SMART ARM-based Microcontrollers
ATSAMD21E16LMOTOR
USER GUIDE
Atmel-42747A-ATSAMD21E16LMOTOR_User Guide-08/2016
Table of Contents
1. ATSAMD21E16L Microcontroller Card for Atmel Motor Control Starter Kit............... 3
2. ATSAMD21E16LMOTOR Features........................................................................... 4
3. ATSAMD21E16LMOTOR Kit Content........................................................................5
4. Design Documentation and Relevant Links...............................................................6
5. ATSAMD21E16L MCU Board....................................................................................7
5.1. Power Supply............................................................................................................................... 8
5.2. Main MCU Circuit......................................................................................................................... 8
5.3. Embedded Debugger................................................................................................................... 8
5.4. 67-pin MCU-DRIVER Board Interface..........................................................................................8
6. Product Compliance................................................................................................ 12
7. Identifying Product ID and Revision.........................................................................13
8. Revision...................................................................................................................14
9. Document Revision History..................................................................................... 15
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1. ATSAMD21E16L Microcontroller Card for Atmel Motor Control Starter
Kit
The ATSAMD21E16LMOTOR is an MCU card for Atmel® Motor control starter kits. The hardware has the
Atmel | SMART ARM®-based MCU, ATSAMD21E16L, with integrated on-board debug support. The MCU
card can be directly used with the currently available ATSAMD21BLDC24V-STK®, a low voltage BLDC,
PMSM motor control starter kit. The kit contains a driver board hardware with half-bridge power MOSFET
drivers, current and voltage sensing circuit, Hall, and Encoder interface, fault protection circuits, etc.
Supported by the Atmel studio integrated development platform, the kit provides easy access to the
features of ATSAMD21E16L MCU and explains how to integrate the device in a custom motor control
application. Plug-able MCU cards are available from Atmel, supporting other SMART ARM MCUs.
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2. ATSAMD21E16LMOTOR Features
ATSAMD21E16LMOTOR has the following features:
•Debug support using on-board Atmel EDBG device
•TCC PWM signals for three-phase half-bridge drive
•ADC channels for common shunt and individual shunt phase current sensing
•ADC channels for motor BEMF sensing
•AC channels for BEMF signals
•EXTINT hall sensor interface
•EXTINT encoder sensor interface
•Atmel Xplained PRO extension signals support
•Communication and Power status LEDs
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3. ATSAMD21E16LMOTOR Kit Content
ATSAMD21E16LMOTOR Kit contains ATSAMD21E16L MCU card that is pre-programmed with hall
sensor based block commutation firmware for the ATSAMD21BLDC24V-STK setup. Quick start guide can
be found in , ATSAMBLDC24V-STK User quide user guide for Atmel Low voltage BLDC motor control
kit. . A nylon snap lock is attached to the MCU card that can be rotated to attach the card to the Driver
base board in ATSAMD21BLDC24V-STK.
Figure 3-1. ATSADM21E16LMOTOR Kit Content
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4. Design Documentation and Relevant Links
The following list contains links to the most relevant documents and software for
ATSAMD21E16LMOTOR:
•ATSAMD21E16LMOTOR - Product page.
•ATSAMD21E16LMOTOR User Guide - PDF version of this User Guide.
•ATSAMD21BLDC24V-STK - Product page.
•ATSAMBLDC24V-STK User quide - User guide for Atmel Low voltage BLDC motor control kit. It
contains the quick start guide instructions and driver board descriptions.
•ATSAMD21BLDC24V-STK Design Documentation - Package containing schematics, BOM,
assembly drawings, 3D plots, layer plots, etc.
•Atmel Studio - Free Atmel IDE for development of C/C++ and assembler code for Atmel
microcontrollers.
•EDBG User Guide - User guide containing more information about the on-board Embedded
Debugger.
•Atmel Data Visualizer - Atmel Data Visualizer is a program used for processing and visualizing
data. Data Visualizer can receive data from various sources such as the Embedded Debugger Data
Gateway Interface found on Xplained Pro boards and COM ports.
•Xplained Pro products - Atmel Xplained Pro is a series of small-sized and easy-to-use evaluation
kits for Atmel microcontrollers and other Atmel products. It consists of a series of low-cost MCU
boards for evaluation and demonstration of features and capabilities of different MCU families.
•ATSAMD21E16L - MCU datasheet.
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5. ATSAMD21E16L MCU Board
The main components on the ATSAMD21E16LMOTOR MCU card are highlighted in the PCB and block
diagram given below.
Figure 5-1. MCU Board PCB
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Figure 5-2. MCU Board Block Diagram
5.1. Power Supply
The ATSAMD21E16LMOTOR MCU card takes 3.3VDC supply from the 67-pin edge connector. Both the
EDBG device and the Main MCU operates from 3.3VDC. The power supply selection jumper on the
Driver board should be connected to 3V3 (silk screen text) selection.
5.2. Main MCU Circuit
The ATSAMD21E16LMOTOR has an ATSAMD21E16L device. The device is intended to work with the
MCU internal clock source. An external reset switch is connected to the MCU RESET pin.
5.3. Embedded Debugger
The ATSADM21E16L MCU is interfaced to the EDBG debug device. The EDBG uses SWD interface for
programming and debugging the main MCU. A debug header is also provided on the MCU board with
ARM Cortex® debug pinout. An external debugger can be connected to this debug port.
The DGI is a proprietary communication interface used by the Atmel Data Visualizer software to
communicate with the development kits through the EDBG. The SERCOM3 of the ATSAMD21E16L
connected to the EDBG device, supports the DGI SPI interface and uses the Atmel ADP protocol. The
MCU SERCOM3 is also connected to the UART channel of the EDBG through a pair of "normally open"
jumpers, the J200 and J201. Shorting these jumpers will enable the CDC UART interface for the main
MCU.
High Speed USB port of the EDBG is accessible at the driver board. EDBG USB enumerates as a
composite device supporting debug, DGI SPI, and CDC interfaces.
The USB port of the ATSAMD21J18A is connected to the Micro-USB connecter on the driver board.
5.4. 67-pin MCU-DRIVER Board Interface
MCU pins are connected to the 67-pin interface header as given in the table below. The MCU card can be
used with the Motor control driver kits from Atmel. The table given below describes the interface with
Atmel low voltage motor control starter kit. Signals indicated by "||" are jumper connected pins that share
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another directly connected functionality. The normally-open jumper needs to be shorted in the PCB in
order to access these additional features.
Table 5-1. ATSAMBLDC24V-STK driver board, ATSAMD21E16LMOTOR MCU Board Interface
PIN LV INTERFACE Name LV DRIVER BOARD
function
SAM D21E16L PIN D21E16L FUNCTION
1 EDBG USB HSP EDBG USB EDBG_DPHS EDBG_USB_HS_P
2 NC NC NC NC
3 EDBG USB HSN EDBG USB EDBG_DMHS EDBG_USB_HS_N
4 EDBG ID2 EDBG_ID2/EXT1_1 EDBG PB01 EDBG ID2
5 NC NC NC NC
6 EDBG ID1 EDBG_ID1 EDBG PA28 EDBG ID1
7 MCU USB DP TARGET_USB_HS_P PA25 MCU_USB_P
8 TARGET USB VBUS VCC_TARGET_USB_
P5V0
PA27 MCU USB VBUS
SENSE
9 MCU USB DN TARGET_USB_HS_N PA24 MCU_USB_N
10 EDBG USB VBUS VCC_EDBG_USB_P5
V0
EDBG A10 EDBG USB VBUS
SENSE
11 TARGET_USB_ID TARGET_USB_ID NC NC
12 TEMP SDA TWI_SDA, EXT1_11 NC NC
13 TEMP SCL TWI_SCL, EXT_12 NC NC
14 FLASH SS SPI_SS NC NC
15 FLASH MISO SPI_MISO, EXT1_17 NC NC
16 FLASH SCK SPI_SCK, EXT1_18 NC NC
17 FLASH MOSI SPI_MOSI, EXT1_16 NC NC
18 MCU GPIO1 EXT1_7(GPIO1) NC NC
19 MCU GPIO2 EXT1_8(GPIO2) NC NC
20 MCU GPIO3 EXT_3 NC NC
21 MCU GPIO4 NC(GPIO4) NC NC
22 MCU GPIO5 EXT1_5(GPIO5) NC NC
23 MCU GPIO6 EXT1_6(GPIO6) NC NC
24 MCU GPIO7 Temp_Alert(GPIO7) NC NC
25 OCP OCP(GPIO8) PB03 GPIO
26 EXT1 RXD UART RXD_ EXT1_13 PA19 SERCOM1(PAD3)
27 EXT1 TXD UART TXD_EXT1_14 PA18|| SERCOM1(PAD2)
28 PWM UH FET Driver PA08 TCC0(WO0)
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PIN LV INTERFACE Name LV DRIVER BOARD
function
SAM D21E16L PIN D21E16L FUNCTION
29 PWM UL FET Driver PA14 TCC0(WO4)
30 PWM VH FET Driver PA09 TCC0(WO1)
31 PWM VL FET Driver PA15 TCC0(WO5)
32 PWM WH FET Driver PA10 TCC0(WO2)
33 PWM WL FET Driver PA16 TCC0(WO6)
34 MCU_GPIO8
(ISENSE_COMMON)
EXT_15 PA02|| ADC(AIN0)
35 ATA RESET EXT1_4(GPIO10) NC NC
36 ATA WD EXT1_10(GPIO11) NC NC
37 ATA SLEEP EXT1_9(GPIO12) NC NC
38 USHUNT_ADC Current sense PB04|| ADC(AIN12)
39 VSHUNT_ADC Current sense PB05|| ADC(AIN13)
40 WSHUNT_ADC Current sense PA11 ADC(AIN7)
41 MOTOR VDC (V
SENSE)
MOTOR_ADC PB02 ADC(AIN10)
42 BEMF U_ADC BEMF sense ADC PA04 ADC(AIN4)
43 BEMF V_ADC BEMF sense ADC PA05 ADC(AIN5)
44 BEMF_W_ADC BEMF sense ADC PA06 ADC(AIN6)
45 BEMF UP BEMD sense AC PA04 || AC0(AIN0)
46 BEMF UN BEMD sense AC PA05 || AC0(AIN1)
47 BEMF VP BEMD sense AC PA06 || AC0(AIN2)
48 BEMF VN BEMD sense AC PA07 || AC0(AIN3)
49 BEMF WP BEMD sense AC PB04 AC1(AIN0)
50 BEMF WN BEMD sense AC PB05 AC1(AIN1)
51 HALL1 Hall interface PA03 EXTINT3
52 HALL2 Hall interface PA02 EXTINT2
53 HALL3 Hall interface PA07 EXTINT7
54 HALL TRX OE HALL_TRX_OE NC NC
55 ENCODER_A Encoder Interface NC NC
56 ENCODER_B Encoder Interface NC NC
57 ENCODER_Z Encoder Interface NC NC
58 ENCODER_EN ENCODER EN NC NC
59 NC NC NC NC
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PIN LV INTERFACE Name LV DRIVER BOARD
function
SAM D21E16L PIN D21E16L FUNCTION
60 MCU BRAKE NC NC NC
61 NC NC NC NC
62 3V3 SUPPLY for MCU VCC_P 3V3 SUPPLY for MCU 3V3 SUPPLY for MCU
63 3V3 SUPPLY for MCU VCC_P 3V3 SUPPLY for MCU 3V3 SUPPLY for MCU
64 GND GND GND GND
65 GND GND GND GND
66 GND GND GND GND
67 GND GND GND GND
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6. Product Compliance
RoHS and WEEE
The Atmel ATSAMD21E16LMOTOR and its accessories are manufactured in accordance to both the
RoHS Directive (2002/95/EC) and the WEEE Directive (2002/96/EC).
CE and FCC
The Atmel ATSAMD21E16LMOTOR unit has been tested in accordance to the essential requirements
and other relevant provisions of Directives:
•Directive 2004/108/EC (class B)
•FCC rules part 15 subpart B
The following standards are used for evaluation:
•EN 61326-1 (2013)
•FCC CFR 47 Part 15 (2013)
The Technical Construction File is located at:
Atmel Norway
Vestre Rosten 79
7075 Tiller
Norway
Every effort has been made to minimize electromagnetic emissions from this product. However, under
certain conditions, the system (this product connected to a target application circuit) may emit individual
electromagnetic component frequencies which exceed the maximum values allowed by the above-
mentioned standards. The frequency and magnitude of the emissions will be determined by several
factors, including layout and routing of the target application with which the product is used.
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7. Identifying Product ID and Revision
The revision and product identifier of the ATSAMD21E16LMOTOR can be found by looking at the sticker
on the bottom side of the PCB. The identifier and revision are printed in plain text as A09-nnnn\rr, where
nnnn is the identifier and rr is the revision. Also the label contains a 10-digit unique serial number.
The product identifier for ATSAMD21E16LMOTOR is A09-2684.
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8. Revision
Kit assembly revision for initial version is A09-2684/04. There are no known issues in this revision.
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9. Document Revision History
Doc. rev. Date Comment
42747A 08/2016 Initial document release
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