Texas Instruments DRV8889-Q1EVM Manual de usuario

SLVUBM4A–April 2019–Revised October 2019

DRV8889-Q1EVM GUI User's Guide

User's Guide

SLVUBM4A–April 2019–Revised October 2019

DRV8889-Q1EVM GUI User's Guide

This document is provided with the DRV8889-Q1 customer evaluation module (EVM) as a supplement to

the DRV8889-Q1 Automotive Stepper Motor Driver datasheet. This document only describes the

installation and usage of the DRV8889-Q1EVM GUI. For additional details on hardware connections refer

to the DRV8889-Q1EVM User's Guide.

Contents

1 Overview...................................................................................................................... 2

2 Hardware and Software Setup............................................................................................. 2

3 GUI Application .............................................................................................................. 2

3.1 Installation ........................................................................................................... 2

3.2 Getting Started with DRV8889-Q1EVM GUI.................................................................... 2

3.3 Use the DRV8889-Q1EVM GUI .................................................................................. 2

4 Errata ........................................................................................................................ 12

List of Figures

1 DRV8889-Q1 EVM GUI (Home Page).................................................................................... 3

2 Figure 2. DRV8889-Q1 EVM GUI (Device Connection pane)......................................................... 3

3 Serial port configuration..................................................................................................... 4

4 DRV8889-Q1 EVM GUI (Stepper Motor Control page)................................................................. 4

5 Controls available for Speed Mode........................................................................................ 5

6 Controls for Step Mode ..................................................................................................... 6

7 Stop conditions............................................................................................................... 7

8 DRV8889-Q1 EVM GUI (Decay mode)................................................................................... 8

9 DRV8889-Q1 EVM GUI (Registers Page)................................................................................ 9

10 Stall detection configuration panel in Automatic Mode................................................................ 10

11 Stall detection configuration panel in Manual Mode................................................................... 11

12 DRV8889-Q1 EVM GUI (Menu bar – Help Option).................................................................... 12

Trademarks

MSP430 is a trademark of Texas Instruments.

Windows is a registered trademark of Microsoft Corporation.

All other trademarks are the property of their respective owners.

Overview

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DRV8889-Q1EVM GUI User's Guide

1 Overview

The DRV8889-Q1EVM is a platform to support prototyping and evaluation for the DRV8889-Q1, a

medium-voltage dual H-bridge driver for stepper-driving applications. The DRV8889-Q1 drives a single

bipolar stepper with microstep settings ranging from full-stepping to 1/256 resolution with internally-

regulated microstep levels. It provides a variety of programmable decay settings and can detect stall

conditions while driving.

The EVM uses an MSP430™ microcontroller and a USB interface chip to manage communication from

the GUI software application installed on a PC computer with Windows®. The GUI sends serial commands

to the MSP430 to control the device signals, monitor faults, read and write SPI registers, and drive a

stepper motor by issuing the step commands at the desired rate. This document describes the software

and tools used to evaluate DRV8889-Q1 device for stepper motor driving on the DRV8889-Q1EVM.

2 Hardware and Software Setup

The hardware (HW) and software (SW) tools that follow are required for the evaluation of DRV8889-Q1:

• DRV8889-Q1EVM

• Stepper motor

• Voltage supply from 4.5 V to 45 V

This document only describes the installation and usage of the DRV8889-Q1EVM GUI. For additional

details on hardware connections refer to the DRV8889-Q1EVM User's Guide.

3 GUI Application

3.1 Installation

Installation (For Desktop Version Only)

• Download the installable DRV8889-Q1_x.y.z_installer_win.zip file (x.y.z is GUI revision number: 1.0.0

for the EVM were ordered before August, 2019; 1.1.1 or up for the EVM were ordered after Sempter,

2019.).

• Extract the zip file.

• Double click on the installer to install the GUI Application. Install it.

3.2 Getting Started with DRV8889-Q1EVM GUI

The DRV8889-Q1EVM GUI and DRV8889-Q1EVM allows the user to configure various settings required

for stepper motor driving. The DRV8889-Q1EVM GUI lets the user adjust the motor speed, control the

direction, control the step movement, configure various device settings, and monitor the device status.

Perform the following steps to begin using the GUI:

• Connect the stepper motor to the EVM.

• Plug in the micro-USB cable to the PC.

• Enable the motor power supply. For additional details on hardware connections refer to the DRV8889-

Q1EVM User's Guide.

Click on DRV8889-Q1EVM GUI shortcut either on the desktop or from the start menu to run the GUI

application.

3.3 Use the DRV8889-Q1EVM GUI

• The Application opens with launch page shown in Figure 1.

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Figure 1. DRV8889-Q1 EVM GUI (Home Page)

• For GUI 1.0.0, the application will try to establish communication with the device connected. A

message showing ‘Connected to Cloud Agent. Connecting to target…’ will be displayed in the

hardware connection status pane at the bottom of the screen. G1.0.0 serial port baud rate has to be

9600. If the connection is successful, ‘COMxx:9600 Connected to Target’ message appears as shown

in Figure 2 below.

Figure 2. Figure 2. DRV8889-Q1 EVM GUI (Device Connection pane)

• For GUI 1.1.1 or later version, the application won't need network connection to "Cloud Agent" and

serial port baud rate has to be 115200.

• If the GUI fails to connect to the EVM, the hardware connection status pane will show the message

‘Hardware Not Connected.’

• If the GUI is opened without connecting the EVM, the hardware connection status pane will show

‘Error: no serial ports found.’

• If there are more than one DRV8889-Q1EVM boards connected, the first matching device will be

connected automatically. In order to switch to another EVM,

– Click Options -> Serial Port. A serial port configuration popup is displayed as shown below in

Figure 3.

– Choose the appropriate port and baud rate: G1.0.0 baud rate has to be 9600. GUI1.1.1 or later

version baud rate has to be 115200.

– Click OK.

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Figure 3. Serial port configuration

• Once the correct device is connected, the home page will show a message ‘Device Connected’ with a

green check mark as shown in Figure 1.

• Click on the ‘Stepper Motor’ button to open the stepper control page.

3.3.1 Stepper Control Page

The Stepper Control page (shown in Figure 4) includes various controls to sleep/wake the driver, control

the stepper motor, and configure various parameters such as slew rate, torque, full scale current, and so

forth. Hovering over the (?) icon to the right of a control displays a brief description about the control.

Figure 4. DRV8889-Q1 EVM GUI (Stepper Motor Control page)

3.3.1.1 Stepper Control Modes

The GUI allows the user to control the stepper motion profile in two modes – Speed Mode and Step Mode.

To toggle between the modes, use the toggle button at the top of the screen.

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3.3.1.1.1 Speed Mode

Speed Mode allows the user to spin the stepper motor continuously at a desired speed. The user

configures the starting speed, stopping speed, acceleration rate, and target speed. Stepper controls are

enabled only when 'Motor Driver' control is enabled in other words, DRVOFF pin is set to low. The ‘Start

Steps’ button is enabled only when ‘Driver Outputs' control is enabled for example, DRVOFF pin is set to

low. When the ‘Start Steps’ button is clicked, the motor begins spinning at the starting speed and

accelerates to the target speed according to the configured acceleration rate. The acceleration profile in

the microcontroller firmware accepts the starting-speed and target-speed PPS values and calculates the

appropriate PWM clock period to create the stepping signal on the STEP pin. When the ‘Start steps’

button is clicked, the PWM timer generates steps at a rate specified by the 'Starting Speed' PPS

parameter. When ‘Stop Steps’ is clicked, the motor starts decelerating at the ‘Acceleration Rate’

configured to reach the stopping speed and eventually stop. The configuration is visualized by the

embedded graph shown on the GUI screen (Figure 5).

When accelerating or decelerating, the PPS signal is adjusted every 32 ms based on the integer value of

PPSPS / 32 ms. Acceleration rates must be between 1 and 65,535 PPSPS. The step rate increases by

the calculated value until the target speed is reached.

The starting speed must be less than or equal to the target speed. If the starting speed and target speed

are equal, the EVM firmware will not perform an acceleration routine. The stopping speed must also be

less than or equal to the target speed. The target speed is limited to a range between 50 and 65,535 PPS.

The 'Start Steps' command computes how frequently automatic speed updates are issued and a second

timer is used to change the speed according to the programmed acceleration rate profile. Once clicked,

the motor will begin spinning according to the parameters set in the GUI.

When the target speed PPS value is reached, the acceleration profile ends, and the motor continues

running at the target speed until the 'Stop Steps' button is clicked. When the stepper is commanded to

stop, the controller performs the same actions as it did while accelerating, but in reverse order, to

decelerate until the stopping speed PPS value is reached. At this point, the motor fully stops.

Figure 5. Controls available for Speed Mode

3.3.1.1.2 Step Mode

Step Mode allows the user to move the stepper motor a configured number of steps. Stepper controls are

enabled only when the 'Motor Driver' control is enabled for example, DRVOFF pin is set to low. When the

‘Start Steps’ button is clicked, the motor starts spinning at the starting speed and accelerates at the rate

configured. When the number of steps is reached, the motor stops.

The acceleration and deceleration profiles work similarly as before, except when the deceleration routine

starts and when the motor stops are a function of the 'Steps to Stop' and deceleration rate parameters.

The configuration can be visualized in the graph embedded in the GUI. If the "Reciprocate" button is

enabled, the stepper will travel the set number of steps, then reverse direction. It will do this continuously

until 'Stop Steps' is clicked. Figure 6 shows the controls available in Step Mode

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Figure 6. Controls for Step Mode

The parameters from 'Speed Mode' are reused as well, and they operate the same as described in

Section 3.3.1.1.1. Two new parameters have been added to properly control the limited number of steps

actuation. These parameters are described as follows:

Number of Steps — This parameter is the number of steps that the controller will issue.

Steps to Stop — The controller is continuously monitoring the step being issued and when the current

step is equal to the 'Steps to Stop' parameter, a deceleration profile is issued. If the value of the

'Steps to Stop' parameter is larger than the number of steps, then the motor stops abruptly and

without undergoing a deceleration profile.

When a deceleration profile is issued, the controller decreases the speed until reaching the 'Stopping

Speed' value. If the 'Number of Steps' parameter is met before the deceleration profile is complete, then

the motor stops at the current speed. If the stopping speed is met before all the number of steps is issued,

then the motor rotates at the stopping speed value until all the steps are executed.

Ideally, the system should resemble the case in which the controller executes all the commanded steps at

a speed as close as possible to the stop speed. In the event this is not possible because of the particular

parameters that were selected, stopping the motor at a speed very close to the 'Stopping Speed'

parameter is often good enough to ensure good motion quality and application performance.

Figure 7 shows the three conditions possible when stopping and the action taken.

1. Motor reaches stop speed at the stop speed. 2. Motor reaches stop speed before the stop speed is reached.

3. Motor runs out of steps before reaching stop speed.

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Figure 7. Stop conditions

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3.3.2 Decay Mode

Decay refers to how the driving currents recirculate in H-bridge FETs during the off time. Using the GUI,

the user configure the decay mode. To configure,

• Click the Decay Mode button at the top center-right of the screen. A popup appears as shown below in

Figure 8.

Figure 8. DRV8889-Q1 EVM GUI (Decay mode)

• Decay mode and appropriate TOFF values can be configured in the popup. The configurations can be

visualized in the graph shown. For information about the different decay modes, refer to the DRV8889-

Q1 Automotive Stepper Motor Driver datasheet.

3.3.3 Fault Monitoring

The fault monitor section at the right side of the screen allows the user to configure monitor the various

device faults. The LED staying green indicates ‘No Fault’. When the LED turns red, it indicates that a fault

has occurred. The user can also configure Fault reporting options by clicking the ‘Configure’ button.

3.3.4 Register Map

• Enabling the Motor Driver enables the Register page.

• The page can be opened by clicking ‘Pencil’ icon from the side-bar menu

• This page displays all the registers and their fields present on the DRV8889-Q1 device.

• The page allows reading and writing any register, field, or bit.

• To read a particular register, click on the register and click ‘Read Register’ button.

• To read all the registers, click ‘Read All Registers’ button

• To update the register values:

– Edit the ‘Value’ field directly to update a register’s hex value.

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– Change the field value from the field view at the right of the screen.

– Double click on any of the register bit to flip the bit (from 0 to 1 or vice versa).

• By default, the write mode is Immediate which writes values to the registers immediately upon change.

• Write mode can be changed to ‘Deferred’ which will write queue all changes and update the device

registers only when ‘Write Register’ or ‘Write All Registers’ is clicked.

• Click on the question mark icon on any register or field to get in-place data sheet help.

Figure 9. DRV8889-Q1 EVM GUI (Registers Page)

3.3.5 Stall Detection

This section covers three different ways to evaluate stall detection using the DRV8889-Q1EVM GUI.

3.3.5.1 Automatically Learn Stall Threshold

1. Configure desired motion profile in the GUI in Speed Mode. The stall detection will not be available for

Step Mode.

2. Configure device settings as desired. The default values should be acceptable for immediate

evaluation. If motor torque is too high while evaluating, change the 'Full-Scale Current' setting or

'Torque' setting to reduce it.

3. Click 'Start Steps' to begin spinning the motor.

4. Enable ‘Stall Detection’ toggle button available on the ‘Stall Detection Panel’.

5. By default, ‘Stall Detection Mode’ is set to ‘Automatic Mode’.

6. Once the target speed is reached, the microcontroller will write the STL_LRN bit to begin learning the

stall threshold value, STALL_TH.

7. After 16 electrical cycles, the GUI displays the message “Please stall motor to complete Stall

Threshold learning sequence.” At this point, the user must physically stall the stepper motor.

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8. Once the motor stalls, The nFAULT pin asserts low which turns the Fault indicator on the right panel of

the GUI to RED. If this happens, the STL_LRN_OK and STALL bits should be set, and the GUI

displays the message “Stall Threshold learning sequence complete”.

9. To reset the stall fault, remove the stall condition from the motor so it spins again, or click 'Stop Steps'

to stop the motor. Then click on ‘Clear Fault’ button to clear the stall fault.

For demonstration purposes, click the 'Reverse direction on stall fault' toggle button. After learning the stall

threshold, this EVM feature will drive the motor until it stalls. After a stall event occurs, the motor will

pause briefly, then begin driving in the opposite direction.

If for some reason stall threshold (STALL_TH) is not properly learned, clicking the ‘Relearn Stall

Threshold’ button will tell the EVM to re-run the learning algorithm starting at step 6 in the list above. If the

motor is physically stalled, but the GUI continues to display “Please stall motor to complete Stall Threshold

learning sequence,” the DRV8889 may not have properly learned the stall detection threshold. This can

happen at low motor speeds, which cause the stepper back EMF to be low, and a valid STALL_TH value

may not be determined.

‘Stall Threshold Graph’ shown in periodically plots the Torque Count (TRQ_COUNT) and Stall Threshold

(STALL_TH) values.

Figure 10. Stall detection configuration panel in Automatic Mode

3.3.5.2 Manually Set Stall Threshold

The stall threshold can be manually set by switching to Manual Mode using the ‘Stall Detection Mode’

control. In this mode, the user sets the stall threshold to any desired value. If a valid stall threshold is

chosen, the stall fault will be reported as described in the previous section Section 3.3.5.1. To correctly

detect a stall, the stall threshold should be less than the torque count while the motor is spinning. If the

stall threshold value is too close to torque count value, then false stalls may be detected as the motor

torque increases. The 'Reverse direction on stall fault' toggle button operates the same way in Manual

Mode as described in the previous section. Figure 11 shows the Stall Detection panel in Manual Mode.

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