REFERENCE DESIGN
www.onsemi.com

SEC-EPS-12V-APM19-GEVB: Electronic Power
Steering (EPS) with APM19 Reference Design
TND6376/D
DeviceApplication

Input Voltage

Max Current

Topology

NXV04V120DB1
FDBL9406−F085T6
LV8968BB
NCV7340
NCV890200
NCV20072
NCV20074
NCV7805…

Electronic Power
Steering

9−20 Vdc

80 A

FOC Algorithm
for Motor Driver

PHOTOGRAPH OF THE EVALUATION BOARD

Figure 1. Photograph of the Evaluation Board© Semiconductor Components Industries, LLC, 2022

June, 2022 − Rev. 0

1

Publication Order Number:
TND6376/D

TND6376/D
KEY FEATURES
Whole Solution:

NCV20072 & NCV20074:• Wide supply range: 2.7 V to 36 V.
• Rail−to−Rail Output.
• Wide bandwidth: 3 MHz typical at VS = 2.7 V.
• High slew rate: 2.8 V/ms typical at VS = 2.7 V.
• Low supply current: 405 mA per channel at VS = 2.7 V.
• Wide temperature range: −40°C to 125°C.
• NCV Prefix for automotive and other applications
requiring unique site and control change requirements;
AEC−Q100 qualified and PPAP capable.

• 3−phase inverter Automotive Power Module (APM) for
PMSM.
• 3−phase pre−driver.
• CAN communication.
• DC−DC/LDO and amplifier.
• Integrated software algorithm.
Solution Features:• Uses the APM19 (NXV04V120DB1) for PMSM.
Automotive Power Modules (APMs) enable the designof small, efficient and reliable systems.
• Simplified vehicle assembly.
• Low thermal resistance.
• Uses 3 half−bridge gate−drivers (LV8968BB).
♦ 8 V−28 V supply voltage capable.
♦ Extensive system protection.
♦ 3.3 V and 5 V input logic compatible.
• FOC & current−loop to drive motor, providing fast
response and high efficiency.

NCV890200:• 2 MHz free−running switching frequency.
• Typical 4.5 V to 18 V automotive input voltage range.
• Short−circuit protection enhanced by frequency
fold−back.
• ±1.75% output voltage tolerance.
• 2.2 A (min) cycle−by−cycle peak current limit.
• NCV prefix for automotive and other applications
requiring unique site and control change requirements;
AEC−Q100 qualified and PPAP capable.

Component Features:

NXV04V120DB1:• Three−phase inverter bridge for variable speed motor
drive.
• RC snubber for low EMI.
• Current sensing and temperature sensing.
• Electrically isolated DBC substrate for low thermal
resistance.
• AEC qualified − AQG324.
LV8968BB:• Full drive power from 8V to 28V supply voltage, withtransient tolerance from 4.5 V to 40 V.
• Up to 25 kHz motor PWM with individual six gate
control or Drive−3 mode with integrated programmabledead−time.
• Extensive system protection features including:♦ Drain−source short detection for external MOSFET.
♦ Overcurrent shutoff.
♦ Low gate voltage warning.
♦ Over−temperature warning and shutoff.
♦ Over / undervoltage protection.
• Supports functional safety design level ASIL−B.
• AEC−Q100 qualified and PPAP capable.

www.onsemi.com
2

TND6376/D
SCHEMATICS AND CIRCUIT DESCRIPTION
The system diagram is Figure 2. The key onsemi elementsof the EPS reference design are marked in the orange blocks.

Figure 2. System Diagram of the EPS with APM19

The NXV04V120DB1 is a 40 V low Rds(on) automotive
qualified power integrated module featuring a 3−phase
MOSFET bridge optimized for an automotive 12 V motor
inverter system. It includes a precision shunt resistor for
current sensing, a NTC for temperature sensing, and a RC
snubber circuit. The module utilizes onsemi’s trench
MOSFET technology and it is designed to provide a very
compact solution for the system. For more details on the
NXV04V120DB1 please refer to the datasheet and theapplication notes on the NXV04V120DB1 web page.
The LV8968BB is a multi−purpose three−phase BLDC
pre−driver for automotive applications and has beendeveloped in compliance with ISO 26262. Six gate drivers
provide 400 mA (typ) gate current to external power bridges
allowing the use of low−resistance power FETs as well as

logic level FETs. All FETs are protected against overcurrent,
short−circuit, over−temperature and gate undervoltage. A
multitude of protection and monitoring features make thisdevice suitable for applications with functional safety
requirements. Three independent low−side source pins
allow multiple shunt measurements. The device also
includes a programmable linear regulator, a fastcurrent−sense amplifier, and a windowed watchdog for
microcontroller support. The SPI interface allows for realtime parameter setup and diagnostics. Critical systemparameters can be programmed into non−volatile OTP
memory. For more details on the LV8968BB please refer thedatasheet and the application notes on the LV8968BB web
page.

www.onsemi.com
3

TND6376/D

Figure 3. Schematic of the Main Board

www.onsemi.com
4

TND6376/D
The connector P1 connects 12 V main power to thepower−board. Table 1 shows the signals.
Table 1. THE CONNECTION OF POWER INPUT
Pin No.

Direction

Description

1V++12 V main power input

2

V−

GND

The connector P2 connects CAN communication to thepower−board. Table 2 shows the signals.
Table 2. THE CONNECTION OF CAN COMMUNICATION
Pin No.

Direction

Description

1

VCC

+5 V

2

GND

GND

3

CANL

CAN communication

4

CANH

CAN communication

The connector P3 connects motor rotor signal (reserves)to the power−board. Table 3 shows the signals.
Table 3. THE CONNECTION OF POWER INPUT
Pin No.

Direction

Description

1

VCC

+5 V

2

GND

GND

3

TS−SI1Channel 1 of rotor signal

4TS−SI2Channel 2 of rotor signal

5TS−SI3Channel 3 of rotor signal

The connector P4 connects the motor phase to thepower−board. Table 4 shows the signals.
Table 4. THE CONNECTION OF MOTOR PHASESPin No.

Direction

1

PH1N

The Phase1 Negative port

Description

2

PH2N

The Phase2 Negative port

3

PH3N

The Phase3 Negative port

4

PH1P

The Phase1 Positive port

5

PH2P

The Phase2 Positive port

6

PH3P

The Phase3 Positive port

www.onsemi.com
5

TND6376/D
The connector P5 connects motor resolver−decode to thepower−board. Table 5 shows the signals.
Table 5. THE CONNECTION OF MOTOR RESOLVER−DECODE
Pin No.

Direction

Description

1

TEMP

The temperature sensor positive port

2

GND

The temperature sensor negative port

3

PEXCH

The feedback of exciter positive port

4

PEXCL

The feedback of exciter negative port

5

PSINH

The Sin−Out of exciter positive port

6

PSINL

The Sin−Out of exciter negative port

7

PCOSH

The Cos−Out of exciter positive port

8

PCOSL

The Cos−Out of exciter negative port

The connector P6 connects control−signal to the
MCU−board. Table 6 shows the signals.
Table 6. THE CONNECTION CONNECTS MCU TO MAIN BOARD
Pin No.

Direction

Description

1

PWM_PH1H

PWM1H to gate−driver

2

PWM_PH1L

PWM1L to gate−driver

3

PWM_PH2H

PWM2H to gate−driver

4

PWM_PH2L

PWM2L to gate−driver

5

PWM_PH3H

PWM3H to gate−driver

6

PWM_PH3L

PWM3L to gate−driver

7

PWM_EN

Enable signal of gate−driver

8

MPN_EN

Enable signal of relay

9

NG_FLAG

Fault signal from gate−driver

10

OC_FLAG

Over current signal from Power−Module

11

CSB

SPI CSB of connection to gate−driver

12

SCK

SPI SCK of connection to gate−driver

13

SDI

SPI SDI of connection to gate−driver

14

SDO

SPI SDO of connection to gate−driver

15

IDC_ADBus current sample signal

16

PH1_AD

Phase1 current sample signal

17

PH2_AD

Phase2 current sample signal

18

VDC_AD

Voltage sample signal

19

TEMP1_ADThe Temperature of Power−Module sample signal

20

TEMP_ADThe Temperature of resolver−decode sample signal

www.onsemi.com
6

TND6376/D
The connector P7 connects control−signal to the
MCU−board. Table 7 shows the signals.
Table 7. THE CONNECTION CONNECTS MCU TO MAIN BOARD
Pin No.

Direction

Description

1

VIN

+12 V

2

VDD

+5 V for AD sample

3

GND

GND

4

AD2S_SAM

The SAM of AD2S1210

5

AD2S_WR

The WR of AD2S1210

6

AD2S_CSBSPI CSB of connection to AD2S1210

7

AD2S_SCKSPI SCK of connection to AD2S1210

8

AD2S_SDISPI SDI of connection to AD2S1210

9

AD2S_SDOSPI SDO of connection to AD2S1210

10

AD2S_A0

The A0 of AD2S1210

11

AD2S_A1

The A1 of AD2S1210

12

AD2S_DOSThe DOS of AD2S1210

13

AD2S_LOT

The LOT of AD2S1210

14

CAN_RX

Connect CAN RXD of NCV7340 to MCU

15

CAN_TX

Connect CAN TXD of NCV7340 to MCU

16

POWER_ON

17

POS_AD

Connect positioner voltage signal to MCU

18

TS_SI1Connect channel1 of rotor signal to MCU

19

TS_SI2Connect channel2 of rotor signal to MCU

20

TS_SI3Connect channel3 of rotor signal to MCU

Connect switch on−off signal to MCU

www.onsemi.com
7

TND6376/D

Figure 4. Schematic of the MCU Control Board

www.onsemi.com
8

TND6376/D
The connector P1 connects control−signal to thepower−board. Table 8 shows the signals.
Table 8. THE CONNECTION CONNECTS MCU TO POWER−BOARD
Pin No.

Direction

Description

1

PWM_PH1H

PWM1H to gate−driver

2

PWM_PH1L

PWM1L to gate−driver

3

PWM_PH2H

PWM2H to gate−driver

4

PWM_PH2L

PWM2L to gate−driver

5

PWM_PH3H

PWM3H to gate−driver

6

PWM_PH3L

PWM3L to gate−driver

7

PWM_EN

Enable signal of gate−driver

8

MPN_EN

Enable signal of relay

9

NG_FLAG

Fault signal from gate−driver

10

OC_FLAG

Over current signal from Power−Module

11

CSB

SPI CSB of connection to gate−driver

12

SCK

SPI SCK of connection to gate−driver

13

SDI

SPI SDI of connection to gate−driver

14

SDO

SPI SDO of connection to gate−driver

15

IDC_ADBus current sample signal

16

PH1_AD

Phase1 current sample signal

17

PH2_AD

Phase2 current sample signal

18

VDC_AD

Voltage sample signal

19

TEMP1_ADThe Temperature of Power−Module sample signal

20

TEMP_ADThe Temperature of resolver−decode sample signal

www.onsemi.com
9

TND6376/D
The connector P2 connects control−signal to thepower−board. The table 9 shows the signals.
Table 9. THE CONNECTION CONNECTS MCU TO POWER−BOARD
Pin No.

Direction

Description

1

VIN

+12 V

2

VDD

+5 V for AD sample

3

GND

GND

4

AD2S_SAM

The SAM of AD2S1210

5

AD2S_WR

The WR of AD2S1210

6

AD2S_CSBSPI CSB of connection to AD2S1210

7

AD2S_SCKSPI SCK of connection to AD2S1210

8

AD2S_SDISPI SDI of connection to AD2S1210

9

AD2S_SDOSPI SDO of connection to AD2S1210

10

AD2S_A0

The A0 of AD2S1210

11

AD2S_A1

The A1 of AD2S1210

12

AD2S_DOSThe DOS of AD2S1210

13

AD2S_LOT

The LOT of AD2S1210

14

CAN_RX

Connect CAN RXD of NCV7340 to MCU

15

CAN_TX

Connect CAN TXD of NCV7340 to MCU

16

POWER_ON

17

POS_AD

Connect positioner voltage signal to MCU

18

TS_SI1Connect channel1 of rotor signal to MCU

19

TS_SI2Connect channel2 of rotor signal to MCU

20

TS_SI3Connect channel3 of rotor signal to MCU

Connect switch on−off signal to MCU

www.onsemi.com
10

TND6376/D
SOFTWARE CODE OF FOC FOR MOTOR−DRIVER
void PhaseCurrent_Translate(void){
tFloat Data_Iu,Data_Iv;
Data_Iu = Ad_CurrentA - 0x7FF;
if(Data_Iu >= 0x666)
Data_Iu = 0x666;
if(Data_Iu <= -0x666)
Data_Iu = -0x666;
Data_Iv = Ad_CurrentB - 0x7FF;
if(Data_Iv >= 0x666)
Data_Iv = 0x666;
if(Data_Iv <= -0x666)
Data_Iv = -0x666;
FOC.Iu = MLIB_Mul((MLIB_Div(Data_Iu, (tFloat)0x666)), _de_CurrentSensor_IMax);
FOC.Iv = MLIB_Mul((MLIB_Div(Data_Iv, (tFloat)0x666)), _de_CurrentSensor_IMax);
FOC.Iw = MLIB_Neg_FLT(MLIB_Add(FOC.Iu,FOC.Iv));}
void RotorAngle_Translate(void){
volatile unsigned long tm_Long;#if_de_Use_HallThree
HallThree.Angle_Elec = HallThree_Angle();Rotor.Angle_ElecTheta = (tU16)((tU32)(HallThree.Angle_Elec) * 360 / 65536);#endif#if_de_Use_Resolver
Resolver.Angle_Elec = AD2S1210_Angle();Rotor.Angle_ElecTheta = (tU16)((tU32)(Resolver.Angle_Elec) * 360 / 65536);#endif#if_de_Use_SoftwareFix
SoftwareFix.Angle_Elec += 24;
Rotor.Angle_ElecTheta = (tU16)((tU32)(SoftwareFix.Angle_Elec) * 360 / 65536);#endifFOC.CosTheta= MLIB_Div((tFloat)(CosTable[Rotor.Angle_ElecTheta]), (tFloat)(32767));
FOC.SinTheta= MLIB_Div((tFloat)(SinTable[Rotor.Angle_ElecTheta]), (tFloat)(32767));}
void RotorSpeed_Translate(void){#if_de_Use_HallThree
HallThree.Speed_Elec = HallThree_Speed();HallThree.Speed_RPM = (HallThree.Speed_Elec)/(HallThree.Pola_Num);
Rotor.Speed_RPM = HallThree.Speed_RPM;#endif#if_de_Use_Resolver
Resolver.Speed_Elec = AD2S1210_Speed();Resolver.Speed_RPM = (Resolver.Speed_Elec)/(Resolver.Pola_Num);
Rotor.Speed_RPM = Resolver.Speed_RPM;#endif#if_de_Use_SoftwareFix
SoftwareFix.Speed_Elec = 24*50;
SoftwareFix.Speed_RPM = (SoftwareFix.Speed_Elec)/(SoftwareFix.Pola_Num);
Rotor.Speed_RPM = Resolver.Speed_RPM;#endif}void CLARK_Translate(void){//
Ialpha = Iu;//
Ibeta = (Iu + Iv*2)*SQRT3INT
FOC.Ialpha = FOC.Iu;
FOC.Ibeta = MLIB_Mul(MLIB_Add(FOC.Iu, MLIB_Mul(FOC.Iu, 2.0F)), _de_SQRT3INT_Float);}
void PARK_Translate(void){//
Id = Ialpha*AngalCos + Ibeta*AngalSin;//
Iq = Ibeta*AngalCos - Ialpha*AngalSin;
FOC.Id=MLIB_Add(MLIB_Mul(FOC.Ialpha,FOC.CosTheta),MLIB_Mul(FOC.Ibeta,
FOC.SinTheta));

www.onsemi.com
11

TND6376/D
FOC.Iq=MLIB_Sub(MLIB_Mul(FOC.Ibeta,FOC.CosTheta),MLIB_Mul(FOC.Ialpha,FOC.SinTheta));}
void IPARK_Translate(void){//
Ualpha = Ud*AngalCos - Uq*AngalSin;//
Ubeta = Ud*AngalSin + Uq*AngalCos;
FOC.Ualpha=MLIB_Sub(MLIB_Mul(FOC.Ud,FOC.CosTheta),MLIB_Mul(FOC.Uq,FOC.SinTheta));
FOC.Ubeta=MLIB_Add(MLIB_Mul(FOC.Ud,FOC.SinTheta), MLIB_Mul(FOC.Uq, FOC.CosTheta));}void SVW_Translate(void){
tFloat Data1,Data2,Data3;
tU8 Num1,Num2,Num3,Num;
SVW.Ualpha = FOC.Ualpha;
SVW.Ubeta = FOC.Ubeta;
//
//
//

Data1 = SVW.Ubeta;
Data2 = -_IQdiv2(SVW.Ubeta) + _IQmpy(SVW.Ualpha, _IQ15toIQ(SQRT3DIV2));
Data3 = -_IQdiv2(SVW.Ubeta) -_IQmpy(SVW.Ualpha, _IQ15toIQ(SQRT3DIV2));
Data1 = SVW.Ubeta;
Data2=MLIB_Add(MLIB_Neg_FLT(MLIB_Div(SVW.Ubeta,2.0F)),MLIB_Mul(SVW.Ualpha,_de_SQRT3DIV2_Float));Data3=MLIB_Sub(MLIB_Neg_FLT(MLIB_Div(SVW.Ubeta,2.0F)),MLIB_Mul(SVW.Ualpha,_de_SQRT3DIV2_Float));Num1 = (Data1 >= 0) ? 1 : 0;
Num2 = (Data2 >= 0) ? 1 : 0;
Num3 = (Data3 >= 0) ? 1 : 0;
Num = Num1 + Num2*2 + Num3*4;
if(Num == 1)
SVW.Sector = 2;
else if(Num == 2)
SVW.Sector = 6;else if(Num == 3)
SVW.Sector = 1;
else if(Num == 4)
SVW.Sector = 4;
else if(Num == 5)
SVW.Sector = 3;
else
SVW.Sector = 5;
//
//
//

SVW.Tx = SVW.Ubeta;
SVW.Ty = _IQdiv2(SVW.Ubeta) + _IQmpy(_IQ15toIQ(SQRT3DIV2), SVW.Ualpha);
SVW.Tz = -_IQdiv2(SVW.Ubeta) + _IQmpy(_IQ15toIQ(SQRT3DIV2), SVW.Ualpha);
SVW.Tx = SVW.Ubeta;
SVW.Ty=MLIB_Add(MLIB_Div(SVW.Ubeta,2.0F),MLIB_Mul(SVW.Ualpha,_de_SQRT3DIV2_Float));
SVW.Tz=MLIB_Add(MLIB_Neg_FLT(MLIB_Div(SVW.Ubeta,2.0F)),MLIB_Mul(SVW.Ualpha,_de_SQRT3DIV2_Float));switch(SVW.Sector){
case1:
SVW.Tk = (tU16)(MLIB_Mul(SVW.Tz, SVW.Ts));SVW.Tk1 = (tU16)(MLIB_Mul(SVW.Tx, SVW.Ts));
if((SVW.Tk + SVW.Tk1) > SVW.Ts){
SVW.Tk = SVW.Tk*SVW.Ts/(SVW.Tk+SVW.Tk1);
SVW.Tk1 = SVW.Tk1*SVW.Ts/(SVW.Tk+SVW.Tk1);}
SVW.T0 = SVW.Ts - SVW.Tk - SVW.Tk1;
SVW.Tw = SVW.T0/2;
SVW.Tv = SVW.T0/2 + SVW.Tk1;
SVW.Tu = SVW.T0/2 + SVW.Tk1 + SVW.Tk;
break;
case2:www.onsemi.com
12

TND6376/D
SVW.Tk = (tU16)(MLIB_Mul(SVW.Ty, SVW.Ts));SVW.Tk1 = (tU16)(MLIB_Mul(-SVW.Tz, SVW.Ts));
if((SVW.Tk + SVW.Tk1) > SVW.Ts){
SVW.Tk = SVW.Tk*SVW.Ts/(SVW.Tk+SVW.Tk1);
SVW.Tk1 = SVW.Tk1*SVW.Ts/(SVW.Tk+SVW.Tk1);}
SVW.T0 = SVW.Ts - SVW.Tk - SVW.Tk1;
SVW.Tw = SVW.T0/2;
SVW.Tu = SVW.T0/2 + SVW.Tk;
SVW.Tv = SVW.T0/2 + SVW.Tk + SVW.Tk1;
break;
case3:
SVW.Tk = (tU16)(MLIB_Mul(SVW.Tx, SVW.Ts));SVW.Tk1 = (tU16)(MLIB_Mul(-SVW.Ty, SVW.Ts));
if((SVW.Tk + SVW.Tk1) > SVW.Ts){
SVW.Tk = SVW.Tk*SVW.Ts/(SVW.Tk+SVW.Tk1);
SVW.Tk1 = SVW.Tk1*SVW.Ts/(SVW.Tk+SVW.Tk1);}
SVW.T0 = SVW.Ts - SVW.Tk - SVW.Tk1;
SVW.Tu = SVW.T0/2;
SVW.Tw = SVW.T0/2 + SVW.Tk1;
SVW.Tv = SVW.T0/2 + SVW.Tk1 + SVW.Tk;
break;
case4:
SVW.Tk = (tU16)(MLIB_Mul(-SVW.Tz, SVW.Ts));SVW.Tk1 = (tU16)(MLIB_Mul(-SVW.Tx, SVW.Ts));
if((SVW.Tk + SVW.Tk1) > SVW.Ts){
SVW.Tk = SVW.Tk*SVW.Ts/(SVW.Tk+SVW.Tk1);
SVW.Tk1 = SVW.Tk1*SVW.Ts/(SVW.Tk+SVW.Tk1);}
SVW.T0 = SVW.Ts - SVW.Tk - SVW.Tk1;
SVW.Tu = SVW.T0/2;
SVW.Tv = SVW.T0/2 + SVW.Tk;
SVW.Tw = SVW.T0/2 + SVW.Tk + SVW.Tk1;
break;
case5:
SVW.Tk = (tU16)(MLIB_Mul(-SVW.Ty, SVW.Ts));SVW.Tk1 = (tU16)(MLIB_Mul(SVW.Tz, SVW.Ts));
if((SVW.Tk + SVW.Tk1) > SVW.Ts){
SVW.Tk = SVW.Tk*SVW.Ts/(SVW.Tk+SVW.Tk1);
SVW.Tk1 = SVW.Tk1*SVW.Ts/(SVW.Tk+SVW.Tk1);}
SVW.T0 = SVW.Ts - SVW.Tk - SVW.Tk1;
SVW.Tv = SVW.T0/2;
SVW.Tu = SVW.T0/2 + SVW.Tk1;
SVW.Tw = SVW.T0/2 + SVW.Tk1 + SVW.Tk;
break;
default:
SVW.Tk = (tU16)(MLIB_Mul(-SVW.Tx, SVW.Ts));SVW.Tk1 = (tU16)(MLIB_Mul(SVW.Ty, SVW.Ts));
if((SVW.Tk + SVW.Tk1) > SVW.Ts){
SVW.Tk = SVW.Tk*SVW.Ts/(SVW.Tk+SVW.Tk1);
SVW.Tk1 = SVW.Tk1*SVW.Ts/(SVW.Tk+SVW.Tk1);}
SVW.T0 = SVW.Ts - SVW.Tk - SVW.Tk1;
SVW.Tv = SVW.T0/2;
SVW.Tw = SVW.T0/2 + SVW.Tk;
SVW.Tu = SVW.T0/2 + SVW.Tk + SVW.Tk1;
break;}}
void FOC_Control(void){

www.onsemi.com
13

TND6376/D
static volatile tU8 st_SpeedPI_Count = 0;
static volatile tU8 st_CurrentPI_Count = 0;volatile tFloat tm_Rate;
if(Ad_Knob >= 0x8FF){
if(Ad_Knob >= 0xEFF)
tm_Rate = (1.0F);
else
tm_Rate = MLIB_Div((Ad_Knob - 0x8FF), (0xEFF - 0x8FF));}else if(Ad_Knob <= 0x6FF){
if(Ad_Knob <= 0x0FF)
tm_Rate = (-1.0F);
else
tm_Rate= MLIB_Neg_FLT(MLIB_Div((0x6FF - Ad_Knob), (0x6FF - 0x0FF)));}else{
tm_Rate = (0.0F);}
Target.Speed = MLIB_Mul(_de_TargetSpeed_MaxData, tm_Rate);
Target.Current = MLIB_Mul(_de_TargetCurrent_MaxData, tm_Rate);
Target.Modulation = MLIB_Mul(_de_TargetModulation_MaxData, tm_Rate);PhaseCurrent_Translate();RotorAngle_Translate();CLARK_Translate();
PARK_Translate();if(++st_SpeedPI_Count >= 10){// 100ms*10 = 2ms
st_SpeedPI_Count = 0;
RotorSpeed_Translate();PI_Speed.SetValue = Target.Speed;
PI_Speed.FeedBack = Rotor.Speed_RPM;
PI_Control(&PI_Speed);//
PI_Speed.OutF=_IQ15mpy(_de_PISpeedFilter_K1,PI_Speed.OutF)_IQ15mpy(_de_PISpeedFilter_K2,PI_Speed.Out) ;PI_Speed.OutF = PI_Speed.Out;}#if_de_Use_SpeedLoop
PI_Id.SetValue = (0.0F);
PI_Iq.SetValue = PI_Speed.OutF;#else
PI_Id.SetValue = (0.0F);
PI_Iq.SetValue = Target.Current;#endifif(++st_CurrentPI_Count >= 2){
st_CurrentPI_Count = 0;
PI_Id.FeedBack = FOC.Id;
PI_Iq.FeedBack = FOC.Iq;
PI_Control(&PI_Id);//
PI_Id.OutF=_IQ15mpy(_de_PICurrentFilter_K1,PI_Id.OutF)+_IQ15mpy(_de_PICurrentFilter_K2,PI_Id.Out);
PI_Id.OutF = PI_Id.Out;
PI_Control(&PI_Iq);//
PI_Iq.OutF=_IQ15mpy(_de_PICurrentFilter_K1,PI_Iq.OutF)_IQ15mpy(_de_PICurrentFilter_K2,PI_Iq.Out);
PI_Iq.OutF = PI_Iq.Out;}#if_de_Use_CurrentLoop
FOC.Ud = PI_Id.OutF;
FOC.Uq = PI_Iq.OutF;#else
FOC.Ud = (0.0F);

www.onsemi.com
14

+

+

TND6376/D//

FOC.Uq = Target.Modulation;if(FOC.Uq < Target.Modulation){
FOC.Uq += (0.0001F);
if(FOC.Uq > Target.Modulation)
FOC.Uq = Target.Modulation;}
else{
FOC.Uq -= (0.0001F);
if(FOC.Uq < Target.Modulation)
FOC.Uq = Target.Modulation;}#endif
IPARK_Translate();SVW_Translate();}TEST WAVEFORM

Figure 5. Waveform of Complementary PWM

Figure 6. 3 Phase PWM for FOC

Figure 7. Waveform of Phase−Voltage

Figure 8. Waveform of Phase−Current
www.onsemi.com
15

TND6376/D
PCB LAYOUT

Figure 9. Top Side View of Power−Board (155 x 110 x 2 mm. 2oz)

Figure 10. Middle 1 Side View of Power−Board (155 x 110 x 2 mm. 1oz)

www.onsemi.com
16

TND6376/D
PCB LAYOUT (continued)

Figure 11. Middle 2 Side View of Power−Board (155 x 110 x 2 mm. 1oz)

Figure 12. Bottom Side View of Power−Board (155 x 110 x 2 mm. 2oz)

www.onsemi.com
17

TND6376/D
PCB LAYOUT (continued)

Figure 13. Top Side and Middle Side View of MCU−Board (55 x 37.5 x 2 mm. 1oz)

Figure 14. Middle 2 Side and Bottom Side View of MCU−Board (55 x 37.5 x 2 mm. 1oz)

www.onsemi.com
18

TND6376/D
BILL OF MATERIALS

Table 10. BOM LIST OF MCU−BOARD
Manufacturer Part Number

Manufacturer

Description

AVX

Tantalum Capacitors, CASE−D_7343,
33 mF/25 V

C1

1

TAJD336K025RNJ

Designator

Qty

GCM1885G1H104FA16D

MURATA

MLCC, 0603, 100 nF/50 V

C2, C3, C6, C7, C8, C9, C12, C13,
C14, C15, C20

11

GCM31CC71E106KA03K

MURATA

MLCC, 1206, 10 mF/25 V

C4, C5

2

GCM1885G1H120FA16D

MURATA

MLCC, 0603, 12 pF/50 V

C10, C11

2

GCM1885G1H103FA16D

MURATA

MLCC, 0603, 10 nF/50 V

C16, C17, C18, C19, C21, C22

6

onsemiNRVBS240LNT3G

Schottky Diode, SMB

D1

1

19−217UWD/S365−2/TR8

EVERLIGHT

19−217 SMD LED, 0603, Write

LED1

1

19−21/RC6−FP1Q2L/3T

EVERLIGHT

19−21 SMD LED, 0603, Red

LED2

1

19−217/GHC−YR1S2/3T

EVERLIGHT

19−217 SMD LED, 0603, Green

LED3

1

19−21/Y2C−CP1Q2B/3T

EVERLIGHT

19−21 SMD LED, 0603, Yellow

LED4

1

A2541WV−5P

CJT

2.54 mm Pitch Connector, 5P

P1

1

A2541WV−4P

CJT

2.54 mm Pitch Connector, 4P

P2

1

A2541WV−20P

CJT

2.54 mm Pitch Connector, 20P

P3, P42

CRCW06034K70FKEA

VISHAY

Resistance, 0603, 4.7K/1%

R1, R2, R3, R4, R20

5

CRCW06030000Z0EA

VISHAY

Resistance, 0603, 0R/1%

R5, R62

CRCW0603100KFKEA

VISHAY

Resistance, 0603, 100K/1%

R7, R8, R9, R104

CRCW0603100RFKEA

VISHAY

Resistance, 0603, 100R/1%

R11, R12, R13, R14, R15, R16, R17,
R18, R19

9

NCV7805BDTRKG

onsemi

Positive Voltage Regulators, 5 V/1 A

U11

FS32K144UAT0VLHT

NXP

MCU, Arm Cortex−M4F/M0+,
LQFP64−10x10U2

1

NX5320GA 16 MHz

NDK

Crystal, 5320, 16 MHz

Y1

1

Table 11. BOM LIST OF POWER−BOARD
Manufacturer Part Number

Manufacturer

Description

GCM32EC71H106KA03K

MURATA

MLCC, 1210, 10 mF/50 V

C1, C2

2

GCM1885G1H102FA16D

MURATA

MLCC, 0603, 1 nF/50 V

C3, C21, C22, C23, C24, C25, C26,
C28, C29, C30, C37, C39, C41, C42,C80

15

EEEFN1H221VPANASONIC

Capacitor, 220 mF/50 V

C41

GCM21BR71E105KA56L

MURATA

MLCC, 0805, 1 mF/25 V

C5, C18, C19, C20, C54

5

GCM1885G1H104FA16D

MURATA

MLCC, 0603, 100 nF/50 V

C6, C7, C12, C27, C36, C38, C40,
C55, C59, C65, C72, C79

12

GCM1885G1H222FA16D

MURATA

MLCC, 0603, 2.2 nF/50 V

C8, C58, C63

3

GCM1885G1H103FA16D

MURATA

MLCC, 0603, 10 nF/50 V

C9, C43, C45, C47, C49, C53

6

GCM31CC71E106KA03K

MURATA

MLCC, 1206, 10 mF/50 V

C10, C11, C46

3

GCM31CC71H475KA03K

MURATA

MLCC, 1206, 4.7 mF/50 V

C13, C14, C15, C16, C17, C34, C35

7

B41692C7248Q001

TDK

Capacitor, 2.2 mF/40 V

C31, C32, C33

3

GCM31CR71E475KA55L

MURATA

MLCC, 1206, 4.7 mF/25 V

C44, C48, C52

3

GCM1885G1H220FA16D

MURATA

MLCC, 0603, 22 pF/50 V

C50, C51

2

GCM1885G1H471FA16D

MURATA

MLCC, 0603, 470 pF/50 V

C56, C61

2

GCM1885G1H560FA16D

MURATA

MLCC, 0603, 56 pF/50 V

C57, C62

2

www.onsemi.com
19

Designator

Qty

TND6376/D
Table 11. BOM LIST OF POWER−BOARD (continued)
Manufacturer Part Number

Manufacturer

Description

GCM1885G1H272FA16D

MURATA

MLCC, 0603, 2.7 nF/50 V

C60, C64

2

GCM1885G1H121FA16D

MURATA

MLCC, 0603, 120 pF/50 V

C66, C69, C73, C76

4

GCM1885G1H392FA16D

MURATA

MLCC, 0603, 3.9 nF/50 V

C67, C70, C74, C77

4

GCM1885G1H681FA16D

MURATA

MLCC, 0603, 680 pF/50 V

C68, C71, C75, C78

4

SZMM3Z16VT1G

onsemi

Zener Diode, 16 V, SOD−323

D2

1

SMMDL6050T1G

onsemi

Switch Diode, 70 V, SOD−323

D1, D3, D4, D5, D8, D10, D11, D12,
D13, D14, D15, D16, D17, D18

14

NRVBS540T3G

onsemiSchottky Diode, 40 V/5 A, SMC

D6

1

SZ1SMA30CAT3G

onsemiTVS Bipolar Diode, SOD−123

D7

1

NRVBS240LNT3G

onsemiSchottky Diode, 40 V/2 A, SMB

D9

1

SURA8105T3G

onsemi

Switch Diode, Ultra−Fast Recovery,
50V/1A, SMA

D19

1

ESDONCAN1LT1G

onsemiCAN Bus Protrctor, SOT−23

D20

1

V23135−W1001

Tyco
Elctronics

Star Point Relay SPR, 90 A,
32 x 17.5 x 18

K1

1B82559B−A027

TDK

Power Inductor, 1 mH/60 A

L1

1

SPM6530T−4R7M

TDKPower Inductor, 4.7 mH/5.6 A

L2

1

19−217/GHC−YR1S2/3T

EVERLIGHT

19−217 SMD LED, 0603, Green

LED1

1

19−217/GHC−YR1S2/3T

EVERLIGHT

19−217 SMD LED, 0603, Green

LED2

1

HB9500−9.5−2P

KANGNEX

9.5 mm Connector, 2P

P1

1

HT396R−3.96−4P

KANGNEX

3.96 mm Connector, 4P

P2

1

HT396R−3.96−5P

KANGNEX

3.96 mm Connector, 5P

P3

1

HB9500−9.5−6P

KANGNEX

9.5 mm Connector, 6P

P4

1

HT396R−3.96−8P

KANGNEX

3.96 mm Connector, 8P

P5

1

A2541HWV−20P

CJT

2.54 mm Pitch Connector, 20P

P6, P7

2

FDBL9406−F085T

onsemiN−Channel MOSFET, 40 V, 240 A,
H−PSOF8L

Q1

1

CRCW080510K0FKEA

VISHAY

Resistance, 0805, 10K/1%

R1

1

CRCW060347K0FKEA

VISHAY

Resistance, 0603, 47K/1%

R2, R112

CRCW0603100KFKEA

VISHAY

Resistance, 0603, 100K/1%

R3, R6, R34, R36, R38, R40, R42,R448

CRCW060310K0FKEA

VISHAY

Resistance, 0603, 10K/1%

R4, R7, R12, R13, R32, R45, R46,
R47, R57, R58, R59, R60, R62, R111,
R112

15

CRCW12060000Z0EA

VISHAY

Resistance, 1206, 0R/1%

R5, R63, R64

3

CRCW0603470RFKEA

VISHAY

Resistance, 0603, 470R/1%

R81

CRCW060388R7FKEA

VISHAY

Resistance, 0603, 88.7R/1%

R91

CRCW06031K00FKEA

VISHAY

Resistance, 0603, 1K/1%

R10, R52, R53, R55, R56, R61, R107

7

CRCW060333R0FKEA

VISHAY

Resistance, 0603, 33R/1%

R14, R15, R16, R17, R18, R19, R20,
R21, R22, R23, R24, R105, R10613

CRCW08050000Z0EA

VISHAY

Resistance, 0805, 0R/1%

R25

1

CRCW0805100RFKEA

VISHAY

Resistance, 0805, 100R/1%

R26, R27, R28

3

CRCW08051R00FKEA

VISHAY

Resistance, 0805, 1R/1%

R29, R30, R31

3

CRCW060310R0FKEA

VISHAY

Resistance, 0603, 10R/1%

R33, R35, R37, R39, R41, R43

6

CRCW06033K30FKEA

VISHAY

Resistance, 0603, 3.3K/1%

R48, R75, R81

3

CRCW06030000Z0EA

VISHAY

Resistance, 0603, 0R/1%

R49, R50, R51, R65, R67, R83

6

CRCW06036K80FKEA

VISHAY

Resistance, 0603, 6.8K/1%

R541

www.onsemi.com
20

Designator

Qty

TND6376/D
Table 11. BOM LIST OF POWER−BOARD (continued)
Manufacturer Part Number

Manufacturer

NC

Description

Designator

Qty

Resistance

R66, R682

CRCW060322K0FKEA

VISHAY

Resistance, 0603, 22K/1%

R69, R86, R91, R96, R101

5CRCW08051K00FKEA

VISHAY

Resistance, 0805, 1K/1%

R70

1

CRCW060320K0FKEA

VISHAY

Resistance, 0603, 20K/1%

R71, R73, R77, R79

4

CRCW06036K20FKEA

VISHAY

Resistance, 0603, 6.2K/1%

R72, R78

2

CRCW0603820RFKEA

VISHAY

Resistance, 0603, 820R/1%

R74, R802

CRCW0603910RFKEA

VISHAY

Resistance, 0603, 910R/1%

R76, R822

CRCW060313K3FKEA

VISHAY

Resistance, 0603, 13.3K/1%

R85, R90, R95, R100

4

CRCW06034K70FKEA

VISHAY

Resistance, 0603, 4.7K/1%

R87, R92, R97, R102

4

CRCW06031K20FKEA

VISHAY

Resistance, 0603, 1.2K/1%

R88, R93, R98, R103

4

CRCW06032K00FKEA

VISHAY

Resistance, 0603, 2K/1%

R89, R94, R99, R104

4

CRCW060360R4FKEA

VISHAY

Resistance, 0603, 60.4R/1%

R108, R109

2

RK09K1130A5R

ALPSALPINE

Compact type potentiometer,
9.8 mm Width

R110

1

1FS3T6B6M2QES−5

Dailywell

Miniature Toggle Switch

S1

1

SBC817−40LT1G

onsemiNPN Transistor, SOT−23

T1, T2

2

NCV890200PDR2G

onsemiBuck Switching Regulator, 2 A,
SOIC−8U1

1

LV8968BBUW

onsemi

Gate Driver, LQFP48−7 x 7

U2

1

NXV04V120DB1

onsemiAutomotive Power Module, APM19U3

1

ACS758KCB−150B−PFF−T

ALLEGRO

Current Sensor

U4, U5

2

NCV20072DR2G

onsemi

Amplifier, 2−Channel, SOIC−8

U6, U10, U11

3

AD2S1210

ADI

Resolver Decoder, LQFP48−7 x 7

U71

CAT809LTBI

onsemiResetChip, SOT−23

U8

1

SC431BVSNT1G

onsemi

Voltage Reference, SOT−23

U91

NCV20074DR2G

onsemi

Amplifer, 4−Channel, SOIC−14

U12, U13

2

NCV7340D14R2G

onsemiCAN Transceiver, SOIC−8

U14

1

XSMEELNANF−8.192 MHZTAITIEN

Crystal, 8.192MHz, 5032

Y1

1

onsemi,, and other names, marks, and brands are registered and/or common law trademarks of Semiconductor Components Industries, LLC dba “onsemi” or its affiliates
and/or subsidiaries in the United States and/or other countries. onsemi owns the rights to a number of patents, trademarks, copyrights, trade secrets, and other intellectual property.
A listing of onsemi’s product/patent coverage may be accessed at www.onsemi.com/site/pdf/Patent−Marking.pdf. onsemi reserves the right to make changes at any time to any
products or information herein, without notice. The information herein is provided “as−is” and onsemi makes no warranty, representation or guarantee regarding the accuracy of theinformation, product features, availability, functionality, or suitability of its products for any particular purpose, nor does onsemi assume any liability arising out of the application or useof any product or circuit, and specifically disclaims any and all liability, including without limitation special, consequential or incidental damages. Buyer is responsible for its products
and applications using onsemi products, including compliance with all laws, regulations and safety requirements or standards, regardless of any support or applications information
provided by onsemi. “Typical” parameters which may be provided in onsemi data sheets and/or specifications can and do vary in different applications and actual performance mayvary over time. All operating parameters, including “Typicals” must be validated for each customer application by customer’s technical experts. onsemi does not convey any licenseunder any of its intellectual property rights nor the rights of others. onsemi products are not designed, intended, or authorized for use as a critical component in life support systems
or any FDA Class 3 medical devices or medical devices with a same or similar classification in a foreign jurisdiction or any devices intended for implantation in the human body. Should
Buyer purchase or use onsemi products for any such unintended or unauthorized application, Buyer shall indemnify and hold onsemi and its officers, employees, subsidiaries, affiliates,and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or deathassociated with such unintended or unauthorized use, even if such claim alleges that onsemi was negligent regarding the design or manufacture of the part. onsemi is an Equal
Opportunity/Affirmative Action Employer. This literature is subject to all applicable copyright laws and is not for resale in any manner.

PUBLICATION ORDERING INFORMATION
LITERATURE FULFILLMENT:
Email Requests to: orderlit@onsemi.com
onsemi Website: www.onsemi.com◊

TECHNICAL SUPPORTNorth American Technical Support:
Voice Mail: 1 800−282−9855 Toll Free USA/Canada
Phone: 011 421 33 790 2910

www.onsemi.com
21

Europe, Middle East and Africa Technical Support:
Phone: 00421 33 790 2910
For additional information, please contact your local Sales Representative