JAJSMS0C august   2021  – june 2023 MCF8316A

PRODUCTION DATA  

  1.   1
  2. 1 特長
  3. 2 アプリケーション
  4. 3 Description
  5. 4 Revision History
  6. 5 Pin Configuration and Functions
  7. 6 Specifications
    1. 6.1 Absolute Maximum Ratings
    2. 6.2 ESD Ratings
    3. 6.3 Recommended Operating Conditions
    4. 6.4 Thermal Information
    5. 6.5 Electrical Characteristics
    6. 6.6 Characteristics of the SDA and SCL bus for Standard and Fast mode
    7. 6.7 Typical Characteristics
  8. 7 Detailed Description
    1. 7.1 Overview
    2. 7.2 Functional Block Diagram
    3. 7.3 Feature Description
      1. 7.3.1  Output Stage
      2. 7.3.2  Device Interface Modes
        1. 7.3.2.1 Interface - Control and Monitoring
        2. 7.3.2.2 I2C Interface
      3. 7.3.3  Step-Down Mixed-Mode Buck Regulator
        1. 7.3.3.1 Buck in Inductor Mode
        2. 7.3.3.2 Buck in Resistor mode
        3. 7.3.3.3 Buck Regulator with External LDO
        4. 7.3.3.4 AVDD Power Sequencing from Buck Regulator
        5. 7.3.3.5 Mixed Mode Buck Operation and Control
        6. 7.3.3.6 Buck Undervoltage Protection
        7. 7.3.3.7 Buck Overcurrent Protection
      4. 7.3.4  AVDD Linear Voltage Regulator
      5. 7.3.5  Charge Pump
      6. 7.3.6  Slew Rate Control
      7. 7.3.7  Cross Conduction (Dead Time)
      8. 7.3.8  SPEED Control
        1. 7.3.8.1 Analog-Mode Speed Control
        2. 7.3.8.2 PWM-Mode Speed Control
        3. 7.3.8.3 I2C based Speed Control
        4. 7.3.8.4 Frequency-Mode Speed Control
        5. 7.3.8.5 Speed Profiles
          1. 7.3.8.5.1 Linear Speed Profiles
          2. 7.3.8.5.2 Staircase Speed Profiles
          3. 7.3.8.5.3 Forward-Reverse Speed Profiles
      9. 7.3.9  Starting the Motor Under Different Initial Conditions
        1. 7.3.9.1 Case 1 – Motor is Stationary
        2. 7.3.9.2 Case 2 – Motor is Spinning in the Forward Direction
        3. 7.3.9.3 Case 3 – Motor is Spinning in the Reverse Direction
      10. 7.3.10 Motor Start Sequence (MSS)
        1. 7.3.10.1 Initial Speed Detect (ISD)
        2. 7.3.10.2 Motor Resynchronization
        3. 7.3.10.3 Reverse Drive
          1. 7.3.10.3.1 Reverse Drive Tuning
        4. 7.3.10.4 Motor Start-up
          1. 7.3.10.4.1 Align
          2. 7.3.10.4.2 Double Align
          3. 7.3.10.4.3 Initial Position Detection (IPD)
            1. 7.3.10.4.3.1 IPD Operation
            2. 7.3.10.4.3.2 IPD Release Mode
            3. 7.3.10.4.3.3 IPD Advance Angle
          4. 7.3.10.4.4 Slow First Cycle Startup
          5. 7.3.10.4.5 Open loop
          6. 7.3.10.4.6 Transition from Open to Closed Loop
      11. 7.3.11 Closed Loop Operation
        1. 7.3.11.1 Closed Loop Acceleration/Deceleration Slew Rate
        2. 7.3.11.2 Speed PI Control
        3. 7.3.11.3 Current PI Control
        4. 7.3.11.4 Overmodulation
      12. 7.3.12 Motor Parameters
        1. 7.3.12.1 Motor Resistance
        2. 7.3.12.2 Motor Inductance
        3. 7.3.12.3 Motor Back-EMF constant
      13. 7.3.13 Motor Parameter Extraction Tool (MPET)
      14. 7.3.14 Anti-Voltage Surge (AVS)
      15. 7.3.15 Output PWM Switching Frequency
      16. 7.3.16 Active Braking
      17. 7.3.17 PWM Modulation Schemes
      18. 7.3.18 Dead Time Compensation
      19. 7.3.19 Motor Stop Options
        1. 7.3.19.1 Coast (Hi-Z) Mode
        2. 7.3.19.2 Recirculation Mode
        3. 7.3.19.3 Low-Side Braking
        4. 7.3.19.4 High-Side Braking
        5. 7.3.19.5 Active Spin-Down
        6. 7.3.19.6 Align Braking
      20. 7.3.20 FG Configuration
        1. 7.3.20.1 FG Output Frequency
        2. 7.3.20.2 FG Open-Loop and Lock Behavior
      21. 7.3.21 DC Bus Current Limit
      22. 7.3.22 Protections
        1. 7.3.22.1  VM Supply Undervoltage Lockout
        2. 7.3.22.2  AVDD Undervoltage Lockout (AVDD_UV)
        3. 7.3.22.3  BUCK Undervoltage Lockout (BUCK_UV)
        4. 7.3.22.4  VCP Charge Pump Undervoltage Lockout (CPUV)
        5. 7.3.22.5  Overvoltage Protection (OVP)
        6. 7.3.22.6  Overcurrent Protection (OCP)
          1. 7.3.22.6.1 OCP Latched Shutdown (OCP_MODE = 00b)
          2. 7.3.22.6.2 OCP Automatic Retry (OCP_MODE = 01b)
          3. 7.3.22.6.3 OCP Report Only (OCP_MODE = 10b)
          4. 7.3.22.6.4 OCP Disabled (OCP_MODE = 11b)
        7. 7.3.22.7  Buck Overcurrent Protection
        8. 7.3.22.8  Hardware Lock Detection Current Limit (HW_LOCK_ILIMIT)
          1. 7.3.22.8.1 HW_LOCK_ILIMIT Latched Shutdown (HW_LOCK_ILIMIT_MODE = 00xxb)
          2. 7.3.22.8.2 HW_LOCK_ILIMIT Automatic recovery (HW_LOCK_ILIMIT_MODE = 01xxb)
          3. 7.3.22.8.3 HW_LOCK_ILIMIT Report Only (HW_LOCK_ILIMIT_MODE = 1000b)
          4. 7.3.22.8.4 HW_LOCK_ILIMIT Disabled (HW_LOCK_ILIMIT_MODE= 1xx1b)
        9. 7.3.22.9  Thermal Warning (OTW)
        10. 7.3.22.10 Thermal Shutdown (TSD)
        11. 7.3.22.11 Motor Lock (MTR_LCK)
          1. 7.3.22.11.1 MTR_LCK Latched Shutdown (MTR_LCK_MODE = 00xxb)
          2. 7.3.22.11.2 MTR_LCK Automatic Recovery (MTR_LCK_MODE= 01xxb)
          3. 7.3.22.11.3 MTR_LCK Report Only (MTR_LCK_MODE = 1000b)
          4. 7.3.22.11.4 MTR_LCK Disabled (MTR_LCK_MODE = 1xx1b)
        12. 7.3.22.12 Motor Lock Detection
          1. 7.3.22.12.1 Lock 1: Abnormal Speed (ABN_SPEED)
          2. 7.3.22.12.2 Lock 2: Abnormal BEMF (ABN_BEMF)
          3. 7.3.22.12.3 Lock3: No-Motor Fault (NO_MTR)
        13. 7.3.22.13 MPET Faults
        14. 7.3.22.14 IPD Faults
    4. 7.4 Device Functional Modes
      1. 7.4.1 Functional Modes
        1. 7.4.1.1 Sleep Mode
        2. 7.4.1.2 Standby Mode
        3. 7.4.1.3 Fault Reset (CLR_FLT)
    5. 7.5 External Interface
      1. 7.5.1 DRVOFF Functionality
      2. 7.5.2 SOX Output
      3. 7.5.3 Oscillator Source
        1. 7.5.3.1 External Clock Source
      4. 7.5.4 External Watchdog
    6. 7.6 EEPROM access and I2C interface
      1. 7.6.1 EEPROM Access
        1. 7.6.1.1 EEPROM Write
        2. 7.6.1.2 EEPROM Read
      2. 7.6.2 I2C Serial Interface
        1. 7.6.2.1 I2C Data Word
        2. 7.6.2.2 I2C Write Operation
        3. 7.6.2.3 I2C Read Operation
        4. 7.6.2.4 Examples of MCF8316A I2C Communication Protocol Packets
        5. 7.6.2.5 Internal Buffers
        6. 7.6.2.6 CRC Byte Calculation
    7. 7.7 EEPROM (Non-Volatile) Register Map
      1. 7.7.1 Algorithm_Configuration Registers
      2. 7.7.2 Fault_Configuration Registers
      3. 7.7.3 Hardware_Configuration Registers
      4. 7.7.4 Internal_Algorithm_Configuration Registers
    8. 7.8 RAM (Volatile) Register Map
      1. 7.8.1 Fault_Status Registers
      2. 7.8.2 System_Status Registers
      3. 7.8.3 Device_Control Registers
      4. 7.8.4 Algorithm_Control Registers
      5. 7.8.5 Algorithm_Variables Registers
  9. 8 Application and Implementation
    1. 8.1 Application Information
    2. 8.2 Typical Applications
      1. 8.2.1 Application Curves
        1. 8.2.1.1 Motor startup
        2. 8.2.1.2 MPET
        3. 8.2.1.3 Dead time compensation
        4. 8.2.1.4 Auto handoff
        5. 8.2.1.5 Motor stop – recirculation mode
        6. 8.2.1.6 Anti voltage surge (AVS)
  10. 9 Power Supply Recommendations
    1. 9.1 Bulk Capacitance
  11. 10Layout
    1. 10.1 Layout Guidelines
    2. 10.2 Layout Example
    3. 10.3 Thermal Considerations
      1. 10.3.1 Power Dissipation
  12. 11Device and Documentation Support
    1. 11.1 サポート・リソース
    2. 11.2 Trademarks
    3. 11.3 静電気放電に関する注意事項
    4. 11.4 用語集
  13. 12Mechanical, Packaging, and Orderable Information

パッケージ・オプション

メカニカル・データ（パッケージ｜ピン）
サーマルパッド・メカニカル・データ
発注情報

7.8.5 Algorithm_Variables Registers

ALGORITHM_VARIABLES Registers lists the memory-mapped registers for the Algorithm_Variables registers. All register offset addresses not listed in ALGORITHM_VARIABLES Registers should be considered as reserved locations and the register contents should not be modified.

Table 7-63 ALGORITHM_VARIABLES Registers
AddressAcronymRegister NameSection
210hALGORITHM_STATECurrent Algorithm State RegisterALGORITHM_STATE Register (Address = 210h) [Reset = 00000000h]
216hFG_SPEED_FDBKFG Speed Feedback RegisterFG_SPEED_FDBK Register (Address = 216h) [Reset = 00000000h]
410hBUS_CURRENTCalculated DC Bus Current RegisterBUS_CURRENT Register (Address = 410h) [Reset = 00000000h]
43EhPHASE_CURRENT_AMeasured Current on Phase A RegisterPHASE_CURRENT_A Register (Address = 43Eh) [Reset = 00000000h]
440hPHASE_CURRENT_BMeasured Current on Phase B RegisterPHASE_CURRENT_B Register (Address = 440h) [Reset = 00000000h]
442hPHASE_CURRENT_CMeasured Current on Phase C RegisterPHASE_CURRENT_C Register (Address = 442h) [Reset = 00000000h]
466hCSA_GAIN_FEEDBACKCSA Gain RegisterCSA_GAIN_FEEDBACK Register (Address = 466h) [Reset = 00000000h]
476hVOLTAGE_GAIN_FEEDBACKVoltage Gain RegisterVOLTAGE_GAIN_FEEDBACK Register (Address = 476h) [Reset = 00000000h]
478hVM_VOLTAGEVM Voltage RegisterVM_VOLTAGE Register (Address = 478h) [Reset = 00000000h]
47EhPHASE_VOLTAGE_VAPhase Voltage RegisterPHASE_VOLTAGE_VA Register (Address = 47Eh) [Reset = 00000000h]
480hPHASE_VOLTAGE_VBPhase Voltage RegisterPHASE_VOLTAGE_VB Register (Address = 480h) [Reset = 00000000h]
482hPHASE_VOLTAGE_VCPhase Voltage RegisterPHASE_VOLTAGE_VC Register (Address = 482h) [Reset = 00000000h]
4BAhSIN_COMMUTATION_ANGLESine of Commutation AngleSIN_COMMUTATION_ANGLE Register (Address = 4BAh) [Reset = 00000000h]
4BChCOS_COMMUTATION_ANGLECosine of Commutation AngleCOS_COMMUTATION_ANGLE Register (Address = 4BCh) [Reset = 00000000h]
4D4hIALPHAIALPHA Current RegisterIALPHA Register (Address = 4D4h) [Reset = 00000000h]
4D6hIBETAIBETA Current RegisterIBETA Register (Address = 4D6h) [Reset = 00000000h]
4D8hVALPHAVALPHA Voltage RegisterVALPHA Register (Address = 4D8h) [Reset = 00000000h]
4DAhVBETAVBETA Voltage RegisterVBETA Register (Address = 4DAh) [Reset = 00000000h]
4E4hIDMeasured d-axis Current RegisterID Register (Address = 4E4h) [Reset = 00000000h]
4E6hIQMeasured q-axis Current RegisterIQ Register (Address = 4E6h) [Reset = 00000000h]
4E8hVDVD Voltage RegisterVD Register (Address = 4E8h) [Reset = 00000000h]
4EAhVQVQ Voltage RegisterVQ Register (Address = 4EAh) [Reset = 00000000h]
524hIQ_REF_ROTOR_ALIGNAlign Current ReferenceIQ_REF_ROTOR_ALIGN Register (Address = 524h) [Reset = 00000000h]
53AhSPEED_REF_OPEN_LOOPOpen Loop Speed RegisterSPEED_REF_OPEN_LOOP Register (Address = 53Ah) [Reset = 00000000h]
548hIQ_REF_OPEN_LOOPOpen Loop Current ReferenceIQ_REF_OPEN_LOOP Register (Address = 548h) [Reset = 00000000h]
5CChSPEED_REF_CLOSED_LOOPSpeed Reference RegisterSPEED_REF_CLOSED_LOOP Register (Address = 5CCh) [Reset = 00000000h]
5FChID_REF_CLOSED_LOOPReference for Current Loop RegisterID_REF_CLOSED_LOOP Register (Address = 5FCh) [Reset = 00000000h]
5FEhIQ_REF_CLOSED_LOOPReference for Current Loop RegisterIQ_REF_CLOSED_LOOP Register (Address = 5FEh) [Reset = 00000000h]
67AhISD_STATEISD State RegisterISD_STATE Register (Address = 67Ah) [Reset = 00000000h]
684hISD_SPEEDISD Speed RegisterISD_SPEED Register (Address = 684h) [Reset = 00000000h]
6B8hIPD_STATEIPD State RegisterIPD_STATE Register (Address = 6B8h) [Reset = 00000000h]
6FChIPD_ANGLECalculated IPD Angle RegisterIPD_ANGLE Register (Address = 6FCh) [Reset = 00000000h]
742hEDEstimated BEMF EQ RegisterED Register (Address = 742h) [Reset = 00000000h]
744hEQEstimated BEMF ED RegisterEQ Register (Address = 744h) [Reset = 00000000h]
752hSPEED_FDBKSpeed Feedback RegisterSPEED_FDBK Register (Address = 752h) [Reset = 00000000h]
756hTHETA_ESTEstimated Motor Position RegisterTHETA_EST Register (Address = 756h) [Reset = 00000000h]

Complex bit access types are encoded to fit into small table cells. Algorithm_Variables Access Type Codes shows the codes that are used for access types in this section.

Table 7-64 Algorithm_Variables Access Type Codes
Access TypeCodeDescription
Read Type
RRRead
Reset or Default Value
-nValue after reset or the default value

7.8.5.1 ALGORITHM_STATE Register (Address = 210h) [Reset = 00000000h]

ALGORITHM_STATE is shown in ALGORITHM_STATE Register and described in ALGORITHM_STATE Register Field Descriptions.

Return to the Summary Table.

Current Algorithm State Register

Figure 7-89 ALGORITHM_STATE Register
313029282726252423222120191817161514131211109876543210
RESERVEDALGORITHM_STATE
R-0hR-0h
Table 7-65 ALGORITHM_STATE Register Field Descriptions
BitFieldTypeResetDescription
31-16RESERVEDR0h Reserved
15-0ALGORITHM_STATER0h 16-bit value indicating current state of device

0h = MOTOR_IDLE

1h = MOTOR_ISD

2h = MOTOR_TRISTATE

3h = MOTOR_BRAKE_ON_START

4h = MOTOR_IPD

5h = MOTOR_SLOW_FIRST_CYCLE

6h = MOTOR_ALIGN

7h = MOTOR_OPEN_LOOP

8h = MOTOR_CLOSED_LOOP_UNALIGNED

9h = MOTOR_CLOSED_LOOP_ALIGNED

Ah = MOTOR_CLOSED_LOOP_ACTIVE_BRAKING

Bh = MOTOR_SOFT_STOP

Ch = MOTOR_RECIRCULATE_STOP

Dh = MOTOR_BRAKE_ON_STOP

Eh = MOTOR_FAULT

Fh = MOTOR_MPET_MOTOR_STOP_CHECK

10h = MOTOR_MPET_MOTOR_STOP_WAIT

11h = MOTOR_MPET_MOTOR_BRAKE

12h = MOTOR_MPET_ALGORITHM_PARAMETERS_INIT

13h = MOTOR_MPET_RL_MEASURE

14h = MOTOR_MPET_KE_MEASURE

15h = MOTOR_MPET_STALL_CURRENT_MEASURE

16h = MOTOR_MPET_TORQUE_MODE

17h = MOTOR_MPET_DONE

18h = MOTOR_MPET_FAULT

7.8.5.2 FG_SPEED_FDBK Register (Address = 216h) [Reset = 00000000h]

FG_SPEED_FDBK is shown in FG_SPEED_FDBK Register and described in FG_SPEED_FDBK Register Field Descriptions.

Return to the Summary Table.

Speed Feedback from FG

Figure 7-90 FG_SPEED_FDBK Register
313029282726252423222120191817161514131211109876543210
FG_SPEED_FDBK
R-0h
Table 7-66 FG_SPEED_FDBK Register Field Descriptions
BitFieldTypeResetDescription
31-0FG_SPEED_FDBKR0h 32-bit value indicating FG estimated rotor speed; FGEstimatedSpeed (Hz) = (FG_SPEED_FDBK / 227) * MAX_SPEED

7.8.5.3 BUS_CURRENT Register (Address = 410h) [Reset = 00000000h]

BUS_CURRENT is shown in BUS_CURRENT Register and described in BUS_CURRENT Register Field Descriptions.

Return to the Summary Table.

Calculated Supply Current Register

Figure 7-91 BUS_CURRENT Register
313029282726252423222120191817161514131211109876543210
BUS_CURRENT
R-0h
Table 7-67 BUS_CURRENT Register Field Descriptions
BitFieldTypeResetDescription
31-0BUS_CURRENTR0h 32-bit value indicating DC bus current; I_dcBus (A) = (BUS_CURRENT / 227) * 1.25

7.8.5.4 PHASE_CURRENT_A Register (Address = 43Eh) [Reset = 00000000h]

PHASE_CURRENT_A is shown in PHASE_CURRENT_A Register and described in PHASE_CURRENT_A Register Field Descriptions.

Return to the Summary Table.

Measured current on Phase A Register

Figure 7-92 PHASE_CURRENT_A Register
313029282726252423222120191817161514131211109876543210
PHASE_CURRENT_A
R-0h
Table 7-68 PHASE_CURRENT_A Register Field Descriptions
BitFieldTypeResetDescription
31-0PHASE_CURRENT_AR0h 32-bit value indicating measured current on Phase A; Ia (A) = (PHASE_CURRENT_A / 227) * 1.25

7.8.5.5 PHASE_CURRENT_B Register (Address = 440h) [Reset = 00000000h]

PHASE_CURRENT_B is shown in PHASE_CURRENT_B Register and described in PHASE_CURRENT_B Register Field Descriptions.

Return to the Summary Table.

Measured current on Phase B Register

Figure 7-93 PHASE_CURRENT_B Register
313029282726252423222120191817161514131211109876543210
PHASE_CURRENT_B
R-0h
Table 7-69 PHASE_CURRENT_B Register Field Descriptions
BitFieldTypeResetDescription
31-0PHASE_CURRENT_BR0h 32-bit value indicating measured current on Phase B; Ib (A)= (PHASE_CURRENT_B / 227) * 1.25

7.8.5.6 PHASE_CURRENT_C Register (Address = 442h) [Reset = 00000000h]

PHASE_CURRENT_C is shown in PHASE_CURRENT_C Register and described in PHASE_CURRENT_C Register Field Descriptions.

Return to the Summary Table.

Measured current on Phase C Register

Figure 7-94 PHASE_CURRENT_C Register
313029282726252423222120191817161514131211109876543210
PHASE_CURRENT_C
R-0h
Table 7-70 PHASE_CURRENT_C Register Field Descriptions
BitFieldTypeResetDescription
31-0PHASE_CURRENT_CR0h 32-bit value indicating measured current on Phase C; Ic (A) = (PHASE_CURRENT_C / 227) * 1.25

7.8.5.7 CSA_GAIN_FEEDBACK Register (Address = 466h) [Reset = 00000000h]

CSA_GAIN_FEEDBACK is shown in CSA_GAIN_FEEDBACK Register and described in CSA_GAIN_FEEDBACK Register Field Descriptions.

Return to the Summary Table.

VM Voltage Register

Figure 7-95 CSA_GAIN_FEEDBACK Register
31302928272625242322212019181716
RESERVED
R-0h
1514131211109876543210
CSA_GAIN_FEEDBACK
R-0h
Table 7-71 CSA_GAIN_FEEDBACK Register Field Descriptions
BitFieldTypeResetDescription
31-16RESERVEDR0h Reserved
15-0CSA_GAIN_FEEDBACKR0h 16-bit value indicating current sense gain

0h = 1.2 V/A

1h = 0.6 V/A

2h = 0.3 V/A

3h = 0.15 V/A

7.8.5.8 VOLTAGE_GAIN_FEEDBACK Register (Address = 476h) [Reset = 00000000h]

VOLTAGE_GAIN_FEEDBACK is shown in VOLTAGE_GAIN_FEEDBACK Register and described in VOLTAGE_GAIN_FEEDBACK Register Field Descriptions.

Return to the Summary Table.

Voltage Gain Register

Figure 7-96 VOLTAGE_GAIN_FEEDBACK Register
31302928272625242322212019181716
RESERVED
R-0h
1514131211109876543210
VOLTAGE_GAIN_FEEDBACK
R-0h
Table 7-72 VOLTAGE_GAIN_FEEDBACK Register Field Descriptions
BitFieldTypeResetDescription
31-16RESERVEDR0h Reserved
15-0VOLTAGE_GAIN_FEEDBACKR0h 16-bit value indicating voltage gain

0h = 60V

1h = 30V

2h = 15V

7.8.5.9 VM_VOLTAGE Register (Address = 478h) [Reset = 00000000h]

VM_VOLTAGE is shown in VM_VOLTAGE Register and described in VM_VOLTAGE Register Field Descriptions.

Return to the Summary Table.

Supply voltage register

Figure 7-97 VM_VOLTAGE Register
313029282726252423222120191817161514131211109876543210
VM_VOLTAGE
R-0h
Table 7-73 VM_VOLTAGE Register Field Descriptions
BitFieldTypeResetDescription
31-0VM_VOLTAGER0h 32-bit value indicating DC bus voltage; DC Bus Voltage (V) = VM_VOLTAGE * 60 / 227

7.8.5.10 PHASE_VOLTAGE_VA Register (Address = 47Eh) [Reset = 00000000h]

PHASE_VOLTAGE_VA is shown in PHASE_VOLTAGE_VA Register and described in PHASE_VOLTAGE_VA Register Field Descriptions.

Return to the Summary Table.

Phase Voltage Register

Figure 7-98 PHASE_VOLTAGE_VA Register
313029282726252423222120191817161514131211109876543210
PHASE_VOLTAGE_VA
R-0h
Table 7-74 PHASE_VOLTAGE_VA Register Field Descriptions
BitFieldTypeResetDescription
31-0PHASE_VOLTAGE_VAR0h 32-bit value indicating phase voltage Va during ISD; Va (V) = PHASE_VOLTAGE_VA * 60 / (sqrt(3) * 227)

7.8.5.11 PHASE_VOLTAGE_VB Register (Address = 480h) [Reset = 00000000h]

PHASE_VOLTAGE_VB is shown in PHASE_VOLTAGE_VB Register and described in PHASE_VOLTAGE_VB Register Field Descriptions.

Return to the Summary Table.

Phase Voltage Register

Figure 7-99 PHASE_VOLTAGE_VB Register
313029282726252423222120191817161514131211109876543210
PHASE_VOLTAGE_VB
R-0h
Table 7-75 PHASE_VOLTAGE_VB Register Field Descriptions
BitFieldTypeResetDescription
31-0PHASE_VOLTAGE_VBR0h 32-bit value indicating phase voltage Vb during ISD; Vb (V) = PHASE_VOLTAGE_VB * 60 / (sqrt(3) * 227)

7.8.5.12 PHASE_VOLTAGE_VC Register (Address = 482h) [Reset = 00000000h]

PHASE_VOLTAGE_VC is shown in PHASE_VOLTAGE_VC Register and described in PHASE_VOLTAGE_VC Register Field Descriptions.

Return to the Summary Table.

Phase Voltage Register

Figure 7-100 PHASE_VOLTAGE_VC Register
313029282726252423222120191817161514131211109876543210
PHASE_VOLTAGE_VC
R-0h
Table 7-76 PHASE_VOLTAGE_VC Register Field Descriptions
BitFieldTypeResetDescription
31-0PHASE_VOLTAGE_VCR0h 32-bit value indicating phase voltage Vc during ISD; Vc (V)= PHASE_VOLTAGE_VC * 60 / (sqrt(3) * 227)

7.8.5.13 SIN_COMMUTATION_ANGLE Register (Address = 4BAh) [Reset = 00000000h]

SIN_COMMUTATION_ANGLE is shown in SIN_COMMUTATION_ANGLE Register and described in SIN_COMMUTATION_ANGLE Register Field Descriptions.

Return to the Summary Table.

Sine of Commutation Angle

Figure 7-101 SIN_COMMUTATION_ANGLE Register
313029282726252423222120191817161514131211109876543210
SIN_COMMUTATION_ANGLE
R-0h
Table 7-77 SIN_COMMUTATION_ANGLE Register Field Descriptions
BitFieldTypeResetDescription
31-0SIN_COMMUTATION_ANGLER0h 32-bit value indicating sine of commutation angle; sinCommutationAngle = (SIN_COMMUTATION_ANGLE / 227)

7.8.5.14 COS_COMMUTATION_ANGLE Register (Address = 4BCh) [Reset = 00000000h]

COS_COMMUTATION_ANGLE is shown in COS_COMMUTATION_ANGLE Register and described in COS_COMMUTATION_ANGLE Register Field Descriptions.

Return to the Summary Table.

Cosine of Commutation Angle

Figure 7-102 COS_COMMUTATION_ANGLE Register
313029282726252423222120191817161514131211109876543210
COS_COMMUTATION_ANGLE
R-0h
Table 7-78 COS_COMMUTATION_ANGLE Register Field Descriptions
BitFieldTypeResetDescription
31-0COS_COMMUTATION_ANGLER0h 32-bit value indicating cosine of commutation angle; cosCommutationAngle = (COS_COMMUTATION_ANGLE / 227)

7.8.5.15 IALPHA Register (Address = 4D4h) [Reset = 00000000h]

IALPHA is shown in IALPHA Register and described in IALPHA Register Field Descriptions.

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IALPHA Current Register

Figure 7-103 IALPHA Register
313029282726252423222120191817161514131211109876543210
IALPHA
R-0h
Table 7-79 IALPHA Register Field Descriptions
BitFieldTypeResetDescription
31-0IALPHAR0h 32-bit value indicating calculated I_alpha; I_alpha (A) = (IALPHA / 227) * 1.25

7.8.5.16 IBETA Register (Address = 4D6h) [Reset = 00000000h]

IBETA is shown in IBETA Register and described in IBETA Register Field Descriptions.

Return to the Summary Table.

IBETA Current Register

Figure 7-104 IBETA Register
313029282726252423222120191817161514131211109876543210
IBETA
R-0h
Table 7-80 IBETA Register Field Descriptions
BitFieldTypeResetDescription
31-0IBETAR0h 32-bit value indicating calculated I_beta; I_beta (A)= (IBETA / 227) * 1.25

7.8.5.17 VALPHA Register (Address = 4D8h) [Reset = 00000000h]

VALPHA is shown in VALPHA Register and described in VALPHA Register Field Descriptions.

Return to the Summary Table.

VALPHA Voltage Register

Figure 7-105 VALPHA Register
313029282726252423222120191817161514131211109876543210
VALPHA
R-0h
Table 7-81 VALPHA Register Field Descriptions
BitFieldTypeResetDescription
31-0VALPHAR0h 32-bit value indicating calculated V_alpha; V_alpha (V) = (VALPHA / 227) * 60 / sqrt(3)

7.8.5.18 VBETA Register (Address = 4DAh) [Reset = 00000000h]

VBETA is shown in VBETA Register and described in VBETA Register Field Descriptions.

Return to the Summary Table.

VBETA Voltage Register

Figure 7-106 VBETA Register
313029282726252423222120191817161514131211109876543210
VBETA
R-0h
Table 7-82 VBETA Register Field Descriptions
BitFieldTypeResetDescription
31-0VBETAR0h 32-bit value indicating calculated V_beta; V_beta (V) = (VBETA / 227) * 60 / sqrt(3)

7.8.5.19 ID Register (Address = 4E4h) [Reset = 00000000h]

ID is shown in ID Register and described in ID Register Field Descriptions.

Return to the Summary Table.

Measured d-axis Current Register

Figure 7-107 ID Register
313029282726252423222120191817161514131211109876543210
ID
R-0h
Table 7-83 ID Register Field Descriptions
BitFieldTypeResetDescription
31-0IDR0h 32-bit value indicating estimated Id; Id (A) = (ID / 227) * 1.25

7.8.5.20 IQ Register (Address = 4E6h) [Reset = 00000000h]

IQ is shown in IQ Register and described in IQ Register Field Descriptions.

Return to the Summary Table.

Measured q-axis Current Register

Figure 7-108 IQ Register
313029282726252423222120191817161514131211109876543210
IQ
R-0h
Table 7-84 IQ Register Field Descriptions
BitFieldTypeResetDescription
31-0IQR0h 32-bit value indicating estimated Iq; Iq (A) = (IQ / 227) * 1.25

7.8.5.21 VD Register (Address = 4E8h) [Reset = 00000000h]

VD is shown in VD Register and described in VD Register Field Descriptions.

Return to the Summary Table.

VD Voltage Register

Figure 7-109 VD Register
313029282726252423222120191817161514131211109876543210
VD
R-0h
Table 7-85 VD Register Field Descriptions
BitFieldTypeResetDescription
31-0VDR0h 32-bit value indicating applied Vd; Vd (V) = (VD / 227) * 60 / sqrt(3)

7.8.5.22 VQ Register (Address = 4EAh) [Reset = 00000000h]

VQ is shown in VQ Register and described in VQ Register Field Descriptions.

Return to the Summary Table.

VQ Voltage Register

Figure 7-110 VQ Register
313029282726252423222120191817161514131211109876543210
VQ
R-0h
Table 7-86 VQ Register Field Descriptions
BitFieldTypeResetDescription
31-0VQR0h 32-bit value indicating applied Vq; Vq (V)= (VQ / 227) * 60 / sqrt(3)

7.8.5.23 IQ_REF_ROTOR_ALIGN Register (Address = 524h) [Reset = 00000000h]

IQ_REF_ROTOR_ALIGN is shown in IQ_REF_ROTOR_ALIGN Register and described in IQ_REF_ROTOR_ALIGN Register Field Descriptions.

Return to the Summary Table.

Align Current Reference

Figure 7-111 IQ_REF_ROTOR_ALIGN Register
313029282726252423222120191817161514131211109876543210
IQ_REF_ROTOR_ALIGN
R-0h
Table 7-87 IQ_REF_ROTOR_ALIGN Register Field Descriptions
BitFieldTypeResetDescription
31-0IQ_REF_ROTOR_ALIGNR0h 32-bit value indicating Align Current Reference; IqRefRotorAlign (A) = (IQ_REF_ROTOR_ALIGN / 227) * 1.25

7.8.5.24 SPEED_REF_OPEN_LOOP Register (Address = 53Ah) [Reset = 00000000h]

SPEED_REF_OPEN_LOOP is shown in SPEED_REF_OPEN_LOOP Register and described in SPEED_REF_OPEN_LOOP Register Field Descriptions.

Return to the Summary Table.

Speed at which motor transitions to close loop

Figure 7-112 SPEED_REF_OPEN_LOOP Register
313029282726252423222120191817161514131211109876543210
SPEED_REF_OPEN_LOOP
R-0h
Table 7-88 SPEED_REF_OPEN_LOOP Register Field Descriptions
BitFieldTypeResetDescription
31-0SPEED_REF_OPEN_LOOPR0h 32-bit value indicating open loop speed reference; OpenLoopSpeedRef (Hz) = (SPEED_REF_OPEN_LOOP / 227) * MAX_SPEED

7.8.5.25 IQ_REF_OPEN_LOOP Register (Address = 548h) [Reset = 00000000h]

IQ_REF_OPEN_LOOP is shown in IQ_REF_OPEN_LOOP Register and described in IQ_REF_OPEN_LOOP Register Field Descriptions.

Return to the Summary Table.

Open Loop Current Reference

Figure 7-113 IQ_REF_OPEN_LOOP Register
313029282726252423222120191817161514131211109876543210
IQ_REF_OPEN_LOOP
R-0h
Table 7-89 IQ_REF_OPEN_LOOP Register Field Descriptions
BitFieldTypeResetDescription
31-0IQ_REF_OPEN_LOOPR0h 32-bit value indicating Open Loop Current Reference IqRefOpenLoop (A) = (IQ_REF_OPEN_LOOP / 227) * 1.25

7.8.5.26 SPEED_REF_CLOSED_LOOP Register (Address = 5CCh) [Reset = 00000000h]

SPEED_REF_CLOSED_LOOP is shown in SPEED_REF_CLOSED_LOOP Register and described in SPEED_REF_CLOSED_LOOP Register Field Descriptions.

Return to the Summary Table.

Speed Reference Register

Figure 7-114 SPEED_REF_CLOSED_LOOP Register
313029282726252423222120191817161514131211109876543210
SPEED_REF_CLOSED_LOOP
R-0h
Table 7-90 SPEED_REF_CLOSED_LOOP Register Field Descriptions
BitFieldTypeResetDescription
31-0SPEED_REF_CLOSED_LOOPR0h 32-bit value indicating reference for speed loop; Speed reference in closed loop (Hz) = (SPEED_REF_CLOSED_LOOP/ 227) * MAX_SPEED

7.8.5.27 ID_REF_CLOSED_LOOP Register (Address = 5FCh) [Reset = 00000000h]

ID_REF_CLOSED_LOOP is shown in ID_REF_CLOSED_LOOP Register and described in ID_REF_CLOSED_LOOP Register Field Descriptions.

Return to the Summary Table.

Reference for Current Loop Register

Figure 7-115 ID_REF_CLOSED_LOOP Register
313029282726252423222120191817161514131211109876543210
ID_REF_CLOSED_LOOP
R-0h
Table 7-91 ID_REF_CLOSED_LOOP Register Field Descriptions
BitFieldTypeResetDescription
31-0ID_REF_CLOSED_LOOPR0h 32-bit value indicating Id_ref for flux loop; IdRefClosedLoop (A) = (ID_REF_CLOSED_LOOP / 227) * 1.25

7.8.5.28 IQ_REF_CLOSED_LOOP Register (Address = 5FEh) [Reset = 00000000h]

IQ_REF_CLOSED_LOOP is shown in IQ_REF_CLOSED_LOOP Register and described in IQ_REF_CLOSED_LOOP Register Field Descriptions.

Return to the Summary Table.

Reference for Current Loop Register

Figure 7-116 IQ_REF_CLOSED_LOOP Register
313029282726252423222120191817161514131211109876543210
IQ_REF_CLOSED_LOOP
R-0h
Table 7-92 IQ_REF_CLOSED_LOOP Register Field Descriptions
BitFieldTypeResetDescription
31-0IQ_REF_CLOSED_LOOPR0h 32-bit value indicating Iq_ref for torque loop ; IqRefClosedLoop (A) = (IQ_REF_CLOSED_LOOP / 227) *1.25

7.8.5.29 ISD_STATE Register (Address = 67Ah) [Reset = 00000000h]

ISD_STATE is shown in ISD_STATE Register and described in ISD_STATE Register Field Descriptions.

Return to the Summary Table.

ISD state Register

Figure 7-117 ISD_STATE Register
313029282726252423222120191817161514131211109876543210
RESERVEDISD_STATE
R-0hR-0h
Table 7-93 ISD_STATE Register Field Descriptions
BitFieldTypeResetDescription
31-16RESERVEDR0h Reserved
15-0ISD_STATER0h 16-bit value indicating current ISD state

0h = ISD_INIT

1h = ISD_MOTOR_STOP_CHECK

2h = ISD_MOTOR_DIRECTION_CHECK

3h = ISD_COMPLETE

4h = ISD_FAULT

7.8.5.30 ISD_SPEED Register (Address = 684h) [Reset = 00000000h]

ISD_SPEED is shown in ISD_SPEED Register and described in ISD_SPEED Register Field Descriptions.

Return to the Summary Table.

ISD Speed Register

Figure 7-118 ISD_SPEED Register
313029282726252423222120191817161514131211109876543210
ISD_SPEED
R-0h
Table 7-94 ISD_SPEED Register Field Descriptions
BitFieldTypeResetDescription
31-0ISD_SPEEDR0h 32-bit value indicating calculated speed during ISD state; ISD_Speed (Hz) = (ISD_SPEED / 227) * MAX_SPEED

7.8.5.31 IPD_STATE Register (Address = 6B8h) [Reset = 00000000h]

IPD_STATE is shown in IPD_STATE Register and described in IPD_STATE Register Field Descriptions.

Return to the Summary Table.

IPD state Register

Figure 7-119 IPD_STATE Register
313029282726252423222120191817161514131211109876543210
RESERVEDIPD_STATE
R-0hR-0h
Table 7-95 IPD_STATE Register Field Descriptions
BitFieldTypeResetDescription
31-16RESERVEDR0h Reserved
15-0IPD_STATER0h 16-bit value indicating current IPD state

0h = IPD_INIT

1h = IPD_VECTOR_CONFIG

2h = IPD_RUN

3h = IPD_SLOW_RISE_CLOCK

4h = IPD_SLOW_FALL_CLOCK

5h = IPD_WAIT_CURRENT_DECAY

6h = IPD_GET_TIMES

7h = IPD_SET_NEXT_VECTOR

8h = IPD_CALC_SECTOR_RISE

9h = IPD_CALC_ROTOR_POSITION

Ah = IPD_CALC_ANGLE

Bh = IPD_COMPLETE

Ch = IPD_FAULT

7.8.5.32 IPD_ANGLE Register (Address = 6FCh) [Reset = 00000000h]

IPD_ANGLE is shown in IPD_ANGLE Register and described in IPD_ANGLE Register Field Descriptions.

Return to the Summary Table.

Calculated IPD Angle Register

Figure 7-120 IPD_ANGLE Register
313029282726252423222120191817161514131211109876543210
IPD_ANGLE
R-0h
Table 7-96 IPD_ANGLE Register Field Descriptions
BitFieldTypeResetDescription
31-0IPD_ANGLER0h 32-bit value indicating measured IPD angle; IPD_Angle (°) = (IPD_ANGLE / 227) * 360°

7.8.5.33 ED Register (Address = 742h) [Reset = 00000000h]

ED is shown in ED Register and described in ED Register Field Descriptions.

Return to the Summary Table.

Estimated BEMF EQ Register

Figure 7-121 ED Register
313029282726252423222120191817161514131211109876543210
ED
R-0h
Table 7-97 ED Register Field Descriptions
BitFieldTypeResetDescription
31-0EDR0h 32-bit value indicating estimated Ed; Ed (V) = (ED / 227) * 60 / sqrt(3)

7.8.5.34 EQ Register (Address = 744h) [Reset = 00000000h]

EQ is shown in EQ Register and described in EQ Register Field Descriptions.

Return to the Summary Table.

Estimated BEMF ED Register

Figure 7-122 EQ Register
313029282726252423222120191817161514131211109876543210
EQ
R-0h
Table 7-98 EQ Register Field Descriptions
BitFieldTypeResetDescription
31-0EQR0h 32-bit value indicating estimated Eq; Eq (V) = (EQ / 227) * 60 / sqrt(3)

7.8.5.35 SPEED_FDBK Register (Address = 752h) [Reset = 00000000h]

SPEED_FDBK is shown in SPEED_FDBK Register and described in SPEED_FDBK Register Field Descriptions.

Return to the Summary Table.

Speed Feedback Register

Figure 7-123 SPEED_FDBK Register
313029282726252423222120191817161514131211109876543210
SPEED_FDBK
R-0h
Table 7-99 SPEED_FDBK Register Field Descriptions
BitFieldTypeResetDescription
31-0SPEED_FDBKR0h 32-bit value indicating estimated rotor speed; EstimatedSpeed (Hz) = (SPEED_FDBK / 227)* MAX_SPEED

7.8.5.36 THETA_EST Register (Address = 756h) [Reset = 00000000h]

THETA_EST is shown in THETA_EST Register and described in THETA_EST Register Field Descriptions.

Return to the Summary Table.

Estimated motor position Register

Figure 7-124 THETA_EST Register
313029282726252423222120191817161514131211109876543210
THETA_EST
R-0h
Table 7-100 THETA_EST Register Field Descriptions
BitFieldTypeResetDescription
31-0THETA_ESTR0h 32-bit value indicating estimated rotor angle; EstimatedAngle (°) = (THETA_EST / 227) * 360°