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The “Hardware Abstraction Layer“ (HAL) contains 6 components to communicate with the hardware. The HAL layer uses motor control-related peripherals embedded in the netX90 IC. More detailed information about these peripherals can be obtained from NEW netMOTION and netX 90 in Motion. For even more detailed information, see section 5.14 from https://hilscher.atlassian.net/l/cp/bAdPTfB1. netX 90 - Technical data reference guide.

Timer

It provides the main motion application task timer event of the FOC. It is designed with the flexibility to adapt to future requirements.

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The MPWM component is used to modulate the 3-phase PWM signal required for motor control. Thanks to the “Event Counter Zero (ECZ)“, it generates events so that measurements, transformations, and PI controls are made and new SVPWM duty cycle values are adjusted. Event Counter Zero (ECZ) is the reduced frequency of “Beginning of Period (BOP)” events variant. If the field evt_cnt_top of register mpwm_cfg is set to a value N, an ECZ event will be sent every N+1 period. Ayrica MPWM can be synchronized to hardware-assisted cyclic network events. For detailed information, see section 5.14.3 from https://hilscher.atlassian.net/l/cp/bAdPTfB1. netX 90 - Technical data reference guide.

QEI (Quadrature Encoder Interface)

The QEI component provides information from the Quadrature Encoder, which is mounted on the motor. Method 4 was used as the speed estimation method (see section 5.14.4.11 from https://hilscher.atlassian.net/l/cp/bAdPTfB1 netX 90 - Technical data reference guide). It supports working with ENC0(QEI 5V TTL) and ENC1(RS422) encoder sources. The NXHX-DH adapter module serves to connect digital transmitters as TTL or RS422 (see section 3.4 from https://hilscher.atlassian.net/l/cp/15PQ1Qu1 NXHX 90-MC manual). Also, this component supports the encoder direction inversion functionality. For detailed information, see section 5.14.4 from https://hilscher.atlassian.net/l/cp/bAdPTfB1. netX 90 - Technical data reference guide.

Hall Sensor

The Hall Sensor component provides information from the Hall Sensors, which are integrated into the motor. The Rotor position can be known by the currently active Hall Sensor. Hall sensor inputs are connected to GPIOs and according to these GPIO statuses, it can be easily determined in which hall sector the rotor is.

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The desired demo mode is activated from the “Targets\wscript” file with manipulation of the __USE_DEMO_POTENTIOMETER parameter.

Compilation and Flashing

https://hilscher.atlassian.net/l/cp/Lz8DLZjUSee section FOC QEI + Hall demo

Abbreviations