Renesas rl78/g1g User Manual

APPLICATION NOTE

R01AN3582EJ0100

Rev.1.00

Jan 13, 2017

RL78/G1G

Sensorless Speed control of 120-degree conducting controlled permanent
magnetic synchronous motor (Implementation)

Summary

This application note aims at explains sample programs driving a permanent magnetic synchronous motor in the 120-

degree conducting method using the RL78/G1G microcontroller.

These control programs are only to be used as reference and Renesas Electronics Corporation does not guarantee the

operations. Please use them after carrying out a thorough evaluation in a suitable environment.

Operation checking device

Operations of the control programs have been checked by using the following device.
 RL78/G1G (R5F11EBAAFP)

Target control programs

The target control programs of this application note are as follows.
RL78G1G_MRSSK_SPM_LESS_120_CSP_CA_V100 (IDE：CS+ for CA,CX)
RL78G1G_MRSSK_SPM_LESS_120_CSP_CC_V100 (IDE：CS+ for CC)
RL78G1G_MRSSK_SPM_LESS_120_E2S_CC_V100 (IDE：e2studio)

RL78/G1G Sensorless 120-degree conducting control program for

24V Motor Control Evaluation System and RL78/G1G CPU CARD

Reference

 RL78/G1G Group User’s Manual: Hardware (R01UH0499EJ0130)
 Application note: ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’

(R01AN2657EJ0120)

 Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T User’s Manual

(R20UT3697EJ0100)

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Contents

1. Overview ........................................................................................................................................... 3

2. System overview ............................................................................................................................... 7

3. Descriptions of the control program ................................................................................................ 14

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Microcontroller

Evaluation board

Motor

RL78/G1G

(R5F11EBAAFP)

24V inverter board

(Note 1)

and RL78/G1G CPU Card

(Note 2)

TSUKASA

(Note 3)

TG-55L-KA-24V

CS+ version

Tool chain version

V3.03.00

CA78K0R V5.00.00.03

V4.01.00

CC-RL V1.03.00.00

e2studio version

Tool chain version

5.2.1.016

CC-RL V1.03.00.00

1. Overview

This application note explains how to implement the 120-degree conducting control programs of permanent magnetic
synchronous motor (PMSM) using the RL78/G1G microcontroller. Note that this control programs use the algorithm
described in the application note ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’.

1.1 Development environment

Table 1-1 and Table 1-2 show development environment of the control programs explained in this application note.

Table 1-1 Development Environment (H/W)

Table 1-2 Development Environment (S/W)

For purchase and technical support contact, Sales representatives and dealers of Renesas Electronics Corporation.

Notes: 1. 24V inverter board (RTK0EM0006S01212BJ) is a product of Renesas Electronics Corporation.

2. RL78/G1G CPU Card (T5104) is a product of Desk Top Laboratories Inc.

Desk Top Laboratories Inc. (http://desktoplab.co.jp/)

3. TG-55L-KA-24V is a product of TSUKASA ELECTRIC.
TSUKASA ELECTRIC. (https://www.tsukasa-d.co.jp/en/)

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R8　(1) Remove

100/0.1W

(2) Connnect

R7

R15　(1) Remove

100/0.1W 0/1A

(1) Remove

C9

C8

100pF /50V/J

100pF /50V/J

2930CNB5 (IU)

CNB15 (VR1)

(2) Connect

(1) Remove

1.2 Modifying the Evaluation Board

To support the control programs in this application note, the 24V Inverter Board and RL78/G1G CPU Card should be

modified per below explanations.

1.2.1 Modification of the VR1 input port

(1) Remove R8, R15, C9.
(2) Connect CPU side of R7 and CPU side of R8.

Figure 1-1 Modification of the CPU Card

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Figure 1-2 Modification example on the CPU card.

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

TH１

Q2

TH2

Q4

TH3

Q6

R50

R72

R97

(2) Remove

(1) Connect

(1) Connect

(2) Remove

1.2.2 Modification when overcurrent detection method is changed

When the overcurrent detection method is changed to "PGA+CMP0, CMP1" from default (INTP0), the 24V Inverter

Board and RL78/G1G CPU Card should be modified per below explanations.

(1) Modification of the 24V Inverter Board

Change 3-Shunt to 1-Shunt.

(1) Connect TH1, TH2 and TH3.
(2) Remove R72 and R97.

Figure 1-3 Change 3-shunt to 1-shunt

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Figure 1-4 Modification example on the 24V Inverter Board

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R8

100/0.1W

R7

R15

100/0.1W 0/1A

R10　(2) Change R16

100/0.1W

NC → 0/1A

→ 1k/0.1W (1) Mount

C9

C8 C11

(3) Change

100pF/50V/J

→ 470pF/50V/J

2930CNB5 (IU)

CNB15 (VR1)

CNB7 (IW)

100pF/50V/J

100pF /50V/J

(3) Change

(1) Mount

(2) Change

(2) Modification of the RL78/G1G CPU Card

Modification for the filter circuit of comparator input

(1) Mount 0 Ohms on R16.
(2) Change resister R10 from 100 Ohms to 1k Ohms
(3) Change capacitor C11 from 100pF to 470pF.

Figure 1-5 Modification of the CPU Card

Figure 1-6 Modification example on the CPU card.

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

not used in this system.

LED output

P60

P61

V

dc

VR1

GND

LED1

LED2

Inverter circuit

DC 24V input

Up

Vp

Wp

Un

Vn

Wn

TRD output

P15 / TRDIOB0 (Up)

P13 / TRDIOA1 (Vp)
P12 / TRDIOB1 (Wp)

P14 / TRDIOD0 (Un)

P11 / TRDIOC1 (Vn)

P10 / TRDIOD1 (Wn)

Vu

Vv

Vw

Over current

detection input

P01 / PGAI

HV port

HW port

GND port

Vcc port

HU port
ENC_Z port

ENC_B

port

ENC_A

port

GND port

Vcc port

U port

V port

W port

PSPM

A/D converter input

P23 / ANI3

P00 / ANI17

P147 / ANI18

P120 / ANI19

P20 / ANI0

Bus voltage

VU_AIN
VV_AIN

Speed reference

(Note)

Phase voltage

(filtering)

VW_AIN

SW1

SW2

Switch input

P70

P17

Motor start / stop

Error status reset

Phase voltage

(filtering)

VU_AIN

VV_AIN

VW_AIN

RL78/G1G

P137 / INTP0

OC

Over current detection

(by Hardware)
Over current detection

(by PGA+CMP0, CMP1)

Iu

Iv

Iw

Power supply circuit

2. System overview

Overview of this system is explained below.

2.1 Hardware configuration

The hardware configuration is shown below.

Figure 2-1 Hardware Configuration Diagram

Note: the VR1 signal is input to port 20 by modification on the CPU card. (See 1.2.1)

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Item

Interface component

Function

Rotational speed

Variable resistance (VR1)

Rotational speed command value input (analog values)

START / STOP

Toggle switch (SW1)

Motor rotation start / stop command

ERROR RESET

Toggle switch (SW2)

Command of recovery from error status

LED1

Yellow green LED

- At the time of Motor rotation: ON

- At the time of stop: OFF

LED2

Yellow green LED

- At the time of error detection: ON

- At the time of normal operation: OFF

RESET

Push switch (RESET1)

System reset

R5F11EBAAFP Port name

Function

P23 / ANI3

Inverter bus voltage measurement

P01 / PGAI

Shunt current input for over-current detection (use PGA+CMP0, CMP1)

(Note1)

P20 / ANI0

For inputting rotational speed command values (analog values)

(Note2)

P70

START / STOP toggle switch

P17

ERROR RESET toggle switch

P60

LED1 ON / OFF control

P61

LED2 ON / OFF control

P00 / ANI17

U Phase voltage measurement (A/D)

P147 / ANI18

V Phase voltage measurement (A/D)

P120 / ANI19

W Phase voltage measurement (A/D)

P10 / TRDIOD1

PORT output / PWM output (Wn)

P11 / TRDIOC1

PORT output / PWM output (Vn)

P12 / TRDIOB1

PORT output / PWM output (Wp)

P13 / TRDIOA1

PORT output / PWM output (Vp)

P14 / TRDIOD0

PORT output / PWM output (Un)

P15 / TRDIOB0

PORT output / PWM output (Up)

P137 / INTP0

PWM emergency stop input at the time of overcurrent detection (use an
external circuit)

(Note1)

2.2 Hardware specifications

2.2.1 User interface

Table 2-1 is a list of user interfaces of this system.

Table 2-1 User Interface

Table 2-2 is a list of port interfaces of RL78/G1G microcontroller of this system.

Table 2-2 Port Interface

Note: 1. Selection of the external circuit or “PGA+CMP1, CMP0” for the detection of overcurrent is set by

compile option.

2. For details on input port, see "1.2 Modifying the Evaluation Board".

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Peripheral Function

Purpose

10bit A/D converter

- Rotational speed command value input

- Inverter bus voltage measurement

- Voltage of each phase U, V, and W measurement

Timer Array Unit (TAU)

- 1 [ms] interval timer

- Free-running timer for rotational speed measurement

Timer RD (TRD)

Complementary PWM output

Comparator0 (CMP0)

Overcurrent detection

(Note)

Comparator1 (CMP1)

Overcurrent detection

(Note)

Programmable Gain Amp (PGA)

Overcurrent detection

(Note)

External Interrupt (INTP0)

Overcurrent detection

(Note)

2.2.2 Peripheral functions

Table 2-3 is a list of peripheral functions used in this system.

Table 2-3 List of Peripheral Functions

Note: INTP0 and “PGA+CMP0, CMP1” are used exclusive. (These are selectable by compile option.)

(1) 10-bit A/D converter

The rotational speed command value input, U phase voltage (Vu), V phase voltage (Vv), W phase voltage (Vw),

and inverter bus voltage (Vdc) are measured by using the ‘10-bit A/D converter’.

The operation mode is set as below.
The channel selection mode: the select-mode.

The conversion operation mode: the one-shot conversion mode.
And software trigger is used.

(2) Timer Array Unit (TAU)

a. 1 [ms] interval timer

The channel 0 of Timer Array Unit (TAU) is used as 1 millisecond interval timer.

b. Free-running timer for measuring speed

The channel 1 of Timer Array Unit (TAU) is used as free-running timer for speed measurement.
Note that interrupt is not used.

(3) Timer RD (TRD)

Three-phase PWM output of chopping at the first 60 degrees with dead time (complementary) or without dead time
(non-complementary) is performed using the Complementary PWM Mode. When detecting an overcurrent, the PWM
output ports are set to high impedance output using the pulse output forced cutoff function.

(4) Comparator0 (CMP0)

CMP0 is used to detect overcurrent with PGA (detect falling edge) (when selected).

(5) Comparator1 (CMP1)

CMP1 is used to detect overcurrent with PGA (detect rising edge) (when selected).

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(6) Programmable Gain Amp (PGA)

PGA is used to detect overcurrent with CMP0, CMP1 (when selected).

(7) External interrupt (INTP0)

An overcurrent is detected by an external circuit. (when selected).

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Project

Folder

File

Content

RL78G1G_MRSSK_
SPM_LESS_120_C
SP_CA_V100

RL78G1G_MRSSK_
SPM_LESS_120_C
SP_CC_V100

RL78G1G_MRSSK_
SPM_LESS_120_E
2S_CC_V100

inc

main.h

Main function, user interface control header

mtr_common.h

Common definition header

mtr_ctrl_mrssk.h

Board dependent processing part header

mtr_ctrl_rl78g1g.h

RL78/G1G dependent processing part header

mtr_spm_less_120.h

Sensorless 120-degree conducting control dependent part header

control_parameter.h

Control characteristic dependent processing part header

motor_parameter.h

Motor characteristic dependent processing part header

mtr_ctrl_rl78g1g_mrssk.h

RL78/G1G and board dependent processing part header

mtr_feedback.h

Feedback control processing part header

mtr_gmc.h

General motor control function part header

mtr_driver_access.h

Driver access function on part header

mtr_filter.h

Filters processing part header (not used)

lib

R_dsp_rl78_CA.lib

Digital signal controller library for CA tool-chain

(Note)

R_dsp_rl78_CC.lib

Digital signal controller library for CC-RL tool-chain

(Note)

src

main.c

Main function, user interface control

mtr_ctrl_mrssk.c

Board dependent processing part

mtr_ctrl_rl78g1g.c

RL78/G1G dependent processing part

mtr_interrupt.c

Interrupt handler

mtr_spm_less_120.c

Sensorless 120-degree conducting control dependent part

mtr_ctrl_rl78g1g_mrssk.c

RL78/G1G and board dependent processing part

mtr_feedback.c

Feedback control processing

mtr_gmc.c

General motor control function

mtr_driver_access.c

Driver access function

mtr_filter.c

Filters processing (not used)

2.3 Software structure

2.3.1 Software file structure

The folder and file configurations of the control programs are given below.

Table 2-4 Folder and File Configuration

Notes: R_dsp_rl78_CA.lib is included only in RL78G1G_MRSSK_SPM_LESS_120_CSP_CA_V100.

R_dsp_rl78_CC.lib is included in RL78G1G_MRSSK_SPM_LESS_120_CSP_CC_V100 and
RL78G1G_MRSSK_SPM_LESS_120_E2S_CC_V100.

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Layers

File name

Application layer

main.c

Motor control layer

mtr_spm_less_120.c
mtr_feedback.c
mtr_gmc.c
mtr_filter.c
mtr_driver_access.c
mtr_interrupt.c

(Note)

H/W control layer

mtr_ctrl_rl78g1g_mrssk.c
mtr_ctrl_rl78g1g.c
mtr_ctrl_mrssk.c
mtr_interrupt.c

(Note)

Application layer

User application

H/W control layer

Microcontroller dependent processing part,

Inverter board dependent processing part

H/W

Inverter board, microcontroller

Motor control layer

Motor-control-processing-part

2.3.2 Module configuration

Figure 2-2 and Table 2-5 show module configuration of the control programs.

Figure 2-2 Module Configuration

Table 2-5 Module Configuration

Note: “mtr_interrupt.c” is belong to the motor control layer and H/W control layer.

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Item

Content

Control method

120-degree conducting method (chopping at the first 60 degrees)
(Complementary / Non-Complementary)

Motor rotation start / stop

Determined depending on the level of SW1 (P70)
(”Low”: rotation start “High”: stop)

Position detection of rotor
magnetic pole

Position detection by induced voltage with A/D converters. (by 60 degrees)
Input voltage

DC24[V]

Main clock frequency

CPU clock: f

CLK

24[MHz]

TRD clock: f

HOCO

48[MHz]

Carrier frequency (PWM)

20 [kHz]

Dead time

2 [μs]

Control cycle

Speed PI control: every 1 [ms]

Rotational speed control
range

1200 [rpm] to 2650 [rpm]
Both CW and CCW are supported

Optimization

Default

Processing stop for
protection

- Disables the motor control signal output (six outputs), under any of the
following conditions.

1. Inverter bus voltage exceeds 28 V (monitored per 1 [ms])

2. Inverter bus voltage is less than 15 V (monitored per 1 [ms])

3. Rotational speed exceeds 3500 rpm (monitored per 1 [ms])

4. At the time of sensorless drive, zero-crossing is not detected for 50 [ms].

5. Fault detection of virtual Hall sensor pattern (position information)

- The ports executing PWM output are set to high impedance state when an
overcurrent is detected by external circuit (low level edge input occurs in
INTP0 port) or by internal PGA+CMP0, CMP1.

2.4 Software specifications

Table 2-6 shows the basic software specification of this system. For details of 120-degree conducting control, refer to

the application note ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’.

Table 2-6 Basic Specifications of Software

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Item

Conversion ratio
(Command value: A/D conversion value)

Channel

Rotational speed
command value

CW

0 rpm to 3072 rpm: 0200H to 03FFH

ANI0

(Note)

CCW

-3072 rpm to 0 rpm: 0000H to 01FFH

Item

Conversion ratio
(Inverter bus voltage: A/D conversion value)

Channel

Inverter bus voltage

0 V to 111 V: 0000H to 03FFH

ANI3

Item

Conversion ratio
(U, V, and W phase voltage: A/D conversion value)

Channel

U, V, W phase voltage

0 V to 111 V: 0000H to 03FFH

ANI17, ANI18, ANI19

3. Descriptions of the control program

The target control programs of this application note are explained here.

3.1 Contents of control

3.1.1 Motor start/stop

Starting and stopping of the motor are controlled by input from SW1 & VR1.

A general-purpose port is assigned to SW1. The port is read within the main loop. When the port is at a “Low” level,
it is determined that the start switch is being pressed. Conversely, when the level is switched to “High”, the program
determines that the motor should be stopped.

Also, an analog input port is assigned to VR1. The input is A/D converted within the main loop to generate a
rotational speed command value. When the command value is less than 1200 [rpm], the program determines that the
motor should be stopped.

3.1.2 A/D Converter

(1) Motor rotational speed command value

The motor rotational speed command value can be set by A/D conversion of the VR1 output value (analog value).

The A/D converted VR1 value is used as rotational speed command value, as shown below.

The maximum of the command value is set as the value from which maximum rotational speed is generated by the

resolution of the A/D converter.

Table 3-1 Conversion Ratio of the Rotational Speed Command Value

Note: The input channel is ANI0 because the CPU card which is modified as a VR1 signal is input to port 20.

(2) Inverter bus voltage

Inverter bus voltage is measured as given in Table 3-2. It is used for modulation factor calculation and over/under

voltage detection. (When an abnormality is detected, PWM is stopped).

Table 3-2 Inverter Bus Voltage Conversion Ratio

(3) U phase, V phase, and W phase voltage

The U, V, and W phase voltages are measured as shown in Table 3-3 and used for determining zero-crossing.

Table 3-3 Conversion Ratio of U, V, and W Phase Voltage

For more details of A/D conversion characteristics, refer to RL78/G1G User’s Manual: Hardware.

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Pattern created from

U phase induced voltage

2p

Timer counter

Check Check Check Check Check Check Check

Counter value difference

Motor rotational speed [rad/s] = (2π × frequency of timer) / (difference of timer counts)

Pattern created from

V phase induced voltage

Pattern created from

W phase induced voltage

2p

2p

 󰇛







󰇜󰇛 󰇜





: Voltage command value : Speed command value : Rotational speed





: Speed PI proportional gain : Speed PI integral gain : Laplace operator

3.1.3 Speed control

In this system, the motor rotational speed is calculated from a difference of the current timer value and the timer value
2π [rad] before. The timer values are obtained when patterns are switched after zero-crossing detection, while having
the timer of Timer Array Unit (TAU) channel 1 performed free running.

Figure 3-1 Method of Calculation for Rotational Speed

The control program uses PI control for speed control. A voltage command value is calculated by the following
formula of speed PI control.

For more details of PI control, please refer to specialized books.

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Average

voltage

t

V

T

ON

T

OFF

T

ON

+ T

OFF

T

ON

Duty = × 100 [%]

E

V

m 

U+

V+

W+

U­V-

W-

m: Modulation factor V: Command value voltage E: Inverter bus voltage

3.1.4 Voltage control by PWM

PWM control is used for controlling output voltage. The PWM control is a control method that continuously adjusts

the average voltage by varying the duty of pulse, as shown in Figure 3-2.

Figure 3-2 PWM Control

Modulation factor m is defined as follows.

This modulation factor is reflected in the setting value of the register that determines the PWM duty.

In the target control program, first-60-degree chopping is used to control the output voltage and speed. Figure 3-3 shows
an example of motor control signal output waveforms at Non-complimentary first-60-degree chopping. Figure 3-4 shows an
example of motor control signal output waveforms at Complimentary first-60-degree chopping.

Figure 3-3 Non-complimentary first-60-degree Chopping

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

U+

V+

W+

U-

V-

W-

Figure 3-4 Complimentary first-60-degree Chopping

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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

SYSTEM MODE

INACTIVE

ERROR

POWER ON/

RESET

[RESET EVENT]

[ACTIVE EVENT]

[INACTIVE EVENT]

[ERROR EVENT]

RUN MODE

INIT

BOOT

Configuration

Control

Cu r re nt

Sp e e d

Po s iti o n

To r q ue

Vol t age

Method

FO C

18 0

WI D E

12 0

Sensor

Le s s

Hall

En c o de r

Re s o lve r

Configuration

Control

Cu r re nt

Sp e e d

Po s iti o n

To r q ue

Vol t age

Method

Sensor

Le s s

Hall

En c o de r

Re s olve r

DRIVE

ACTIVE

[MTR_DRAW_IN_FINISH ==

g_u1_state_draw_in]

[MTR_VOFF_SET_STATUS_FINISH ==

g_u1_state_v_offset]

[ERROR EVENT]

[RESET EVENT]

FO C

18 0

WI D E

12 0

INACTIVE

ACTIVE

ERROR

RESET

SYSTEM MODE

INACTIVE ACTIVE ERROR

INACTIVE

INACTIVE INACTIVE

ACTIVE

ERROR ERROR

ERROR

ERROR

ERROR

INACTIVE

ACTIVE

ERROR

[MTR_V_PI_OUTPUT

== g_u2_state_voltage_ref]

EVENT

EVENT name

Occurrence factor

INACTIVE

by user operation

ACTIVE

by user operation

ERROR

when the system detects an error

RESET

by user operation

3.1.5 State transition

Figure 3-5 shows state transition diagrams of sensorless 120-degree conducting control software.

Figure 3-5 State Transition Diagram of Sensorless 120-degree Conducting Control Software

(1) SYSTEM MODE

“SYSTEM MODE” indicates the operating states of the system. The state transits on occurrence of each event
(EVENT). “SYSTEM MODE” has 3 states that are motor drive stop (INACTIVE), motor drive (ACTIVE), and

abnormal condition (ERROR).

(2) RUN MODE

“RUN MODE” indicates the condition of the motor control. “RUN MODE” transits sequentially as shown in Figure
3-5 when “SYSTEM MODE” is “ACTIVE”.

(3) EVENT

When “EVENT” occurs in each “SYSTEM MODE”, “SYSTEM MODE” changes as shown table in Figure 3-5, per
that “EVENT”.

Table 3-4 List of EVENT

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MTR_V_OPENLOOP

(3)

Voltage

[V]

RUN MODE

0

0

Voltage reference status

Speed reference status

MTR_SPEED_OPENLOOP_1

(1)

Speed

[rad/s]

MTR_MODE_DRIVE

MTR_OL_MODE1_CHANGE_RPM

MTR_SPEEDOPEN_LOOP_2

(2)

MTR_SPEED_OPENLOOP3

(3)

MTR_SPEED_CHANGE

(4)

MTR_V_PI_OUTPUT

(4)

MTR_OL_START_REFV

MTR_OL_MODE2_CHANGE_RPM

g_u2_ref_speed_rad

Openloop Speed PI control

MTR_OL_MODE3_MAX_REFV

MTR_BOOT_REF_V

MTR_V_UP

(1)

MTR_V_UP

(1)

MTR_V_CONST

(2)

MTR_V_CONST

(2)

MTR_V_ZERO_CONST

(0)

MTR_SPEED_ZERO_CONST

(0)

MTR_MODE_BOOTMTR_MODE_INIT

3.1.6 Start-up method

In Sensorless 120-degree conducting control, the position of the magnetic poles (the rotor) is estimated every 60
degrees per the induced voltage which is generated the change of magnetic flux due to the rotation of the permanent
magnet (rotor). However, the induced voltage is not generated when the rotor doesn’t move. Therefore, it is impossible
to estimate the position of the rotor at start-up, and enough rotational speed is necessary to estimate the position of the
rotor (because the induced voltage cannot be caught without enough speed).

Therefore, as a start-up method, there is a method to lead the synchronous speed by generating a rotating magnetic
field by forcibly switching conduction patterns regardless of position of the permanent magnet.

Figure 3-6 shows the start-up method in the control program. In “MTR_MODE_BOOT”, the rotor is drawn in and the
overcurrent at start-up is prevented.

Figure 3-6 Start-up Method (Example)

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Threshold value

Comparator internal
reference setting

Channel

PGA Gain

CMP1: 2 [A]

CMP1: 120

PGA out

× 4 is selected
CMP0: -2 [A]

CMP0: 83

3.1.7 System protection function

This system has the following types of error status and enables emergency stop functions in case of occurrence of

respective error. Refer to Table 3-5, Table 3-6 for settings.

- Overcurrent error

The overcurrent is detected with the method using the external circuit or the method using the internal PGA+CMP0,

CMP1. Using method is selectable by a compile option.

a. External hardware

High impedance output is made to the PWM output port in response to an emergency stop signal (overcurrent

detection) from the hardware.

b. Internal PGA+CMP0, CMP1

High impedance output is made to the PWM output port in response to an emergency stop signal (overcurrent

detection) from the internal PGA+CMP0, CMP1 detection.

The setting of PGA+CMP0, CMP1 are given below.

Table 3-5 Setting for overcurrent detection

- Overvoltage error

The inverter bus voltage is monitored at the overvoltage monitoring cycle. When an over voltage is detected (when
the voltage exceeds the limit), CPU performs an emergency stop. The threshold value of the overvoltage is set in
consideration of the error of resistance value of the detection circuit.

- Low voltage error

The inverter bus voltage is monitored at the under voltage monitoring cycle. When an under voltage is detected
(when the voltage lowers the limit), CPU performs an emergency stop. The threshold value of the low voltage is set in
consideration of the error of resistance value of the detection circuit.

- Rotational speed error

The rotational speed is monitored at the rotational speed monitoring cycle. When the speed exceeds the limit, CPU
performs an emergency stop.

- Timeout error of zero-cross detection

When no pattern switching is happened by zero-crossing during timeout period, CPU performs an emergency stop.

- Virtual Hall sensor pattern (position information) error

When an error is detected in virtual Hall sensor patterns (position information) generated from each of U, V, and W
phase voltage, CPU performs an emergency stop.

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Error name

Threshold

Overcurrent error

(Note)

Overcurrent limit [A]

±2.0

Overvoltage error
Overvoltage limit [V]

28

Monitoring cycle [ms]

1

Low voltage error
Under voltage limit [V]

15

Monitoring cycle [ms]

1

Rotational speed error
Speed limit [rpm]

3500

Monitoring cycle [ms]

1

Timeout error of zero-cross detection

Timeout value [ms]

50

Table 3-6 Setting Value of Each System Protection Function

Note: The threshold when detecting an overcurrent by PGA+CMP0,1.

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File name

Function name

Process overview

main.c

main
Input: None

Output: None

- Hardware initialization function call

- User interface initialization function call

- Initialization function call of the variables used in the
main process

- Waiting for stability of the bus voltage function call

- Status transition and event execution function call

- Main process

 User interface call
 Watchdog timer clear function call

board_ui
Input: None

Output: None

- Motor status change

- Determination of rotational speed command value

software_init
Input: None

Output: None

Initialization of variables used in the main process

File name

Function name

Process overview

mtr_ctrl_mrssk.c

R_MTR_ChargeCapacitor
Input: None
Output: None

Wait for stability of the bus voltage

get_vr1
Input: None
Output: (uint16) u2_ad_data / A/D conversion result

VR1 status acquisition

get_sw1
Input: None
Output: (uint8) u1_temp / SW1 level

SW1 status acquisition

get_sw2
Input: None
Output: (uint8) u1_temp / SW2 level

SW2 status acquisition

led1_on
Input: None

Output: None

Turning LED1 ON

led2_on
Input: None

Output: None

Turning LED2 ON

led1_off
Input: None

Output: None

Turning LED1 OFF

led2_off
Input: None

Output: None

Turning LED2 OFF

3.2 Function specifications of 120-degree conducting control software

Multiple control functions are used in this control program. However, functions which are not used in this system are

undescribed.

Table 3-7 List of Functions “main.c”

Table 3-8 List of Functions “mtr_ctrl_mrssk.c”

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File name

Function name

Process overview

mtr_ctrl_rl78g1g.c

R_MTR_InitHardware
Input: None
Output: None

Initialization of the clock and peripheral
functions

mtr_init_clock
Input: None
Output: None

Initialization of clock

mtr_init_tau
Input: None
Output: None

Initialization of the Timer Array Unit (TAU)

mtr_init_intp
Input: None
Output: None

Initialization of external interrupt

mtr_init_cmp_pga
Input: None
Output: None

Initialization of Comparator0,1 and PGA

clear_wdt
Input: None
Output: None

Clear the watchdog timer (WDT)

mtr_clear_oc_flag
Input: None
Output: None

Clear the high impedance state

mtr_clear_trd0_imfa
Input: None
Output: None

Clear the Compare Match Timer A (IMFA)

File name

Function name

Process overview

mtr_ctrl_rl78g1g_mrssk.c

mtr_init_trd
Input: None

Output: None

Initialization of Timer RD (TRD)

mtr_init_ad_converter
Input: None

Output: None

Initialization of the A/D converter

init_ui
Input: None
Output: None

Initialization of user interface

mtr_ctrl_stop
Input: None
Output: None

Motor stop processing

mtr_change_pattern
Input: (uint8) u1_pattern / conduction pattern

Output: None

- Change conduction pattern

- Set PWM duty

mtr_get_adc
Input: (uint8) u1_ad_ch / target A/D conversion channel

Output: (int16) s2_temp / A/D conversion value

Get A/D conversion value

Table 3-9 List of Functions “mtr_ctrl_rl78g1g.c”

Table 3-10 List of Functions “mtr_ctrl_rl78g1g_mrssk.c”

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File name

Function name

Process overview

mtr_driver_access.c

R_MTR_SetSpeed
Input: (uint16) u2_ref_speed / speed command value
Output: None

Set the speed command value

R_MTR_SetDir
Input: (uint8) u1_dir / rotation direction
Output: None

Set the rotation direction

R_MTR_GetSpeed
Input: None
Output: (uint16) u2_speed_rpm / rotational speed

Obtain the calculated rotational speed

R_MTR_GetDir
Input: None
Output: (uint8) g_u1_direction / rotation direction

Obtain the rotation direction

R_MTR_GetStatus
Input: None
Output: (uint8) g_u1_mode_system / motor status

Obtain the motor status

File name

Function name

Process overview

mtr_feedback.c

mtr_pi_ctrl
Input: (MTR_PI_CTRL*) pi_ctrl / PI control structure
Output: (int16) s2_ref / PI control output value

PI control

Table 3-11 List of Functions “mtr_driver_access.c”

Table 3-12 List of Functions “mtr_feedback.c”

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File name

Function name

Process overview

mtr_gmc.c

mtr_get_vdc
Input: None
Output: (int16) s2_temp / the bus voltage value

Obtain the bus voltage

mtr_check_over_voltage_error
Input: (int16) s2_vdc / bus voltage value

(int16) s2_limit_voltage / over voltage limit

Output: (uint16) u2_temp0 / over voltage error flag (when error happens)

Check over voltage error

mtr_check_under_voltage_error
Input: (int16) s2_vdc / bus voltage value

(int16) s2_limit_voltage / under voltage limit

Output: (uint16) u2_temp0 / under voltage error flag (when error happens)

Check low voltage error

mtr_check_over_speed_error
Input: (uint16) u2_speed_rad / rotational speed

(uint16) u2_speed_limit / speed limit

Output: (uint16) u2_temp0 / over speed error flag (when error happens)

Check over speed error

mtr_get_duty
Input: (volatile int16) s2_v_ref / reference voltage

(volatile int16) s2_vdc_ad / bus voltage A/D conversion value

Output: (int16) s2_temp / rate of PWM duty

Calculate PWM duty

mtr_generate_pattern
Input: (uint16) u2_vu_ad / U phase voltage A/D conversion value

(uint16) u2_vv_ad / V phase voltage A/D conversion value
(uint16) u2_vw_ad / W phase voltage A/D conversion value
(uint16) u2_vn_ad / 3 phase average A/D conversion value

Output: (uint8) u1_temp / pseudo Hall sensor pattern

Generate pseudo Hall
sensor pattern

mtr_check_timeout_error
Input: (uint16) u2_cnt_timeout / counter of timeout

(uint16) u2_timeout_limit / timeout limit

Output: (uint16) u2_temp0 / flag of timeout error (when error happens)

Check timeout error

Table 3-13 List of Functions “mtr_gmc.c”

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File name

Function name

Process overview

mtr_interrupt.c

mtr_oc_intp0_interrupt
Input: None

Output: None

Overcurrent detection process (Hardware detection)

- Disable INTP0 interrupt servicing

- Event processing selection function call (Generate error event)

- Changing the motor status (Set the flag of error about overcurrent)

mtr_oc_cmp0_interrupt
Input: None
Output: None

Overcurrent detection process (CMP0 interrupt)

- Disable CMP0, CMP1 interrupt servicing

- Event processing selection function call (Generate error event)

- Changing the motor status (Set the flag of error about overcurrent)

mtr_oc_cmp1_interrupt
Input: None
Output: None

Overcurrent detection process (CMP1 interrupt)

- Disable CMP0, CMP1 interrupt servicing

- Event processing selection function call (Generate error event)

- Changing the motor status (Set the flag of error about overcurrent)

mtr_carrier_interrupt
Input: None
Output: None

Calling every 50 [μs]

- Measure invertor bus voltage

- Measure voltage of each phase and cancel offset

- Calculate pseudo center voltage

- Detect zero-cross

- Calculate the rotational speed

- Set delay to change pattern

- Change pattern per pseudo Hall pattern call

- Drive process for open loop call

- Clearing compare match flag A function call

mtr_1ms_interrupt
Input: None

Output: None

Calling every 1 [ms]

- Run mode management

Setting speed reference
Setting voltage reference
Setting PWM duty

- Error check function call

- Motor stop detection function call

Table 3-14 List of Functions “mtr_interrupt.c”

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File name

Function name

Process overview

mtr_spm_less_120.c

R_MTR_InitSequence
Input: None
Output: None

Initialization of the sequence process

R_MTR_ExecEvent
Input: (uint8) u1_event / occurred event
Output: None

- Change the status

- Call an appropriate process execution

function for the occurred event

mtr_act_active
Input: (uint8) u1_state / motor status
Output: (uint8) u1_state / motor status

Enable PWM output

mtr_act_inactive
Input: (uint8) u1_state / motor status
Output: (uint8) u1_state / motor status

Disable PWM output

mtr_act_none
Input: (uint8) u1_state / motor status
Output: (uint8) u1_state / motor status

No process is performed.

mtr_act_reset
Input: (uint8) u1_state / motor status
Output: (uint8) u1_state / motor status

Global variables initialization

mtr_act_error
Input: (uint8) u1_state / motor status
Output: (uint8) u1_state / motor status

Call motor control stop function

mtr_ol_signal_set
Input: None
Output: (uint8) u1_pattern / forced conduction pattern

Set conduction pattern at open loop mode

mtr_pattern_set
Input: (uint8) u1_pattern / conduction pattern
Output: None

- Clear counter for timeout error

- Set conduction pattern

mtr_speed_calc
Input: None
Output: None

Speed calculation process with a detection
of zero-cross

mtr_start_init
Input: None
Output: None

Initialize the variables required at motor
start-up

mtr_error_check
Input: None
Output: None

Error monitoring

mtr_wait_motorstop
Input: None
Output: None

Check motor stop

mtr_drive_openloop
Input: None
Output: None

Change pattern forcedly at open loop

mtr_set_voltage_ref
Input: None
Output: None

Set reference voltage

mtr_set_speed_ref
Input: None
Output: None

Set reference speed

mtr_measure_voltage_offset
Input: None
Output: None

- Measure the offset of voltage

- Cancel the offset of voltage

Table 3-15 List of Functions “mtr_spm_less_120.c” [1/2]

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File name

Function name

Process overview

mtr_spm_less_120.c

mtr_draw_in_signal_set
Input: None
Output: None

Set the conduction pattern at draw in the rotor

mtr_set_angle_shift
Input: None
Output: None

Calculate the counts for phase shift based on the
detection of zero-cross

mtr_check_pattern
Input: None
Output: None

Check the validity of zero-cross which is detected

mtr_pattern_first60
Input: (uint8) u1_pattern / conduction pattern

Output: None

Set voltage pattern non-complementary first 60
degree PWM

mtr_pattern_first60_comp
Input: (uint8) u1_pattern / conduction pattern

Output: None

Set voltage pattern complementary first 60 degree
PWM

Table 3-16 List of Functions “mtr_spm_less_120.c” [2/2]

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Variable name

Type

Scale

Content

Remarks

g_u2_max_speed_rpm

uint16

－

Rotational speed command
maximum value

Mechanical angle [rpm]

g_u2_min_speed_rpm

uint16

－

Rotational speed command
minimum value

Mechanical angle [rpm]

g_u2_margin_min_speed_rpm

uint16

－

Rotational speed command
minimum value for motor stop

Mechanical angle [rpm]
g_u2_ref_speed_rpm

uint16

－

User setting rotational speed

Mechanical angle [rpm]

g_u1_rot_dir

uint8 － User setting rotation direction

0: CW
1: CCW

g_u1_motor_status

uint8 － User motor status management

0: Stop
1: Rotating
2: Error

g_u1_reset_req

uint8 － Reset request flag

0: Turning SW2 ON in error status
1: Turning SW2 OFF in error status

g_u1_sw1_cnt

uint8 － SW1 determination counter

Chattering removal

g_u1_sw2_cnt

uint8 － SW2 determination counter

Chattering removal

g_u1_stop_req

uint8 － VR1 stop command flag

g_s2_v_ref

int16

Q7

Voltage command value

Speed PI control output value [V]

g_s2_vdc_ad

int16

Q7

Inverter bus voltage A/D value

[V]

g_u2_pwm_duty

uint16

－

PWM duty

g_u2_ref_speed_rad

uint16

Q3

Speed reference (user selected)
value

Electrical angle [rad/s]
g_u2_speed_rad

uint16

Q3

Measured rotational speed

Electrical angle [rad/s]

g_s2_speed_lpf_k

int16

Q14

Speed LPF parameter

st_speed

MTR_PI
_CTRL

－

Structure for speed PI control
g_u2_vu_ad

uint16

－

U phase voltage A/D value

g_u2_vv_ad

uint16

－

V phase voltage A/D value

g_u2_vw_ad

uint16

－

W phase voltage A/D value

g_u2_vn_ad

uint16

－

Three-phase voltage average
A/D value

g_u2_cnt_ol_ctrl

uint16

－

Counter for open-loop process

3.3 List of variables of sensorless 120-degree conducting control software

Lists of variables used in this control program are given below. However, note that the local variables are not

mentioned.

In the control programs in this application note use fixed-point calculation. Therefore, some variables are already
established with fixed-point calculation. Bits number in fractional part of fixed-point number is expressed in the Q
format. For example, a "Q3" number has 3 fractional bits. "Qn" number is indicated on "Scale" column in below table.

Table 3-17 List of variables [1/4]

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Variable name

Type

Scale

Content

Remarks

g_u2_run_mode

uint16

－

Operation mode management

0x00: Initialize mode
0x01: Boot mode
0x02: Drive mode
0x03: Analysis mode
0x04: Tune mode

g_u2_error_status

uint16

－

Error status management

0x00: None error
0x01: Overcurrent error
0x02: Over voltage error
0x04: Over speed error
0x08: Hall signal time out error
0x10: BEMF time out error
0x20: Hall pattern error
0x40: BEMF pattern error
0x80: Under voltage error
0xFF: Undefined error

g_u1_mode_system

uint8 － State management

0x00: Inactive mode
0x01: Active mode
0x02: Error mode

g_u1_state_v_offset

uint8 － State management of voltage
offset process

0x00: None
0x01: Measure with PWM off
0x02: Measure with PWM on
0x03: Finish measurement

(Reflect offset value)

g_u1_state_draw_in

uint8 － State management of draw-in at
start-up

0x00: None
0x01: Draw-in 1st time
0x02: Draw-in 2nd time
0x03: Finish

g_u2_state_voltage_ref

uint16

－

State management of voltage
setting

0: Voltage zero
1: Increase voltage
2: Voltage constant
3: Open loop
4: PI output

g_u2_state_speed_ref

uint16

－

State management of speed
setting

0: Speed zero
1: Open loop mode1
2: Open loop mode2
3: Open loop mode3
4: Speed controlled

g_u2_sensor_conf

uint16

－

Sensor configuration

0x01: Sensorless
0x02: Hall sensor
0x04: Encoder
0x08: Resolver

g_u2_method_conf

uint16

－

Control method configuration

0x00: FOC (Fields Oriented Control)
0x01: 180 degree control

0x02: Wide angle electricity control
0x03: 120 degree control

Table 3-18 List of variables [2/4]

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Variable name

Type

Scale

Content

Remarks

g_u2_ctrl_conf

uint16

－

Control configuration

0x01: Current control
0x02: Speed control
0x04: Position control
0x08: Torque control
0x10: Voltage control

g_u1_cnt_speed_pi

uint8 － Decimation counter for speed PI control
function call

g_u1_flg_wait_stop

uint8 － Flag to wait motor rotation stop

0x00: motor stopped
0x01: waiting motor stop

g_u1_flag_charge_cap

uint8 － Flag of finish capacitor charge

g_u2_ref_speed_rad_ctrl

uint16

Q3

Speed command value

Electrical angle [rad/s]

g_s2_kp_speed

int16

Q16

Speed PI control proportional gain

g_s2_ki_speed

int16

Q22

Speed PI control integral gain

g_s2_lim_v

int16

Q7

Limit of speed PI control

[V]

g_s4_ilim_v

int32

Q26

Limit for integral part of speed PI control

[V]

g_s2_limit_speed_change

int16

Q3

Increase step of speed command

Electrical angle [rad/s]

g_s2_ol_freq

int16 － Frequency of open loop

[Hz]

g_u2_cnt_zerocross

uint16

－

Counter to start speed calculation

g_s2_ol_speed_rpm

int16 － Speed of open loop

Mechanical angle [rpm]

g_u2_cnt_ol_pattern_set

uint16

－

Counter for open loop

g_s2_ol_start_rpm

int16 － Start speed of open loop

Mechanical angle [rpm]

g_s2_ol_mode1_change_rpm

int16 － Change speed of open loop mode1

Mechanical angle [rpm]

g_s2_ol_mode2_change_rpm

int16 － Change speed of open loop mode2

Mechanical angle [rpm]

g_s2_ol_start_refv

int16

Q7

Reference voltage of start open loop

[V]

g_s2_ol_mode1_rate_rpm

int16 － Increase step of speed at open loop mode1

Mechanical angle [rpm]

g_s2_ol_mode2_rate_refv

int16

Q7

Increase step of voltage at open loop mode2

[V]

g_s2_ol_mode2_rate_rpm

int16 － Increase step of speed at open loop mode2

Mechanical angle [rpm]

g_s2_ol_mode3_rate_refv

int16

Q7

Increase step of voltage at open loop mode3

[V]

g_s2_ol_mode3_max_refv

int16

Q7

Maximum voltage of open loop3

[V]

g_s2_ol_start_freq

int16 － Start frequency of open loop

[Hz]

g_s2_ol_mode1_change_freq

int16 － Change frequency of open loop mode1

[Hz]

g_s2_ol_mode2_change_freq

int16 － Change frequency of open loop mode2

[Hz]

g_u2_cnt_draw_in

uint16

－

Counter for draw-in

g_s2_boot_ref_v

int16

Q7

Voltage reference at draw-in

[V]

g_u2_v_up_time

uint16

－

Time to increase voltage step at draw-in

g_s2_v_up_step

int16 － Voltage step at draw-in

g_u2_v_const_period

uint16

－

Period of constant voltage at draw-in

[ms]

g_u1_bemf_signal

uint8 － Pseudo Hall pattern generated

g_u1_pre_bemf_signal

uint8 － Previous Hall pattern generated

g_u1_v_pattern

uint8 － Conduction pattern

g_u1_flag_pattern_change

uint8 － Zero-cross detection flag

g_u2_cnt_timeout

uint16

－

Counter for timeout

g_u1_direction

uint8 － Rotation direction

CW: 0
CCW: 1

g_u2_motor_pp

uint16

－

Motor pole pairs

Table 3-19 List of variables [3/4]

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Variable name

Type

Scale

Content

Remarks

g_u2_bemf_timer_cnt

uint16

－

Free run timer count

g_u2_pre_bemf_timer_cnt

uint16

－

Previous free run timer count

g_u2_timer_cnt_sum

uint16

－

Sum of free runt timer count as 2π

g_u2_timer_cnt_buf[6]

uint16

－

Free run timer count buffer for 6 times

g_u1_timer_cnt_num

uint8 － Counter for g_u2_timer_cnt_buf

g_u2_bemf_delay

uint16

－

Delay counts for change pattern from the zero­cross detected

g_s2_angle_shift_adjust

int16 － Adjustment value for delay from zero-cross
detected

g_u2_cnt_carrier

uint16

－

Carrier cycle interruption counter

g_u2_pre_cnt_carrier

uint16

－

Previous carrier interruption counter value

g_u1_v_pattern_num

uint8 － Control number for forced conduction pattern at
open loop

g_u1_v_pattern_open[2][7]

uint8 － Array of forced conduction patterns at open loop

g_u2_offset_calc_time

uint16

－

Counts for measurement of voltage offset

g_u2_offset_calc_cnt

uint16

－

Counter for measurement of voltage offset

g_u2_offset_vu

uint16

－

Voltage offset value of U phase at PWM on

g_u2_offset_vv

uint16

－

Voltage offset value of V phase at PWM on

g_u2_offset_vw

uint16

－

Voltage offset value of W phase at PWM on

g_u2_offset_off_vu

uint16

－

Voltage offset value of U phase at PWM off

g_u2_offset_off_vv

uint16

－

Voltage offset value of V phase at PWM off

g_u2_offset_off_vw

uint16

－

Voltage offset value of W phase at PWM off

g_u2_sum_vu_ad

uint16

－

Sum of voltage offset value of U phase

g_u2_sum_vv_ad

uint16

－

Sum of voltage offset value of V phase

g_u2_sum_vw_ad

uint16

－

Sum of voltage offset value of W phase

g_u4_inv_offset_calc

uint32

－

Variable to calculate voltage offset

Inverse of
g_u2_offset_calc_time

Table 3-20 List of variables [4/4]

R01AN3582EJ0100 Rev.1.00 Page 32 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Structure

Member

Type

Scale

Content

Remarks

MTR_PI_CTRL

s2_err

int16

Q3

Error

s2_kp

int16

Q16

PI control proportional gain

s2_ki

int16

Q22

PI control integral gain

s4_refi

int32

Q7

Integral output value

s4_ilimit

int32

Q26

Integral output limit

3.4 List of sensorless 120-degree conducting control software structure

Lists of structure used in this control program are given below.

Table 3-21 List of structure

R01AN3582EJ0100 Rev.1.00 Page 33 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

File name

Macro name

Definition value

Remarks

motor_parameter.h

MP_POLE_PAIRS

2

Number of pole pairs

MP_MAGNETIC_FLUX

0.02159f

Flux [Wb] (not used)

MP_RESISTANCE

6.447f

Resistance [Ω] (not used)

MP_D_INDUCTANCE

0.0045f

d-axis Inductance [H] (not used)

MP_Q_INDUCTANCE

0.0045f

q-axis Inductance [H] (not used)

File name

Macro name

Definition value

Remarks

control_parameter.h

CP_OFFSET_CALC_TIME

10000

Counts for measurement of voltage offset

CP_BOOT_REF_V

5.0f * 0x80

Voltage reference at draw-in [V]

CP_V_UP_TIME

250

Time to increase voltage step at draw-in
[ms]

CP_V_CONST_TIME

125

Period of constant voltage at draw-in [ms]

CP_MAX_SPEED_RPM

2650

Maximum of rotational speed command
Mechanical angle [rpm]

CP_MIN_SPEED_RPM

1200

Minimum of rotational speed command
Mechanical angle [rpm]

CP_LIMIT_SPEED_CHANGE

0.30f * 0x08

Step to increase speed reference
Electrical angle [rad/s]

CP_OL_START_RPM

185

Speed of open loop at start-up
Mechanical angle [rpm]

CP_OL_MODE1_CHANGE_RPM

400

Speed to change open loop mode1
Mechanical angle [rpm]

CP_OL_MODE2_CHANGE_RPM

600

Speed to change open loop mode2
Mechanical angle [rpm]

CP_OL_START_REFV

5.0f * 0x80

Voltage reference of open loop at start-up
[V]

CP_OL_MODE1_RATE_RPM

8

Increase step of speed at open loop
mode1 [rpm/control period]

CP_OL_MODE2_RATE_REFV

0.01f * 0x80

Increase step of voltage at open loop
mode2 [V]

CP_OL_MODE2_RATE_RPM

6

Increase step of speed at open loop
mode2 [rpm/control period]

CP_OL_MODE3_RATE_REFV

0.01f * 0x80

Increase step of voltage at open loop
mode3 [V]

CP_OL_MODE3_MAX_REFV

5.00f * 0x80

Maximum voltage of open loop [V]

CP_SPEED_PI_KP

0.0200f * 0xFFFF

Proportional gain

CP_SPEED_PI_KI

0.0006f * 0x400000

Integral gain

CP_SPEED_LPF_K

1.0f * 0x40

Speed LPF parameter

MTR_FIRST60

1

Non-Complementary First 60 degree PWM
(default)

MTR_FIRST60_COMP

0

Complementary First 60 degree PWM

3.5 Macro definitions of sensorless 120-degree conducting control software

Lists of macro definitions used in this control program are given below.

Table 3-22 List of Macro definitions “motor_parameter.h”

Table 3-23 List of Macro definitions “control_parameter.h”

R01AN3582EJ0100 Rev.1.00 Page 34 of 46
Jan 13, 2017

File name

Macro name

Definition value

Remarks

main.h

M_CW

0

Rotation direction
M_CCW

1

VOFFSET_MEASURE_CNT

CP_OFFSET_CALC_TIME

Counts for measurement of voltage offset [ms]

BOOT_REF_V

CP_BOOT_REF_V

Voltage reference at draw-in [V]

V_UP_PERIOD

CP_V_UP_TIME

Time to increase voltage step at draw-in [ms]

V_CONST_PERIOD

CP_V_CONST_TIME

Period of constant voltage at draw-in [ms]

MAX_SPEED

CP_MAX_SPEED_RPM

Maximum of rotational speed command
Mechanical angle [rpm]

MIN_SPEED

CP_MIN_SPEED_RPM

Minimum of rotational speed command
Mechanical angle [rpm]

MARGIN_SPEED

50.0f

Rotational speed command minimum value
creation constants for stop
Mechanical angle [rpm]

MARGIN_MIN_SPEED

MIN_SPEED - MARGIN_SPEED

Minimum of rotational speed to control motor stop
Mechanical angle [rpm]

OL_START_RPM

CP_OL_START_RPM

Speed of open loop at start-up
Mechanical angle [rpm]

OL_MODE1_CHANGE_RPM

CP_OL_MODE1_CHANGE_RPM

Speed to change open loop mode1
Mechanical angle [rpm]

OL_MODE2_CHANGE_RPM

CP_OL_MODE2_CHANGE_RPM

Speed to change open loop mode2
Mechanical angle [rpm]

OL_START_REFV

(int16) CP_OL_START_REFV

Voltage reference of open loop at start-up [V]

OL_MODE1_RATE_RPM

CP_OL_MODE1_RATE_RPM

Increase step of speed at open loop mode1
[rpm/control period]

OL_MODE2_RATE_REFV

(int16)
CP_OL_MODE2_RATE_REFV

Increase step of voltage at open loop mode2 [V]

OL_MODE2_RATE_RPM

CP_OL_MODE2_RATE_RPM

Increase step of speed at open loop mode2
[rpm/control period]

OL_MODE3_RATE_REFV

(int16)
CP_OL_MODE3_RATE_REFV

Increase step of voltage at open loop mode3 [V]

OL_MODE3_MAX_REFV

(int16)
CP_OL_MODE3_MAX_REFV

Maximum voltage of open loop [V]

LIMIT_SPEED_CHANGE

(int16)
CP_LIMIT_SPEED_CHANGE

Step to increase speed reference
Electrical angle [rad/s]

SPEED_PI_KP

(int16) CP_SPEED_PI_KP

Speed proportional gain

SPEED_PI_KI

(int16) CP_SPEED_PI_KI

Speed Integral gain

SPEED_LPF_K

(int16) CP_SPEED_LPF_K

Speed LPF parameter

SW_ON

0

Active in case of “Low”
SW_OFF

1

CHATTERING_CNT

10

Counts to remove chattering

VR1_SCALING

(MAX_SPEED + 422) / 0x200

Speed command value creation constant

ADJUST_OFFSET

0x1FF

Speed command value offset adjustment constant

POLE_PAIR

MP_POLE_PAIRS

Pole pairs

REQ_CLR

0

Clear VR1 stop command flag

REQ_SET

1

Set VR1 stop command flag

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Table 3-24 List of Macro definitions “main.h”

R01AN3582EJ0100 Rev.1.00 Page 35 of 46
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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

File name

Macro name

Definition value

Remarks

mtr_ctrl_rl78g1g.h

MTR_OC_USE_INTP

1

Select the external circuit to detect overcurrent
(default)

MTR_OC_USE_PGACMP

0

Select PGA+CMP0, CMP1 to detect overcurrent

MTR_OC_DETECT_CMP0

83

Comparator internal reference voltage to detect
overcurrent (CMP0)

MTR_OC_DETECT_CMP1

120

Comparator internal reference voltage to detect
overcurrent (CMP1)

File name

Macro name

Definition value

Remarks

mtr_ctrl_rl78g1g_
mrssk.h

MTR_PWM_TIMER_FREQ

48.0f

PWM timer count frequency [MHz]

MTR_CARRIER_FREQ

20.0f

Carrier frequency [kHz]

MTR_DEADTIME

2000

Dead time [ns]

MTR_DEADTIME_SET

(int16)(MTR_DEADTIME *
MTR_PWM_TIMER_FREQ / 1000)

Dead time setting value

MTR_CARRIER_SET

(MTR_PWM_TIMER_FREQ * 1000
/ MTR_CARRIER_FREQ / 2) +
MTR_DEADTIME_SET - 2

Carrier setting value

MTR_HALF_CARRIER_SET

MTR_CARRIER_SET / 2

Half of “MTR_CARRIER_SET”

MTR_NDT_CARRIER_SET

MTR_CARRIER_SET ­MTR_DEADTIME_SET

MTR_PORT_UP

CA

P1.5

CC

-RL

P1_bit.no5

U phase (positive phase) output port

MTR_PORT_UN

P1.4

P1_bit.no4

U phase (negative phase) output port

MTR_PORT_VP

P1.3

P1_bit.no3

V phase (positive phase) output port

MTR_PORT_VN

P1.1

P1_bit.no1

V phase (negative phase) output port

MTR_PORT_WP

P1.2

P1_bit.no2

W phase (positive phase) output port

MTR_PORT_WN

P1.0

P1_bit.no0

W phase (negative phase) output port

MTR_PORT_SW1

P0.5

P0_bit.no5

SW1 input port

MTR_PORT_SW2

P0.6

P0_bit.no6

SW2 input port

MTR_PORT_LED1

P14.1

P14_bit.no1

LED1 output port

MTR_PORT_LED2

P14.0

P14_bit.no0

LED2 output port

MTR_LED_ON

0

LED active in case of “Low”
MTR_LED_OFF

1

MTR_INPUT_V

(int16) 24 * 0x80

input DC voltage [V] (scale: Q7)

MTR_MCU_ON_V

(int16) MTR_INPUT_V * 0.8

MCU power on voltage (scale: Q7)

MTR_VDC_SCALING

3555

Calculate parameter for scaling invertor
bus voltage from A/D converted value
(scale: Q7)

MTR_RECIVDC_SCALING

64

Reciprocal value of
MTR_VDC_SCALING (scale: Q7)

MTR_OVERVOLTAGE_LIMIT

(int16) 28 * 0x80

High voltage limit [V]

MTR_UNDERVOLTAGE_LIMIT

(int16) 15 * 0x80

Low voltage limit [V]

MTR_TAU1_CNT

TCR01

Counter register of Free-run timer to
measure rotational speed

Table 3-25 List of Macro definitions “mtr_ctrl_rl78g1g.h”

Table 3-26 List of Macro definitions “mtr_ctrl_rl78g1g_mrssk.h” [1/2]

R01AN3582EJ0100 Rev.1.00 Page 36 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

File name

Macro name

Definition value

Remarks

mtr_ctrl_rl78g1g
_mrssk.h

MTR_ADCCH_VR1

0

A/D Converter channel of VR1

MTR_ADCCH_VDC

3

A/D Converter channel of inverter bus voltage

MTR_ADCCH_VU

17

A/D Converter channel of U phase voltage

MTR_ADCCH_VV

18

A/D Converter channel of V phase voltage

MTR_ADCCH_VW

19

A/D Converter channel of W phase voltage

MTR_OC_HW_FLG

TRDSHUTS

Forced cutoff flag

MTR_OC_INTP_MASK

PMK0

INTP0 interrupt mask flag

MTR_OC_CMP0_MASK

CMPMK0

CMPMK0 interrupt mask flag

MTR_OC_CMP1_MASK

CMPMK1

CMPMK1 interrupt mask flag

MTR_DISABLE_OC_INTR

1

Disable interrupt service

Table 3-27 List of Macro definitions “mtr_ctrl_rl78g1g_mrssk.h” [2/2]

R01AN3582EJ0100 Rev.1.00 Page 37 of 46
Jan 13, 2017

File name

Macro name

Definition value

Remarks

mtr_spm_less_

120.h

MTR_POLE_PAIRS

MP_POLE_PAIRS

Motor Pole pairs

MTR_TWOPI

2 * 3.14159265f

2π

MTR_RPM_RAD

13726

Calculate parameter for
[rpm]→[rad/s] (scale: Q3)

MTR_RAD_RPM

4889

Calculate parameter for
[rad/s]→[rpm] (scale: Q12)

MTR_SPEED_LIMIT_RPM

3500

Speed limit Mechanical angle [rpm]

MTR_SPEED_LIMIT

MTR_SPEED_LIMIT_RPM
* MTR_TWOPI / 60

Speed limit Electrical angle [rad/s]

MTR_SPEED_PI_DECIMATION

0

Number of interrupt decimation times
for speed PI control

MTR_SPEED_PI_KP

(int16) CP_SPEED_PI_KP

Speed PI proportional gain

MTR_SPEED_PI_KI

(int16) CP_SPEED_PI_KI

Speed PI Integral gain

MTR_SPEED_PI_LIMIT_V

24 * 0x80

Voltage PI control output limit [V]
(scale: Q7)

MTR_SPEED_PI_I_LIMIT_V

24 * 0x80 * 0x80000

Voltage PI control output limit [V]
Integral part (for calculation)
(scale: Q12)

MTR_SPEED_CALC_BASE

576

Calculate parameter to translate
the timer counter to rotational speed
[rad/s] (scale: Q3)

MTR_CNT_START_CALC

30

Wait speed measurement still zero­cross is detected become this counts

MTR_SPEED_LPF_K

(int16) CP_SPEED_LPF_K

Speed LPF parameter

MTR_LIMIT_SPEED_CHANGE

CP_LIMIT_SPEED_CHANGE

Step to increase speed reference
Electrical angle [rad/s]

MTR_MAX_DRIVE_V

(int16) 22 * 0x80

Maximum command voltage [V]
(scale: Q7)

MTR_MIN_DRIVE_V

(int16) 0.10 * 0x80

Minimum command voltage [V]
(scale: Q7)

MTR_MAX_BOOT_V

8.0 * 0x80

Maximum command voltage at draw-in
[V] (scale: Q7)

MTR_TIMEOUT_CNT

50

Timeout limit [ms]

MTR_STOP_BEMF

122

Value to judge motor stopped

MTR_SHIFT_ADJUST

2

Value of angle shift adjusting

MTR_OL_CTRL_PERIOD

15

Control period of open loop [ms]

MTR_OL_START_RPM

CP_OL_START_RPM

Speed of open loop at start-up
Mechanical angle [rpm]

MTR_OL_MODE1_CHANGE_RPM

CP_OL_MODE1_CHANGE_RPM

Speed to change open loop mode1
Mechanical angle [rpm]

MTR_OL_MODE2_CHANGE_RPM

CP_OL_MODE2_CHANGE_RPM

Speed to change open loop mode2
Mechanical angle [rpm]

MTR_OL_START_REFV

(int16) CP_OL_START_REFV

Voltage reference of open loop at start­up [V]

MTR_OL_MODE1_RATE_RPM

CP_OL_MODE1_RATE_RPM

Increase step of speed at open loop
mode1 [rpm/control period]

MTR_OL_MODE2_RATE_REFV

(int16)
CP_OL_MODE2_RATE_REFV

Increase step of voltage at open loop
mode2 [V]

MTR_OL_MODE2_RATE_RPM

CP_OL_MODE2_RATE_RPM

Increase step of speed at open loop
mode2 [rpm/control period]

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Table 3-28 List of Macro definitions “mtr_spm_less_120.h” [1/4]

R01AN3582EJ0100 Rev.1.00 Page 38 of 46
Jan 13, 2017

File name

Macro name

Definition value

Remarks

mtr_spm_less_

120.h

MTR_OL_MODE3_RATE_REFV

(int16) CP_OL_MODE3_RATE_REFV

Increase step of voltage at open
loop mode3 [V]

MTR_OL_MODE3_MAX_REFV

(int16) CP_OL_MODE3_MAX_REFV

Maximum voltage of open loop
[V]

MTR_OL_FREQ_CALC

MTR_CARRIER_FREQ * 60000/6

Calculate parameter to translate
[rpm] to [Hz]

MTR_OL_START_FREQ

(int16)
MTR_OL_FREQ_CALC/MTR_POLE_PAI
RS / MTR_OL_START_RPM

Frequency for start-up [Hz]

MTR_OL_MODE1_CHANGE_FREQ

(int16)
MTR_OL_FREQ_CALC/MTR_POLE_PAI
RS / MTR_OL_MODE1_CHANGE_RPM

Frequency to change open loop
mode1 [Hz]

MTR_OL_MODE2_CHANGE_FREQ

(int16)
MTR_OL_FREQ_CALC/MTR_POLE_PAI
RS / MTR_OL_MODE2_CHANGE_RPM

Frequency to change open loop
mode2 [Hz]
MTR_PATTERN_CW_V_U

2

CW pseudo Hall sensor pattern

MTR_PATTERN_CW_W_U

3

MTR_PATTERN_CW_W_V

1

MTR_PATTERN_CW_U_V

5

MTR_PATTERN_CW_U_W

4

MTR_PATTERN_CW_V_W

6

MTR_PATTERN_CCW_V_U

3

CCW pseudo Hall sensor
pattern

MTR_PATTERN_CCW_V_W

2

MTR_PATTERN_CCW_U_W

6

MTR_PATTERN_CCW_U_V

4

MTR_PATTERN_CCW_W_V

5

MTR_PATTERN_CCW_W_U

1

MTR_PATTERN_ERROR

0

Conduction pattern

MTR_UP_PWM_VN_ON

1

MTR_UP_PWM_WN_ON

2

MTR_VP_PWM_UN_ON

3

MTR_VP_PWM_WN_ON

4

MTR_WP_PWM_UN_ON

5

MTR_WP_PWM_VN_ON

6

MTR_UP_ON_VN_PWM

7

MTR_UP_ON_WN_PWM

8

MTR_VP_ON_UN_PWM

9

MTR_VP_ON_WN_PWM

10

MTR_WP_ON_UN_PWM

11

MTR_WP_ON_VN_PWM

12

MTR_U_PWM_VN_ON

13

MTR_U_PWM_WN_ON

14

MTR_V_PWM_UN_ON

15

MTR_V_PWM_WN_ON

16

MTR_W_PWM_UN_ON

17

MTR_W_PWM_VN_ON

18

MTR_UP_ON_V_PWM

19

MTR_UP_ON_W_PWM

20

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Table 3-29 List of Macro definitions “mtr_spm_less_120.h” [2/4]

R01AN3582EJ0100 Rev.1.00 Page 39 of 46
Jan 13, 2017

File name

Macro name

Definition value

Remarks

mtr_spm_less
_120.h

MTR_VP_ON_U_PWM

21

Conduction pattern

MTR_VP_ON_W_PWM

22

MTR_WP_ON_U_PWM

23

MTR_WP_ON_V_PWM

24

MTR_OFFSET_CALC_TIME

CP_OFFSET_CALC_TIME

Time to calculate voltage offset [ms]

MTR_BOOT_REF_V

CP_BOOT_REF_V

Voltage reference at draw-in [V]

MTR_V_UP_PERIOD

CP_V_UP_TIME

Time to increase voltage step at draw-in [ms]

MTR_V_UP_STEP

(int16) MTR_BOOT_REF_V
/ MTR_V_UP_PERIOD

Increase step of voltage at draw-in
MTR_V_CONST_TIME

CP_V_CONST_TIME

Period of constant voltage at draw-in [ms]

MTR_CW

0

Rotation direction
MTR_CCW

1

MTR_FLG_CLR

0

Constant for flag management
MTR_FLG_SET

1

MTR_MODE_INACTIVE

0x00

Inactive mode

MTR_MODE_ACTIVE

0x01

Active mode

MTR_MODE_ERROR

0x02

Error mode

MTR_SIZE_STATE

3

State size

MTR_EVENT_INACTIVE

0x00

Inactive event

MTR_EVENT_ACTIVE

0x01

Active event

MTR_EVENT_ERROR

0x02

Error event

MTR_EVENT_RESET

0x03

Reset event

MTR_SIZE_EVENT

4

Event size

MTR_MODE_INIT

0x00

Initialize mode

MTR_MODE_BOOT

0x01

Boot mode

MTR_MODE_DRIVE

0x02

Drive mode

MTR_MODE_ANALYSIS

0x03

Analysis mode

MTR_MODE_TUNE

0x04

Tune mode

MTR_SENSOR_LESS

0x01

Sensorless

MTR_SENSOR_HALL

0x02

Hall sensor

MTR_SENSOR_ENCD

0x04

Encoder

MTR_SENSOR_RESO

0x08

Resolver

MTR_METHOD_FOC

0x00

Fields oriented control

MTR_METHOD_180

0x01

180 degree control

MTR_METHOD_WIDE

0x02

Wide angle electricity control

MTR_METHOD_120

0x03

120 degree control

MTR_CONTROL_CURRENT

0x01

Current control

MTR_CONTROL_SPEED

0x02

Speed control

MTR_CONTROL_POSITION

0x04

Position control

MTR_CONTROL_TORQUE

0x08

Torque control

MTR_CONTROL_VOLTAGE

0x10

Voltage control

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Table 3-30 List of Macro definitions “mtr_spm_less_120.h” [3/4]

R01AN3582EJ0100 Rev.1.00 Page 40 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

File name

Macro name

Definition value

Remarks

mtr_spm_less
_120.h

MTR_ERROR_NONE

0x00

No error

MTR_ERROR_OVER_CURRENT

0x01

Overcurrent error

MTR_ERROR_OVER_VOLTAGE

0x02

Over voltage error

MTR_ERROR_OVER_SPEED

0x04

Over speed error

MTR_ERROR_HALL_TIMEOUT

0x08

Hall timeout error

MTR_ERROR_BEMF_TIMEOUT

0x10

BEMF timeout error

MTR_ERROR_HALL_PATTERN

0x20

Hall pattern error

MTR_ERROR_BEMF_PATTERN

0x40

BEMF pattern error

MTR_ERROR_UNDER_VOLTAGE

0x80

Under voltage error

MTR_ERROR_UNKNOWN

0xff

Unknown error

MTR_DRAW_IN_NONE

0

initial state (not work)

MTR_DRAW_IN_1ST

1

draw-in the 1st initial position

MTR_DRAW_IN_2ND

2

draw-in the 2nd initial position

MTR_DRAW_IN_FINISH

3

draw-in finished

MTR_V_ZERO_CONST

0

zero voltage constant

MTR_V_UP

1

increase of voltage

MTR_V_CONST

2

voltage constant

MTR_V_OPENLOOP

3

Open-loop voltage setting mode

MTR_V_PI_OUTPUT

4

Speed PI output voltage setting mode

MTR_SPEED_ZERO_CONST

0

Speed zero constant

MTR_SPEED_OPENLOOP_1

1

Open loop MODE1

MTR_SPEED_OPENLOOP_2

2

Open loop MODE2

MTR_SPEED_OPENLOOP_3

3

Open loop MODE3

MTR_SPEED_CHANGE

4

Speed changing

MTR_VOFFSET_STATUS_NONE

0

The measurement of voltage offset
doesn’t work

MTR_VOFFSET_STATUS_MEASURE_OFF

1

Measure voltage offset with PWM off

MTR_VOFFSET_STATUS_MEASURE_ON

2

Measure voltage offset with PWM on

MTR_VOFFSET_STATUS_FINISH

3

Finish the measurement of voltage offset

Table 3-31 List of Macro definitions “mtr_spm_less_120.h” [4/4]

R01AN3582EJ0100 Rev.1.00 Page 41 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Main process

Initialization of

peripheral functions

Initialization of user interface

Initialization of variables used

in the main process

Initialization of sequence process

Reset process

Wait the stability of bus voltage

Change motor operation according

to switch status

LED control

Determine rotational speed according

to VR1 value

Set rotational speed

command value

Clear watchdog timer

3.6 Control flows (flow charts)

3.6.1 Main process

Figure 3-7 Main Process Flowchart

R01AN3582EJ0100 Rev.1.00 Page 42 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Carrie r cycle interrupt

Get inver ter bus voltage value

Measur e the voltage

of thr ee phase

Cancel voltage offset

SYSTEM MODE

speed r efer ence

PI co ntr ol?

Comm utation with

pseudo Hall pattern

Detect zero-cross?

End

[INACTIVE]

[ACTIVE]

[before MODE2]

[aftor MODE2]

[valid]

[invalid]

[detection]

Transition timi ng of

PI control?

Set values of PI co ntrol

and go t o PI con tro l state

[YES]

[non-detection]

[NO]

voltage r efer ence

Drive at open loop

[OPEN LOOP]

[PI OUTPUT]

Detection

of zero-

cross proce ss

Set delay to change pattern

Calculate the rotational speed

3.6.2 Carrier cycle interrupt handling

Figure 3-8 50 [μs] Cycle Interrupt Handling (Sensorless 120-degree control)

R01AN3582EJ0100 Rev.1.00 Page 43 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

[DRIVE MODE]

[BOOT MODE]

Calculatespeed reference

Calculate voltage reference

Set PWM duty

Set conduction pattern

to draw-in the rotor

Finish draw-in?

Go to DRIVE MODE

Go to BOOT MODE

Finish offset

process?

Calculate voltage reference

Calculate speed reference

Mode of voltage

reference

Set PWM duty

[INIT MODE]

1 ms interrupt

SYSTEM MODE

RUM MODE

Error check

Wait motor stop

End

[INACTIVE]

[ACTIVE]

[NO]

[OPEN LOOP]

[YES]

[PI control]

[Yet]

[Finished]

3.6.3 1 [ms] interrupt handling

Figure 3-9 1 [ms] Interrupt Handling

R01AN3582EJ0100 Rev.1.00 Page 44 of 46
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

Overcurrent detectioninterrupt

(Hardware)

End

Generate error event

Disable INTP0 interrupt servicing

Set the flag of error about overcurrent

Overcurrent detection interrupt

( internal PGA+CMP0, CMP1)

End

Generate error event

Disable CMP0, 1 interrupt servicing

Set the flag of error about overcurrent

3.6.4 Overcurrent interrupt handling

Figure 3-10 Overcurrent detection process (Hardware detection)

Figure 3-11 Overcurrent detection process (PGA+CMP0, 1 interrupt)

R01AN3582EJ0100 Rev.1.00 Page 45 of 46
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RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

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R01AN3582EJ0100 Rev.1.00 Page 46 of 46
Jan 13, 2017

Rev.

Date

Description

Page

Summary

1.00

Jan.13.2017

－

First edition issued

Revision History

1. Handling of Unused Pins
Handle unused pins in accordance with the directions given under Handling of Unused Pins in the

manual.
 The input pins of CMOS products are generally in the high-impedance state. In operation with

an unused pin in the open-circuit state, extra electromagnetic noise is induced in the vicinity of
LSI, an associated shoot-through current flows internally, and malfunctions occur due to the
false recognition of the pin state as an input signal become possible. Unused pins should be
handled as described under Handling of Unused Pins in the manual.

2. Processing at Power-on
The state of the product is undefined at the moment when power is supplied.
 The states of internal circuits in the LSI are indeterminate and the states of register settings

and pins are undefined at the moment when power is supplied.
In a finished product where the reset signal is applied to the external reset pin, the states of
pins are not guaranteed from the moment when power is supplied until the reset process is
completed.
In a similar way, the states of pins in a product that is reset by an on-chip power-on reset
function are not guaranteed from the moment when power is supplied until the power reaches
the level at which resetting has been specified.

3. Prohibition of Access to Reserved Addresses
Access to reserved addresses is prohibited.
 The reserved addresses are provided for the possible future expansion of functions. Do not

access these addresses; the correct operation of LSI is not guaranteed if they are accessed.

4. Clock Signals
After applying a reset, only release the reset line after the operating clock signal has become

stable. When switching the clock signal during program execution, wait until the target clock signal
has stabilized.

 When the clock signal is generated with an external resonator (or from an external oscillator)

during a reset, ensure that the reset line is only released after full stabilization of the clock
signal. Moreover, when switching to a clock signal produced with an external resonator (or by
an external oscillator) while program execution is in progress, wait until the target clock signal
is stable.

5. Differences between Products
Before changing from one product to another, i.e. to a product with a different part number, confirm

that the change will not lead to problems.
 The characteristics of Microprocessing unit or Microcontroller unit products in the same group

but having a different part number may differ in terms of the internal memory capacity, layout
pattern, and other factors, which can affect the ranges of electrical characteristics, such as
characteristic values, operating margins, immunity to noise, and amount of radiated noise.
When changing to a product with a different part number, implement a system-evaluation test
for the given product.

General Precautions in the Handling of Microprocessing Unit and Microcontroller Unit Products

The following usage notes are applicable to all Microprocessing unit and Microcontroller unit products from
Renesas. For detailed usage notes on the products covered by this document, refer to the relevant sections of the
document as well as any technical updates that have been issued for the products.

Notice

1. Descriptions of circuits, software and other related information in this document are provided only to illustrate the operation of semiconductor products and application examples. You are fully responsible for
the incorporation of these circuits, software, and information in the design of your equipment. Renesas Electronics assumes no responsibility for any losses incurred by you or third parties arising from the use
of these circuits, software, or information.

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assumes no liability whatsoever for any damages incurred by you resulting from errors in or omissions from the information included herein.

3. Renesas Electronics does not assume any liability for infringement of patents, copyrights, or other intellectual property rights of third parties by or arising from the use of Renesas Electronics products or
technical information described in this document. No license, express, implied or otherwise, is granted hereby under any patents, copyrights or other intellectual property rights of Renesas Electronics or
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7. Although Renesas Electronics endeavors to improve the quality and reliability of its products, semiconductor products have specific characteristics such as the occurrence of failure at a certain rate and
malfunctions under certain use conditions. Further, Renesas Electronics products are not subject to radiation resistance design. Please be sure to implement safety measures to guard them against the
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no liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations.

9. Renesas Electronics products and technology may not be used for or incorporated into any products or systems whose manufacture, use, or sale is prohibited under any applicable domestic or foreign laws or
regulations. You should not use Renesas Electronics products or technology described in this document for any purpose relating to military applications or use by the military, including but not limited to the
development of weapons of mass destruction. When exporting the Renesas Electronics products or technology described in this document, you should comply with the applicable export control laws and
regulations and follow the procedures required by such laws and regulations.

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12. Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas Electronics products, or if you have any other inquiries.

(Note 1) "Renesas Electronics" as used in this document means Renesas Electronics Corporation and also includes its majority-owned subsidiaries.
(Note 2) "Renesas Electronics product(s)" means any product developed or manufactured by or for Renesas Electronics.

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