Renesas RL78/G1M Application Note

Application Note

R01AN5516EJ0100 Rev.1.00 Page 1 of 48

2020.08.01

RL78/G1M

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

Summary

This application note explains the sample programs driving a permanent magnet synchronous motor in the 120-degree conducting method using the RL78/G1M microcontroller. This note also explains how to use the motor control development support tool, ’Renesas Motor Workbench (RMW)’.

These sample programs are only able to be used as references, and Renesas Electronics Corporation does not guarantee their operation. Please use them after carrying out a thorough evaluation in a suitable environment.

Operation checking device

Operations of the sample programs have been checked using the following device. RL78/G1M (R5F11W68ASM)

Target sample programs

This application note regards the following sample programs.

 RL78G1M_MRSSK_120_CSP_CC_V100 (IDE: CS+ for CC)  RL78G1M_MRSSK_120_E2S_CC_V100 (IDE: e2studio)

For the 24 V Motor Control Evaluation System & RL78/G1M CPU card:

RL78/G1M 120-degree conducting control sample program

The Hall effect sensor and sensorless mode can be changed by rewriting “MTRCONF_SENSOR_MODE”

in the configuration definition file “r_mtr_config.h” to 0: HALL and 1: LESS, and compiling.

Reference

 RL78/G1M User's Manual: Hardware (R01UH0904EJ0100)  Application note: ‘120-degree conducting control of permanent magnet synchronous motor: algorithm’

(R01AN2657EJ0120)

 Renesas Motor Workbench V.2.00 User’s Manual (R21UZ0004EJ0202: Renesas-Motor-Workbench-

V2-0d)

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

(R20UT3697EJ0120)

R01AN5516EJ0100

Rev.1.00

2020.08.01

RL78/G1M 120-degree conducting control of permanent magnetic synchronous motor (Implementation)

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2020.08.01

Contents

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

2. System overview ..........................................................................................................................4

3. Descriptions of the control program ...........................................................................................10

4. Usage of Motor Control Development Support Tool, ‘Renesas Motor Workbench’..................45

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1. Overview

This application note explains how to implement the 120-degree conducting control sample programs of the permanent magnet synchronous motor (PMSM) using the RL78/G1M microcontroller, and how to use the motor control development support tool, “Renesas Motor Workbench”. Note that these sample programs use the algorithm described in the application note “120degree conducting control of permanent magnet synchronous motor: algorithm”.

1.1 Development environment

Table 1-1 and Table 1-2 show the development environment of the sample programs explained in this

application note.

Table 1-1 – Development Environment of the Sample Programs (H/W)

Microcontroller

Evaluation board

Motor

RL78/G1M

(R5F11W68ASM)

24V inverter board1 & RL78/G1M CPU card2

TSUKASA2

TG-55L

Table 1-2 – Development Environment of the Sample Programs (S/W)

CS+ version

Build tool version

V8.03.00

CC-RL V1.09.00

e2studio version

Build tool version

2020-07

CC-RL V1.09.00

For purchase and technical support, please contact sales representatives and dealers of Renesas

Electronics Corporation.

Notes:

1. 24V inverter board (RTK0EM0001B00012BJ) is a product of Renesas Electronics Corporation.

2. The following RL78/G1M CPU cards can be used. T5108: Desk Top Laboratories Inc. (http://desktoplab.co.jp/)

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

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2. System overview

An overview of this system is provided below.

2.1 Hardware configuration

The hardware configuration is shown below.

RL78G1M

A/D converter input

Bus voltage

Rotational speed command

RTO output

Over current detection

Hall sensor input

GND

Power supply circuit(5V/12V)

DC24V input

U port

W port

V port

HU port

HW port

HV port

GND port

port

VR1

SW1

SW2

Switch input

LED output

LED1 LED2

過電流検出入力

Inverter circuit

P15 / ANI6

P16 / ANI7

P40

P10 / RTIO00

P11 / RTIO01 P12 / RTIO02

P13 / RTIO03

P14 / RTIO04

P15 / RTIO05

P137 / INTP0

P12 P13 P14

PMSM

P13 / ANI4

P12 / ANI3

P14 / ANI5

Hall control mode

W V U

Sensorless control mode

P125

P137

JP4

JP5

JP3

JP2

JP1

JP3

JP1

JP2

OPamp IC

P11 / ANI2

P10 / ANI1

A/D converter

(not used in this system)

LED1 and P40 are disconnected at the time of purchase.

Figure 2-1 – Hardware Configuration Diagram

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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

Item

Interface component

Function

VR1

Variable resistor

Rotational speed command value input (analog values)

SW1

Toggle switch

Command of recovery from error status

SW2

Toggle switch

(Not used in this system)

LED1

Yellow green LED

(Not used in this system)

LED2

Yellow green LED

(Not used in this system)

LED3

Yellow green LED

(Not used in this system)

RESET

Push switches

(Not used in this system)

The system's RL78/G1M microcontroller port interfaces are listed in Table 2-2.

Table 2-2 – Port Interface

R5F11W68ASM Port Names

Function

P15 / ANI6

Inverter bus voltage measurement

P16 / ANI7

Rotational speed command values input (analog values)

P125

ERROR RESET toggle switch 3

P137

Toggle switch (not used in this system) 4

P40

LED1 on/off control (not used in this system)

P12 / ANI3

U phase voltage measurement (A/D) 2

P13 / ANI4

V phase voltage measurement (A/D) 2

P14 / ANI5

W phase voltage measurement (A/D) 2

P12

Hall effect sensor input

1,2

(HU)

P13

Hall effect sensor input

1,2

(HV)

P14

Hall effect sensor input

1,2

(HW)

P00 / RTIO00

PORT output / PWM output (Up)

P01 / RTIO01

PORT output / PWM output (Vp)

P02 / RTIO02

PORT output / PWM output (Wp)

P03 / RTIO03

PORT output / PWM output (Un)

P04 / RTIO04

PORT output / PWM output (Vn)

P05 / RTIO05

PORT output / PWM output (Wn)

P125 / RESET

System reset (not used in this system)

P137 / INTP0

PWM emergency stop input at the time of overcurrent detection

: When Hall effect sensors on the motor included in the 24V inverter kit are used, equip the ferrite core included in this

kit with cables for 3 Hall effect sensors to avoid sensor noise.

: Short 2-3 of JP1-3 in Hall effect sensor control mode, or 1-2 in senseless control mode.

: In this system, because P125 is used to detect the status of SW1, short 2-3 of JP4. (However, when writing a program

to the microcontroller, by using the E1emulator, short 1-2.)

: In this system, P137 is used for overcurrent detection, so short 1-2 of JP5.

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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

Peripheral Function

Usage

10-bit A/D converter

 Rotational speed command value input (Board UI

mode)

 Inverter bus voltage measurement  Voltage of each phase U, V, and W measurement

Timer Array Unit (TAU)

 PWM output  Free-running timer for rotational speed measurement  Delay timer for changing conducting pattern

(sensorless control mode)

12-bit Interval timer (IT)

1 [ms] interval timer

Real-time output control circuit

Output waveform and output port control

External interrupt (INTP0)

Overcurrent detection

(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”.

(2) Timer Array Unit (TAU)

a. PWM output

Used to output non-complementary PWM.

b. Free-running timer for rotational speed measurement

This channel 1 of TAU is used as a free-running counter for rotational speed calculation.

c. Delay timer for changing conducting pattern

The channel 3 of TAU is used as delay timer for changing conducting pattern with π/6 phase from

the zero-crossing point.

(3) 12-bit Interval timer (IT) Used as a 1 millisecond interval timer.

(4) Real-time output control circuit (RTO)

Sets the Up to Wn PWM, high level and low output. In addition, by using the forced cutoff function, all output terminals are set to low level output when overcurrent is detected.

(5) External interrupt (INTP0)

An overcurrent is detected by an external circuit.

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2.3 Software structure

2.3.1 Software file structure

The folder and file configurations of the sample programs Table 2-4 are given below.

Table 2-4 – Folder and File Configuration of the Sample Program

Folder

file

content

config

r_mtr_config.h

Common definition for software configuration

r_mtr_motor_parameter.h

Configuration definition for motor parameters

r_mtr_control_parameter.h

Configuration definition for control parameters

r_mtr_inverter_parameter.h

Configuration definition for inverter parameters

application

main

main.h main.c

Main function

board

r_mtr_board.h r_mtr_board.c

Function definition for board UI

ics

r_mtr_ics.h r_mtr_ics.c

Function definition for Analyzer

(Note1)

ICS_define.h

CPU definition for RMW

RL78G1M_vector.c

Interrupt vector function definition for RMW

Ics2_RL78G1M.h

Function declaration for RMW

ICS2_RL78G1M.lib

Communication library for RMW

driver

auto_generation

cstart.asm hdwinit.asm iodefine.h

Auto generation files mtr_ctrl_mrssk.h,

mtr_ctrl_mrssk.c

Function definition for inverter board control

r_mtr_ctrl_rl78g1m.h, r_mtr_ctrl_rl78g1m.c

Function definition for MCU control

middle

r_mtr_fixed.h

Fixed point definition

r_mtr_common.h

Common definition

r_mtr_parameter.h

Various parameter definition

r_mtr_driver_access.h, r_mtr_driver_access.c

Function definition for User access

r_mtr_statemachine.h, r_mtr_statemachine.c

Function definition for state transition

r_mtr_120.h r_mtr_120.c

Function definition for 120-degree conducting control r_mtr_interrupt.c

Interrupt function definition

Note 1: Regarding the specification of the Analyzer function in the motor control development support tool “Renesas Motor Workbench

(RMW)”, please refer to Chapter 4.

The identifier ‘ics/ICS (ICS is the previous motor control development support tool, ‘In Circuit Scope’) is attached to the name of folders, files, functions, and variables related to ‘Renesas Motor Workbench’.

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2.3.2 Module configuration

Figure 2-2 shows module configuration of the sample programs.

Function Call

driver_access

Set Control Parameter & Command

Motor Control Process Modules

interrupt

Function Call

Other Control Modules

MCU Inverter

Set PWM duty

Voltage, Sensor signals

H/W Layer (MCU, Inverter)

Output PWM Signal A/D Convertor, PORT

Figure 2-2 – Module Configuration of the Sample Programs

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2.4 Software specifications

Table 2-5 shows the basic specifications of target software of this application note. For details on 120degree conducting control, refer to the application note “120-degree conducting control of permanent magnet synchronous motor: algorithm”.

Table 2-5 – Basic Specifications of Software

Item

Content

Control method

120-degree conducting method (chopping upper arm)

Motor rotation start/stop

Determined based on the input value of VR1 (P16) (minimum speed or more: rotation starts, less than minimum speed: stop) or input from Renesas Motor Workbench

Position detection of rotor magnetic pole

Hall effect sensor: Position detection based on signal from Hall effect sensors (every 60 degrees) Sensorless: Position detection based on induced voltage measured by A/D converters (every 60 degrees)

・When position of rotor is detected, PWM duty and conducting pattern are

set.

Input voltage

DC24[V]

Main clock frequency

CPU clock: f

CLK

20 [MHz]

Carrier frequency (PWM)

20 [kHz]

Control cycle

Speed PI control: every 1 [ms]

Rotational speed control range

Hall effect sensor control mode: 530 [rpm] to 3200 [rpm]

(Note1)

Sensorless control mode: 265 [rpm] to 3200 [rpm]

(Note1)

Both CW and CCW are supported

Optimization

Perform the default optimization (None)

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 3900 rpm (monitored per 1 [ms])

4. Hall pattern change or zero-crossing are not detected for 200 [ms].

5. Detection of unexpected output voltage pattern

6. Detection of overcurrent by external circuit (low level input in INTP0

port)

Note1 : Please refrain from driving motor over rated speed for a long period.

2.5 User option bytes

The settings of the user option byte area of the RL78/G1M flash memory are shown below.

Table 2-6 – User option byte settings

Setting

Address

value

Description

F2E3F9

000C0H

11110010B

Enable watchdog timer counter operation (Starts counting after reset is released) Overflow time: 7.36 [ms]

000C1H

11100011B

・P125/KR1/RESET pin: Port function ・Selectable power-on reset detection voltage

Rising edge: 4.28 [V] Falling edge: 4.20 [V]

000C2H

11111001B

CPU clock fCLK: 20 [MHz]

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3. Descriptions of the control program

The target sample 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 Renesas Motor Workbench or VR1. In addition, 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 rotation command value exceeds the minimum speed (Hall control mode: 530 [rpm], sensorless control mode: 265 [rpm]), the rotation starts, and when it is less than the minimum speed, the rotation stops.

3.1.2 A/D Converter

(1) Motor rotational speed command value

The motor rotational speed command value can be set by Renesas Motor Workbench input or 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. Maximum value of conversion ratio is set to achieve maximum speed by VR1 input. Only higher 8bits are used for calculation of rotational speed command value.

Table 3-1 – Conversion Ratio of the Rotation Speed Command Value

Item

Conversion ratio

(Command value: A/D conversion value)

Channel

Rotational speed command value

0 [rpm] to 3200 [rpm] : 01FFH to 03FFH

ANI7 CCW

-3200 [rpm] to 0 [rpm] : 0000H to 01FFH

(2) Inverter bus voltage

Inverter bus voltage is measured as given in Table 3-2. It is used for modulation factor calculation and over/low voltage detection. (When an abnormality is detected, PWM is stopped). Only higher 8bits are used for calculation of bus voltage.

Table 3-2 – Inverter Bus Voltage Conversion Ratio

Item

Conversion ratio

(Inverter bus voltage: A/D conversion value)

Channel

Inverter bus voltage

0 [V] to 111 [V] : 0000H to 03FFH

ANI6

(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 are used for determining zerocrossing of induced voltage.

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

Item

Conversion ratio

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

Channel

U, V, W phase voltages

0 [V] to 111 [V] : 0000H to 03FFH

ANI12, ANI13, ANI14

Note: For more details on A/D conversion, refer to RL78/G1M User’s Manual: Hardware.

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3.1.3 Speed control

In this system, rotational speed is calculated from the difference between the current timer value and the previous timer value 2π [rad]. The timer values are obtained when patterns are switched after Hall effect sensor pattern change at Hall effect sensor control mode or zero-crossing of induced voltage at sensorless control mode, while having the timer of performed free running.

U phase pattern

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)

V phase pattern

W phase pattern

Figure 3-1 – Method of Calculation for Rotational Speed

The target sample software of this application note uses PI control for speed control. A voltage command value is calculated by the following formula of speed PI control.

))((





−+=



𝑣

∗

: Voltage command value : Speed command value : Rotation speed

: Speed PI proportional gain : Speed PI integral gain 𝑠: Laplace operator

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

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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.

Average

voltage

OFF

+ T

OFF

Duty = × 100 [%]

Figure 3-2 – PWM Control

Here, modulation factor “m” is defined as follows.

𝑚 =

𝑉 𝐸

This modulation factor is set to resisters for PWM duty in TAU.

In the target software of this application note, non-complementary upper arm chopping is used to control the output voltage and speed. Figure 3-3 shows an example of output waveforms when upper arm chopping is used.

VP VN

Figure 3-3 – Non-Complementary Upper Arm Chopping

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

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3.1.5 State transitions

Figure 3-4 shows state transition diagrams of 120-degree conducting control software.

SYSTEM MODE (User System)

INACTIVE

ERROR

POWER ON/

HARDWAE RESET

[INIT ERROR]

RUN MODE (Motor Control)

INIT

STOP

DRIVE

ACTIVE

[ERROR]

[RESET]

STOP

DRIVE

ERROR

RESET

RUN MODE

INIT DRIVE STOP

STOP

INIT INIT

INIT

STOP STOP

DRIVE

STOP

DRIVE

STOP

DRIVE

STOP

EVENT

[HW INIT END]

[RESET EVENT]

[DRIVE EVENT]

[ERROR EVENT]

[STOP EVENT]

[INIT EVENT]

[ERROR STATUS]

Figure 3-4 – State Transition Diagram 120-degree Conducting Control Software

(1) SYSTEM MODE

“SYSTEM MODE” indicates the operating states of the system. “SYSTEM MODE” has 3 states, which are motor drive stop (INACTIVE), motor drive (ACTIVE), and abnormal condition (ERROR).

(2) RUN MODE

“RUN MODE” indicates the condition of the motor control. The state is changed by occurrence of “EVENT”.

(3) EVENT

“Event” indicates the change of “RUN MODE”. When “EVENT” occurs, “RUN MODE” changes as shown table in Figure 3-4. Each “Event” is caused by occurrence as shown in Table 3-4.

Table 3-4 – List of “EVENT”

“EVENT” name

Occurrence factor

STOP

By user operation

DRIVE

By user operation

ERROR

When the system detects an error

RESET

By user operation

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3.1.6 Start-up method

(1) Hall effect sensor control mode

In the Hall effect sensor control mode, after changing to “MTR_MODE_DRIVE”, the output pattern is selected from the initial Hall effect sensor signal. Then, voltage is applied and the state is changed to PI control mode. The rotational speed is calculated after the second hall effect sensor interruption.

Voltage

[V]

RUN MODE

Reference voltage status

Reference speed status

MTR_SPEED_MANUAl

(1)

Speed [rad/s]

g_st_120.st_hall_

s2_start_ref_v

g_st_120.s2_ref_speed_rad_ctrl

Speed PI control

MTR_V_PI_OUTPUT

(2)

MTR_V_ZERO_CONST

(0)

MTR_SPEED_ZERO_CONST

(0)

MTR_MODE_DRIVEMTR_MODE_STOP

Figure 3-5 – Start-up sequence (hall effect sensor control mode)

(2) Sensorless control mode

In sensorless control mode, the position of the magnetic poles is estimated every 60 degrees from induced voltage that is generated from the variation of magnetic flux due to the rotation of the permanent magnet (rotor). However, since the induced voltage is generated by the rotation, at low speed it is difficult to estimate the position of the rotor.

Therefore, the method to generate a rotating magnetic field by forcibly switching conducting pattern in the synchronous speed regardless of the position of the rotor, is often used.

Figure 3-6 shows the start-up method in the sample software. In “MTR_MODE_DRIVE”, at first, the rotor is drawn in. Second, mode is changed to open-loop drive mode. When reference control speed reaches to change speed, mode is changed to PI control mode.

Voltage

[V]

RUN MODE

Reference voltage status

Reference speed status

MTR_SPEED_MANUAl

(1)

Speed

[rad/s]

MTR_V_PI_OUTPUT

(2)

g_st_120.st_less.

s2_ol_ref_v

g_st_120.st_less.

s2_ol2less_speed_rad

g_st_120.s2_ref_speed_rad

Open-loop Speed PI control

g_st_120.st_less. s2_draw_in_ref_v

MTR_V_MANUAL

(1)

MTR_V_ZERO_CONST

(0)

MTR_SPEED_ZERO_CONST

(0)

MTR_MODE_DRIVEMTR_MODE_STOP

Draw-in

Figure 3-6 – Startup Sequence (Sensorless Control Mode)

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3.1.7 System protection function

This system has the following types of error status and emergency stop functions in case of occurrence of respective error. Refer to Table 3-5 for settings related to the system protection function.

・Overcurrent error for hardware

When an emergency stop signal (over current detection) from the external hardware is detected, voltage output is stopped.

・Overvoltage error

The inverter bus voltage is monitored at the overvoltage monitoring cycle. When the inverter bus voltage exceeds the overvoltage limit, voltage output is stopped. 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 low voltage monitoring cycle. When the inverter bus voltage lowers undervoltage limit, voltage output is stopped. 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 rotational speed exceeds the over speed limit, voltage output is stopped.

・Timeout error

The timeout counter is monitored at the timeout monitoring cycle. When pattern switching by Hall pattern change in Hall effect sensor control mode or zero-crossing of induced voltage in sensorless control mode don’t happen for a timeout period, voltage output is stopped.

・Pattern error

The output voltage pattern is monitored at the pattern monitoring cycle. When unexpected pattern is detected in voltage pattern set from Hall effect sensor in Hall effect sensor control mode or induced voltage in sensorless control mode, voltage output is stopped.

Table 3-5 – Setting Value of Each System Protection Function

Kinds of error

Threshold

Over current error

Over current limit [A]

2.0

Over voltage error Overvoltage limit [V]

Monitoring cycle [ms]

Under voltage error Low voltage limit [V]

Monitoring cycle [ms]

Rotational speed error Speed limit [rpm]

3900

Monitoring cycle [ms]

Timeout error Timeout value [ms]

200

Monitoring cycle [ms]

+ 35 hidden pages

Renesas RL78/G1M Application Note

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Overview

1.1 Development environment

2. System overview

2.1 Hardware configuration

2.2 Hardware specifications

2.2.1 User interface

2.2.2 Peripheral functions

2.3 Software structure

2.3.1 Software file structure

2.3.2 Module configuration

2.4 Software specifications

2.5 User option bytes

3. Descriptions of the control program

3.1 Contents of control

3.1.1 Motor start/stop

3.1.2 A/D Converter

3.1.3 Speed control

3.1.4 Voltage control by PWM

3.1.5 State transitions

3.1.6 Start-up method

3.1.7 System protection function