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1 Motor Control Shield With BTNTA Motor Control Shield For Arduino User Manual V A u t o m o t i v e P o w e r

2 Motor Control Shield with BTNTA Table of Contents Table of Contents 0 0 About this document... Scope and purpose... Intended audience... Related information... Motor Control Shield Introduction.... Motor Control Shield overview.... Key Features.... Block Diagram of a bi-directional Motor Control... Motor Control Shield Board Description.... Schematics.... Layout.... Important design and layout rules:.... Pin Assignment Pin Definitions and Functions... BTNTA Overview.... Key Features of the BTNTA NovalithIC TM.... Block Diagram.... Pin Assignment.... Pin Definitions and Functions... Getting Started.... Target Applications.... Typical target Application..... Getting Started: Shield..... Getting Started: Software..... Software hints... Users Manual V0., 0-0

3 Motor Control Shield with BTNTA About this document Scope and purpose This document describes how to use the Motor Control Shield with BTNTA. Intended audience Engineers, hobbyists and students who want to add a powerful Motor Control to Arduino projects. Related information Table Reference Supplementary links and document references BTNTA Reference Manuals Arduino Home Page Arduino Uno Product Page DAVE Development Platform XMC00 Boot Kit Description Product page which contains reference information for the half-bridge BTNTA All information on Arduino Arduino Uno R description All details on DAVE IDE Product page which contains reference information for the XMC00 Boot Kit Users Manual V0., 0-0

4 Motor Control Shield with BTNTA 0 Motor Control Shield introduction. Motor Control Shield overview The Motor Control Shield adds powerful motor control to the Arduino projects. The shield can be controlled with the general logic IO-Ports of a microcontroller. Either an Arduino Uno R or the XMC00 Boot Kit from Infineon can be used as the master. On board of the Motor Control Shield are two BTNTA NovalithIC TM. Each is featuring one P-channel high side MOSFET and one N-channel low side MOSFET with an integrated driver IC in one package. Due to the P- channel high side switch a charge pump is not needed. The BTNTA half-bridge is easy to control by applying logic level signals to the IN and INH pin. When applying a PWM to the IN pin the current provided to the motor can be controlled with the duty cycle of the PWM. With an external resistor connected between the SR pin and the slew rate of the power switches can be adjusted. The Motor Control Shield can be easily connected to any Arduino board or the XMC00 Boot Kit via headers. Arduino TM Connector Vbat OUT x NovalithIC TM BTNTA OUT Arduino TM Connector Figure Motor Control Shield photo 0. Key features The Motor Control Shield has the following features: An Arduino Uno R, XMC00 Boot Kit, or similar board connected to the shield can control the two halfbridges via the general IO pins. Users Manual V0., 0-0

5 Motor Control Shield with BTNTA 0 0 Brushed DC Motor Control up to 0 W continuous load o - V nominal input voltage (max. 0 V) o Average motor current 0 A restricted due to the limited power dissipation of the PCB (BTNTA current A min.) Drives either one brushed bi-directional DC motor or two uni-directional DC motors. Capable of high frequency PWM, e.g. 0 khz Adjustable slew rates for optimized EMI by changing external resistor Driver circuit with logic level inputs Status flag diagnosis with current sense capability Protection e.g. against overtemperature and overcurrent Reverse polarity protection with IPD0P0PL Further comments: o To keep the costs as low as possible the pin headers and connectors are not attached to the shield. The user can solder them by himself. The pin headers are not expensive, but the through whole soldering is a not insignificant cost factor. o The size of the DC-link capacity (C in the schematics and C0 in the application circuit.) with 000µF is for most applications oversized. It is a worst case scenario if a 00W motor is connected to the shield. The capacity can be replaced by smaller capacities when using less powerful motors. Equation 0 in the BTN0 / /0 / High Current PN Half Bridge NovalithIC TM (Rev. 0., 0-0-) Application Note should be used to calculate the value of the DC-link capacity. Figure Motor Control Shield driving an engine cooling fan Users Manual V0., 0-0

6 Motor Control Shield with BTNTA. Block diagram of a bi-directional Motor Control As a starting point for the Motor Control Shield, the application block diagram shown in Figure was used. For simplicity reasons the conductivity L was removed in the Shield schematics. In the application block diagram the INH pins of both half-bridges are connected to one IO-port of the microcontroller. To be more flexible in the usage of the Motor Control Shield each INH of the two half-bridges is connected to a separate IO pin. Microcontroller XC I/O Reset Vdd Vss A/D I/O I/O I/O A/D C Q µf Voltage Regulator WO RO Q D C D nf TLE G I C I 0nF L Reverse Polarity Protection (IPD0P0PL-0) D Z 0V R 0k C 00nF V S optional R 0k R 0k BTNTA VS INH IN OUT IS C 0 000µF C 00nF C OV 0nF M C OV 0nF BTNTA VS INH OUT IN IS R 0k R 0k C IS nf R k SR C OUT 0nF C OUT C 0nF 00nF SR R k C IS nf Figure C 00nF R 0..k Application circuit for a bi-directional motor control with BTNTA R 0..k C 00nF Users Manual V0., 0-0

7 Motor Control Shield with BTNTA 0 Motor Control Shield board description For a safe and sufficient motor control design, discrete components are needed. Some of them must be dedicated to the motor application and some to the NovalithIC. Figure, Figure and Figure show the schematics plus the corresponding layout of the Motor Control Shield. Due to the possibility of using the Shield with loads which can draw a current of up to A the connectors Vbat,, OUT and OUT are designed as solid mm through whole connectors. This provides the possibility to connect plugs which are capable of such high currents. Nevertheless the thermal performance of the Shield itself limits the possible current which should be applied to the Motor Control Shield to 0 A. To reach the best performance in terms of parasitic inductance and EMC a plane, with maximal size was designed.. Schematics In Figure the schematics of the Motor Control Shield is shown. The schematics are based on the application circuit in the BTNTA Data Sheet. Figure Schematics Motor Control Shield with BTNTA Users Manual V0., 0-0

8 Motor Control Shield with BTNTA. Layout Figure and Figure show the layout of the Motor Control Shield. The layout follows the design rules in the BTN0 / /0 / High Current PN Half Bridge NovalithIC TM Application Note (also see Chapter.). Figure Motor Control Shield Bottom and top layers Figure Motor Control Shield with BTNTA Layout Users Manual V0., 0-0

9 Motor Control Shield with BTNTA Figure Motor Control Shield with BTNTA Bill of Material (BOM) 0. Important design and layout rules: The basis for the following design and layout recommendations is the parasitic inductance of electrical wires and design guidelines as described in Chapter three and four of the Application Note BTN0 / /0 / High Current PN Half Bridge NovalithIC TM (Rev. 0., 0-0-). C, so called DC-link capacitor: This electrolytic capacitor is required to keep the voltage ripple at the Vspin of the NovalithIC low during switching operation (the applied measurement procedure for the supply voltage is described in Chapter. of the Application Note). It is strongly recommended that the voltage ripple at the NovalithIC Vs-pin to the -pin is kept below V peak to peak. The value of C must be aligned accordingly. See therefore Equation (0) in the Application Note. Most electrolytic capacitors are less effective at cold temperatures. It must be assured that C is also effective under the worst case conditions of the application. The layout is very important too. As shown in Figure, the capacitor C must be positioned with very short wiring close to the NovalithIC. This must be done to keep the parasitic inductors of the PCB-wires as small as possible. Users Manual V0., 0-0

10 Motor Control Shield with BTNTA C/C: This ceramic capacitors support C to keep the supply voltage ripple low and cover the fast transients between the Vs-pin and the -pin. The value of these ceramic capacitors must be chosen so that fast Vs-ripples at the NovalithIC do not exceed V peak to peak. The layout wiring for C/C must be shorter than for C to the NovalithIC to keep the parasitic PCB-wire inductance as small as possible. In addition the parasitic inductance could be kept low by placing at least two vias for the connection to the -layer. C/C: These ceramic capacitors are important for EMI in order to avoid entering RF into the NovalithIC as much as possible. Good results have been achieved with a value of 0 nf. In terms of layout, it is important to place these capacitors between OUT and Vs without significant additional wiring from C/C to the Vs- and OUT-line. C/C: These ceramic capacitor help to improve the EMC immunity and the ESD performance of the application. Good results have been achieved with a value of 0 nf. To keep the EMC and ESD out of the board, the capacitor is most effective when positioned directly next to the board connector. In addition, the parasitic inductance could be kept low by placing at least two vias for the connection to the layer. Other components: IC0, D and R: Reverse polarity protection. See Chapter. of the Applikation Note. R/R: Slew rate resistors according to data sheet. C/C: Stabilization for slew rate resistors (R/R). R/R: Resistors to generate a current sensing voltage from the IS current. C0/C: Ceramic capacitors for EMC immunity improvement. connection with at least two vias. A good value is nf. In case the current should be measured during the PWM-phase this capacitor must be adapted to the ON-time inside the PWM-phase. R, R, R and R: Device protection in case of microcontroller pins shorted to Vs.. Pin assignment To use the Motor Control Shield the necessary control signals can be applied directly at the Arduino TM connectors. There is no need to use an Arduino or XMC 00 Boot Kit to get the Motor Control Shield into an application. The control pins are logic level inputs which can be driven by any other microcontroller or with logic level signals. Besides the supply voltage Vbat has to be provided to the Vbat connector. Figure shows the pinout/connectors of the Motor Control Shield. Users Manual 0 V0., 0-0

11 IS_ IS_ INH_ INH_ IN_ IN_ Motor Control Shield with BTNTA Vbat OUT x NovalithIC TM BTNTA OUT Figure Motor Control Shield connectors. Pin definitions and functions Pin Symbol I/O Function - Ground D IN_ I Input bridge Defines whether high- or low side switch is activated D IN_ I Input bridge Defines whether high- or low side switch is activated D INH_ I Inhibit bridge When set to low device goes in sleep mode D INH_ I Inhibit bridge When set to low device goes in sleep mode OUT_ OUT_ O Power output of the bridge OUT_ OUT_ O Power output of the bridge A0 IS_ O Current Sense and Diagnostics of half-bridge A IS_ O Current Sense and Diagnostics of half-bridge Vbat Vbat - Supply (Vs after the reverse polarity protection) Users Manual V0., 0-0

12 Motor Control Shield with BTNTA 0 0 BTNTA overview The BTNTA used in the Motor Control Shield is an integrated high current half-bridge for motor drive applications. It is part of the NovalithIC family containing one p-channel high side MOSFET and one n- channel low side MOSFET with an integrated driver IC in one package. Due to the p-channel high side switch the need for a charge pump is eliminated thus minimizing EMI. Interfacing to a microcontroller is made easy by the integrated driver IC which features logic level inputs, diagnosis with current sense, slew rate adjustment, dead time generation and protection against overtemperature, undervoltage, overcurrent and short circuit. The BTNTA provides a cost optimized solution for protected high current PWM motor drives with very low board space consumption.. Key features of the BTNTA NovalithIC TM Path resistance of max C (typ. 0.0 C) High side: max C (typ.. C) Low side: max.. 0 C (typ.. C) Enhanced switching speed for reduced switching losses Capable for high PWM frequency combined with active freewheeling Low quiescent current of typ. C Switched mode current limitation for reduced power dissipation in overcurrent Current limitation level of A min. Status flag diagnosis with current sense capability Overtemperature shut down with latch behavior Undervoltage shut down Driver circuit with logic level inputs Adjustable slew rates for optimized EMI Operation up to 0 V Green Product (RoHS compliant) AEC Qualified in PG-TO-- package Figure PG-TO-- Users Manual V0., 0-0

13 Motor Control Shield with BTNTA 0. Block diagram The BTNTA is part of the NovalithIC family containing three separate chips in one package: One p- channel high side MOSFET and one n-channel low side MOSFET together with a driver IC, forming an integrated high current half-bridge. All three chips are mounted on one common lead frame, using the chip on chip and chip by chip technology. The power switches utilize vertical MOS technologies to ensure optimum on state resistance. Due to the p-channel high side switch the need for a charge pump is eliminated thus minimizing EMI. Interfacing to a microcontroller is made easy by the integrated driver IC which features logic level inputs, diagnosis with current sense, slew rate adjustment, dead time generation and protection against overtemperature, undervoltage, overcurrent and short circuit. The BTNTA can be combined with other BTNTA to form H-bridge and -phase drive configurations. VS Undervolt. detection Current Sense Current Limitation HS IS IN Overtemp. detection Digital Logic Gate Driver HS LS off HS off Gate Driver LS OUT INH SR Slewrate Adjustment Current Limitation LS Figure 0 Block diagram BTNTA Users Manual V0., 0-0

14 Motor Control Shield with BTNTA. Pin assignment Figure Pin assignment BTNTA (top view). Pin definitions and functions BTNTA Table Pin Symbol I/O Function - Ground IN I Input Defines whether high- or low side switch is activated INH I Inhibit When set to low device goes in sleep mode, OUT O Power output of the bridge SR I Slew Rate The slew rate of the power switches can be adjusted by connecting a resistor between SR and IS O Current Sense and Diagnostics Vs - Supply (Vbat at the Shield connector) Users Manual V0., 0-0

15 Motor Control Shield with BTNTA 0 0 Getting Started. Target applications The application targeted by the BTNxx devices is brushed DC Motor Control. Besides Motor Control any other inductive, resistive and capacitive load within the electrical characteristics of the NovalithIC TM can be driven by the BTNxx. In the Motor Control Shield two BTNTA are used. Each is capable of driving up to 0 A. The limited thermal performance of the Shield PCB limits the recommended maximum current to 0 A.. Typical target application With the Motor Control Shield either two mid power uni-directional DC-brushed motors or one bi-directional brushed motor (with the two half-bridges used in H-bridge configuration) can be driven. The half-bridges are controlled via the IN (Input) and INH (Inhibit) pins. The slew rate of the high frequency PWM can be adjusted by connecting an external resistor between the SR pin and. The BTMTA also provides a sense current at the IS pin. The Power Shield provides a fast and easy access to brushed DC motor solutions of up to 00 W... Getting started: Shield Choose a mid-power, brushed DC motor. Choose a DC adapter. The nominal input of the Power Shield is V DC. Maximum Voltage is 0 V Select pin headers and connectors of your choice and solder to the Power Shield. Due to cost reduction, the pin headers and connectors are not attached. Connect the Power Shield to Arduino Uno R or XMC 00 Boot Kit. Connect power supply ( V) to the Arduino Uno R or XMC 00 Boot Kit (Micro USB). For the XMC Boot Kit a standard mobile phone charger can be used. Program the controller board with the motor control software (see..). Connect the motor to OUT and OUT (H-bridge). For bi-directional applications connect the motor to OUT and OUT (H-bridge). For uni-directional use, the motor can be placed between an output OUT/OUT and either or Vbat (half-bridge). Connect the DC adapter to the Power Shield (Vbat, ). Turn on the power. Users Manual V0., 0-0

16 IS_ IS_ INH_ INH_ IN_ IN_ Motor Control Shield with BTNTA Vbat OUT x NovalithIC TM BTNTA OUT Figure Motor Control Shield connectors Getting started: Software A simple example software for the XMC00 Boot Kit is provided (H-bridge). Connect the XMC 00 Boot Kit with a micro USB cable to the USB port of your PC. Download and install the DAVE TM - Free Development Platform for Code Generation from the Infineon website DAVE TM. Start DAVE TM and import project file H-bridge: Users Manual V0., 0-0

17 Motor Control Shield with BTNTA : Select File Import : Choose Infineon DAVE project Users Manual V0., 0-0

18 Motor Control Shield with BTNTA : Select archive file Browse for the file Select the project Click finish : Build the project: 0 : Start the debugger: Users Manual V0., 0-0

19 Motor Control Shield with BTNTA : Run the software the motor will spin 0.. Software hints For hints, tutorials, software examples, a quick introduction and further information around the DAVE Free Development Platform for Code Generation, visit the DAVE TM web site. The DAVE TM App structure of the software example H-bridge for the Motor Control Shield is shown in Figure. The output voltage is controlled by the two PWMSP00 Apps. The ramp time is controlled by a third PWMSP00 App via interrupts. The inhibit signals are software controlled by the IO00 App. Figure App structure of the example software H-bridge To change the PWM frequency from khz to a different value the settings of both PWM App instances PWMSP00/0 and PWMSP00/0 have to be modified. There, the PWM frequency can be easily set to different values. Users Manual V0., 0-0

20 Motor Control Shield with BTNTA Figure shows the ramp generator and the parameters which can be set in main.c. The parameter outputvoltage_max and outputvoltage_min are controlled in the software by adapting the PWM duty cycle. With the duty cycle the motor speed and current consumption in controlled. Figure Ramp generator and its parameters Users Manual 0 V0., 0-0

21 Motor Control Shield with BTNTA Revision History Major changes since the last revision Page or Reference Description of change V0., 0-0 Users Manual V0., 0-0

22 Trademarks of Infineon Technologies AG AURIX, C, CanPAK, CIPOS, CIPURSE, CoolGaN, CoolMOS, CoolSET, CoolSiC, CORECONTROL, CROSSAVE, DAVE, DI-POL, DrBLADE, EasyPIM, EconoBRIDGE, EconoDUAL, EconoPACK, EconoPIM, EiceDRIVER, eupec, FCOS, HITFET, HybridPACK, ISOFACE, IsoPACK, i- Wafer, MIPAQ, ModSTACK, my-d, NovalithIC, OmniTune, OPTIGA, OptiMOS, ORIGA, POWERCODE, PRIMARION, PrimePACK, PrimeSTACK, PROFET, PRO-SIL, RASIC, REAL, ReverSave, SatRIC, SIEGET, SIPMOS, SmartLEWIS, SOLID FLASH, SPOC, TEMPFET, thinq!, TRENCHSTOP, TriCore. Other Trademarks Advance Design System (ADS) of Agilent Technologies, AMBA, ARM, MULTI-ICE, KEIL, PRIMECELL, REALVIEW, THUMB, µvision of ARM Limited, UK. ANSI of American National Standards Institute. AUTOSAR of AUTOSAR development partnership. Bluetooth of Bluetooth SIG Inc. CATiq of DECT Forum. COLOSSUS, FirstGPS of Trimble Navigation Ltd. EMV of EMVCo, LLC (Visa Holdings Inc.). EPCOS of Epcos AG. FLEXGO of Microsoft Corporation. HYPERTERMINAL of Hilgraeve Incorporated. MCS of Intel Corp. IEC of Commission Electrotechnique Internationale. IrDA of Infrared Data Association Corporation. ISO of INTERNATIONAL ORGANIZATION FOR STANDARDIZATION. MATLAB of MathWorks, Inc. MAXIM of Maxim Integrated Products, Inc. MICROTEC, NUCLEUS of Mentor Graphics Corporation. MIPI of MIPI Alliance, Inc. MIPS of MIPS Technologies, Inc., USA. murata of MURATA MANUFACTURING CO., MICROWAVE OFFICE (MWO) of Applied Wave Research Inc., OmniVision of OmniVision Technologies, Inc. Openwave of Openwave Systems Inc. RED HAT of Red Hat, Inc. RFMD of RF Micro Devices, Inc. SIRIUS of Sirius Satellite Radio Inc. SOLARIS of Sun Microsystems, Inc. SPANSION of Spansion LLC Ltd. Symbian of Symbian Software Limited. TAIYO YUDEN of Taiyo Yuden Co. TEAKLITE of CEVA, Inc. TEKTRONIX of Tektronix Inc. TOKO of TOKO KABUSHIKI KAISHA TA. UNIX of X/Open Company Limited. VERILOG, PALLADIUM of Cadence Design Systems, Inc. VLYNQ of Texas Instruments Incorporated. VXWORKS, WIND RIVER of WIND RIVER SYSTEMS, INC. ZETEX of Diodes Zetex. Last Trademarks Update Edition 0-0 Published by Infineon Technologies AG Munich, Germany 0 Infineon Technologies AG. All Rights Reserved. Order Number: B-00-V-00-EU-EC-P Legal Disclaimer The information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, Infineon Technologies hereby disclaims any and all warranties and liabilities of any kind, including without limitation, warranties of noninfringement of intellectual property rights of any third party. Information For further information on technology, delivery terms and conditions and prices, please contact the nearest Infineon Technologies Office ( Warnings Due to technical requirements, components may contain dangerous substances. For information on the types in question, please contact the nearest Infineon Technologies Office. Infineon Technologies components may be used in life-support devices or systems only with the express written approval of Infineon Technologies, if a failure of such components can reasonably be expected to cause the failure of that life-support device or system or to affect the safety or effectiveness of that device or system. Life support devices or systems are intended to be implanted in the human body or to support and/or maintain and sustain and/or protect human life. If they fail, it is reasonable to assume that the health of the user or other persons may be endangered. ifx