the ordering of the data. The first string is the ‘design name’ and

identifies which controller design is loaded. The second string is the ‘design version’ and identifies the

version number of the controller design. The third string is the ‘firmware version’ and identifies the

version number of the firmware. The strings are NULL terminated. Trailing bytes in the allotted space for

each string may have any value and should be ignored.


SOF FTYPE MTYPE APP1 EOF FCS

0x7E 0x02 0x91 0xA0 0x7E 0x33


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01


0 1 2 3 4 to 36 37 to 45 46 to 54 55 56

SOF F

TYPE

M

TYPE

APP1 Des

Name

char’s

1 to 33

Des Ver

char’s

1 to 9

Firmware

Version

char’s 1

to 9

EOF FCS

0x7E 0x02 0x19 0xB0 … … … 0x7E sum


SOF FTYPE EOF FCS

0x7E 0x01 0x7E 0x01





SMCV6M080-010-1, SMCV6M060-025-1

SMCV6G050-060-1, SMCV6G040-120-1

Table 25: Example of Get Version 'Response" Frame

0 1 2 3 4 5 6 7 8 9 10 11 12 13

0x7E 0x02 0x19 0xB1 0x56 0x65 0x63 0x74 0x6F 0x72 0x5F 0x53 0x70 0x65

14 15 16 17 18 19 20 21 22 23 24 25 26 27

0x65 0x64 0x5F 0x43 0x6F 0x6E 0x74 0x72 0x6F 0x6C 0x00 0x00 0x00 0x00

28 29 30 31 32 33 34 35 36 37 38 39 40 41

0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x34 0x2E 0x30 0x2E 0x30

42 43 44 45 46 47 48 49 50 51 52 53 54 55

0x00 0x00 0x00 0x00 0x34 0x2E 0x30 0x2E 0x30 0x00 0x00 0x00 0x00 0x7E

56

0xAF

DISCLAIMER: 1- The information given herein, including the specifications and dimensions, is subject to change without prior notice to improve product characteristics. Before ordering, purchasers are advised to contact the Sensitron Semiconductor sales department for the latest version of the datasheet(s). 2- In cases where extremely high reliability is required (such as use in nuclear power control, aerospace and aviation, traffic equipment, medical equipment , and safety equipment) , safety should be ensured by using semiconductor devices that feature assured safety or by means of users’ fail-safe precautions or other arrangement . 3- In no event shall Sensitron Semiconductor be liable for any damages that may result from an accident or any other cause during operation of the user’s units according to the datasheet(s). Sensitron Semiconductor assumes no responsibility for any intellectual property claims or any other problems that may result from applications of information, products or circuits described in the datasheets. 4- In no event shall Sensitron Semiconductor be liable for any failure in a semiconductor device or any secondary damage resulting from use at a value exceeding the absolute maximum rating. 5- No license is granted by the datasheet(s) under any patents or other rights of any third party or Sensitron Semiconductor. 6- The datasheet(s) may not be reproduced or duplicated, in any form, in whole or part, without the expressed written permission of Sensitron Semiconductor. 7- The products (technologies) described in the datasheet(s) are not to be provided to any party whose purpose in their

application will hinder maintenance of international peace and safety nor are they to be applied to that purpose by their direct purchasers or any third party. When exporting these products (technologies), the necessary procedures are to be taken in accordance with related laws and regulations.

Documents

CONFIGURABLE DIGITAL MOTOR DRIVE MODULE …Configuration software is provided with the SMCV motor drive that simplifies the process configuring, tuning and testing the motor drive