Texas Instruments | DRV10987 12- to 24-V, Three-Phase, Sensorless BLDC Motor Driver (Rev. B) | Datasheet | Texas Instruments DRV10987 12- to 24-V, Three-Phase, Sensorless BLDC Motor Driver (Rev. B) Datasheet

Texas Instruments DRV10987 12- to 24-V, Three-Phase, Sensorless BLDC Motor Driver (Rev. B) Datasheet
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DRV10987
SLVSE89B – AUGUST 2017 – REVISED FEBRUARY 2018
DRV10987 12- to 24-V, Three-Phase, Sensorless BLDC Motor Driver
1 Features
2 Applications
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Operation Voltage Range:
– Motor Operation, 6.2 V to 28 V
Total Driver H + L rDS(on)
– 250 mΩ at TA = 25°C
Drive Current: 2-A Continuous Winding Current
(3-A Peak)
Sensorless Sinusoidal 180° Commutation Scheme
Configurable Output PWM Slew Rate and
Frequency for EMI Management
Initial Position-Detect Algorithm to Avoid BackSpin During Start-Up
No External Sense Resistor Required
Flexible User Interface Options:
– I2C Interface: Access Registers for Command
and Feedback
– Dedicated SPEED Pin: Accepts Either Analog
or PWM Input
– Dedicated FG Pin: Provides TACH Feedback
– Spin-Up Profile Can Be Customized With
EEPROM
– Forward-Reverse Control With DIR Pin
Integrated Buck Converter, 5‑V, 100-mA
Integrated LDO, 3.3‑V, 20-mA
Standby Current, 8.5-mA
Supply Current of 8.5 mA With Standby Version
(DRV10987S)
Supply Current of 48 μA With Sleep Version
(DRV10987D)
Protection Features
– Overcurrent Protection (Phase-to-Phase,
Phase-to-GND and Phase-to-VCC Short
Circuits)
– Lock Detection to Detect Rotor Lock Condition
– Anti-Voltage Surge (AVS) Protection
– Undervoltae Lockout (UVLO)
– Overvoltage Protection
– Thermal Warning and Shutdown
Thermally Enhanced Package
Pedestal and Ceiling Fans
Air Purifiers and Humidifiers
Dryer Circulation Fans
Drain and Water Pumps
Three-Phase BLDC and PMSM Motors
3 Description
The DRV10987 device is a 3-phase sensorless 180°
sinusodial motor driver with integrated power
MOSFETs, which can provide continuous drive
current up to 2 A. The device is specifically designed
for cost-sensitive, low-noise, low-external-componentcount fan and pump applications.™
The DRV10987 device delivers current to the motor
with supply voltage as low as 6.2 V. If the power
supply voltage is higher than 28 V, the device stops
driving the motor and protects the DRV10987
circuitry.
Device Information
PART NUMBER
DRV10987
(1)
PACKAGE
BODY SIZE (NOM)
HTSSOP (24)
7.80 mm × 6.40 mm
(1) For all available packages, see the orderable addendum at
the end of the data sheet.
Device Comparison
PART NUMBER
VERSION
DRV10987D
Sleep version
DRV10987S
Standby version
Application Schematic
VCC
0.1 µF
10 nF
10 µF
5V
47 µH
1 µF
1 µF
4.75 kW
4.75 kW
1
VCP
VCC 24
2
CPP
VCC 23
3
CPN
W 22
4
SW
W
5
SWGND
V 20
21
6
VREG
V 19
7
V1P8
U 18
8
GND
U 17
9
V3P3
PGND 16
10 SCL
11 SDA
12 FG
10 µF
M
PGND 15
DIR 14
SPEED 13
Interface to
Microcontroller
Copyright © 2017, Texas Instruments Incorporated
1
An IMPORTANT NOTICE at the end of this data sheet addresses availability, warranty, changes, use in safety-critical applications,
intellectual property matters and other important disclaimers. PRODUCTION DATA.
DRV10987
SLVSE89B – AUGUST 2017 – REVISED FEBRUARY 2018
www.ti.com
Table of Contents
1
2
3
4
5
6
7
Features ..................................................................
Applications ...........................................................
Description .............................................................
Revision History.....................................................
Description (Continued) ........................................
Pin Configuration and Functions .........................
Specifications.........................................................
7.1
7.2
7.3
7.4
7.5
7.6
8
1
1
1
2
3
3
5
Absolute Maximum Ratings ...................................... 5
ESD Ratings.............................................................. 5
Recommended Operating Conditions....................... 6
Thermal Information .................................................. 6
Electrical Characteristics........................................... 7
Typical Characteristics ............................................ 12
Detailed Description ............................................ 13
8.1 Overview ................................................................. 13
8.2 Functional Block Diagram ....................................... 14
8.3 Feature Description................................................. 14
8.4 Device Functional Modes........................................ 21
8.5 Register Maps ......................................................... 47
9
Application and Implementation ........................ 64
9.1 Application Information............................................ 64
9.2 Typical Application ................................................. 64
10 Power Supply Recommendations ..................... 67
11 Layout................................................................... 67
11.1 Layout Guidelines ................................................. 67
11.2 Layout Example .................................................... 67
12 Device and Documentation Support ................. 68
12.1
12.2
12.3
12.4
12.5
Trademarks ...........................................................
Electrostatic Discharge Caution ............................
Receiving Notification of Documentation Updates
Community Resources..........................................
Glossary ................................................................
68
68
68
68
68
13 Mechanical, Packaging, and Orderable
Information ........................................................... 68
4 Revision History
Changes from Revision A (November 2017) to Revision B
Page
•
Removed non-essential specifications from the Specifications section ................................................................................. 5
•
Updated naming convention in Step-Down Regulator subsection ....................................................................................... 14
•
Changed the Conditions to Enter or Exit Sleep or Standby Condition table to reflect Electrical Characteristics
parameter names.................................................................................................................................................................. 18
•
Changed the Conditions to Enter or Exit Sleep or Standby Condition table to reflect Electrical Characteristics
parameter names.................................................................................................................................................................. 19
•
Changed eeWRnEn field description to properly reflect actual function .............................................................................. 55
•
Changed BEMF comparator hysteresis to reflect Electrical Characteristics specifications ................................................ 58
Changes from Original (August 2017) to Revision A
Page
•
Added supply current for standby and sleep versions to the Features list ............................................................................ 1
•
Added Device Comparison table ........................................................................................................................................... 1
•
Added a discussion of the sleep and standby versions of the device to the Description (Continued) section ...................... 3
•
Added table note to Table 1, Conditions to Enter or Exit Sleep or Standby Condition ........................................................ 19
•
Added subsection, Required Sequence to Enter Sleep Mode ............................................................................................. 19
•
Added constraints for external inductor ................................................................................................................................ 65
2
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5 Description (Continued)
The DRV10987 device uses a proprietary sensorless control scheme to provide continuous sinusoidal drive,
which significantly reduces the pure tone acoustics that typically occur as a result of commutation. The interface
to the device is designed to be simple and flexible. The motor can be controlled directly through PWM, analog, or
I2C inputs. Motor speed feedback is available through both the FG pin and the I2C interface simultaneously.
The DRV10987 device features an integrated buck regulator to step down the supply voltage efficiently to 5 V for
powering both internal and external circuits. The 3.3-V LDO also may be used to provide power for external
circuits. The standby-mode (8.5 mA) version (DRV10987S) leaves the regulator running, and the sleep-mode (48
μA) version (DRV10987D) shuts the regulator off. Throughout this data sheet, the DRV10987 part number is
used for both devices, that is, DRV10987D (sleep version) and DRV10987S (standby version), except for specific
discussions of sleep vs standby functionality.
An I2C interface allows the user to reprogram specific motor parameters in registers and to program the
EEPROM to help optimize the performance for a given application. The DRV10987 device is available in a
thermally-efficient HTSSOP, 24-pin package with an exposed thermal pad. The operating ambient temperature is
specified from –40°C to 125°C.
6 Pin Configuration and Functions
PWP PowerPAD™ Package
24-Pin HTSSOP With Exposed Thermal Pad
Top View
VCP
1
24
VCC
CPP
2
23
VCC
CPN
3
22
W
SW
4
21
W
SWGND
5
20
V
VREG
6
19
V
18
U
Thermal
V1P8
7
GND
8
17
U
V3P3
9
16
PGND
SCL
10
15
PGND
SDA
11
14
DIR
FG
12
13
SPEED
Pad
Not to scale
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Pin Functions
PIN
N/AME
TYPE
HTSSOP
DESCRIPTION
(1)
CPN
3
P
Charge pump pin 1, use a ceramic capacitor between CPN and CPP
CPP
2
P
Charge pump pin 2, use a ceramic capacitor between CPN and CPP
DIR
14
I
Direction;
When low, phase driving sequence is U → V → W
When high, phase driving sequence is U → W → V
FG
12
O
FG signal output indicates speed of motor
GND
8
P
Digital and analog ground
15, 16
P
Power ground
SCL
10
I
I2C clock signal
SDA
11
I/O
I2C data signal
SPEED
13
I
Speed control signal for PWM or analog input speed command
SW
4
O
Step-down regulator switching node output
SWGND
5
P
Step-down regulator ground
U
17, 18
O
Motor U phase
V
19, 20
O
Motor V phase
V1P8
7
P
Internal 1.8-V digital core voltage. V1P8 capacitor must connect to GND. This is an output, but is not
specified to drive external loads.
V3P3
9
P
Internal 3.3-V supply voltage. V3P3 capacitor must connect to GND. This is an output and may drive
external loads not to exceed IV3P3_MAX.
VCC
23, 24
P
Device power supply
VCP
1
P
Charge pump output, use a ceramic capacitor between VCP and VCC
PGND
VREG
W
Thermal pad
(GND)
(1)
4
6
P
Step-down regulator output and feedback point
21, 22
O
Motor W phase
—
P
The exposed thermal pad must be electrically connected to the ground plane by soldering to the PCB
for proper operation, and connected to the bottom side of the PCB through vias for better thermal
spreading.
I = Input, O = Output, I/O = Input/output, P = Power
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7 Specifications
7.1 Absolute Maximum Ratings
over operating ambient temperature range
Input voltage (2)
(1)
MIN
MAX
VCC
–0.3
28
VCC during overvoltage protection(VCC slew rate < 10 V/ms)
–0.3
45
SPEED
–0.3
4
PGND, SWGND
–0.3
0.3
SCL, SDA
–0.3
4
DIR
–0.3
4
–1
30
U, V, W
SW
Output voltage
(2)
–1
30
VREG
–0.3
7
FG
–0.3
4
VCP
–0.3
VCC + 6
CPN
–0.3
30
CPP
–0.3
VCC + 6
V3P3
–0.3
4
UNIT
V
V
V1P8
–0.3
2.5
TJ_MAX
Maximum junction temperature
–40
150
°C
Tstg
Storage temperature
–55
150
°C
(1)
(2)
Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings
only, which do not imply functional operation of the device at these or any other conditions beyond those indicated under Recommended
Operating Conditions. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
All voltage values are with respect to the ground terminal (GND) unless otherwise noted.
7.2 ESD Ratings
VALUE
V(ESD)
(1)
(2)
Electrostatic
discharge
Human body model (HBM), per ANSI/ESDA/JEDEC JS-001, all pins
(1)
±2000
Charged device model (CDM), per JEDEC specification JESD22-C101, all pins
(2)
±750
UNIT
V
JEDEC document JEP155 states that 500-V HBM allows safe manufacturing with a standard ESD control process.
JEDEC document JEP157 states that 250-V CDM allows safe manufacturing with a standard ESD control process.
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7.3 Recommended Operating Conditions
Supply voltage
Voltage range
Current range
TA
MIN
NOM
MAX
VCC, register contents preserved
4.5
12
45
VCC, motor operational
6.2
12
28
U, V, W
–0.7
SCL, SDA, FG, SPEED, DIR
–0.1
PGND, GND, SWGND
–0.1
0.1
VCP, CPP
–0.1
VCC + 5
CPN
–0.1
VCC
SW
–0.7
VCC
V
29
3.3
3.6
Step-down regulator with inductor (buck mode) output current
100
Step-down regulator with resistor (linear mode) output current
5
V3P3 LDO output current (no load on VREG and step-down
regulator in linear mode)
5
Operating ambient temperature
UNIT
–40
125
V
mA
°C
7.4 Thermal Information
DRV10987
THERMAL METRIC
(1)
PWP (HTSSOP)
UNIT
24 PINS
RθJA
Junction-to-ambient thermal resistance
36.1
°C/W
RθJC(top)
Junction-to-case (top) thermal resistance
17.4
°C/W
RθJB
Junction-to-board thermal resistance
14.8
°C/W
ψJT
Junction-to-top characterization parameter
0.4
°C/W
ψJB
Junction-to-board characterization parameter
14.5
°C/W
RθJC(bot)
Junction-to-case (bottom) thermal resistance
1.1
°C/W
(1)
6
For more information about traditional and new thermal metrics, see Semiconductor and IC Package Thermal Metrics .
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7.5 Electrical Characteristics
over operating voltage and ambient temperature range (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
48
54
UNIT
SUPPLY CURRENT (DRV10987D)
IccSLEEP1
Icc
Sleep current
Active current
VSPEED = 0 V; VCC = 12 V; TA =
25℃
µA
VSPEED = 0 V; VCC = 12 V; across
temperature
81
VSPEED > 0 V; step-down regulator
with inductor (buck mode); no motor
load
10
VSPEED > 0 V; step-down regulator
with resistor (linear mode); no motor
load
13
16
VSPEED = 0 V; step-down regulator
with
inductor (buck mode)
8.5
14
VSPEED = 0 V; buck regulator with
resistor (linear mode)
11
15
VSPEED > 0 V; buck regulator with
inductor; no motor load
10
15
VSPEED > 0 V; buck regulator with
resistor; no motor load
13
16
15
mA
SUPPLY CURRENT (DRV10987S)
IccSTBY
Icc
Standby current
Active current
mA
mA
UVLO
VUVLO_R
UVLO rising threshold
voltage
5.8
6
6.2
V
VUVLO_F
UVLO falling threshold
voltage
5.6
5.8
6
V
VUVLO_HYS
UVLO threshold voltage
hysteresis
170
195
220
mV
VV1P8_UVLO_R
V1P8 UVLO rising threshold
1.5
1.6
1.7
V
VV1P8_UVLO_F
V1P8 UVLO falling threshold
1.4
1.55
1.65
V
VV3P3_UVLO_R
V3P3 UVLO rising threshold
2.7
2.85
2.95
V
VV3P3_UVLO_F
V3P3 UVLO falling threshold
2.5
2.7
2.8
V
VVREG_UVLO_R
VREG UVLO rising threshold
4
4.2
4.3
V
VVREG_UVLO_F
VREG UVLO falling
threshold
3.9
4.2
V
LDO OUTPUT
V3P3
Output voltage
Step-down regulator with inductor
(buck mode), 20-mA load
3.1
3.3
3.5
Step-down regulator with resistor
(linear mode), no load
3.1
3.3
3.5
IV3P3_MAX
Maximum load from V3P3
Step-down regulator with inductor
(buck mode)
V1P8
Output voltage
No load
V
1.7
1.8
20
mA
1.9
V
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Electrical Characteristics (continued)
over operating voltage and ambient temperature range (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
LSW = 47 µH, CSW = 10 µF
Iload = 100 mA
4.5
5
5.5
RSW = 39 Ω, CSW = 10 µF
Iload = 5 mA
4.5
5
5.5
UNIT
STEP-DOWN REGULATOR
VREG
Regulator output voltage
IREG_MAX_L
Maximum load from VREG in
buck mode
LSW = 47 µH, CSW = 10 µF
IREG_MAX_R
Maximum load from VREG in
linear mode
RSW = 39 Ω, CSW = 10 µF
V
100
mA
5
mA
INTEGRATED MOSFET
rDS(ON)
Series resistance (H + L)
TA = 25˚C; VCC > 6.5 V; IO = 1 A
250
400
TA = 125˚C; VCC > 6.5V; IO = 1 A
325
550
mΩ
SPEED – ANALOG MODE
VAN/A_FS
Analog full-speed voltage
VAN/A_ZS
Analog zero-speed voltage
V(V3P3) × 0.9
V(V3P3)
0
100
V
tSAM
Sampling period for analog
voltage on SPEED pin
320
µs
VAN/A_RES
Analog voltage resolution
6.5
mV
mV
SPEED – PWM DIGITAL MODE
VDIG_IH
PWM input high voltage
VDIG_IL
PWM input low voltage
ƒPWM
PWM input frequency
8
2.2
0.1
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V
0.6
V
100
kHz
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Electrical Characteristics (continued)
over operating voltage and ambient temperature range (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNIT
100
mV
SLEEP MODE (DRV10987D)
VEN_SL
Analog voltage to enter sleep
SpdCtrlMd = 0 (analog mode)
mode
VEX_SL
Analog voltage to exit sleep
mode
SpdCtrlMd = 0 (analog mode)
tEX_SL_ANA
Time needed to exit from
sleep mode
SpdCtrlMd = 0 (analog mode)
VSPEED > VEX_SL
2
µs
tEX_SL_DR_ANA
SpdCtrlMd = 0 (analog mode)
Time taken to drive motor
after exiting from sleep mode VSPEED > VEN_SL; ISDen = 0;
BrkDoneThr[2:0] = 0
350
ms
tEX_SL_PWM
Time needed to exit from
sleep mode
SpdCtrlMd = 1 (PWM mode)
VSPEED > VDIG_IH
2
µs
tEX_SL_DR_PWM
SpdCtrlMd = 1 (PWM mode)
Time taken to drive motor
after exiting from sleep mode VSPEED > VDIG_IH; ISDen = 0;
BrkDoneThr[2:0] = 0
350
ms
tEN_SL_ANA
Time needed to enter sleep
mode
SpdCtrlMd = 0 (analog mode)
VSPEED < VEN_SL; AvSIndEn = 0
6
ms
tEN_SL_PWM
Time needed to enter sleep
mode
SpdCtrlMd = 1 (PMW mode)
VSPEED < VDIG_IL; AvSIndEn = 0
60
ms
RPD_SPEED_SL
Internal SPEED pin pull
down resistance to ground
VSPEED = 0 (Sleep mode)
2.2
V
55
kΩ
STANDBY MODE (DRV10987S)
VEN_SB
Analog voltage to enter
standby mode
SpdCtrlMd = 0 (analog mode)
VEX_SB
Analog voltage to exit
standby mode
SpdCtrlMd = 0 (analog mode)
0.17
tEX_SB_ANA
Time needed to exit from
standby mode
SpdCtrlMd = 0 (analog mode)
VSPEED > VEX_SB
1
tEX_SB_DR_ANA
Time taken to drive motor
after exiting standby mode
SpdCtrlMd = 0 (analog mode)
VSPEED > VEN_SB; ISDen = 0;
BrkDoneThr[2:0] = 0
tEX_SB_PWM
Time needed to exit from
standby mode
tEX_SB_DR_PWM
100
mV
V
700
ms
350
ms
SpdCtrlMd = 1 (PWM mode)
VSPEED > VDIG_IH
2
µs
Time taken to drive motor
after exiting standby mode
SpdCtrlMd = 1 (PWM mode)
VSPEED_DUTY > 0; ISDen = 0;
BrkDoneThr[2:0] = 0
350
ms
tEN_SB_ANA
Time needed to enter
standby mode
SpdCtrlMd = 0 (analog mode)
VSPEED < VEN_SB; AvSIndEn = 0
6
ms
tEN_SB_PWM
Time needed to enter
standby mode
SpdCtrlMd = 1 (PMW mode)
VSPEED < VDIG_IL; AvSIndEn = 0
60
ms
DIGITAL I/O (DIR INPUT, FG OUTPUT)
VDIR_H
Input high
VDIR_L
Input low
2.2
VFG_OH
Output high voltage
Io = 5 mA
VFG_OL
Output low voltage
Io = 5 mA
V
0.6
3.3
V
V
0.6
V
I2C SERIAL INTERFACE
VI2C_H
Input high
VI2C_L
Input low
fI2C
I2C clock frequency
2.2
V
0
0.6
V
400
kHz
LOCK DETECTION RELEASE TIME
tLOCK_OFF
Lock release time
tLCK_ETR
Lock enter time
5
s
0.3
s
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Electrical Characteristics (continued)
over operating voltage and ambient temperature range (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNIT
OVERCURRENT PROTECTION
IOC_limit_HS
HS overcurrent protection
VCC < 28.5 V
3.5
4.25
5.5
A
IOC_limit_LS
LS overcurrent protection
VCC < 28.5 V
3.5
4.25
5.5
A
THERMAL SHUTDOWN
TSDN
Junction temperature
shutdown threshold
150
165
180
°C
TSDN_HYS
Junction temperature
shutdown hysteresis
15
20
25
°C
TWARN
Junction temperature
warning threshold
115
125
140
°C
PHASE DRIVER
SLPH_LH0
Phase slew rate switching
low to high
PHslew = 0; measure 20% to 80%;
VCC = 12 V
85
120
145
V/µs
SLPH_LH1
Phase slew rate switching
low to high
PHslew = 1; measure 20% to 80%;
VCC = 12 V
60
80
100
V/µs
SLPH_LH2
Phase slew rate switching
low to high
PHslew = 2; measure 20% to 80%;
VCC = 12 V
38
50
62
V/µs
SLPH_LH3
Phase slew rate switching
low to high
PHslew = 3; measure 20% to 80%;
VCC = 12 V
27
35
44
V/µs
SLPH_HL0
Phase slew rate switching
high to low
PHslew = 0; measure 80% to 20%;
VCC = 12 V
85
120
145
V/µs
SLPH_HL1
Phase slew rate switching
high to low
PHslew = 1; measure 80% to 20%;
VCC = 12 V
59
80
100
V/µs
SLPH_HL2
Phase slew rate switching
high to low
PHslew = 2; measure 80% to 20%;
VCC = 12 V
36
50
60
V/µs
SLPH_HL3
Phase slew rate switching
high to low
PHslew = 3; measure 80% to 20%;
VCC = 12 V
25
35
45
V/µs
EEPROM
EEProg
Programing voltage
6.2
V
EERET
Retention
10
Years
EEEND
Endurance
1000
Cycles
OVERVOLTAGE PROTECTION
VOV_R
Overvoltage protection rising
VCC threshold
28.5
29.2
30
V
VOV_F
Overvoltage protection exit
on falling VCC threshold
27.7
28.2
28.8
V
VOV_HYS
Overvoltage protection
hysteresis
0.73
1
1.1
V
BEMF_HYS = 0
7
20
30
BEMF_HYS = 1
17
40
51
BEMF COMPARATOR
BEMFHYS
10
BEMF comparator hysteresis
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Speed Pin VEX_SL
VEN_SL
tEX_SL_ANA
tEN_SL_ANA
V1P8
tEX_SL_DR_ANA
Phase Pin
Motor Drive State
Figure 1. DRV10987D Analog Mode Timing
VDIG_IH
Speed Pin
VDIG_IL
tEX_SL_PWM
tEN_SL_PWM
V1P8
tEX_SL_DR_PWM
Phase Pin
Motor Drive State
Figure 2. DRV10987D PWM Mode Timing
Speed Pin VEX_SB
VEN_SB
tEX_SB_ANA
tEN_SB_ANA
Internal
Signal
(Digital
Reset)
tEX_SB_DR_ANA
Phase Pin
Motor Drive State
Figure 3. DRV10987S Analog Mode Timing
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VDIG_IH
Speed Pin
VDIG_IL
tEX_SB_PWM
tEN_SB_PWM
Internal
Signal
(Digital
Reset)
tEX_SB_DR_PWM
Phase Pin
Motor Drive State
Figure 4. DRV10987S PWM Mode Timing
7.6 Typical Characteristics
5.2
IVCC
Switching Regulator Output (V)
Supply Current, Standby Mode (mA)
15
12
9
6
3
0
5
4.9
4.8
0
5
10
15
20
Power Supply (V)
25
30
0
D001
Figure 5. Supply Current vs Power Supply Voltage
12
5.1
5
10
15
20
Power Supply (V)
25
30
D002
Figure 6. Step-Down Regulator Output vs Power Supply
Voltage
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8 Detailed Description
8.1 Overview
The DRV10987 device is a three-phase sensorless motor driver with integrated power MOSFETs that provides
drive-current capability up to 2 A continuously. The device is specifically designed for low-noise, low-externalcomponent-count motor-drive applications. The device is configurable through a simple I2C interface to
accommodate different motor parameters and spin-up profiles for different customer applications.
A 180° sensorless control scheme provides continuous sinusoidal output voltages to the motor phases to enable
ultra-quiet motor operation by keeping the electrically induced torque ripple small.
The DRV10987 device features extensive protection and fault-detection mechanisms to ensure reliable
operation. Voltage surge protection prevents the input VCC capacitor from overcharging, which typically occurs
during motor deceleration. The device provides overcurrent protection without the need for an external currentsense resistor. Rotor-lock detection is available through several methods. These methods can be configured with
register settings to ensure reliable operation. The device provides additional protection for undervoltage lockout
(UVLO) and for thermal shutdown.
The commutation control algorithm continuously measures the motor phase current and periodically measures
the VCC supply voltage. The device uses this information for BEMF estimation, and the information is also
provided through the I2C register interface for debug and diagnostic use in the system, if desired.
A step-down regulator in buck mode efficiently steps down the supply voltage. The output of this regulator
provides power for the internal circuits and can also be used to provide power for an external circuit such as a
microcontroller. If providing power for an external circuit is not necessary (and to reduce system cost), configure
the step-down regulator as a linear regulator by replacing the inductor with a resistor.
The DRV10987 device has a flexible interface, capable of supporting both analog and digital inputs. In addition to
the I2C interface, the device has FG, DIR, and SPEED pins. SPEED is the speed–command input pin. DIR is the
direction–control input pin. FG is the speed indicator output, which shows the frequency of the motor
commutation.
EEPROM is integrated in the DRV10987 device as memory for the motor parameter and operation settings.
EEPROM data transfers to the registers after power-on.
The DRV10987 device can also operate in register mode. If the system includes a microcontroller communicating
through the I2C interface, the device can dynamically update the motor parameters and operation settings by
writing to the registers. In this configuration, the EEPROM data is bypassed by the register settings.
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8.2 Functional Block Diagram
SDA
I2C
Communication
SCL
Register
EEPROM
VCC
SW
VREG
VCP
Charge
Pump
5-V Step-Down
Regulator
CPP
SWGND
CPN
V3P3
3.3-V LDO
V1P8
FG
VCC
1.8-V LDO
GND
VCP
Oscillator
Band Gap
U
V
W
V/I
Sensor
U
PreDriver
ADC
Logic
Core
VCC
VCP
SPEED
PWM and Analog
Speed Control
V
PreDriver
DIR
Lock
VCC
Overcurrent
VCP
Thermal
UVLO
GND
PreDriver
W
PGND
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8.3 Feature Description
8.3.1 Regulators
8.3.1.1 Step-Down Regulator
The DRV10987 device includes a step-down hysteretic voltage regulator that can be operated as either a
switching buck regulator using an external inductor or as a linear regulator using an external resistor. The best
efficiency is achieved when the step-down regulator is in buck mode. The regulator output voltage is 5 V. When
the regulated voltage drops by the hysteresis level, the high-side FET turns on to raise the regulated voltage
back to the target of 5 V. The switching frequency of the hysteretic regulator is not constant and changes with
load.
If the step-down regulator is configured in buck mode, see IREG_MAX_L in Electrical Characteristics to determine
the amount of current provided for external load. If the step-down regulator is configured in linear mode, see
IREG_MAX_R in Electrical Characteristics to determine the amount of current provided for external load. Active
current ICC is higher in buck mode compared to linear mode.
14
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Feature Description (continued)
IC
IC
VCC
VREG
VCC
VREG
47 µH
5V
39 Ω
SW
10 µF
SW
5V
Load
10 µF
SWGND
SWGND
Step-Down Regulator With External Inductor (Buck
Mode)
Step-Down Regulator With External Resistor (Linear
Mode)
Figure 7. Step-Down Regulator Configurations
8.3.1.2 3.3-V and 1.8-V LDOs
The DRV10987 device includes a 3.3-V LDO and a 1.8-V LDO. The 1.8-V LDO is for internal circuits only. The
3.3-V LDO is mainly for internal circuits, but can also drive external loads not to exceed IV3P3_MAX. For example, it
can work as a pullup voltage for the FG, DIR, SDA, and SCL interfaces.
Both the V1P8 and V3P3 capacitors must be connected to GND.
8.3.2 Protection Circuits
8.3.2.1 Thermal Shutdown
The DRV10987 device has a built-in thermal shutdown function, which shuts down the device when the junction
temperature is more than TSDN˚C and recovers operating conditions when the junction temperature falls to TSDN –
TSDN_HYS˚C.
The OverTemp status bit (address 0x00, bit 15) is set during thermal shutdown. In addition to the thermal
shutdown function, there is a warning bit that is set whenever the device exceeds TWARN and is indicated by the
TempWarning bit of the FaultReg register (address 0x00, bit 14).
8.3.2.2 Undervoltage Lockout (UVLO)
The DRV10987 device has a built-in UVLO function block. The device is locked out when VCC is below VUVLO_F
and is unlocked when VCC is above VUVLO_R. The hysteresis of the UVLO threshold is VUVLO_HYS. In addition to
the main supply, the step-down regulator, charge pump, and 3.3-V LDO all have undervoltage lockout monitors.
8.3.2.3 Overcurrent Protection (OCP)
The overcurrent protection function acts to protect the device if the current, as measured from the FETs, exceeds
the IOC-limit threshold. The overcurrent protection function protects the device in the event of a short-circuit
condition on the motor phases. A short-circuit condition includes phase shorts to GND, phase shorts to phase, or
phase shorts to VCC. The DRV10987 device places the output drivers into a high-impedance state until the lock
time tLOCK_OFF has expired. The OverCurr status bit of the FaultReg register (address 0x00, bit 11) is set.
The DRV10987 device also provides software current-limit and lock-detection current-limit functions to protect the
device and motor (see Current Limits and Lock Detect and Fault Handling ).
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Feature Description (continued)
8.3.2.4 Lock
When the motor is blocked or stopped by an external force, lock protection is triggered, and the device stops
driving the motor immediately. After the lock release time tLOCK_OFF, the DRV10987 device resumes driving the
motor again. If the lock condition is still present, it enters the next lock protection cycle, and repeats until the lock
condition is removed. With this lock protection, the motor and device do not overheat or become damaged due to
the motor being locked (see Lock Detect and Fault Handling ).
During a lock condition the Status register indicates which of the locks has occurred.
8.3.3 Motor Speed Control
The DRV10987 device offers four methods for indirectly controlling the speed of the motor by adjusting the
output voltage amplitude. This can be accomplished by varying the supply voltage (VCC) or by controlling the
speed command. The speed command can be controlled in one of three ways. The user can set the speed
command by adjusting either the PWM input (PWM in) or the analog input (Analog) or by writing the speed
command directly through the I2C serial port (I2C). The speed command is used to determine the PWM duty
cycle output (PWM_DCO) (see Figure 9).
The PWM input (PWM in) can have a minimum duty cycle limit applied. DutyCycleLimit[1:0], accessible through
the I2C interface, allows the user to configure the minimum duty cycle behavior. This behavior is illustrated in
Figure 8.
DutyCycleLimit[1:0], Reg0x95
00 - linear down to 5%, then holds at 5% until
duty command is 1.5 %; 0 % for duty command
below 1.5 %.
01 - linear down to 10%, then holds at 10% until
duty command is 1.5 %; 0 % for duty command
below 1.5 %.
Output Duty
Cycle (%)
100
10
10
5
5
0
Input Duty Cycle
0 1.5
5
10
Input Duty Cycle (%)
DutyCycleLimit[1:0], Reg0x95
10 - linear down to 5%, then holds at 5% until
duty command is 1.5 %; 100 % for duty command
below 1.5 %.
11 - linear down to 10%, then holds at 10% until
duty command is 1.5 %; 100 % for duty command
below 1.5 %.
Output Duty
Cycle (%)
0
0 1.5
5
10
Input Duty Cycle (%)
Figure 8. Duty Cycle Profile
The speed command may not always be equal to the PWM_DCO because the DRV10987 device has the AVS
function (see Anti-Voltage Surge Function), the software current-limit function (see Software Current Limit), and
the closed-loop accelerate function (see Closed-Loop Accelerate) to optimize the control performance. These
functions can limit the PWM_DCO, which affects the output amplitude (see Figure 9).
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Feature Description (continued)
PWM In
PWM Duty
Analog
ADC
SPEED Pin
AVS,
Acceleration Current Limit
Closed Loop Accelerate
Speed
Command
2
IC
PWM_
DCO
VCC
Output
Amplitude
X
Motor
Copyright © 2017, Texas Instruments Incorporated
Figure 9. Multiplexing the Speed Command to the Output Amplitude Applied to the Motor
The output voltage amplitude applied to the motor is developed through sine wave modulation so that the phaseto-phase voltage is sinusoidal.
When any phase is measured with respect to ground, the waveform is sinusoidally coupled with third-order
harmonics. This encoding technique permits one phase to be held at ground while the other two phases are
pulse-width modulated. Figure 10 and Figure 11 show the sinusoidal encoding technique used in the DRV10987
device.
PWM Output
Average Value
Figure 10. PWM Output and the Average Value
U-V
U
V-W
V
W-U
W
Sinusoidal Voltage From Phase to Phase
Sinusoidal Voltage With Third-Order Harmonics
From Phase to GND
Figure 11. Representing Sinusoidal Voltages With Third-Order Harmonic Output
The output amplitude is determined by the magnitude of VCC and the PWM duty cycle output (PWM_DCO). The
PWM_DCO represents the peak duty cycle that is applied in one electrical cycle. The maximum amplitude is
reached when PWM_DCO is at 100%. The peak output amplitude is VCC. When the PWM_DCO is at 50%, the
peak amplitude is VCC / 2 (see Figure 12).
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Feature Description (continued)
100% PWM DCO
50% PWM DC0
VCC
VCC / 2
Figure 12. Output Voltage Amplitude Adjustment
Motor speed is controlled indirectly by controlling the output amplitude, which is achieved by either controlling
VCC, or controlling the PWM_DCO. The DRV10987 device provides different options for the user to control the
PWM_DCO:
• Analog input (SPEED pin)
• PWM encoded digital input (SPEED pin)
• I2C serial interface.
See the Closed Loop section for more information.
8.3.4 Overvoltage Protection
The recommended operation voltage of the DRV10987 device is from 6.2 V to 28 V. The device is able to drive
the motor within this VCC range.
If VCC goes higher than VOV_R, DRV10987 stops driving the motor and protects its own circuitry. When VCC drops
below VOV_F, the DRV10987 device continues to operate the motor based on the user’s command. The
overvoltage protection works as long as the VCC slew rate is more than 10 V/ms.
8.3.5 Sleep or Standby Condition
The DRV10987 device is available in either a sleep mode (DRV10987D) or standby mode version (DRV10987S).
The DRV10987 device enters either sleep or standby to conserve energy. When the device enters either sleep or
standby, the device stops driving the motor. The step-down regulator is disabled in the sleep mode version to
conserve more energy. The I2C interface is disabled and any register data not stored in EEPROM is reset for the
sleep mode version. The switching regulator remains active in the standby mode version. The register data is
maintained, and the I2C interface remains active for standby mode version.
For different speed command modes, Table 1 shows the timing and command to enter the sleep or standby
condition.
Table 1. Conditions to Enter or Exit Sleep or Standby Condition
SPEED
COMMAND
MODE
ENTER STANDBY
CONDITION
ENTER SLEEP CONDITION
EXIT FROM STANDBY
CONDITION
EXIT FROM SLEEP
CONDITION
Analog
SPEED pin voltage < VEN_SB
for tEN_SB_ANA
SPEED pin voltage < VEN_SL
for tEN_SL_ANA
SPEED pin voltage > VEX_SB
for tEX_ SB_ANA
SPEED pin voltage > VEX_SL
for tEX_SL_ANA
PWM
SPEED pin low (V < VDIG_IL)
for tEN_SB_PWM
SPEED pin low (V < VDIG_IL)
for tEN_SL_PWM
SPEED pin high (V > VDIG_IH) SPEED pin high (V > VDIG_IH)
for tEX_SB_PWM
for tEX_SL_PWM (1)
(1)
18
See Table 2 for details on PWM duty cycle requirements to exit sleep mode.
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Feature Description (continued)
Table 1. Conditions to Enter or Exit Sleep or Standby Condition (continued)
SPEED
COMMAND
MODE
2
I C
(2)
ENTER STANDBY
CONDITION
SpdCtrl[8:0] is programmed
as 0 for tEN_SB_PWM
ENTER SLEEP CONDITION
See Required Sequence to
Enter Sleep Mode (2)
EXIT FROM STANDBY
CONDITION
SpdCtrl[8:0] is programmed
as non-zero for tEX_SB_PWM
EXIT FROM SLEEP
CONDITION
SPEED pin high (V > VDIG_IH)
for tEX_SL_PWM (PWM mode)
or SPEED pin voltage >
VEX_SL for tEX_SL_ANA (Analog
mode)
See Required Sequence to Enter Sleep Mode for the required sequence to enter sleep mode.
Note that when using the analog speed command, a higher voltage is required to exit from the sleep condition
than from the standby condition. The I2C speed command cannot take the device out of the sleep condition
because I2C communication is disabled during the sleep condition.
Table 2. Minimum PWM Duty Cycle Requirement for Different PWM Frequency to Exit Sleep Condition
INPUT PWM FREQUENCY (kHz)
PWM DUTY CYCLE (%)
0.1 to 0.5
14
0.5 to 1
11
1 to 50
9
50 to 100
4
100
3.5
8.3.5.1 Required Sequence to Enter Sleep Mode
In I2C speed command mode, either of two sequence options can be used to enter sleep mode.
8.3.5.1.1 Option 1
1. Provide a non-zero value to the speed control register. For example, write 100 to register 0x30,
speedCtrl[8:0].
2. Set the I2C OverRide bit to 1. That is, write 1 to register 0x30, speedCtrl[15].
3. In analog mode, be sure SPEED pin voltage is less than VEN_SL for tEN_SL_ANA. In PWM mode, make sure
SPEED pin is low (V < VDIG_IL) for tEN_SL_PWM.
4. Provide the value of zero to the speed control register to enter sleep mode. That is, write 0 to register 0x30,
speedCtrl[8:0].
8.3.5.1.2 Option 2
1.
2.
3.
4.
Set the motor disable bit to 1. That is, write 1 to register 0x60, EECtrl[15].
Set the I2C OverRide bit to 1. That is, write 1 to register 0x30, speedCtrl[15].
Set the motor disable bit to 0. That is, write 0 to register 0x60, EECtrl[15].
Provide the value of zero to the speed control register to enter sleep mode. That is, write 0 to register 0x30,
speedCtrl[8:0].
8.3.6 EEPROM Access
The DRV10987 device has 112 bits (7 registers with 16-bit width) of EEPROM data, which are used to program
the motor parameters as described in the I2C Serial Interface.
The procedure for programming the EEPROM is as follows. TI recommends to perform the EEPROM
programming without the motor spinning, cycle the power after the EEPROM write, and read back the EEPROM
to verify the programming is successful.
1. Power up with any voltage within operating voltage range (6.2 V to 28 V)
2. Wait 10 ms
3. Write register 0x60 to set MTR_DIS = 1; this disables the motor driver.
4. Write register 0x31 with 0x0000 to clear the EEPROM access code
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5. Write register 0x31 with 0xC0DE to enable access to EEPROM
6. Read register 0x32 for eeReadyStatus = 1
7. Case-A: Mass Write
A. Write all individual shadow registers
a. Write register 0x90 (CONFIG1) with CONFIG1 data
b. ...
c. Write register 0x96 (CONFIG7) with CONFIG7 data
B. Write the following to register 0x35
a. ShadowRegEn = 0
b. eeRefresh = 0
c. eeWRnEn = 1
d. EEPROM Access Mode = 10
C. Wait for register 0x32 eeReadyStatus = 1 – EEPROM is now updated with the contents of the shadow
registers.
8. Case-B: Mass Read
A. Write the following to register 0x35
a. ShadowRegEn = 0
b. eeRefresh = 0
c. eeWRnEn = 0
d. eeAccMode = 10
B. Internally, the device starts reading the EEPROM and storing it in the shadow registers.
C. Wait for register 0x32 eeReadyStatus = 1 – shadow registers now contain the EEPROM values
9. Write register 0x60 to set MTR_DIS = 0; this re-enables the motor driver
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8.4 Device Functional Modes
This section includes the logic required to be able to reliably start and drive the motor. It describes the processes
used in the logic core and provides the information needed to configure the parameters effectively to work over a
wide range of applications.
8.4.1 Motor Parameters
See the DRV10983-Q1 Tuning Guide for the motor parameter measurement.
The motor phase resistance (RPH_CT) and BEMF constant (Kt) are two important parameters used to characterize
a BLDC motor. The DRV10987 device requires these parameters to be configured in the register. The motor
phase resistance is programmed by writing the values for Rm[6:0] (combination of RMShift[2:0] and
RMValue[3:0]) in the Config1 register. The BEMF constant is programmed by writing the values for Kt[6:0]
(combination of KTShift[2:0] and KTValue[3:0]) in the Config2 register.
8.4.1.1 Motor Phase Resistance (RPH_CT)
For a wye-connected motor, the motor phase resistance refers to the resistance from the phase output to the
center tap, RPH_CT (denoted as RPH_CT in Figure 13).
Phase U
RPH_CT
RPH_CT
RPH_CT
Center
Tap
Phase V
Phase W
Figure 13. Wye-Connected Motor Phase Resistance
For a delta-connected motor, the motor phase resistance refers to the equivalent phase to center tap in the wye
configuration. In Figure 14, it is denoted as RY. RPH_CT = RY.
For both the delta-connected motor and the wye-connected motor, the easy way to get the equivalent RPH_CT is
to measure the resistance between two phase terminals (RPH_PH), and then divide this value by two, RPH_CT = ½
RPH_PH.
Phase U
RY
RPH_PH
RY
Phase V
RPH_PH
Center
Tap
RPH_PH
RY
Phase W
Figure 14. Delta-Connected Motor and the Equivalent Wye Connections
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Device Functional Modes (continued)
The motor phase resistance (RPH_CT) must be converted to a 7-bit digital register value Rm[6:0] to program the
motor phase resistance value. The digital register value can be determined as follows:
1. Convert the motor phase resistance (RPH_CT) to a digital value where the LSB is weighted to represent 9.67
mΩ: Rmdig = RPH_CT / 0.00967.
2. Encode the digital value such that Rmdig = RMValue[3:0] << RMShift[2:0].
The maximum resistor value, RPH_CT, that can be programmed for the DRV10987 device is 18.5 Ω, which
represents Rmdig = 1920 and an encoded Rm[6:0] value of 0x7Fh. The minimum resistor the DRV10987 device
supports is 0.029 Ω, RPH_CT, which represents Rmdig = 3.
For convenience, the encoded value for Rm[6:0] can also be obtained from Table 3.
Table 3. Motor Phase Resistance Look-Up Table
RM[6:0] {RMShift[2:0],
RMValue[3:0]}
22
BINARY
HEX
000 0000
0x00
000 0001
0x01
000 0010
0x02
000 0011
000 0100
RPH_CT (Ω)
RM[6:0] {RMShift[2:0],
RMValue[3:0]}
BINARY
HEX
0
0101000
0x28
0.0097
010 1001
0x29
0.0194
010 1010
0x03
0.0291
0x04
0.0388
000 0101
0x05
000 0110
RPH_CT (Ω)
RM[6:0] {RMShift[2:0],
RMValue[3:0]}
RPH_CT (Ω)
BINARY
HEX
0.3104
1011000
0x58
2.4832
0.3492
101 1001
0x59
2.7936
0x2A
0.388
101 1010
0x5A
3.104
010 1011
0x2B
0.4268
101 1011
0x5B
3.4144
010 1100
0x2C
0.4656
101 1100
0x5C
3.7248
0.0485
010 1101
0x2D
0.5044
101 1101
0x5D
4.0352
0x06
0.0582
010 1110
0x2E
0.5432
101 1110
0x5E
4.3456
000 0111
0x07
0.0679
010 1111
0x2F
0.582
101 1111
0x5F
4.656
000 1000
0x08
0.0776
011 1000
0x38
0.6208
110 1000
0x68
4.9664
000 1001
0x09
0.0873
011 1001
0x39
0.6984
110 1001
0x69
5.5872
000 1010
0x0A
0.097
011 1010
0x3A
0.776
110 1010
0x6A
6.208
000 1011
0x0B
0.1067
011 1011
0x3B
0.8536
110 1011
0x6B
6.8288
000 1100
0x0C
0.1164
011 1100
0x3C
0.9312
110 1100
0x6C
7.4496
000 1101
0x0D
0.1261
011 1101
0x3D
1.0088
110 1101
0x6D
8.0704
000 1110
0x0E
0.1358
011 1110
0x3E
1.0864
110 1110
0x6E
8.6912
000 1111
0x0F
0.1455
011 1111
0x3F
1.164
110 1111
0x6F
9.312
001 1000
0x18
0.1552
100 1000
0x48
1.2416
111 1000
0x78
9.9328
001 1001
0x19
0.1746
100 1001
0x49
1.3968
111 1001
0x79
11.1744
001 1010
0x1A
0.194
100 1010
0x4A
1.552
111 1010
0x7A
12.416
001 1011
0x1B
0.2134
100 1011
0x4B
1.7072
111 1011
0x7B
13.6576
001 1100
0x1C
0.2328
100 1100
0x4C
1.8624
111 1100
0x7C
14.8992
001 1101
0x1D
0.2522
100 1101
0x4D
2.0176
111 1101
0x7D
16.1408
001 1110
0x1E
0.2716
100 1110
0x4E
2.1728
111 1110
0x7E
17.3824
001 1111
0x1F
0.291
100 1111
0x4F
2.328
111 1111
0x7F
18.624
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8.4.1.2 BEMF Constant (Kt)
The BEMF constant, Kt[6:0], describes the phase-to-phase BEMF voltage of the motor as a function of the motor
velocity.
Figure 15 shows the measurement technique for this constant as used in the DRV10987 device.
PhU
Rm
Ep
Lm
Te
Eu
Ev
Lm
Kt =
Ew
Lm
Rm
Ep
fe
Ep
=
1
te
Rm
PhV
PhW
Figure 15. Kt Definition
With the motor coasting, use an oscilloscope to capture the differential voltage waveform between any two
phases. Derive the motor BEMF constant used by the DRV10987 device as shown in Equation 1.
Kt = Ep × te
where
•
•
Ep is ½ the peak-to-peak amplitude of the measured voltage
te is the electrical period
(1)
The measured BEMF constant (Kt) must be converted to a 7-bit digital register value Kt[6:0] (combination of
KtShift[2:0] and KtValue[3:0]) to program the BEMF constant value. The digital register value can be determined
as follows:
1. Convert the measured Kt to a weighted digital value: Ktph_dig = 1090 × Kt
2. Encode the digital value such that Ktph_dig = KtValue[3:0] << KtShift[2:0].
The maximum Kt that can be programmed is 1760 mV/Hz. This represents a digital value of 1920 and an
encoded Kt[6:0] value of 0x7Fh. The minimum Kt that can be programmed is 0.92 mV/Hz, which represents a
digital value of 1 and an encoded Kt[6:0] value of 0x01h.
For convenience, the encoded value of Kt[6:0] may also be obtained from Table 4.
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Table 4. BEMF Constant (Kt) Look-Up Table
Kt[6:0] {KtShift[2:0],
KtValue[3:0]}
BINARY
HEX
000 0000
0x00
000 0001
0x01
000 0010
0x02
000 0011
000 0100
Kt (mV/Hz)
Kt [6:0] {KtShift[2:0],
KtValue[3:0]}
BINARY
HEX
0
010 1000
0x28
0.92
010 1000
0x29
1.84
010 1000
0x03
2.76
0x04
3.68
000 0101
0x05
000 0110
000 0111
Kt (mV/Hz)
Kt [6:0] {KtShift[2:0],
KtValue[3:0]}
Kt (mV/Hz)
BINARY
HEX
29.44
101 1000
0x58
235.52
33.12
101 1000
0x59
264.96
0x2A
36.8
101 1000
0x5A
294.4
010 1000
0x2B
40.48
101 1000
0x5B
323.84
010 1000
0x2C
44.16
101 1000
0x5C
353.28
4.6
010 1000
0x2D
47.84
101 1000
0x5D
382.72
0x06
5.52
010 1000
0x2E
51.52
101 1000
0x5E
412.16
0x07
6.44
010 1000
0x2F
55.2
101 1000
0x5F
441.6
000 1000
0x08
7.36
011 1000
0x38
58.88
110 1000
0x68
471.04
000 1001
0x09
8.28
011 1000
0x39
66.24
110 1000
0x69
529.92
000 1010
0x0A
9.2
011 1000
0x3A
73.6
110 1000
0x6A
588.8
000 1011
0x0B
10.12
011 1000
0x3B
80.96
110 1000
0x6B
647.68
000 1100
0x0C
11.04
011 1000
0x3C
88.32
110 1000
0x6C
706.56
000 1101
0x0D
11.96
011 1000
0x3D
95.68
110 1000
0x6D
765.44
000 1110
0x0E
12.88
011 1000
0x3E
103.04
110 1000
0x6E
824.32
000 1111
0x0F
13.8
011 1000
0x3F
110.4
110 1000
0x6F
883.2
001 1000
0x18
14.72
100 1000
0x48
117.76
111 1000
0x78
942.08
001 1001
0x19
16.56
100 1000
0x49
132.48
111 1000
0x79
1059.84
001 1010
0x1A
18.4
100 1000
0x4A
147.2
111 1000
0x7A
1177.6
001 1011
0x1B
20.24
100 1000
0x4B
161.92
111 1000
0x7B
1295.36
001 1100
0x1C
22.08
100 1000
0x4C
176.64
111 1000
0x7C
1413.12
001 1101
0x1D
23.92
100 1000
0x4D
191.36
111 1000
0x7D
1530.88
001 1110
0x1E
25.76
100 1000
0x4E
206.08
111 1000
0x7E
1648.64
001 1111
0x1F
27.6
100 1000
0x4F
220.8
111 1000
0x7F
1766.4
8.4.2 Starting the Motor Under Different Initial Conditions
The motor can be in one of three states when the DRV10987 device attempts to begin the start-up process. The
motor may be stationary, or spinning in the forward or reverse directions. The DRV10987 device includes a
number of features to allow for reliable motor start under all of these conditions. Figure 16 shows the motor startup flow for each of the three initial motor states.
8.4.2.1 Case 1 – Motor is Stationary
If the motor is stationary, the commutation logic must be initialized to be in phase with the position of the motor.
The DRV10987 device provides for two options to initialize the commutation logic to the motor position. Initial
position detect (IPD) determines the position of the motor based on the deterministic inductance variation, which
is often present in BLDC motors. The align-and-go technique forces the motor into alignment by applying a
voltage across a particular motor phase to force the motor to rotate in alignment with this phase.
8.4.2.2 Case 2 – Motor is Spinning in the Forward Direction
If the motor is spinning forward with enough velocity, the DRV10987 device may be configured to go directly into
closed loop. By resynchronizing to the spinning motor, the user achieves the fastest possible start-up time for this
initial condition.
8.4.2.3 Case 3 – Motor is Spinning in the Reverse Direction
If the motor is spinning in the reverse direction, the DRV10987 device provides several methods to convert it
back to the forward direction.
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One method, reverse drive, allows the motor to be driven so that it accelerates through zero velocity. The motor
achieves the shortest possible spin-up time in systems where the motor is spinning in the reverse direction.
If this feature is not selected, then the DRV10987 device may be configured either to wait for the motor to stop
spinning or to brake the motor. After the motor has stopped spinning, the motor start-up sequence proceeds as it
would for a motor which is stationary.
Take care when using the reverse-drive or brake feature to ensure that the current is limited to an acceptable
level and that the supply voltage does not surge as a result of energy being returned to the power supply.
IPD
Stationary
Align and Go
Spinning forward
Direct closed loop
Wait
Spinning reversely
Brake
Reverse drive
Figure 16. Start the Motor Under Different Initial Conditions
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8.4.3 Motor Start Sequence
Figure 17 shows the motor-start sequence implemented in the DRV10987 device.
Power on
DIR pin
change
N
ISDen
Y
ISD
Y
N
Forward
Speed <
ISDThr
N
Y
Y
Speed >
RvsDrThr
Y
Motor Resynchronization
N
RvsDrEn
N
BrkEn
N
Brake
IPDEn
Y
Time >
BrkDoneThr
Y
Y
N
N
Align
Accelerate
RvsDr
IPD
N
ClosedLoop
Speed >
Op2CIsThr
Y
Figure 17. Motor Starting-Up Flow
Accelerate State The DRV10987 device accelerates the motor according to the settings of StAccel and
StAccel2. After applying the accelerate settings, the MSS advances to the Speed>Op2ClsThr
judgment.
Align State The DRV10987 device performs the align function (see Align). After the align completes, the MSS
transitions to the Accelerate state.
Brake State The device performs the brake function (see Motor Brake).
BrkEn Judgment The MSS checks to determine whether the brake function is enabled (BrkDoneThr[2:0] ≠ 000).
If the brake function is enabled, the MSS advances to the brake state.
ClosedLoop State In this state, the DRV10987 device drives the motor based on feedback from the
commutation control algorithm.
DIR Pin Change Judgment If the DIR pin is changed during any of above states, DRV10987 device stops
driving the motor and restarts from the beginning.
Forward Judgment The MSS determines whether the motor is spinning in the forward or the reverse direction.
If the motor is spinning in the forward direction, the DRV10987 device executes the
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resynchronization (see Motor Resynchronization) process by transitioning directly into the
ClosedLoop state. If the motor is spinning in the reverse direction, the MSS proceeds to the
Speed>RvsDrThr.
IPDEn Judgment The MSS checks to see if IPD has been enabled (IPDCurrThr[3:0] ≠ 0000). If the IPD is
enabled, the MSS transitions to the IPD state. Otherwise, it transitions to the align state.
IPD State
The DRV10987 device performs the IPD function. The IPD function is described in Initial Position
Detect (IPD). After the IPD completes, the MSS transitions to the accelerate state.
ISD State
The MSS determines the initial condition of the motor (see Initial Speed Detect (ISD)).
ISDen Judgment After power-on, the DRV10987 MSS enters the ISDen judgment where it checks to see if the
initial speed detect (ISD) function is enabled (ISDen = 1). If ISD is disabled, the MSS proceeds
directly to the BrkEn Judgment. If ISD is enabled, the motor start sequence advances to the ISD
state.
Power-On State This is the initial power-on state of the motor start sequencer (MSS). The MSS starts in this
state on initial power-up or whenever the DRV10987 device comes out of standby mode.
RvsDrEn Judgment The MSS checks to see if the reverse drive function is enabled (RvsDrEn = 1). If it is, the
MSS transitions into the RvsDr state. If the reverse drive function is not enabled, the MSS
advances to the BrkEn judgment.
RvsDr State The DRV10987 device drives the motor in the forward direction to force it to rapidly decelerate (see
Reverse Drive). When it reaches zero velocity, the MSS transitions to the Accelerate state.
Speed<ISDThr Judgment If the motor speed is lower than the threshold defined by ISDThr[1:0], then the motor
is considered to be stationary and the MSS proceeds to the BrkEn judgment. If the speed is greater
than the threshold defined by ISDThr[1:0], the start sequence proceeds to the Forward judgment.
Speed>Op2ClsThr Judgment The motor accelerates until the drive rate exceeds the threshold configured by
the Op2ClsThr[4:0] settings. When this threshold is reached, the DRV10987 device enters into the
ClosedLoop state.
Speed>RvsDrThr Judgment The motor start sequencer checks to see if the reverse speed is greater than the
threshold defined by RvsDrThr[1:0]. If it is, then the MSS returns to the ISD state to allow the motor
to decelerate. This prevents the DRV10987 device from attempting to reverse drive or brake a
motor that is spinning too quickly. If the reverse speed of the motor is less than the threshold
defined by RvsDrThr[1:0], then the MSS advances to the RvsDrEn judgment.
Time>BrkDoneThr Judgment The MSS applies brake for a time configured by BRKDoneThr[2:0]. After brake
state, the MSS advances to the IPDEn judgment.
8.4.3.1 Initial Speed Detect (ISD)
The ISD function is used to identify the initial condition of the motor. If the function is disabled, the DRV10987
device does not perform the initial speed detect function and treats the motor as if it is stationary.
Phase-to-phase comparators are used to detect the zero crossings of the motor BEMF voltage while it is
coasting (motor phase outputs are in the high-impedance state). Figure 18 shows the configuration of the
comparators.
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60 degrees
±
V
+
U
+
±
W
Figure 18. Initial Speed Detect Function
If the UW comparator output is lagging the UV comparator by 60°, the motor is spinning forward. If the UW
comparator output is leading the UV comparator by 60°, the motor is spinning in reverse.
The motor speed is determined by measuring the time between two rising edges of either of the comparators.
If neither of the comparator outputs toggles for a given amount of time, the condition is defined as stationary. The
amount of time can be programmed by setting the register bits ISDThr[1:0].
8.4.3.2 Motor Resynchronization
The resynchronize function works when the ISD function is enabled and determines that the initial state of the
motor is spinning in the forward direction. The speed and position information measured during ISD are used to
initialize the drive state of the DRV10987 device, which can transition directly into the closed-loop running state
without needing to stop the motor.
8.4.3.3 Reverse Drive
The ISD function measures the initial speed and the initial position; the DRV10987 reverse drive function acts to
reverse accelerate the motor through zero speed and to continue accelerating until the closed loop threshold is
reached (see Figure 19). If the reverse speed is greater than the threshold configured in RvsDrThr[1:0], then the
DRV10987 device waits until the motor coasts to a speed that is less than the threshold before driving the motor
to reverse accelerate.
Speed
Closed loop
Op2ClsThr
Open loop
Time
RevDrThr
Reverse Drive
Coasting
Figure 19. Reverse Drive Function
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Reverse drive is suitable for applications where the load condition is light at low speed and relatively constant
and where the reverse speed is low (for example, a fan motor with little friction). For other load conditions, the
motor brake function provides a method for helping force a motor which is spinning in the reverse direction to
stop spinning before the device initiates a normal start-up sequence.
8.4.3.4 Motor Brake
The motor brake function can be used to stop the spinning motor before attempting to start the motor. The brake
is applied by turning on all three of the low-side driver FETs.
Brake is enabled by configuring a non-zero BrkDoneThr[2:0]. The driver comes out of the brake state only when
the phase current is lower than BrkCurThrSel for BrkDoneThr[2:0] time. After the motor is stopped, the motor
position is unknown. To proceed with restarting in the correct direction, the IPD or align-and-go algorithm must
be implemented. The motor start sequence is the same as it would be for a motor starting in the stationary
condition. The driver enters the brake state before entering the IPD or align-and-go state.
The motor brake function can be disabled, in which case the DRV10987 device skips the brake state and
attempts to spin the motor as if it were stationary. If this happens while the motor is spinning in either direction,
the start-up sequence may not be successful.
8.4.3.5 Motor Initialization
8.4.3.5.1 Align
The DRV10987 device aligns a motor by injecting dc current through a particular phase pattern which is current
flowing into phase V, flowing out from phase W for a certain time (configured by AlignTime[2:0]). The current
magnitude is determined by OpenLCurr[1:0]. The motor should be aligned at the known position.
The time of align affects the start-up timing (see Start-Up Timing). A bigger-inertia motor requires longer align
time.
8.4.3.5.2 Initial Position Detect (IPD)
The inductive sense method is used to determine the initial position of the motor when IPD is enabled. IPD is
enabled by selecting IPDCurrThr[3:0] to any value other than 0000.
IPD can be used in applications where reverse rotation of the motor is unacceptable. Because IPD is not
required to wait for the motor to align with the commutation, it can allow for a faster motor start sequence. IPD
works well when the inductance of the motor varies as a function of position. Because it works by pulsing current
to the motor, it can generate acoustics which must be taken into account when determining the best start method
for a particular application.
8.4.3.5.2.1 IPD Operation
IPD operates by sequentially applying voltage across two of the three motor phases according to the following
sequence: VW WV UV VU WU UW (see Figure 20). When the current reaches the threshold configured in
IPDCurrThr[3:0], the voltage across the motor is stopped. The DRV10987 device measures the time it takes from
when the voltage is applied until the current threshold is reached. The time varies as a function of the inductance
in the motor windings. The state with the shortest time represents the state with the minimum inductance. The
minimum inductance is because of the alignment of the north pole of the motor with this particular driving state.
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U
IPDclk
N
V
Clock
S
W
Drive
VW
WV
UV
VU
WU
UW
IPDCurrThr
Current
Search the Minimum Time
Permanent
Magnet Position
Saturation Position of the
Magnetic Field
Smallest
Inductance
Minimum
Time
Figure 20. IPD Function
8.4.3.5.2.2 IPD Release Mode
Two options are available for stopping the voltage applied to the motor when the current threshold is reached. If
IPDRlsMd = 0, the recirculate mode is selected. The low-side (S6) MOSFET remains on to allow the current to
recirculate between the MOSFET (S6) and body diode (S2) (see Figure 21). If IPDRlsMd = 1, the highimpedance mode is selected. Both the high-side (S1) and low-side (S6) MOSFETs are turned off and the current
flies back across the body diodes into the power supply (see Figure 22).
In the high-impedance state, the phase current has a faster settle-down time, but that could result in a surge on
VCC. Manage this with appropriate selection of either a clamp circuit or by providing sufficient capacitance
between VCC and GND. If the voltage surge cannot be contained and if it is unacceptable for the application, then
select the recirculate mode. When selecting the recirculate mode, select the IPDClk[1:0] bits to give the current in
the motor windings enough time to decay to 0.
S1
S3
S5
M
U1
S2
Driving
S1
S4
S6
S3
S5
M
U1
S2
S4
S6
Brake (Recirculate)
Figure 21. IPD Release Mode 0
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S1
S3
S5
S1
M
U1
S2
S4
S3
S5
M
U1
S6
S2
Driving
S4
S6
Hi-Z (High-Impedance)
Figure 22. IPD Release Mode 1
8.4.3.5.2.3 IPD Advance Angle
After the initial position is detected, the DRV10987 device begins driving the motor at an angle specified by
IPDAdvcAgl[1:0].
Advancing the drive angle anywhere from 0° to 180° results in positive torque. Advancing the drive angle by 90°
results in maximum initial torque. Applying maximum initial torque could result in uneven acceleration to the rotor.
Select the IPDAdvcAgl[1:0] to allow for smooth acceleration in the application (see Figure 23).
Motor spinning direction
U
V
N
S
W
U
N
V
U
N
V
U
N
V
U
N
S
S
S
S
W
W
W
W
Û DGYDQFH
Û advance
Û DGYDQFH
V
Û DGYDQFH
Figure 23. IPD Advance Angle
8.4.3.5.3 Motor Start
After it is determined that the motor is stationary and after completing the motor initialization with either align or
IPD, the DRV10987 device begins to accelerate the motor. This acceleration is accomplished by applying a
voltage determined by the open-loop current setting (OpenLCurr[1:0]) to the appropriate drive state and by
increasing the rate of commutation without regard to the real position of the motor (referred to as open-loop
operation). The function of the open-loop operation is to drive the motor to a minimum speed so that the motor
generates sufficient BEMF to allow the commutation control logic to accurately drive the motor.
Table 5 lists the configuration options that can be set in the register to optimize the initial motor acceleration
stage for different applications.
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Table 5. Configuration Options for Controlling Open-Loop Motor Start
REG. NAME
CONFIGURATION
BITS
MIN. VALUE
MAX. VALUE
Open- to closed-loop threshold
CONFIG4
Op2ClsThr[4:0]
0.8 Hz
204.8 Hz
Align time
CONFIG4
AlignTime[2:0]
40 ms
5.3 s
First-order acceleration coefficient
CONFIG4
StAccel[2:0]
0.019 Hz/s
76 Hz/s
Second-order acceleration
coefficient
CONFIG4
StAccel2[2:0]
0.0026 Hz/s2
57 Hz/s2
CONFIG3
OpenLCurr[1:0]
200 mA
1.6 A
150 mA
1.2 A
CONFIG3
OpLCurrRt[2:0]
0.023 VCC/s
6 VCC/s
DESCRIPTION
Open-loop current setting
Align current setting
Open-loop current ramping
8.4.3.6 Start-Up Timing
Start-up timing is determined by the align and accelerate time. The align time can be set by AlignTime[2:0]. The
accelerate time is defined by the open-loop to closed-loop threshold Op2ClsThr[4:0] along with the first-order
acceleration coefficient StAccel[2:0](A1) and second-order acceleration coefficient StAccel2[2:0](A2) acceleration
coefficients. Figure 24 shows the motor start-up process.
Speed
Speed =
2
A1 ´ t + 0.5 A2 ´ t
Close loop
Op2ClsThr
AlignTime
Time
Accelerate Time is determined by
Op2ClsThr and A1, A2.
Accelerate Time
Figure 24. Motor Start-Up Process
Select the first-order and second-order acceleration coefficients to allow the motor to reliably accelerate from
zero velocity up to the closed-loop threshold in the shortest time possible. Using slow acceleration coefficients for
open loop stage can help improve reliability in applications where it is difficult to initialize the motor accurately
with either align or IPD.
Select the open- to closed-loop threshold to allow the motor to accelerate to a speed that generates sufficient
BEMF for closed-loop control. This is determined by the BEMF constant of the motor based on the relationship
described in Equation 2.
BEMF = Kt × speed (Hz)
(2)
8.4.4 Align Current
During the align state, the measured align current is dependent on the actual motor phase resistance and rDS(on)
of the internal FETs. The relationship between measured align current and configured align current is derived
from the actual motor phase resistance, configured motor phase resistance, and rDS(on).
é
ù
Rm
AlignCurrent _ Measured = AlignCurrent _ Configured ´ ê
ú
ëê R motor + rDS(on) ûú
where
•
•
•
•
•
32
AlignCurrent_Measured is the actual align current measured during the align state
AlignCurrent_Configured is the align current configured by OpenLCurr[1:0]
Rmotor is the actual motor phase resistance
rDS(on) is the resistance between the drain and source of the FETs during the on-state
Rm is configured by Rm[6:0]
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8.4.5 Start-Up Current Setting
The start-up current setting is to control the peak start-up current during open loop. During open-loop operation, it
is desirable to control the magnitude of drive current applied to the motor. This is helpful in controlling and
optimizing the rate of acceleration. The limit takes effect during reverse drive, align, and acceleration.
The start current is set by programming the OpenLCurr[1:0] bits. The current should be selected to allow the
motor to reliably accelerate to the handoff threshold. Heavier loads may require a higher current setting, but it
should be noted that the rate of acceleration is limited by the acceleration rate (StAccel[2:0], StAccel2[2:0]). If the
motor is started with more current than necessary to reliably reach the handoff threshold, it results in higher
power consumption.
The start current is controlled based on the relationship shown in Equation 4 and Figure 25. The duty cycle
applied to the motor is derived from the calculated value for ULimit and the magnitude of the supply voltage, VCC,
as well as the drive state of the motor.
ULimit ILimit u Rm Speed Hz u Kt
where
•
•
•
•
ILimit is configured by OpenLCurr[1:0]
Rm is configured by Rm[6:0]
Speed is variable based the open-loop acceleration profile of the motor
Kt is configured by Kt[6:0]
(4)
Rm
VU = BEMF + I × Rm
M
BEMF = Kt × speed
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Figure 25. Motor Start-Up Current
8.4.5.1 Start-Up Current Ramp-Up
A fast change in the applied drive current may result in a sudden change in the driving torque. In some
applications, this could result in acoustic noise. To avoid this, the DRV10987 device allows the option of limiting
the rate at which the current is applied to the motor. OpLCurrRt[2:0] sets the maximum voltage ramp-up rate that
is applied to the motor. The waveforms in Figure 26 show how this feature can be used to gradually ramp the
current applied to the motor.
Start Driving With Fast Current Ramp
Start Driving With Slow Current Ramp
Figure 26. Motor Start-Up Current Ramp
8.4.6 Closed Loop
In closed loop operation, the DRV10987 device continuously samples the current in the U phase of the motor
and uses this information to estimate the BEMF voltage that is present. The drive state of the motor is controlled
based on the estimated BEMF voltage.
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8.4.6.1 Half-Cycle Control and Full-Cycle Control
The estimated BEMF used to control the drive state of the motor has two zero-crosses every electrical cycle. The
DRV10987 device can be configured to update the drive state either once every electrical cycle or twice for every
electrical cycle. When AdjMode is programmed to 1, half-cycle adjustment is applied. The control logic is
triggered at both the rising edge and falling edge. When AdjMode is programmed to 0, full-cycle adjustment is
applied. The control logic is triggered only at the rising edge (see Figure 27).
Half-cycle adjustment provides a faster response when compared with full-cycle adjustment. Use half-cycle
adjustment whenever the application requires operation over large dynamic loading conditions. Use the full-cycle
adjustment for low-current (<1 A) applications because it offers more tolerance for current-measurement offset
errors.
Zero cross signal
Estimated Position
Real Driving Voltage
Real Position
Ideal Driving Voltage
Zero cross signal
Estimated Position
Real Driving Voltage
Adjustment (full cycle)
Real Position
Ideal Driving Voltage
Adjustment (half cycle)
Figure 27. Closed-Loop Control Commutation-Adjustment Mode
8.4.6.2 Analog-Mode Speed Control
The SPEED input pin can be configured to operate as an analog input (SpdCtrlMd = 0).
When configured for analog mode, the voltage range on the SPEED pin can be varied from 0 to V3P3. If
SPEED > VANA_FS, the speed command is maximum. If VANA_ZS ≤ SPEED < VANA_FS the speed command
changes linearly according to the magnitude of the voltage applied at the SPEED pin. If SPEED < VANA_ZS the
speed command is to stop the motor. Figure 28 shows the speed command when operating in analog mode.
Speed
Command
Maximum
Speed
Command
Analog Input
VANA-ZS
VANA-FS
Figure 28. Analog-Mode Speed Command
8.4.6.3 Digital PWM-Input-Mode Speed Control
If SpdCtrlMd = 1, the SPEED input pin is configured to operate as a PWM-encoded digital input. The PWM duty
cycle applied to the SPEED pin can be varied from 0 to 100%. The speed command is proportional to the PWM
input duty cycle. The speed command stops the motor when the PWM input keeps at 0 for tEN_SL_SB (see
Figure 29).
The frequency of the PWM input signal applied to the SPEED pin is defined as fPWM. This is the frequency the
device can accept to control motor speed. It does not correspond to the PWM output frequency that is applied to
the motor phase. The PWM output frequency can be configured to be either 25 kHz when the PWMFreq bit is set
to 0 or to 50 kHz when PWMFreq bit is set to 1.
34
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Speed
Command
Maximum
Speed
Command
PWM duty
0
100%
Figure 29. PWM-Mode Speed Command
8.4.6.4 I2C-Mode Speed Control
The DRV10987 device can also command the speed through the I2C serial interface. To enable this feature, the
OverRide bit is set to 1. When the DRV10987 device is configured to operate in I2C mode, it ignores the signal
applied to the SPEED pin.
The speed command can be set by writing the SpdCtrl[8:0] bits. The 9-bit SpdCtrl [8:0] located in the SpeedCtrl
registers is used to set the peak amplitude voltage applied to the motor. The maximum speed command is set
when SpdCtrl [8:0] is set to 0x1FF (511).
8.4.6.5 Closed-Loop Accelerate
To prevent sudden changes in the torque applied to the motor which could result in acoustic noise, the
DRV10987 device provides the option of limiting the maximum rate at which the speed command changes.
ClsLpAccel[2:0] can be programmed to set the maximum rate at which the speed command changes (shown in
Figure 30).
y%
Speed command
input
x%
y%
Speed command
after closed loop
accelerate buffer
x%
Closed loop
accelerate settings
Figure 30. Closed-Loop Accelerate
8.4.6.6 Control Coefficient
The DRV10987 device continuously measures the motor current and uses this information to control the drive
state of the motor when operating in closed-loop mode. In applications where noise makes it difficult to control
the commutation optimally, the CtrlCoef[1:0] can be used to attenuate the feedback used for closed-loop control.
The loop is less reactive to the noise on the feedback and provides for a smoother output.
8.4.6.7 Commutation Control
To achieve the best efficiency, it is often desirable to control the drive state of the motor so that the motor phase
current is aligned with the motor BEMF voltage.
To align the motor phase current with the motor BEMF voltage, consider the inductive effect of the motor. The
voltage applied to the motor should be applied in advance of the motor BEMF voltage (see Figure 31). The
DRV10987 device provides configuration bits for controlling the time (tadv) between the driving voltage and
BEMF.
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For motors with salient pole structures, aligning the motor BEMF voltage with the motor current may not achieve
the best efficiency. In these applications, the timing advance should be adjusted accordingly. Accomplish this by
operating the system at constant speed and load conditions and by adjusting tadv until the minimum current is
achieved.
Phase
Voltage
Phase
BEMF
Phase
Current
tadv
Figure 31. Advance Time (tadv) Definition
The DRV10987 device has two options for adjusting the motor commutate advance time. When CommAdvMode
= 0, mode 0 is selected. When CommAdvMode = 1, mode 1 is selected.
Mode 0: tadv is maintained to be a fixed time relative to the estimated BEMF zero cross as determined by
Equation 5.
tadv = tSETTING
(5)
Mode 1: tadv is maintained to be a variable time relative to the estimated BEMF zero cross as determined by
Equation 6.
tadv = tSETTING × (VU – BEMF) / VU.
where
•
•
VUis the phase voltage amplitude
BEMF is the phase BEMF amplitude
(6)
tSETTING (in µs) is determined by the configuration of the TCtrlAdvShift [2:0] and TCtrlAdvValue [3:0] bits as
defined in Equation 7. For convenience, the available tSETTING values are provided in Table 6.
tSETTING = 2.5 µs × [TCtrlAdvValue[3:0]] << TCtrlAdvShift[2:0]
36
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Table 6. Configuring Commutation Advance Timing by Adjusting tSETTING
TCtrlAdv [6:0]
{TCtrlAdvShift[2:0],
TCtrlAdvValue[3:0]}
TCtrlAdv [6:0]
{TCtrlAdvShift[2:0],
TCtrlAdvValue[3:0]}
tSETTING (µs)
Binary
Hex
Binary
Hex
000 0000
0x00
0
010 1000
0x28
000 0001
0x01
2.5
010 1001
000 0010
0x02
5
010 1010
000 0011
0x03
7.5
010 1011
000 0100
0x04
10
000 0101
0x05
000 0110
0x06
000 0111
0x07
000 1000
000 1001
000 1010
TCtrlAdv [6:0]
{TCtrlAdvShift[2:0],
TCtrlAdvValue[3:0]}
tSETTING (µs)
tSETTING (µs)
Binary
Hex
80
101 1000
0x58
640
0x29
90
101 1001
0x59
720
0x2A
100
101 1010
0x5A
800
0x2B
110
101 1011
0x5B
880
010 1100
0x2C
120
101 1100
0x5C
960
12.5
010 1101
0x2D
130
101 1101
0x5D
1040
15
010 1110
0x2E
140
101 1110
0x5E
1120
17.5
010 1111
0x2F
150
101 1111
0x5F
1200
0x08
20
011 1000
0x38
160
110 1000
0x68
1280
0x09
22.5
011 1001
0x39
170
110 1001
0x69
1440
0x0A
25
011 1010
0x3A
200
110 1010
0x6A
1600
000 1011
0x0B
27.5
011 1011
0x3B
220
110 1011
0x6B
1760
000 1100
0x0C
30
011 1100
0x3C
240
110 1100
0x6C
1920
000 1101
0x0D
32.5
011 1101
0x3D
260
110 1101
0x6D
2080
000 1110
0x0E
35
011 1110
0x3E
280
110 1110
0x6E
2240
000 1111
0x0F
37.5
011 1111
0x3F
300
110 1111
0x6F
2400
001 1000
0x18
40
100 1000
0x48
320
111 1000
0x78
2560
001 1001
0x19
45
100 1001
0x49
360
111 1001
0x79
2880
001 1010
0x1A
50
100 1010
0x4A
400
111 1010
0x7A
3200
001 1011
0x1B
55
100 1011
0x4B
440
111 1011
0x7B
3520
001 1100
0x1C
60
100 1100
0x4C
480
111 1100
0x7C
3840
001 1101
0x1D
65
100 1101
0x4D
520
111 1101
0x7D
4160
001 1110
0x1E
70
100 1110
0x4E
560
111 1110
0x7E
4480
001 1111
0x1F
75
100 1111
0x4F
600
111 1111
0x7F
4800
8.4.7 Current Limits
The DRV10987 device has several current-limit modes to help ensure optimal control of the motor and to ensure
safe operation. The various current-limit modes are listed in Table 7. Software current limit is used to provide a
means of controlling the amount of current delivered to the motor. This is useful when the system must limit the
amount of current pulled from the power supply during motor start-up. The lock-detection current limit is a
configurable threshold that can be used to limit the current applied to the motor. Overcurrent protection is used to
protect the device; therefore, it cannot be disabled or configured to a different threshold. The current-limit modes
are described in the following sections.
Table 7. DRV10987 Current-Limit Modes
CURRENT LIMIT MODE
Software Current Limit
SITUATION
Motor start
ACTION
FAULT DIAGNOSIS
Limit the output voltage amplitude
No fault
Lock0: Lock-Detection Current
Motor locked
Limit Triggered
Stop driving the motor and enter the lock state
Mechanical rotation error
Overcurrent Protection (OCP)
Stop driving the motor and enter the lock state
Circuit connection
Short circuit
8.4.7.1 Software Current Limit
The software current limit limits the voltage applied to the motor to prevent the current from exceeding the
programmed threshold. The software current limit threshold is configured by writing the SWiLimitThr[3:0] bits to
select ILIMIT. The software current limit does not use a direct measurement of current. It uses the programmed
motor phase resistance, RPH_CT, and programmed BEMF constant (Kt) to limit the voltage, VU, applied to the
motor as shown in Figure 32 and Equation 8.
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When the software current limit is active, it does not stop the motor from spinning nor does it trigger a fault. The
functionality of the software current limit is only available in closed-loop control.
Rm
ILIMIT
M
VU_LIMIT
BEMF = Kt ´ Speed
Copyright © 2017, Texas Instruments Incorporated
Figure 32. Software Current Limit
VU_LIMIT = ILIMIT × RPH_CT + Speed × Kt
(8)
8.4.8 Lock Detect and Fault Handling
The DRV10987 device provides several options for determining if the motor becomes locked as a result of some
external torque. Five lock-detect schemes work together to ensure the lock condition is detected quickly and
reliably. Figure 33 shows the logic which integrates the various lock-detect schemes. When a lock condition is
detected, the DRV10987 device takes action to prevent continuously driving the motor in order to prevent
damage to the system or the motor.
In addition to detecting if there is a locked motor condition, the DRV10987 device also identifies and takes action
if there is no motor connected to the system.
Each of the five lock-detect schemes and the no-motor detection can be disabled by their respective register bits,
LockEn[5:0].
When a lock condition is detected, the FaultReg register provides an indication of which of the six different
conditions was detected on Lock5 to Lock0. These bits are reset when the motor restarts. The bits in the
FaultReg register are set even if the lock detect scheme is disabled.
The DRV10987 device reacts to either locked-rotor or no-motor-connected conditions by putting the output
drivers into a high-impedance state. To prevent the energy in the motor from pumping the supply voltage, the
DRV10987 device incorporates an anti-voltage-surge (AVS) process whenever the output stages transition into
the high-impedance state. The AVS function is described in Anti-Voltage Surge Function. After entering the highimpedance state as a result of a fault condition, the system tries to restart after tLOCK_OFF.
LockEn (0, 1, 2, 3, 4, 5)
Lock-Detection Current Limit
Speed Abnormal
BEMF Abnormal
OR
No-Motor Fault
Hi-Z
and Restart
Logic
Open-Loop Stuck
Closed-Loop Stuck
Set
Register:
FaultCode [5:0]
Reset
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Figure 33. Lock Detect and Fault Diagnosis
38
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8.4.8.1 Lock0: Lock-Detection Current Limit Triggered
The lock-detection current-limit function provides a configurable threshold for limiting the current to prevent
damage to the system. This is often tripped in the event of a sudden locked-rotor condition. The DRV10987
device continuously monitors the current in the low-side drivers as shown in Figure 34. If the current goes higher
than the threshold configured by the HWiLimitThr[2:0] bits, then the DRV10987 device stops driving the motor by
placing the output phases into a high-impedance state. The Lock0 bit is set and a lock condition is reported. The
device retries after tLOCK_OFF.
Set the lock-detection current limit to a higher value than the software current limit.
+
DigitalCore
–
DAC
Figure 34. Lock-Detection Current Limit
8.4.8.2 Lock1: Abnormal Speed
If the motor is operating normally, the motor BEMF should always be less than the output amplitude. The
DRV10987 device uses two methods of monitoring the BEMF in the system. The U phase current is monitored to
maintain an estimate of BEMF based on the setting for Rm[6:0] {RmShift[2:0],RmValue[3:0]}. In addition, the
BEMF is estimated based on the operation speed of the motor and the setting for Kt[6:0]
{KtShift[2:0],KtValue[3:0]}. Figure 35 shows the method for using this information to detect a lock condition. If the
motor BEMF is much higher than the output amplitude for a certain period of time, tLCK_ETR, it means the
estimated speed is wrong, and the motor has gotten out of phase.
Rm
I
VU
M
BEMF1 = VU – I × Rm
BEMF2 = Kt × Speed
Lock Detected If BEMF2 > VU
Copyright © 2017, Texas Instruments Incorporated
Figure 35. Lock Detection 1
8.4.8.3 Lock2: Abnormal Kt
For any given motor, the integrated value of BEMF during half of an electrical cycle is constant. The value is
determined by the BEMF constant (Kt) (see Figure 36). The BEMF constant is the same regardless of whether
the motor is running fast or slow. This constant value is continuously monitored by calculation and used as a
criterion to determine the motor lock condition, and is referred to as Ktc.
Based on the Kt value programmed, create a range from Kt_low to Kt_high. If Ktc goes beyond the range for a
certain period of time, tLCK_ETR, lock is detected. Kt_low and Kt_high are determined by KtLckThr[1:0] (see
Figure 37).
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Figure 36. BEMF Integration
Kt_high
Ktc
Kt
Kt_low
Lock detect
Figure 37. Abnormal-Kt Lock Detect
8.4.8.4 Lock3: No-Motor Fault
The phase U current is checked after transitioning from open loop to closed loop. If the phase U current is not
greater than 140 mA then the motor is not connected as shown in Figure 38. This condition is treated and
reported as a fault.
DRV10987
M
Figure 38. No-Motor Error
8.4.8.5 Lock4: Open-Loop Motor-Stuck Lock
Lock4 is used to detect locked-motor conditions while the motor start sequence is in open loop.
For a successful startup, motor speed should be equal to the open-to-closed-loop handoff threshold when the
motor is transitioning into closed loop. However, if the motor is locked, the motor speed is not able to match the
open-loop drive rate.
If the motor BEMF is not detected for one electrical cycle after the open-loop drive rate exceeds the threshold,
then the open loop was unsuccessful as a result of a locked-rotor condition.
8.4.8.6 Lock5: Closed-Loop Motor-Stuck Lock
If the motor suddenly becomes locked, motor speed and Ktc are not able to be refreshed because the BEMF
zero cross of the motor may not appear after the lock. In this condition, lock can also be detected by the
following scheme: if the current commutation period is 2× longer than the previous period.
40
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8.4.9 Anti-Voltage Surge Function
When a motor is driven, energy is transferred from the power supply into the motor. Some of this energy is
stored in the form of inductive energy or as mechanical energy. The DRV10987 device includes circuits to
prevent this energy from being returned to the power supply, which could result in pumping up the VCC voltage.
This function is referred to as the AVS and acts to protect the DRV10987 device as well as other circuits that
share the same VCC connection. Two forms of AVS protection are used to prevent both the mechanical energy
and the inductive energy from being returned to the supply. Each of these modes can be independently disabled
through the register configuration bits AVSMEn and AVSIndEn.
8.4.9.1 Mechanical AVS Function
If the speed command suddenly drops such that the BEMF voltage generated by the motor is greater than the
voltage that is applied to the motor, then the mechanical energy of the motor is returned to the power supply and
the VCC voltage surges. The mechanical AVS function works to prevent this from happening. The DRV10987
device buffers the speed command value and limits the resulting output voltage, VU_MIN, so that it is not less than
the BEMF voltage of the motor. The BEMF voltage in the mechanical AVS function is determined using the
programmed value for the motor Kt (Kt[6:0]) along with the speed. Figure 39 shows the criteria used by the
mechanical AVS function.
Rm
IMIN = 0
M
VU
BEMF
VU_MIN = BEMF + IMIN ´ Rm = BEMF
Copyright © 2017, Texas Instruments Incorporated
Figure 39. Mechanical AVS
The mechanical AVS function can operate in one of two modes, which can be configured by the register bit
AVSMMd:
• AVSMMd = 0 – AVS mode is always active to prevent the applied voltage from being less than the BEMF
voltage.
• AVSMMd = 1 – AVS mode becomes active when VCC reaches 24 V. The motor acts as a generator and
returns energy into the power supply until VCC reaches 24 V. This mode can be used to enable faster
deceleration of the motor in applications where returning energy to the power supply is allowed.
8.4.9.2 Inductive AVS Function
When the DRV10987 device transitions from driving the motor into a high-impedance state, the inductive current
in the motor windings continues to flow and the energy returns to the power supply through the intrinsic body
diodes in the FET output stage (see Figure 40).
S1
S3
S5
S1
M
VCC
S2
S4
S6
Driving State
S3
S5
M
VCC
S2
S4
S6
High-Impedance State
Figure 40. Inductive-Mode Voltage Surge
To prevent the inductive energy from being returned to the power supply, the DRV10987 system transitions from
driving to a high-impedance state by first turning OFF the active high-side drivers, and turning ON all low-side
drivers. The DRV10987 device monitors phase current after entering the BRAKE state and transitions into the
high-impedance state when the amplitude of the phase current is less than BrkCurThrSel for a fixed period of
time (BrkDoneThr[2:0])(see Figure 41).
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S1
S3
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S5
M
VCC
S2
S1
S4
Driving
S6
S3
S5
M
VCC
S2
S4
S6
AVS State
Figure 41. Inductive AVS
In this example, current is applied to the motor through the high-side driver on phase U (S1) and returned
through the low-side driver on phase W (S6). The high-side driver on phase U is turned OFF' and all low-side
drivers are tunned ON to allow the inductive energy in the resulting LR circuit to decay. If BrkDoneThr[2:0] = 000,
no brake is applied and the device does not protect from inductive energy even with the inductive AVS feature
enabled.
8.4.10 PWM Output
The DRV10987 device has 32 options for PWM dead time. These options can be used to configure the time
between one of the bridge FETs turning off and the complementary FET turning on. Deadtime[4:0] can be used
to configure dead times between 40 and 1280 ns. Take care that the dead time is long enough to prevent the
bridge FETs from shooting through.
The DRV10987 device offers two options for PWM switching frequency. When the configuration bit PWMFreq is
set to 0, the output PWM frequency is 25 kHz, and when PWMFreq is set to 1, the output PWM frequency is 50
kHz.
8.4.11 FG Customized Configuration
The DRV10987 device provides information about the motor speed through the frequency generate (FG) pin. FG
also provides information about the driving state of the DRV10987 device.
8.4.11.1 FG Configuration
The FG output frequency can be configured by FGcycle[3:0]. The default FG toggles once every electrical cycle
(FGcycle = 0000). Many applications configure the FG output so that it provides two pulses for every mechanical
rotation of the motor. The configuration bits provided in the DRV10987 device can accomplish this for 2-pole, 4pole, 6-pole, and 8-pole motors up to 32-pole motors. This is illustrated in Figure 42 for 2, 4, 6, and 8-pole
motors.
Figure 42 shows the DRV10987 device has been configured to provide FG pulses once every electrical cycle (4
poles), twice every three electrical cycles (6 poles), and once every two electrical cycles (8 poles).
42
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Motor phase
driving voltage
FGCycle = 0000
2 pole
FGCycle = 0001
4 pole
FGCycle = 0010
6 pole
FGCycle = 0011
8 pole
Figure 42. FG Divider
8.4.11.2 FG Open-Loop and Lock Behavior
Note that the FG output reflects the driving state of the motor. During normal closed-loop behavior, the driving
state and the actual state of the motor are synchronized. During open-loop acceleration, however, this may not
reflect the actual motor speed. During a locked-motor condition, the FG output is driven high.
The DRV10987 device provides three options for controlling the FG output during open loop, as shown in
Figure 43. The selection of these options is determined by the FGOLSel[1:0] setting.
• Option0: Open-loop, FG output based on driving frequency
• Option1: Open-loop, no FG output (keep high)
• Option2: FG output based on driving frequency at the first power-on start-up, and no FG output (keep high)
for any subsequent restarts
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Open loop
Closed loop
Motor phase
driving voltage
FGOLsel = 00
FGOLsel = 01
Open loop
Closed loop
Open loop
Closed loop
Motor phase
driving voltage
FGOLsel = 10
Start-up after power on or wakeup
from sleep or standby mode
Rest of the startups
Figure 43. FG Behavior During Open Loop
8.4.12 Diagnostics and Visibility
The DRV10987 device offers extensive visibility into the motor system operation conditions stored in internal
registers. This information can be monitored through the I2C interface. Information can be monitored relating to
the device status, motor speed, supply voltage, speed command, motor phase-voltage amplitude, fault status,
and others. The data is updated on the fly.
8.4.12.1 Motor-Status Readback
The motor FaultReg register provides information on overtemperature (OverTemp), overcurrent (OverCurr), and
locked rotor (Lock0–Lock5).
8.4.12.2 Motor-Speed Readback
The motor operation speed is automatically updated in register MotorSpeed while the motor is spinning. The
value is determined by the period for calculated BEMF zero crossings on phase U. The electrical speed of the
motor is denoted as Velocity (Hz) and is calculated as shown in Equation 9.
Velocity (Hz) = {MotorSpeed} / 10
(9)
As an example consider the following:
MotorSpeed = 0x01FF;
Velocity = 512 (0x01FF) / 10 = 51 Hz
51
For a 4-pole motor, this translates to:
44
ecycles 1 mechcycle
sec ond
u
u 60
sec ond 2 ecycle
minute
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8.4.12.3 Motor Electrical-Period Readback
The motor-operation electrical period is automatically updated in register MotorPeriod while the motor is spinning.
The electrical period is measured as the time between calculated BEMF zero crossings for phase U. The
electrical period of the motor is denoted as tELE_PERIOD (µs) and is calculated as shown in Equation 10.
tELE_PERIOD (µs) = {MotorPeriod} × 10
(10)
As an example consider the following:
MotorPeriod = 0x01FF;
tELE_PERIOD = 512 (0x01FF) × 10 = 5120 µs
The motor electrical period and motor speed satisfies the condition of Equation 11.
tELE_PERIOD (s) × Velocity (Hz) = 1
(11)
8.4.12.4 BEMF Constant Readback
For any given motor, the integrated value of BEMF during half of an electronic cycle is a constant, Ktc (see
Lock2: Abnormal Kt).
The integration of the motor BEMF is processed periodically (updated every electrical cycle) while the motor is
spinning. The result is stored in register MotorKt.
The relationship is shown in Equation 12.
Ktc (V/Hz) = ({MotorKt} / 2) / 1090
(12)
8.4.12.5 Motor Estimated Position by IPD
After inductive sense is executed, the rotor position is detected within 60 electrical degrees of resolution. The
position is stored in register IPDPosition.
The value stored in IPDPosition corresponds to one of the six motor positions plus the IPD advance angle as
shown in Table 8. For more information about IPD, see Initial Position Detect (IPD).
Table 8. IPD Position Read Back
V
U
V
U
S
U
V
U
V
U
V
U
N
S
N
W
W
W
W
W
W
Rotor position (°)
0
60
120
180
240
300
Data1
0
43
85
128
171
213
IPD advance angle
30
60
90
120
Data2
22
44
63
85
Register data
V
(Data1 + Data2) mod (256)
8.4.12.6 Supply-Voltage Readback
The power supply is monitored periodically during motor operation. This information is available in register
SupplyVoltage. The power supply voltage is recorded as shown in Equation 13.
VPOWERSUPPLY (V) = Supply Voltage × 30 V / 256
(13)
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8.4.12.7 Speed-Command Readback
The DRV10987 device converts the various types of speed command into a speed command value (SpeedCmd)
as shown in Figure 44. By reading SpeedCmd, the user can observe PWM input duty cycle (PWM digital mode),
analog voltage (analog mode), or I2C data (I2C mode). This value is calculated as shown in Equation 14.
Equation 14 shows how the speed command as a percentage can be calculated and set in SpeedCmd.
DutySPEED (%) = SpeedCmd × 100 / 255
where
•
•
DutySPEED = Speed command as a percentage
SpeedCmd = Register value
(14)
8.4.12.8 Speed-Command Buffer Readback
If software current limit and AVS are enabled, the PWM duty cycle output (read back at spdCmdBuffer) may not
always match the input command (read back at SpeedCmd) shown in Figure 44. See Anti-Voltage Surge
Function and Current Limits.
By reading the value of spdCmdBuffer, the user can observe buffered speed command (output PWM duty cycle)
to the motor.
Equation 15 shows how the buffered speed is calculated.
DutyOUTPUT (%) = spdCmdBuffer × 100 / 255
where
•
•
DutyOUTPUT = The maximum duty cycle of the output PWM, which represents the output amplitude as a
percentage.
spdCmdBuffer = Register value
PWM In
PWM Duty
Analog
ADC
SPEED Pin
(15)
AVS,
Software Current Limit
Closed Loop Accelerate
Speed
Command
2
IC
SpeedCmd
spdCmdBuffer
PWM_DCO
Copyright © 2017, Texas Instruments Incorporated
Figure 44. SpeedCmd and spdCmdBuffer Registers
8.4.12.9 Fault Diagnostics
See Lock Detect and Fault Handling.
46
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8.5 Register Maps
8.5.1 I2C Serial Interface
The DRV10987 device provides an I2C slave interface with slave address 101 0010. TI recommends a pullup
resistor of 4.7 kΩ to 3.3 V for I2C interface ports SCL and SDA. The protocol for the I2C interface is given in
Figure 45.
I2C Write
Start
7 bit Slave Add
R/W=0
ACK
8 bit Reg Add
ACK
8 bit Data
ACK
8 bit Data
ACK
Stop
Internal Reg
write happens
I2C Read
Start
7 bit Slave Add
R/W=0
ACK
8 bit Reg Add
ACK
Start
7 bit Slave Add
R/W=1
8 bit Data
ACK
8 bit Data
ACK
Stop
Data from Reg is
loaded to the buffer
Figure 45. I2C Protocol
Seven read/write registers (0x30:0x36) are used to set motor speed and control device registers and EEPROM.
Device operation status can be read back through nine read-only registers (0x0:0x08). Another seven EEPROM
registers (0x90:0x96) can be accessed to program motor parameters and optimize the spin-up profile for the
application.
8.5.2 Register Map
REGISTER
NAME
FaultReg
ADDR.
(1) (2)
0x00
D15
D14
D13
D12
D11
D7
D6
D5
D4
D3
D2
OverTemp
TempWarni
ng
VCC_OV
VREG_OC
OverCurr
CP_UVLO
V3P3_UVL
O
Reserved
Lock5
Lock4
Lock3
Lock2
MotorSpeed
(1)
0x01
MotorSpeed[15:0]
MotorPeriod
(1)
0x02
MotorPeriod[15:0]
MotorKt
(1)
0x03
(1)
MotorCurrent
D10
D9
D8
D1
D0
VREG_UVL VCC_UVLO
O
Lock1
Lock0
MotorKt[15:0]
0x04
Reserved
MotorCurrent[10:8]
MotorCurrent[7:0]
IPDPosition /
SupplyVoltage (1)
0x05
SpeedCmd /
spdCmdBuffer (1)
0x06
AnalogInLvl
(1)
IPDPosition[7:0]
SupplyVoltage[7:0]
SpeedCmd[7:0]
spdCmdBuffer[7:0]
0x07
Reserved
commandSenseAdc[9:8]
commandSenseAdc[7:0]
Device ID /
Revision ID (1)
SpeedCtrl
(3)
0x08
DieID[7:0]
RevisionID[7:0]
0x30
OverRide
Reserved
SpeedCtrl[8
]
SpeedCtrl[7:0]
EEPROM
Programming1
(1)
(2)
(3)
(3)
0x31
ENPROGKEY[15:0]
Read only
Fault Register requires 0xFF to be written to the register to clear the bits.
R/W
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Register Maps (continued)
REGISTER
NAME
ADDR.
EEPROM
Programming2
(3)
EEPROM
Programming3
(3)
EEPROM
Programming4
(3)
EEPROM
Programming5
(3)
D15
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
0x32
Reserved
Reserved
0x33
eeReadySt
atus
Reserved
eeIndAddress[7:0]
0x34
eeIndWData[15:0]
0x35
Reserved
ShadowRe
gEn
Reserved
Reserved
EEPROM
Programming6
EECTRL
(3)
eeWRnEn
0x36
0x60
eeRefresh
eeAccMode[1:0]
eeIndRData[15:0]
MTR_DIS
Reserved
Reserved
CONFIG1
(4)
0x90
SSMConfig[1:0]
FGOLSel[1:0]
ClkCycleAdj
ust
CONFIG2
(4)
0x91
(4)
0x92
CONFIG4 (4)
0x93
CONFIG3
FGCycle[3:0]
RMShift[2:0]
RMValue[3:0]
Reserved
KtShift[2:0]
KtValue[3:0]
CommAdv
Mode
TCtrlAdvShift[2:0]
TCtrlAdvValue[3:0]
ISDThr[1:0]
BrkCurrThr
Sel
OpenLCurr[1:0]
Reserved
AccelRange
Sel
BEMF_HYS
ISDEn
RvsDrEn
RvsDrThr[1:0]
OpLCurrRt[2:0]
BrkDoneThr[2:0]
StAccel2[2:0]
StAccel[2:0]
Op2ClsThr[4:0]
CONFIG5
(4)
0x94
OTWarning_ILimit[1:0]
LockEn5
AlignTime[2:0]
LockEn4
LockEn3
SwILimit[3:0]
CONFIG6
(4)
0x95
SpdCtlrMd
PWMFreq
CLoopDis
CONFIG7
(4)
0x96
(4)
48
KtLckThr[1:0]
ClsLpAccel[2:0]
IPDAdvcAg[1:0]
Reserved
LockEn2
LockEn1
HwILimit[2:0]
AvSIndEn
AVSMEn
DutyCycleLimit[1:0]
IPDCurrThr[3:0]
CtrlCoef[1:0]
LockEn0
IPDasHwILi
mit
AVSMMd
IPDRIsMd
SlewRate[1:0]
IPDClk[1:0]
DeadTime[4:0]
EEPROM
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Table 9. Default EEPROM
Values
ADDRESS
DEFAULT
VALUE
0x90
0xC000
0x91
0x0049
0x92
0x00C1
0x93
0x3788
0x94
0x3BAF
0x95
0x7840
0x96
0x007A
8.5.3 Register Descriptions
Table 10. Access Type Codes
ACCESS TYPE
CODE
DESCRIPTION
READ TYPE
R
R
Read
W
W
Write
W1C
W
1C
Write
1 to clear
WRITE TYPE
RESET OR DEFAULT VALUE
-n
Value after reset or the default
value
8.5.3.1 FaultReg Register (address = 0x00) [reset = 0x00]
Figure 46. FaultReg Register
15
OverTemp
R/W1C-0
14
TempWarning
R//W1C-0
13
VCC_OV
R/W1C-0
12
VREG_OC
R/W1C-0
11
OverCurr
R/W1C-0
10
CP_UVLO
R/W1C-0
9
VREG_UVLO
R/W1C-0
8
VCC_UVLO
R/W1C-0
7
V3P3_UVLO
R/W1C-0
6
Reserved
R/W1C-0
5
Lock5
R/W1C-0
4
Lock4
R/W1C-0
3
Lock3
R/W1C-0
2
Lock2
R/W1C-0
1
Lock1
R/W1C-0
0
Lock0
R/W1C-0
Table 11. FaultReg Register Field Descriptions
Bit
Field
Type
Reset
Description
15
OverTemp
R//W1C
0
Bit to indicate device temperature is over the limit.
14
TempWarning
R/W1C
0
Bit to indicate device temperature is over the warning limit.
13
VCC_OV
R/W1C
0
Bit to indicate the supply voltage is above the upper limit.
12
VREG_OC
R/W1C
0
Bit to indicate that the switching regulator is in an overcurrent
condition.
11
OverCurr
R/W1C
0
Bit to indicate that an overcurrent event happened.
10
CP_UVLO
R/W1C
0
Bit to indicate that the charge pump is in an undervoltage fault
condition.
9
VREG_UVLO
R/W1C
0
Bit to indicate that the switching regulator (VREG) is in an
undervoltage fault condition.
8
VCC_UVLO
R/W1C
0
Bit to indicate that the supply (VCC) is in an undervoltage fault
condition.
7
V3P3_UVLO
R/W1C
0
Bit to indicate that the 3.3 V LDO regulator is in an undervoltage
fault condition.
6
Reserved
R/W1C
0
Do not access this bit.
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Table 11. FaultReg Register Field Descriptions (continued)
Bit
Field
Type
Reset
Description
5
Lock5
R/W1C
0
Stuck in closed loop fault
4
Lock4
R/W1C
0
Stuck in open loop fault
3
Lock3
R/W1C
0
No motor fault
2
Lock2
R/W1C
0
Kt abnormal fault
1
Lock1
R/W1C
0
Speed abnormal fault
0
Lock0
R/W1C
0
Hardware current-limit fault
8.5.3.2 MotorSpeed Register (address = 0x01) [reset = 0x00]
Figure 47. MotorSpeed Register
15
14
13
12
11
10
MotorSpeed[15] MotorSpeed[14] MotorSpeed[13] MotorSpeed[12] MotorSpeed[11] MotorSpeed[10]
R-0
R-0
R-0
R-0
R-0
R-0
9
MotorSpeed[9]
R-0
8
MotorSpeed[8]
R-0
7
MotorSpeed[7]
R-0
1
MotorSpeed[1]
R-0
0
MotorSpeed[0]
R-0
6
MotorSpeed[6]
R-0
5
MotorSpeed[5]
R-0
4
MotorSpeed[4]
R-0
3
MotorSpeed[3]
R-0
2
MotorSpeed[2]
R-0
Table 12. MotorSpeed Register Field Descriptions
Bit
15:0
Field
Type
Reset
Description
MotorSpeed[15:0]
R
0x00
16-bit value indicating the motor speed.
Motor speed in Hz = MotorSpeed[15:0] / 10
8.5.3.3 MotorPeriod Register (address = 0x02) [reset = 0x00]
Figure 48. MotorPeriod Register
15
14
13
12
11
10
MotorPeriod[15] MotorPeriod[14] MotorPeriod[13] MotorPeriod[12] MotorPeriod[11] MotorPeriod[10]
R-0
R-0
R-0
R-0
R-0
R-0
9
MotorPeriod[9]
R-0
8
MotorPeriod[8]
R-0
7
MotorPeriod[7]
R-0
1
MotorPeriod[1]
R-0
0
MotorPeriod[0]
R-0
6
MotorPeriod[6]
R-0
5
MotorPeriod[5]
R-0
4
MotorPeriod[4]
R-0
3
MotorPeriod[3]
R-0
2
MotorPeriod[2]
R-0
Table 13. MotorPeriod Register Field Descriptions
Bit
15:0
50
Field
Type
Reset
Description
MotorPeriod[15:0]
R
0x00
16-bit value indicating the motor period.
Motor period = MotorPeriod[15:0] × 10 = period in μs
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8.5.3.4 MotorKt Register (address = 0x03) [reset = 0x00]
Figure 49. MotorKt Register
15
MotorKt[15]
R-0
14
MotorKt[14]
R-0
13
MotorKt[13]
R-0
12
MotorKt[12]
R-0
11
MotorKt[11]
R-0
10
MotorKt[10]
R-0
9
MotorKt[9]
R-0
8
MotorKt[8]
R-0
7
MotorKt[7]
R-0
6
MotorKt[6]
R-0
5
MotorKt[5]
R-0
4
MotorKt[4]
R-0
3
MotorKt[3]
R-0
2
MotorKt[2]
R-0
1
MotorKt[1]
R-0
0
MotorKt[0]
R-0
Table 14. MotorKt Register Field Descriptions
Bit
15:0
Field
Type
Reset
Description
MotorKt[15:0]
R
0x00
16-bit value indicating the motor measured BEMF.constant
Ktc (V/Hz) = {MotorKt[15:0]} / 2 / 1090
8.5.3.5 MotorCurrent Register (address = 0x04) [reset = 0x00]
Figure 50. MotorCurrent Register
15
Reserved
14
Reserved
13
Reserved
12
Reserved
11
Reserved
R-0
R-0
R-0
R-0
R-0
10
MotorCurrent[1
0]
R-0
9
8
MotorCurrent[9] MotorCurrent[8]
R-0
R-0
7
6
5
4
3
2
1
0
MotorCurrent[7] MotorCurrent[6] MotorCurrent[5] MotorCurrent[4] MotorCurrent[3] MotorCurrent[2] MotorCurrent[1] MotorCurrent[0]
R-0
R-0
R-0
R-0
R-0
R-0
R-0
R-0
Table 15. MotorCurrent Register Field Descriptions
Bit
Field
Type
Reset
Description
15:11
Reserved
R
0
Do not access these bits.
10:0
MotorCurrent[10:0]
R
0x00
11-bit value indicating the motor current.
Current (A) = 3 × (MotorCurrent[10:0] –- 1023) / 2048
8.5.3.6 IPDPosition–SupplyVoltage Register (address = 0x05) [reset = 0x00]
Figure 51. IPDPosition–SupplyVoltage Register
15
IPDPosition [7]
R-0
14
IPDPosition [6]
R-0
13
IPDPosition [5]
R-0
12
IPDPosition [4]
R-0
11
IPDPosition [3]
R-0
10
IPDPosition [2]
R-0
9
IPDPosition [1]
R-0
8
IPDPosition [0]
R-0
7
SupplyVoltage[
7]
R-0
6
SupplyVoltage[
6]
R-0
5
SupplyVoltage[
5]
R-0
4
SupplyVoltage[
4]
R-0
3
SupplyVoltage[
3]
R-0
2
SupplyVoltage[
2]
R-0
1
SupplyVoltage[
1]
R-0
0
SupplyVoltage[
0]
R-0
Table 16. IPDPosition–SupplyVoltage Register Field Descriptions
Field
Type
Reset
Description
15:8
Bit
IPDPosition [7:0]
R
0x0
8-bit value indicating the estimated motor position during IPD
plus the IPD advance angle (see Table 8)
7:0
SupplyVoltage[7:0]
R
0x0
8-bit value indicating the supply voltage
VPOWERSUPPLY (V) = SupplyVoltage[7:0] × 30 V / 255
For example, SupplyVoltage[7:0] = 0x67,
VPOWERSUPPLY (V) = 0x67 (102) × 30 / 255 = 12 V
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8.5.3.7 SpeedCmd–spdCmdBuffer Register (address = 0x06) [reset = 0x00]
Figure 52. SpeedCmd–spdCmdBuffer Register
15
SpeedCmd[7]
R-0
14
SpeedCmd[6]
R-0
13
SpeedCmd[5]
R-0
12
SpeedCmd[4]
R-0
11
SpeedCmd[3]
R-0
10
SpeedCmd[2]
R-0
9
SpeedCmd[1]
R-0
8
SpeedCmd[0]
R-0
7
6
5
4
3
2
1
0
spdCmdBuffer[[ spdCmdBuffer[[ spdCmdBuffer[[ spdCmdBuffer[[ spdCmdBuffer[[ spdCmdBuffer[[ spdCmdBuffer[[ spdCmdBuffer[[
7]
6]
5]
4]
3]
2]
1]
0]
R-0
R-0
R-0
R-0
R-0
R-0
R-0
R-0
Table 17. SpeedCmd–spdCmdBuffer Register Field Descriptions
Field
Type
Reset
Description
15:8
Bit
SpeedCmd[7:0]
R
0x0
8-bit value indicating the speed command based on analog or
PWMin or I2C.
FF indicates 100% speed command.
7:0
spdCmdBuffer[7:0]
R
0x0
8-bit value indicating the speed command after buffer output.
FF indicates 100% speed command.
8.5.3.8 AnalogInLvl Register (address = 0x07) [reset = 0x00]
Figure 53. AnalogInLvl Register
15
Reserved
14
Reserved
13
Reserved
12
Reserved
11
Reserved
10
Reserved
R-0
9
commandSnsA
DC[9]
R-0
8
commandSnsA
DCt[8]
R-0
R-0
R-0
R-0
R-0
R-0
7
commandSnsA
DC[7]
R-0
6
commandSnsA
DC[6]
R-0
5
commandSnsA
DC[5]
R-0
4
commandSnsA
DC[4]
R-0
3
commandSnsA
DC[3]
R-0
2
commandSnsA
DC[2]
R-0
1
commandSnsA
DC[1]
R-0
0
commandSnsA
DC[0]
R-0
Table 18. AnalogInLvl Register Field Descriptions
Bit
15:10
9:0
Field
Type
Reset
Description
Reserved
R
0
Do not access these bits.
commandSnsADC[9:0]
R
0x00
10-bit value indicating the analog speed input converted to a
digital word.
AnalogSPEED (V) = AnalogInLvl × V3P3 / 1024
8.5.3.9 DeviceID–RevisionID Register (address = 0x08) [reset = 0x00]
Figure 54. DeviceID–RevisionID Register
15
DieID[7]
R-0
14
DieID[6]
R-0
13
DieID[5]
R-0
12
DieID[4]
R-0
11
DieID[3]
R-0
10
DieID[2]
R-0
9
DieID[1]
R-0
8
DieID[0]
R-0
7
RevisionID[7]
R-0
6
RevisionID[6]
R-0
5
RevisionID[5]
R-0
4
RevisionID[4]
R-0
3
RevisionID[3]
R-0
2
RevisionID[2]
R-0
1
RevisionID[1]
R-0
0
RevisionID[0]
R-0
52
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Table 19. DeviceID–RevisionID Register Field Descriptions
Field
Type
Reset
Description
15:8
Bit
DieID[7:0]
R
0x0
8-bit unique device identification.
7:0
RevisionID[7:0]
R
0x0
8-bit revision ID for the device
0000 0000 → REV A
0000 0001 → REV B
...
8.5.3.10 Unused Registers (addresses = 0x011 Through 0x2F)
Registers 0x09 through 0x2F are not used.
8.5.3.11 SpeedCtrl Register (address = 0x30) [reset = 0x00]
Figure 55. SpeedCtrl Register
15
OverRide
R/W-0
14
Reserved
R-0
13
Reserved
R-0
12
Reserved
R-0
11
Reserved
R-0
10
Reserved
R-0
9
Reserved
R-0
8
SpeedCtrl[8]
R/W-0
7
SpeedCtrl[7]
R/W-0
6
SpeedCtrl[6]
R/W-0
5
SpeedCtrl[5]
R/W-0
4
SpeedCtrl[4]
R/W-0
3
SpeedCtr[3]
R/W-0
2
SpeedCtrl[2]
R/W-0
1
SpeedCtrl[1]
R/W-0
0
SpeedCtrl[0]
R/W-0
Table 20. SpeedCtrl Register Field Descriptions
Bit
Field
Type
Reset
Description
15
OverRide
R/W
0
Used to control the SpdCtrl[8:0] bits. If OverRide = 1, the user
can write the speed command directly through I2C.
14:9
Reserved
R
0x0
Do not access these bits.
8:0
SpeedCtrl[8:0]
R/W
0x00
9-bit value used for the motor speed. If OverRide = 1, speed
command can be written by the user through I2C.
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8.5.3.12 EEPROM Programming1 Register (address = 0x31) [reset = 0x00]
Figure 56. EEPROM Programming1 Register
15
ENPROGKEY
[15]
R/W-0
14
ENPROGKEY
[14]
R/W-0
13
ENPROGKEY
[13]
R/W-0
12
ENPROGKEY
[12]
R/W-0
11
ENPROGKEY
[11]
R/W-0
10
ENPROGKEY
[10]
R/W-0
9
ENPROGKEY
[9]
R/W-0
8
ENPROGKEY
[9]
R/W-0
7
ENPROGKEY
[7]
R/W-0
6
ENPROGKEY
[6]
R/W-0
5
ENPROGKEY
[5]
R/W-0
4
ENPROGKEY
[4]
R/W-0
3
ENPROGKEY
[3]
R/W-0
2
ENPROGKEY
[2]
R/W-0
1
ENPROGKEY
[1]
R/W-0
0
ENPROGKEY
[0]
R/W-0
Table 21. EEPROM Programming1 Register Field Descriptions
Bit
15:0
Field
Type
Reset
Description
ENPROGKEY[15:0]
R/W
0x00
EEPROM access key
0xCODE → access key for customer space; registers 0x90 to
0x96
8.5.3.13 EEPROM Programming2 Register (address = 0x32) [reset = 0x00]
Figure 57. EEPROM Programming2 Register
15
Reserved
R-0
14
Reserved
R-0
13
Reserved
R-0
12
Reserved
R-0
11
Reserved
R-0
10
Reserved
R-0
9
Reserved
R-0
8
Reserved
R-0
7
Reserved
R-0
6
Reserved
R-0
5
Reserved
R-0
4
Reserved
R-0
3
Reserved
R-0
2
Reserved
R-0
1
Reserved
R-0
0
eeReadyStatus
R-0
Table 22. EEPROM Programming2 Register Field Descriptions
Bit
15:1
0
Field
Type
Reset
Description
Reserved
R
0x00
Do not access these bits.
eeReadyStatus
R
0
EEPROM status bit.
0: EEPROM not ready for read/write access
1: EEPROM ready for read/write access
8.5.3.14 EEPROM Programming3 Register (address = 0x33) [reset = 0x00]
Figure 58. EEPROM Programming3 Register
15
Reserved
R-0
14
Reserved
R-0
13
Reserved
R-0
12
Reserved
R-0
11
Reserved
R-0
10
Reserved
R-0
9
Reserved
R-0
8
Reserved
R-0
7
eeIndAddress
[7]
R-0
6
eeIndAddress
[6]
R-0
5
eeIndAddress
[5]
R-0
4
eeIndAddress
[4]
R-0
3
eeIndAddress
[3]
R-0
2
eeIndAddress
[2]
R-0
1
eeIndAddress
[1]
R-0
0
eeIndAddress
[0]
R-0
54
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Table 23. EEPROM Programming3 Register Field Descriptions
Field
Type
Reset
Description
15:8
Bit
Reserved
R
0x0
Do not access these bits.
7:0
eeIndAddress[7:0]
R
0x0
EEPROM individual access address.
Contents of this register define the address of EEPROM for the
individual access operation. For example, for writing/reading
CONFIG1 in individual access mode happens if eeIndAddress =
0x90.
8.5.3.15 EEPROM Programming4 Register (address = 0x34) [reset = 0x00]
Figure 59. EEPROM Programming4 Register
15
eeIndWData
[15]
R/W-0
14
eeIndWData
[14]
R/W-0
13
eeIndWData
[13]
R/W-0
12
eeIndWData
[12]
R/W-0
11
eeIndWData
[11]
R/W-0
10
eeIndWData
[10]
R/W-0
9
eeIndWData[9]
8
eeIndWData[8]
R/W-0
R/W-0
7
eeIndWData[7]
R/W-0
6
eeIndWData[6]
R/W-0
5
eeIndWData[5]
R/W-0
4
eeIndWData[4]
R/W-0
3
eeIndWData[3]
R/W-0
2
eeIndWData[2]
R/W-0
1
eeIndWData[1]
R/W-0
0
eeIndWData[0]
R/W-0
Table 24. EEPROM Programming4 Register Field Descriptions
Bit
15:0
Field
Type
Reset
Description
eeIndWData[15:0]
R/W
0x00
EEPROM individual access write data
Contents of this register are the data to be written to EEPROM
of the registers specified by eeIndAddress.
8.5.3.16 EEPROM Programming5 Register (address = 0xYY) [reset = 0x00]
Figure 60. EEPROM Programming5 Register
15
Reserved
R-0
14
Reserved
R-0
13
Reserved
R-0
12
ShadowRegEn
R/W-0
11
Reserved
R-0
10
Reserved
R-0
9
Reserved
R-0
8
eeRefresh
R-0
7
Reserved
R-0
6
Reserved
R-0
5
Reserved
R-0
4
Reserved
R-0
3
Reserved
R-0
2
eeWRnEn
R/W-0
1
eeAccMode[1]
R/W-0
0
eeAccMode[0]
R/W-0
Table 25. EEPROM Programming5 Register Field Descriptions
Bit
Field
Type
Reset
Description
Reserved
R
000
Do not access these bits.
ShadowRegEn
R/W
0
Enable shadow register.
0: Shadow register is not used.
1: Shadow register values are used for device operation
(EEPROM contents are ignored). I2C read returns the contents
of the shadow registers.
11:9
Reserved
R
000
Do not access these bits.
8
eeRefresh
R/W
0
EEPROM refresh
0: Normal operation
1: Sync shadow registers with contents of EEPROM.
7:3
Reserved
R
0x0
Do not access these bits.
2
eeWRnEn
R/W
0
EEPROM Write/Read enable
0 : EEPROM read enable
1 : EEPROM write enable
15:13
12
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Table 25. EEPROM Programming5 Register Field Descriptions (continued)
Bit
Field
Type
Reset
Description
1:0
eeAccMode[1:0]
R/W
00
EEPROM access mode
00: EEPROM access disabled
01: EEPROM individual access enabled
10: EEPROM mass access enabled
11: Reserved
8.5.3.17 EEPROM Programming6 Register (address = 0x36) [reset = 0x00]
Figure 61. EEPROM Programming6 Register
15
14
13
12
11
10
eeIndRData[15] eeIndRData[14] eeIndRData[13] eeIndRData[12] eeIndRData[11] eeIndRData[10]
R-0
R-0
R-0
R-0
R-0
R-0
9
eeIndRData[9]
R-0
8
eeIndRData[8]
R-0
7
eeIndRData[7]
R-0
1
eeIndRData[1]
R-0
0
eeIndRData[0]
R-0
6
eeIndRData[6]
R-0
5
eeIndRData[5]
R-0
4
eeIndRData[4]
R-0
3
eeIndRData[3]
R-0
2
eeIndRData[2]
R-0
Table 26. EEPROM Programming6 Register Field Descriptions
Bit
15:0
Field
Type
Reset
Description
eeIndRData[15:0]
R
0x00
EEPROM Individual Access Read Data
Contents of this register reflect the value of EEPROM location
accessed through the individual read.
8.5.3.18 Unused Registers (addresses = 0x37 Through 0x5F)
Registers 0x37 through 0x5F are not used.
8.5.3.19 EECTRL Register (address = 0x60) [reset = 0x00]
Figure 62. EECTRL Register
15
MTR_DIS
W-0
14
Reserved
R-0
13
Reserved
R-0
12
Reserved
R-0
11
Reserved
R-0
10
Reserved
R-0
9
Reserved
R-0
8
Reserved
R-0
7
Reserved
R-0
6
Reserved
R-0
5
Reserved
R-0
4
Reserved
R-0
3
Reserved
R-0
2
Reserved
R-0
1
Reserved
R-0
0
Reserved
R-0
Table 27. EECTRL Register Field Descriptions
Bit
Field
Type
Reset
Description
15
MTR_DIS
W
0
Control to disable motor operation. For use during EEPROM
programming. This bit is write-only (cannot be read).
0: Motor control is enabled.
1: Motor control is disabled.
14:0
Reserved
R
0x00
Reserved
8.5.3.20 Unused Registers (addresses = 0x61 Through 0x8F)
Registers 0x61 through 0x8F are not used.
56
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8.5.3.21 CONFIG1 Register (address = 0x90) [reset = 0x00]
Figure 63. CONFIG1 Register
15
SSMConfig[1]
R/W-0
14
SSMConfig[0]
R/W-0
13
FGOLSel[1]
R/W-0
12
FGOLSel[0]
R/W-0
11
FGCycle[3]
R/W-0
10
FGCycle[2]
R/W-0
9
FGCycle[1]
R/W-0
8
FGCycle[0]
R/W-0
7
ClkCycleAdjust
R/W-0
6
RMShift[2]
R/W-0
5
RMShift[1]
R/W-0
4
RMShift[0]
R/W-0
3
RMValue[3]
R/W-0
2
RMValue[2]
R/W-0
1
RMValue[1]
R/W-0
0
RMValue[0]
R/W-0
Table 28. CONFIG1 Register Field Descriptions
Field
Type
Reset
Description
15:14
Bit
SSMConfig[1:0]
R/W
00
Spread spectrum modulation control
00: No spread spectrum
01: ±5% dithering
1:0: ±10% dithering
11: ±15% dithering
13:12
FGOLSel[1:0]
R/W
00
FG open-loop output select
00: FG outputs in both open loop and closed loop
01: FG outputs only in closed loop
10: FG outputs closed loop and the first open loop
11: Reserved
11:8
FGCycle[3:0]
R/W
0x0
FG motor pole option
n: FG output is electrical speed / (n + 1)
0: FG / 1 (2 pole)
1: FG / 2 (4 pole)
2: FG / 3 (6 pole)
3: FG / 4 (8 pole)
...
15: FG / 16 (32 pole)
ClkCycleAdjust
R/W
0
0: Full-cycle adjust
1: Half-cycle adjust
6:4
RMShift[2:0]
R/W
000
Number of shift bits to determine the motor phase resistance.
RPH_CT = RmValue << RmShift
RPH_CT' = (bin) {RPhase / 0.009615}
After calculating RPH_CT' value, split the value with shift number
and significant number according the length of the RPH_CT'
value.
If the length of RPH_CT' is within 4 bits; RmValue[3:0] = RPH_CT';
RmShift[2:0] = 000
If the length of RPH_CT' is 5 bits; RmValue[3:0] = RPH_CT'[4:1];
RmShift[2:0] = 001
and so on.
3:0
RMValue[3:0]
R/W
0x0
Significant portion of the motor resistor, used in conjunction with
RmShift[2:0]
7
8.5.3.22 CONFIG2 Register (address = 0x91) [reset = 0x00]
Figure 64. CONFIG2 Register
15
Reserved
R-0
7
CommAdvMod
e
R/W-0
14
KtShift[2]
R/W-0
13
KtShift[1]
R/W-0
12
KtShift[0]
R/W-0
6
5
4
TCtrlAdvShift[2] TCtrlAdvShift[1] TCtrlAdvShift[0]
R/W-0
R/W-0
11
KtValue[3]
R/W-0
3
R/W-0
10
KtValue[2]
R/W-0
9
KtValue[1]
R/W-0
2
1
TCtrlAdvValue[3:0]
8
KtValue[0]
R/W-0
0
R-0
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Table 29. CONFIG2 Register Field Descriptions
Bit
Field
Type
Reset
Description
15
Reserved
R
0
Do not access this bit
14:12
KtShift[2:0]
R/W
000
Number of shift bits to determine the motor BEMF constant.
Kt = KtValue << KtShift
11:8
KtValue[3:0]
R/W
0x0
CommAdvMode
R/W
0
Commutation advance mode
0: Voltage advance is maintained at a fixed time (1) relative to the
estimated BEMF.
1: Voltage advance is maintained at a variable time relative to
the estimated BEMF based on: tadv = tsetting × (VU(BEMF)) / VU
6:4
TCtrlAdvShift[2:0]
R/W
000
Number of shift bits to determine the commutation advance
timing
tadv = TCtrlAdvValue << TCtrlAdvShift
3:0
TCtrlAdvValue[3:0]
R/W
0x0
Commutation advance value.
7
(1)
EEPROM
8.5.3.23 CONFIG3 Register (address = 0x92) [reset = 0x00]
Figure 65. CONFIG3 Register
15
ISDThr[1]
R/W-0
14
ISDThr[0]
R/W-0
13
BrkCurThrSel
R/W-0
12
BEMF_HYS
R/W-0
11
ISDEn
R/W-0
10
RvsDrEn
R/W-0
9
RvsDrThr[1]
R/W-0
8
RvsDrThr[0]
R/W-0
7
OpenLCurr[1]
R/W-0
6
OpenLCurr[0]
R/W-0
5
OpLCurrRt[2]
R/W-0
4
OpLCurrRt[1]
R/W-0
3
OpLCurrRt[0]
R/W-0
2
BrkDoneThr[2]
R/W-0
1
BrkDoneThr[1]
R/W-0
0
BrkDoneThr[0]
R/W-0
Table 30. CONFIG3 Register Field Descriptions
Bit
Field
Type
Reset
Description
ISDThr[1:0]
R/W
00
ISD stationary judgment threshold
00: 6 Hz (80 ms, no zero cross)
01: 3 Hz (160 ms, no zero cross)
10: 1.6 Hz (320 ms, no zero cross)
11: 0.8 Hz (640 ms, no zero cross)
13
BrkCurThrSel
R/W
0
Brake current-level-threshold selection.
0: 24 mA
1: 48 mA
12
BEMF_HYS
R/W
0
0: Low hysteresis for BEMF comparator (approximately 20 mV)
1: High hysteresis for BEMF comparator (approximately 40 mV).
See the BEMF COMPARATOR section of Electrical
Characteristics.
11
ISDEn
R/W
0
0: Initial speed detect (ISD) disabled
1: ISD enabled
10
RvsDrEn
R/W
0
0: Reverse drive disabled
1: Reverse drive enabled
9:8
RvsDrThr[1:0]
R/W
00
The threshold where device starts to process reverse drive
(RvsDr) or brake.
00: 6.3 Hz
01: 13 Hz
10: 26 Hz
11: 51 Hz
15:14
58
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Table 30. CONFIG3 Register Field Descriptions (continued)
Bit
Field
Type
Reset
Description
7:6
OpenLCurr[1:0]
R/W
00
Open-loop current setting.
00: 0.2 A
01: 0.4 A
10: 0.8 A
11: 1.6 A
Align current setting.
00: 0.15 A
01: 0.3 A
10: 0.6 A
11: 1.2 A
5:3
OpLCurrRt[2:0]
R/W
000
Open-loop current ramp-up setting.
000: 6 VCC/s
001: 3 VCC/s
010: 1.5 VCC/s
011: 0.7 VCC/s
100: 0.34 VCC/s
101: 0.16 VCC/s
110: 0.07 VCC/s
111: 0.023 VCC/s
2:0
BrkDoneThr[2:0]
R/W
000
Braking mode setting.
000: No brake (BrkEn = 0)
001: 2.7 s
010: 1.3 s
011: 0.67 s
100: 0.33 s
101: 0.16 s
110: 0.08 s
111: 0.04 s
8.5.3.24 CONFIG4 Register (address = 0x93) [reset = 0x00]
Figure 66. CONFIG4 Register
15
Reserved
R-0
14
AccelRangeSel
R/W-0
13
StAccel2[2]
R/W-0
12
StAccel2[1]
R/W-0
11
StAccel2[0]
R/W-0
10
StAccel[2]
R/W-0
9
StAccel[1]
R/W-0
8
StAccel[0]
R/W-0
7
Op2ClsThr[4]
R/W-0
6
Op2ClsThr[3]
R/W-0
5
Op2ClsThr[2]
R/W-0
4
Op2ClsThr[1]
R/W-0
3
Op2ClsThr[0]
R/W-0
2
AlignTime[2]
R/W-0
1
AlignTime[1]
R/W-0
0
AlignTime[0]
R/W-0
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Table 31. CONFIG4 Register Field Descriptions
60
Bit
Field
Type
Reset
Description
15
Reserved
R
0
Do not access this bit
14
AccelRangeSel
R/W
0
Acceleration range selection
0: Fast
1: Slow
13:11
StAccel2[2:0]
R/W
000
Open-loop start-up acceleration (second-order acceleration
coefficient)
AccelRangeSel = 0; 000: 57 Hz/s2
AccelRangeSel = 0; 001 = 29 Hz/s2
AccelRangeSel = 0; 010 = 14 Hz/s2
AccelRangeSel = 0; 011 = 6.9 Hz/s2
AccelRangeSel = 0; 100 = 3.3 Hz/s2
AccelRangeSel = 0; 101 = 1.6 Hz/s2
AccelRangeSel = 0; 110 = 0.66 Hz/s2
AccelRangeSel = 0; 111 = 0 Hz/s2
AccelRangeSel = 1; 000 = 0.22 Hz/s2
AccelRangeSel = 1; 001 = 0.11 Hz/s2
AccelRangeSel = 1; 010 = 0.055 Hz/s2
AccelRangeSel = 1; 011 = 0.027 Hz/s2
AccelRangeSel = 1; 100 = 0.013 Hz/s2
AccelRangeSel = 1; 101 = 0.0063 Hz/s2
AccelRangeSel = 1; 110 = 0.0026 Hz/s2
AccelRangeSel = 1; 111 = 0 Hz/s2
10:8
StAccel[2:0]
R/W
0
Open-loop start-up acceleration (first-order acceleration
coefficient)
AccelRangeSel = 0; 000 = 76 Hz/s
AccelRangeSel = 0; 001 = 38 Hz/s
AccelRangeSel = 0; 010 = 19 Hz/s
AccelRangeSel = 0; 011 = 9.2 Hz/s
AccelRangeSel = 0; 100 = 4.5 Hz/s
AccelRangeSel = 0; 101 = 2.1 Hz/s
AccelRangeSel = 0; 110 = 0.9 Hz/s
AccelRangeSel = 0; 111 = 0.3 Hz/s
AccelRangeSel = 1; 000 = 4.8 Hz/s
AccelRangeSel = 1; 001 = 2.4 Hz/s
AccelRangeSel = 1; 010 = 1.2 Hz/s
AccelRangeSel = 1; 011 = 0.58 Hz/s
AccelRangeSel = 1; 100 = 0.28 Hz/s
AccelRangeSel = 1; 101 = 0.13 Hz/s
AccelRangeSel = 1; 110 = 0.056 Hz/s
AccelRangeSel = 1; 111 = 0.019 Hz/s
7:3
Op2ClsThr[4:0]
R/W
0
Open- to closed-loop threshold
0 xxxx = Range 0: n × 0.8 Hz
0 0000 = N/A
0 0001 = 0.8 Hz
0 0111 = 5.6 Hz
0 1111 = 12 Hz
1 xxxx = Range 1: (n + 1) × 12.8 Hz
1 0000 = 12.8 Hz
1 0001 = 25.6 Hz
...
1 0111 = 192 Hz
1 1111 = 204.8 Hz
2:0
AlignTime[2:0]
R/W
0
Align time.
000 = 5.3 s
001 = 2.7 s
010 = 1.3 s
011 = 0.67 s
100 = 0.33 s
101 = 0.16 s
110 = 0.08 s
111 = 0.04 s
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8.5.3.25 CONFIG5 Register (address = 0x94) [reset = 0x00]
Figure 67. CONFIG5 Register
15
OTWarning
Limit[1]
R/W-0
14
OTWarning
Limit[0]
R/W-0
13
LockEn5
12
LockEn4
11
LockEn3
10
LockEn2
9
LockEn1
8
LockEn0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
7
SWiLimitThr [3]
R/W-0
6
SWiLimitThr [2]
R/W-0
5
SWiLimitThr [1]
R/W-0
4
SWiLimitThr [0]
R/W-0
3
2
1
HWiLimitThr [2] HWiLimitThr [1] HWiLimitThr [0]
R/W-0
R/W-0
R/W-0
0
IPDasHwILimit
R/W-0
Table 32. CONFIG5 Register Field Descriptions
Bit
Field
Type
Reset
Description
OTWarningLimit[1:0]
R/W
00
Overtemperature warning current limit
00: No temperature-based current-limit function, uses
SWILimitThr
01: Limit current to 1 A when overtemperature warning reached
10: Limit current to 1.6 A when overtemperature warning
reached
11: Limit current to 2 A when overtemperature warning reached
13
LockEn5
R/W
0
Stuck in closed loop (no zero cross detected). Enabled when
high
12
LockEn4
R/W
0
Open loop stuck (no zero cross detected). Enabled when high
11
LockEn3
R/W
0
No motor fault. Enabled when high
10
LockEn2
R/W
0
Abnormal Kt. Enabled when high
9
LockEn1
R/W
0
Abnormal speed. Enabled when high
8
15:14
LockEn0
R/W
0
Lock-detection current limit. Enabled when high.
7:4
SWiLimitThr[3:0]
R/W
0x0
Software current limit threshold
0000: No software current limit
0001: 0.2-A current limit
0010 to 1111: n × 0.2 A current limit
3:1
HWiLimitThr[2:0]
R/W
000
HWILimitThr: Current limit for lock detection
If IPDasHwILimit = 0 then
x00: 2.5 A
x01: 1.9 A
x10: 1.5 A
x11: 0.9 A
If IPDasHwILimit = 1 then
000: 0.4 A
001: 0.8 A
010: 1.2 A
011: 1.6 A
100: 2 A
101: 2.4 A
110: 2.8 A
111: 3.2 A
IPDasHwILimit
R/W
0
0: Range1 of current limit for lock detection
1: Range2 of current limit for lock detection
0
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8.5.3.26 CONFIG6 Register (address = 0x95) [reset = 0x00]
Figure 68. CONFIG6 Register
15
SpdCtrlMd
R/W-0
14
PWMFreq
R/W-0
13
KtLckThr[1]
R/W-0
12
KtLckThr[0]
R/W-0
7
CLoopDis
6
ClsLpAccel[2]
5
ClsLpAccel[1]
4
ClsLpAccel[0]
R/W-0
R/W-0
R/W-0
R/W-0
11
AVSIndEn
R/W-0
10
AVSMEn
R/W-0
3
2
DutyCycleLimit[ DutyCycleLimit[
1]
0]
R/W-0
R/W-0
9
AVSMMd
R/W-0
8
IPDRlsMd
R/W-0
1
SlewRate[1]
0
SlewRate[0]
R/W-0
R/W-0
Table 33. CONFIG6 Register Field Descriptions
Bit
Field
Type
Reset
Description
15
SpdCtrlMd
R/W
0
Speed input mode
0: Analog input expected at SPEED pin
1: PWM input expected at SPEED pin
14
PWMFreq
R/W
0
PWM Frequency Control
0: PWM frequency = 25 kHz
1: PWM frequency = 50 kHz
KtLckThr[1:0]
R/W
0
Abnormal Kt lock detect threshold
00: Kt_high = 3/2Kt. Kt_low = 3/4Kt
01: Kt_high = 2Kt. Kt_low = 3/4Kt
10: Kt_high = 3/2Kt. Kt_low = 1/2Kt
11: Kt_high = 2Kt. Kt_low = 1/2Kt
11
AVSIndEn
R/W
0
Inductive AVS enable. Enabled when high
10
AVSMEn
R/W
0
Mechanical AVS enable. Enabled when high
9
AVSMMd
R/W
0
Mechanical AVS mode
0: AVS to VCC
1: AVS to 24 V
8
IPDRlsMd
R/W
0
IPD release mode
0: Brake when inductive release
1: Hi-z when inductive release
7
CLoopDis
R/W
0
0: Transfer to closed loop at Op2ClsThr speed
1: No transfer to closed loop. Keep in open loop
6:4
ClsLpAccel[2:0]
R/W
0
Closed-loop accelerate
000: Immediate change
001: 48 VCC/s
010: 48 VCC/s
011: 0.77 VCC/s
100: 0.37 VCC/s
101: 0.19 VCC/s
110: 0.091 VCC/s
111: 0.045 VCC/s
3:2
DutyCycleLimit[1:0]
R/W
0
Minimum duty-cycle limit
00: Linear down to 5%, then holds at 5% until duty command is
1.5%; 0% for duty command below 1.5%.
01: Linear down to 10%, then holds at 10% until duty command
is 1.5%; 0% for duty command below 1.5%.
10: Linear down to 5%, then holds at 5% until duty command is
1.5%; 100% for duty command below 1.5%.
11: Linear down to 10%, then holds at 10% until duty command
is 1.5%; 100% for duty command below 1.5%.
1:0
SlewRate[1:0]
R/W
0
Slew-rate control for phase node
00: Typical slew rate for VCC at 12
01: Typical slew rate for VCC at 12
10: Typical slew rate for VCC at 12
11: Typical slew rate for VCC at 12
13:12
62
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V
V
V
V
= 35 V/μs
= 50 V/μs
= 80 V/μs
= 120 V/μs
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8.5.3.27 CONFIG7 Register (address = 0x96) [reset = 0x00]
Figure 69. CONFIG7 Register
15
IPDAdvcAg[1]
R/W-0
14
IPDAdvcAg[0]
R/W-0
13
IPDCurrThr[3]
R/W-0
12
IPDCurrThr[2]
R/W-0
11
IPDCurrThr[1]
R/W-0
10
IPDCurrThr[0]
R/W-0
9
IPDClk[1]
R/W-0
8
IPDClk[0]
R/W-0
7
Reserved
R-0
6
CtrlCoef[1]
R/W-0
5
CtrlCoef[0]
R/W-0
4
DeadTime[4]
R/W-0
3
DeadTime[3]
R/W-0
2
DeadTime[2]
R/W-0
1
DeadTime[1]
R/W-0
0
DeadTime[0]
R/W-0
Table 34. CONFIG7 Register Field Descriptions
Field
Type
Reset
Description
15:14
Bit
IPDAdvcAg[1:0]
R/W
00
Advance angle after inductive sense.
00: 30 degrees
01: 60 degrees
10: 90 degrees
11: 120 degrees
13:10
IPDCurrThr[3:0]
R/W
0x0
IPD (inductive sense) current threshold
0000: No IPD function. Align and go
0001: 0.4-A current threshold.
0010 to 1111: 0.2 A × (n + 1) current threshold.
IPDClk[1:0]
R/W
00
Inductive sense clock
00: IPD clock 12 Hz; IPD measurement resolution = 2.56 µs
01: IPD clock = 24 Hz; IPD measurement resolution = 1.28 µs
10: IPD clock = 47 Hz; IPD measurement resolution = 0.64 µs
11: IPD clock = 95 Hz; IPD measurement resolution = 0.32 µs
9:8
Reserved
R
0
Do not access this bit.
6:5
7
CtrlCoef[1:0]
R/W
00
SCORE control constant
00: 0.25
01: 0.5
10: 0.75
11: 1
4:0
DeadTime[4:0]
R/W
0x0
Driver dead time
(n + 1) × 40 ns
40 ns to 1.28 μs
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9 Application and Implementation
NOTE
Information in the following applications sections is not part of the TI component
specification, and TI does not warrant its accuracy or completeness. TI’s customers are
responsible for determining suitability of components for their purposes. Customers should
validate and test their design implementation to confirm system functionality.
9.1 Application Information
The DRV10987 device is used in sensorless 3-phase BLDC motor control. The driver provides a highperformance, high-reliability, flexible, and simple solution for appliance, fan, pump, and HVAC applications. The
following design shows a common application of the DRV10987 device.
9.2 Typical Application
VCC
0.1 µF
10 nF
10 µF
5V
47 µH
1 µF
1 µF
4.75 kW
4.75 kW
1
VCP
VCC 24
2
CPP
VCC 23
3
CPN
W 22
4
SW
W
5
SWGND
V 20
21
6
VREG
V 19
7
V1P8
U 18
8
GND
U 17
9
V3P3
PGND 16
10 SCL
11 SDA
12 FG
10 µF
M
PGND 15
DIR 14
SPEED 13
Interface to
Microcontroller
Copyright © 2017, Texas Instruments Incorporated
Figure 70. Typical Application Schematic
9.2.1 Design Requirements
Table 35 provides design input parameters and motor parameters for system design.
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Typical Application (continued)
Table 35. Recommended Application Range
Motor voltage
MIN
TYP
MAX
6.2
12
28
UNIT
V
0.001
1.8
V/Hz
BEMF constant
Phase to phase, measured while motor is coasting
Motor phase resistance
1 phase, measured ph-ph and divided by 2
0.3
19
Ω
Motor electrical constant
1 phase; inductance divided by resistance, measured ph-ph is equal
to 1 ph
100
5000
µs
Operating closed loop
speed
Electrical frequency
1
1000
Hz
0.1
2
A
3
A
Motor winding current
(RMS)
Absolute maximum current
During start-up or locked condition
Table 36. External Components
COMPONENT
PIN 1
PIN 2
RECOMMENDED
CVCC
VCC
GND
10-µF ceramic capacitor rated for VCC
CVCP
VCP
VCC
0.1-µF ceramic capacitor rated for 10 V
CCP
CPP
CPN
10-nF ceramic capacitor rated for VCC × 2
LSW-VREG
SW
VREG
47-µH ferrite inductor with 1.15-A current rating, 1.15-A saturation current, and DC resistance <
1 Ω (buck mode)
RSW-VREG
SW
VREG
39-Ω series resistor rated for ¼ W (linear mode)
CVREG
VREG
GND
10-µF ceramic capacitor rated for 10 V
CV1P8
V1P8
GND
1-µF ceramic capacitor rated for 5 V
CV3P3
V3P3
GND
1-µF ceramic capacitor rated for 5 V
RSCL
SCL
V3P3
4.75-kΩ pullup to V3P3
RSDA
SDA
V3P3
4.75-kΩ pullup to V3P3
RFG
FG
V3P3
4.75-kΩ pullup to V3P3
9.2.2 Detailed Design Procedure
1. See the Design Requirements section and make sure your system meets the recommended application
range.
2. See the DRV10983-Q1 Tuning Guide and measure the motor parameters.
3. See the DRV10983-Q1 Tuning Guide. Configure the parameters using the DRV10987 GUI, and optimize the
motor operation. The Tuning Guide takes the user through all the configurations step by step, including: startup operation, closed-loop operation, current control, initial positioning, lock detection, and anti-voltage surge.
4. Build the hardware based on Layout Guidelines .
5. Connect the device into a system and validate your system solution.
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9.2.3 Application Curves
FG
Phase
current
Phase
voltage
Figure 71. DRV10987 Start-Up Waveform
66
Figure 72. DRV10987 Operation Current Waveform
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10 Power Supply Recommendations
The DRV10987 device is designed to operate from an input voltage supply, VCC, in a range between 8 V and
28 V. The user must place a 10-µF ceramic capacitor rated for VCC as close as possible to the VCC and GND
pins.
If the power supply ripple is more than 200 mV, in addition to the local decoupling capacitors, a bulk capacitance
is required and must be sized according to the application requirements. If the bulk capacitance is implemented
in the application, the user can reduce the value of the local ceramic capacitor to 1 µF.
11 Layout
11.1 Layout Guidelines
•
•
•
•
•
•
Place the VCC, GND, U, V, and W pins with thick traces because high current passes through these traces.
Place the 10-µF capacitor between VCC and GND, and as close to the VCC and GND pins as possible.
Place the capacitor between CPP and CPN, and as close to the CPP and CPN pins as possible.
Place the capacitor between V1P8 and GND, and as close to the V1P8 pin as possible.
Connect GND, PGND, and SWGND under the thermal pad.
Keep the thermal pad connection as large as possible, on both the bottom side and top sides. It should be
one piece of copper without any gaps.
11.2 Layout Example
CVCC (10 µF)
CVCP (0.1 µF)
VCP
VCC
CPP
VCC
CPN
W
SW
W
SWGND
V
VREG
V
V1P8
U
GND
U
CCP (10 nF)
LSW_VREG (47 µH)
CVREG (10 µF)
CV1P8 (1 µF)
CV3P3 (1 µF)
V3P3
RSCL(4.75 kW)
PGND
SCL
RSDA (4.75 kW)
PGND
SDA
RFG (4.75 kW)
FG
DIR
SPEED
Figure 73. Layout Diagram
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12 Device and Documentation Support
12.1 Trademarks
PowerPAD, E2E are trademarks of Texas Instruments.
is a trademark of ~other.
12.2 Electrostatic Discharge Caution
These devices have limited built-in ESD protection. The leads should be shorted together or the device placed in conductive foam
during storage or handling to prevent electrostatic damage to the MOS gates.
12.3 Receiving Notification of Documentation Updates
To receive notification of documentation updates, navigate to the device product folder on ti.com. In the upper
right corner, click on Alert me to register and receive a weekly digest of any product information that has
changed. For change details, review the revision history included in any revised document.
12.4 Community Resources
The following links connect to TI community resources. Linked contents are provided "AS IS" by the respective
contributors. They do not constitute TI specifications and do not necessarily reflect TI's views; see TI's Terms of
Use.
TI E2E™ Online Community TI's Engineer-to-Engineer (E2E) Community. Created to foster collaboration
among engineers. At e2e.ti.com, you can ask questions, share knowledge, explore ideas and help
solve problems with fellow engineers.
Design Support TI's Design Support Quickly find helpful E2E forums along with design support tools and
contact information for technical support.
12.5 Glossary
SLYZ022 — TI Glossary.
This glossary lists and explains terms, acronyms, and definitions.
13 Mechanical, Packaging, and Orderable Information
The following pages include mechanical, packaging, and orderable information. This information is the mostcurrent data available for the designated devices. This data is subject to change without notice and without
revision of this document. For browser-based versions of this data sheet, see the left-hand navigation pane.
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PACKAGE OPTION ADDENDUM
www.ti.com
19-Jan-2018
PACKAGING INFORMATION
Orderable Device
Status
(1)
Package Type Package Pins Package
Drawing
Qty
Eco Plan
Lead/Ball Finish
MSL Peak Temp
(2)
(6)
(3)
Op Temp (°C)
Device Marking
(4/5)
DRV10987DPWPR
ACTIVE
HTSSOP
PWP
24
2000
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-3-260C-168 HR
-40 to 125
10987D
DRV10987SPWPR
ACTIVE
HTSSOP
PWP
24
2000
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-3-260C-168 HR
-40 to 125
10987S
(1)
The marketing status values are defined as follows:
ACTIVE: Product device recommended for new designs.
LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect.
NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design.
PREVIEW: Device has been announced but is not in production. Samples may or may not be available.
OBSOLETE: TI has discontinued the production of the device.
(2)
RoHS: TI defines "RoHS" to mean semiconductor products that are compliant with the current EU RoHS requirements for all 10 RoHS substances, including the requirement that RoHS substance
do not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, "RoHS" products are suitable for use in specified lead-free processes. TI may
reference these types of products as "Pb-Free".
RoHS Exempt: TI defines "RoHS Exempt" to mean products that contain lead but are compliant with EU RoHS pursuant to a specific EU RoHS exemption.
Green: TI defines "Green" to mean the content of Chlorine (Cl) and Bromine (Br) based flame retardants meet JS709B low halogen requirements of <=1000ppm threshold. Antimony trioxide based
flame retardants must also meet the <=1000ppm threshold requirement.
(3)
MSL, Peak Temp. - The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature.
(4)
There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device.
(5)
Multiple Device Markings will be inside parentheses. Only one Device Marking contained in parentheses and separated by a "~" will appear on a device. If a line is indented then it is a continuation
of the previous line and the two combined represent the entire Device Marking for that device.
(6)
Lead/Ball Finish - Orderable Devices may have multiple material finish options. Finish options are separated by a vertical ruled line. Lead/Ball Finish values may wrap to two lines if the finish
value exceeds the maximum column width.
Important Information and Disclaimer:The information provided on this page represents TI's knowledge and belief as of the date that it is provided. TI bases its knowledge and belief on information
provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. TI has taken and
continues to take reasonable steps to provide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals.
TI and TI suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release.
In no event shall TI's liability arising out of such information exceed the total purchase price of the TI part(s) at issue in this document sold by TI to Customer on an annual basis.
Addendum-Page 1
Samples
PACKAGE OPTION ADDENDUM
www.ti.com
19-Jan-2018
Addendum-Page 2
PACKAGE MATERIALS INFORMATION
www.ti.com
26-Feb-2019
TAPE AND REEL INFORMATION
*All dimensions are nominal
Device
Package Package Pins
Type Drawing
SPQ
Reel
Reel
A0
Diameter Width (mm)
(mm) W1 (mm)
DRV10987DPWPR
HTSSOP
PWP
24
2000
330.0
16.4
DRV10987SPWPR
HTSSOP
PWP
24
2000
330.0
16.4
Pack Materials-Page 1
B0
(mm)
K0
(mm)
P1
(mm)
W
Pin1
(mm) Quadrant
6.95
8.3
1.6
8.0
16.0
Q1
6.95
8.3
1.6
8.0
16.0
Q1
PACKAGE MATERIALS INFORMATION
www.ti.com
26-Feb-2019
*All dimensions are nominal
Device
Package Type
Package Drawing
Pins
SPQ
Length (mm)
Width (mm)
Height (mm)
DRV10987DPWPR
HTSSOP
PWP
24
2000
350.0
350.0
43.0
DRV10987SPWPR
HTSSOP
PWP
24
2000
350.0
350.0
43.0
Pack Materials-Page 2
GENERIC PACKAGE VIEW
TM
PWP 24
PowerPAD TSSOP - 1.2 mm max height
PLASTIC SMALL OUTLINE
4.4 x 7.6, 0.65 mm pitch
This image is a representation of the package family, actual package may vary.
Refer to the product data sheet for package details.
4224742/B
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TI PROVIDES TECHNICAL AND RELIABILITY DATA (INCLUDING DATASHEETS), DESIGN RESOURCES (INCLUDING REFERENCE
DESIGNS), APPLICATION OR OTHER DESIGN ADVICE, WEB TOOLS, SAFETY INFORMATION, AND OTHER RESOURCES “AS IS”
AND WITH ALL FAULTS, AND DISCLAIMS ALL WARRANTIES, EXPRESS AND IMPLIED, INCLUDING WITHOUT LIMITATION ANY
IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT OF THIRD
PARTY INTELLECTUAL PROPERTY RIGHTS.
These resources are intended for skilled developers designing with TI products. You are solely responsible for (1) selecting the appropriate
TI products for your application, (2) designing, validating and testing your application, and (3) ensuring your application meets applicable
standards, and any other safety, security, or other requirements. These resources are subject to change without notice. TI grants you
permission to use these resources only for development of an application that uses the TI products described in the resource. Other
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Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265
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