Renesas RL78/G1M Application Note

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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]

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3.2 Function specifications of 120-degree conducting control software

Lists of functions used in this control program are shown below. Functions not used in this system are undescribed.

Table 3-6 – List of Functions “main.c”

file

function

process

main.c

main argument: none return: none

Initialization and main loop ・initialization ⇒initialization of hardware ⇒initialization of system variables ⇒initialization of ICS communication ⇒initialization of control system ⇒reset process ⇒waiting for stability of bus voltage ・main loop ⇒system control depending on input from UI ⇒clear watch dog timer ⇒ICS communication process

ics_ui argument: none return: none

Process for ICS UI (GUI)

・input values of command variables to ICS variables ・change motor status depending on input event ・initialization of system variables when reset event occurs

board_ui argument: none return: none

Process of board UI (H/W)

・change motor status depending on state of switch ・determination of command rotational speed by value of

VR1

software_init argument: none return: none

Initialization of system variables

・initialization of variables for main process ・initialization of ICS variables

mtr_ics_process [inline function] argument: none return: none

ICS communication process

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Table 3-7 – List of Functions “r_mtr_ics.c”

file

function

process

r_mtr_ics.c

mtr_set_com_variables argument: none return: none

Preprocess to set control variables

・input values of command variables to ICS variables ・input values of ICS variables to ICS buffer variables

mtr_ics_variables_init argument: none return: none

Initialization of command variables

R_MTR_Limit argument: (int16_t) s2_value / target value (int16_t) s2_max / maximum limit (int16_t) s2_min / minimum limit return: (int16_t) s2_temp / limited value

Limit between maximum and minimum values

Table 3-8 – List of Functions “r_mtr_board.c”

file

function

process

r_mtr_board.c

mtr_remove_chattering argument: (uint8_t) u1_sw / switch signal (uint8_t) u1_on_off / switch status return: (uint8_t) u1_flag_chattering / flag for chattering

Remove chattering of switch signal

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

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Table 3-9 – List of Functions “r_mtr_ctrl_mrssk.c”

file

function

process

r_mtr_ctrl_mrssk.c

R_MTR_GetSw1 argument: none return: (uint8_t) MTR_PORT_SW1 / state of SW1

Get state of SW1

Table 3-10 – List of Functions in “r_mtr_ctrl_rl78g1m.h”

file

function

process

r_mtr_ctrl_rl78g1m.h

mtr_input_hall(signal) argument: none return: none

Input Hall effect sensor signal

mtr_get_tcr02(cnt) argument: none return: none

Get free run timer counts

mtr_set_rtooutc(gate) argument: none return: none

Set voltage pattern by RTO

mtr_set_tdr01(duty) argument: none return: none

Set PWM duty

mtr_clear_wdt() argument: none return: none

Clear watch dog timer (WDT)

mtr_get_adcr(v) argument: none return: none

Get A/D result

mtr_clear_rtointpclr() argument: none return: none

Clear forced cutoff

mtr_oc_intr_enable() argument: none return: none

Enable overcurrent interrupt

mtr_oc_intr_disable() argument: none return: none

Disable overcurrent interrupt

mtr_set_tdr03() argument: none return: none

[sensorless control mode] Set delay count

mtr_start_delay_cnt() argument: none return: none

[sensorless control mode] Start delay timer

mtr_stop_delay_cnt() argument: none return: none

[sensorless control mode] Stop delay timer

mtr_clear_inttm03() argument: none return: none

[sensorless control mode] Disable delay interrupt

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Table 3-11 – List of Functions in “r_mtr_ctrl_rl78g1m.c”

file

function

process

r_mtr_ctrl_rl78g1m.c

R_MTR_InitHardware argument: none return: none

Initialization of peripheral functions

mtr_init_unused_pins argument: none return: none

Initialization of unused pins

mtr_init_ui argument: none return: none

Initialization of ports for board UI

mtr_init_clock argument: none return: none

Initialization of clock

mtr_init_it argument: none return: none

Initialization of 12-bit interval timer (IT)

mtr_init_rto argument: none return: none

Initialization of real-time output control circuit (RTO)

mtr_init_adc argument: none return: none

Initialization of A/D converter

mtr_init_tau argument: none return: none

Initialization of timer array unit (TAU)

mtr_init_intp argument: none return: none

Initialization of external interrupt (INTP)

mtr_init_hall argument: none return: none

[Hall effect sensor control mode] Initialization of pins for hall effect sensor

R_MTR_get_adc argument: (uint8_t) u1_ad_ch / channel of A/D

conversion return: (int16_t) s2_ad_value / result of A/D conversion

Get the result of A/D conversion R_MTR_get_v_uvw_adc argument: (int16_t) *s2_v_uvw / UVW voltages return: none

[sensorless control mode] Get the results of A/D conversion of UVW

voltage

R_MTR_ctrl_stop argument: none return: none

Stop motor control ・Voltage output prohibited

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Table 3-12 – List of Functions “r_mtr_driver_access.c”

file

function

process

r_mtr_driver_access.c

R_MTR_InitControl argument: none return: none

Initialization of control system

・initialization of motor status ・initialization of control variables

R_MTR_IcsInput argument: (mtr_ctrl_input_t) *st_ics_input / ICS structure return: none

Input values of ICS variables to ICS buffer variables

R_MTR_SetVariables [inline function] argument: none return: none

Input values of ICS buffer variables to control variables

R_MTR_InputBuffParamReset argument: none return: none

Reset ICS buffer variables

R_MTR_ExecEvent argument: (uint8_t) u1_event / event return: none

Change motor status and execute event process

R_MTR_GetStatus argument: none return: (uint8_t) mtr_statemachine_get_status(g_st_120.st_stm) / motor status

Get motor status

R_MTR_GetErrorStatus argument: none return: (uint16_t) g_st_120.u2_error_status

/ error status

Get error status

R_MTR_Get_Dir argument: none return: (uint8_t) g_st_120.u1_dir / direction of rotation

Get direction of rotation

R_MTR_SetSpeed argument: (int16_t) s2_ref_speed_rpm / command rotational speed return: (uint8_t) u1_stop_req / flag for requiring flag

Set command speed

R_MTR_ChargeCapacitor argument: none return: (uint16_t) u2_charge_cap_error / timeout error

Waiting for stability of bus voltage R_MTR_UpdatePolling

argument: none return: none

Set control variables

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Table 3-13 – List of Functions “r_mtr_statemachine.c”

file

function

process

r_mtr_statemachine.c

mtr_statemachine_init argument: (st_mtr_statemachine_t) *p_state_machine / structure for motor status return: none

Initialization of motor status

mtr_statemacine_reset argument: (st_mtr_statemachine_t) *p_state_machine / structure for motor status return: none

Reset motor status motor status

mtr_state_machine_event argument: (st_mtr_statemachine_t) *p_state_machine / structure for motor status

(void) *p_object / structure for control variables (uint8_t) u1_event / event

return: none

Execute event process mtr_statemachine_get_status

argument: (st_mtr_statemachine_t) *p_state_machine / structure for motor status return: (uint8_t) p_state_machine->u1_status / motor status

Get motor status

mtr_act_none argument: (st_mtr_statemachine_t) *st_stm / structure for motor status

(void) *p_param / structure for control variables

return: none

No process is performed

mtr_act_init argument: (st_mtr_statemachine_t) *st_stm / structure for motor status

(void) *p_param / structure for control variables

return: none

Initialization of control variables

mtr_act_error argument: (st_mtr_statemachine_t) *st_stm / structure for motor status

(void) *p_param / structure for control variables

return: none

Stop motor control

mtr_act_drive argument: (st_mtr_statemachine_t) *st_stm / structure for motor status

(void) *p_param / structure for control variables

return: none

Reset control variables

mtr_act_stop argument: (st_mtr_statemachine_t) *st_stm / structure for motor status

(void) *p_param / structure for control variables

return: none

Stop motor control

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Table 3-14 – List of Functions in “r_mtr_120.h”

file

function

process

r_mtr_120.h

mtr_conv_q_voltage(v) argument: none return: none

Q value conversion of voltage

mtr_conv_kp_voltage(kp) argument: none return: none

Q value conversion of proportional gain

mtr_conv_kidt_voltage(kidt) argument: none return: none

Q value conversion of integral gain

mtr_conv_rpm2rad(v) argument: none return: none

Unit converson of rotational speed from [rpm] to [rad/s]

Table 3-15 – List of Functions in “r_mtr_120.c”

file

function

process

r_mtr_120.c

mtr_120_motor_default_init argument: (st_mtr_120_control_t) *st_120 / structure for control variables return: none

Initialization of control variables

mtr_120_motor_reset argument: (st_mtr_120_control_t) *st_120 / structure for control variables return: none

Reset control variables

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Table 3-16 – List of Functions “r_mtr_interrupt.c” [1/ 3]

file

function

process

r_mtr_interrupt.c

mtr_over_current_interrupt argument: none return: none

Overcurrent detection process

・disable over current interrutp ・execute error event ・set error status

mtr_carrier_interrupt argument: none return: none

Carrier interrupt

【Hall effect sensor control mode】・obtain bus voltage ・detect Hall pattern change ・prepare for rotational speed calculation ・set voltage pattern

[sensorless control mode]

・obtain UVW and bus voltages ・draw-in process ・zero-cross detection ・prepare for rotational speed calculation ・open-loop process ・calculate delay counts

・start delay timer

mtr_prepare_speed_calc [inline function] argument: none return: none

Prepare for Calculation of rotational speed

mtr_set_chopping_pattern [inline function] argument: (uint8_t) u1_pattern / conducting pattern return: none

Set chopping pattern

mtr_set_speed_ref [inline function] argument: none return: none

Set reference speed

mtr_set_voltage_ref [inline function] argument: none return: none

Set reference voltage

mtr_pi_ctrl [inline function] argument: (st_mtr_pi_control_t) *pi_ctrl / structure for PI control return: (int16_t) s2_ref_v_delta / variation of output voltage

PI control calculation (velocity form)

mtr_duty_calc [inline function] argument: (int16_t) s2_ref_v / reference voltage

(int16_t) s2_vdc_ad / bus voltage

return: (uint16_t) u4_temp / duty

Duty calculation mtr_abs [inline function]

argument: (int16_t) s2_value / input value return: (int16_t) s2_temp / conversion value

Conversion to absolute value

mtr_limit_value [inline function] argument: (int16_t) s2_value / input value

(int16_t) s2_limit_value / limit value

return: (int16_t) s2_temp / conversion value

Limit process

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Table 3-17 – List of Functions “r_mtr_interrupt.c” [2/3]

file

function

process

r_mtr_interrupt.c

mtr_error_check [inline function] argument: none return: none

Error check

mtr_1ms_interrupt_hall argument: none return: none

[Hall effect sensor control mode] IT interrupt (1 [ms))

・set reference speed and voltage states ・calculate reference speed and voltage ・starting-up process ・calculate rotational speed ・check error

mtr_speed_calc [inline function] argument: none return: none

[Hall effect sensor control mode] Calculate rotational speed

mtr_1ms_interrupt_less argument: none return: none

[sensorless control mode] IT interrupt (1 [ms])

・set reference speed and voltage states ・calculate reference speed and voltage ・draw-in process ・calculate rotational speed ・calculate counts for open-loop drive ・check error

mtr_delay_interrupt argument: none return: none

[sensorless control mode] TAU03 interrupt ・set voltage pattern

mtr_draw_in_pattern_set [inline function] argument: none return: none

[sensorless control mode] Set voltage pattern in draw-in state

mtr_detect_zerocross [inline function] argument: (st_mtr_sensorless_control_t) *st_less

/ structure for control variables

return: (uint16_t) u2_temp_signal / voltage pattern

[sensorless control mode] Estimate position of rotor from zero-crossing

of induced voltage

mtr_drive_openloop [inline function] argument: none return: none

[sensorless control mode] Open-loop drive process

mtr_set_angle_shift [inline function] argument: none return: none

[sensorless control mode] Calculation of delay count after zero-crossing

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Table 3-18 – List of Functions “r_mtr_interrupt.c” [3/3]

file

function

process

r_mtr_interrupt.c

mtr_openloop_pattern_set [inline function] argument: none return: (uint8_t) u1_pattern / voltage pattern

[sensorless control mode] Set voltage pattern at open-loop drive

mtr_start_delay_timer [inline function] argument: none return: none

[sensorless control mode] Start delay timer

mtr_stop_delay_timer [inline function] argument: none return: none

[sensorless control mode] Stop delay timer

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

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

In the sample programs, fixed-point number is used for calculation. Therefore, in advance, some control variables are set in fixed-point number. Bits number in fractional part of fixed-point number is expressed in the Q format. “Qn” means n bits left shift.

Table 3-19 – List of variables “main.c”

variable

type

content

Remarks

g_u1_system_mode

static uint8_t

Mode system management

g_u1_motor_status

static uint8_t

Motor status management

g_u1_reset_req

static uint8_t

Reset command flag for SW2

g_u1_stop_req

static uint8_t

Stop command flag for VR1

g_u2_error_status

static uint16_t

Error status management

g_u1_flag_ui_change

static uint8_t

UI changing flag

g_u2_conf_hw

uint16_t

RMW configuration variables

g_u2_conf_sw

uint16_t

g_u2_conf_tool

uint16_t

gui_u1_active_gui

uint8_t

g_u2_conf_sw_ver

uint16_t

com_s2_sw_userif

int16_t

Management variable for UI

0:ICS_UI 1:BOARD_UI

g_s2_sw_userif

int16_t

com_u1_run_event

uint8_t

Input event and change run mode

0 : MTR_EVENT_STOP 1 : MTR_EVENT_DRIVE 2 : MTR_EVENT_ERROR 3 : MTR_EVENT_RESET

g_u1_run_event

uint8_t

g_u2_init_error

uint16_t

Initialization error management

Table 3-20 – List of variables “r_mtr_board.c”

variable

type

content

Remarks

u1_sw_cnt

static uint8_t

Counter for judgement of chattering

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Table 3-21 – List of variables “r_mtr_ics.c”

variable

type

content

Remarks

com_u1_direction

uint8_t

Direction of rotation

0：CW 1：CCW

com_s2_ref_speed_rpm

int16_t

Command rotational speed [rpm]

Mechanical angle

com_s2_ramp_limit_v

int16_t

Limit of variation of voltage [V/ms]

com_s2_kp_speed

int16_t

Q18

Proportional gain for speed PI control [V s/rad]

com_s2_kidt_speed

int16_t

Q22

Integral gain for speed PI control [V s/rad]

com_s2_ramp_speed_rpm

int16_t

Acceleration [rpm/ms]

Hall effect sensor control model

com_s2_start_ref_v

int16_t

Reference voltage at starting [V]

com_s2_ol_ramp_speed_rpm

int16_t

Acceleration at open-loop drive [rpm/ms]

sensorless control mode

com_s2_less_ramp_speed_r pm

int16_t

Acceleration at sensorless control [rpm/ms]

com_s2_draw_in_ref_v

int16_t

Reference voltage at draw-in [V]

com_s2_ol_ref_v

int16_t

Reference voltage at open-loop drive [V]

com_s2_ol2less_speed_rpm

int16_t

Speed to transition to PI control[rpm]

com_s2_angle_shift_adjust

int16_t

adjust delay counts

com_s2_enable_write

int16_t

Variable to allow to input ICS structure g_s2_enable_write

int16_t

st_ics_input

mtr_ctrl_input_t

Variable to allow to input ICS structure

com_u1_direction

uint8_t

Structure for ICS input

structure

Table 3-22 – List of variables “r_mtr_parameter.h / Structure : st_mtr_ctrl_gain_t”

variable

type

content

Remarks

s2_speed_pi_kp

int16_t

Q18

Proportional gain for speed PI control

s2_speed_pi_kidt

int16_t

Q22

Integral gain for speed PI control

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Table 3-23 – List of variables “r_mtr_driver_access.h / Structure : mtr_ctrl_input_t”

variable

type

content

Remarks

u1_dir

uint8_t

Direction of rotation

s2_ref_speed_rad

int16_t

Command rotational speed [rad/s]

electric angle

s2_ramp_limit_v

int16_t

Limit of variation of voltage [V/ms]

s2_ramp_ speed_rad

int16_t

Acceleration [krad/s2]

s2_start_ref_v

int16_t

Reference voltage at starting [V]

Hall effect sensor control mode

s2_ol_ramp_speed_rad

int16_t

Acceleration at open-loop drive [krad/s2]

sensorless control mode

s2_less_ramp_speed_rad

int16_t

Acceleration at sensorless control [krad/s2]

s2_draw_in_ref_v

int16_t

Reference voltage at draw-in [V]

s2_ol_ref_v

int16_t

Reference voltage at open-loop drive [V]

s2_ol2less_speed_rad

int16_t

Speed to transition to PI control[rad/s]

s2_angle_shift_adjust

int16_t

adjust delay counts

st_gain

st_mtr_ctrl_gain_t

structure for PI control

structure

Table 3-24 – List of variable “r_mtr_driver_access.c”

variable

type

content

Remarks

g_u1_trig_enable_write

uint8_t

Flag to allow to input ICS values

st_ics_input_buff

mtr_ctrl_input_t

Buffer for ICS input

structure

Table 3-25 – List of variables “r_mtr_statemachine.h / Structure : st_mtr_statemachine_t”

variable

type

content

Remarks

u1_status

uint8_t

Motor status

u1_status_next

uint8_t

Next motor status

u1_current_event

uint8_t

execution event

Table 3-26 – List of variables “r_mtr_statemachine.c”

variable

type

content

Remarks

state_transition_table [MTR_SIZE_EVENT] [MTR_SIZE_STATE]

static uint8_t

Macro array for state transition

Array

mtr_action_table [MTR_SIZE_EVENT] [MTR_SIZE_STATE]

static mtr_action_t

Function array for state transition

Array

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Table 3-27 – List of variables in “r_mtr_120.h / structure: st_mtr_pi_control_t”

variable

type

content

Remarks

s2_kp

int16_t

Q18

Proportional gain for speed PI control [(V s)/rad]

s2_kidt

int16_t

Q22

Integral gain for speed PI control [(V s)/rad]

s4_pre_refp

int32_t

Q22

Previous proportional term [V]

Table 3-28 – List of variables in “r_mtr_120.h / structure : st_mtr_hall_control_t”

variable

type

content

Remarks

u1_hall_signal

uint8_t

Signal from Hall effect sensor

Hall effect sensor control model

u1_pre_hall_signal

uint8_t

Previous signal from Hall effect sensor

u1_first_rotation_cnt

uint8_t

Pattern counter for first rotation

s2_start_ref_v

int16_t

Reference voltage at open-loop drive [V]

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Table 3-29 – List of variables in “r_mtr_120.h / structure: st_mtr_sensorless_control_t”

variable

type

content

Remarks

u1_state_draw_in

uint8_t

Draw-in state management

sensorless control mode

u1_flag_pattern_change

uint8_t

Flag for detection of voltage pattern change

u1_flag_set_v_pattern

uint8_t

Flag for setting voltage pattern

u1_flag_ol2less

uint8_t

Flag to transition to PI control

u1_flag_zc

uint8_t

Flag for zero-crossing detection avoiding commutation

u1_flag_vdc_adc

uint8_t

Flag for measurement bus voltage

u1_bemf_signal

uint8_t

Estimated Hall pattern

u1_pre_bemf_signal

uint8_t

Previous estimated Hall pattern

u1_set_v_pattern

uint8_t

Voltage pattern

u1_ol_v_pattern_num

uint8_t

Ring buffer for voltage pattern at open-loop drive

u2_cnt_carrier

uint16_t

Counter every carrier interruption

u2_cnt_delay

uint16_t

Delay counts

u2_ol_pattern_period

uint16_t

Period for pattern change at open-loop drive

u2_cnt_draw_in

uint16_t

Counter for pattern change at draw-in

u2_v_const_period

uint16_t

Period for pattern change at draw-in

s2_vu_ad

int16_t

Voltage of U phase

s2_vv_ad

int16_t

Voltage of V phase

s2_vw_ad

int16_t

Voltage of W phase

s2_vn_ad

int16_t

Estimated neutral voltage

s2_ol2less_speed_rad

int16_t

Speed to transition to PI control [rad/s]

s2_ol_ramp_speed_rad

int16_t

Acceleration at open-loop drive [krad/s2]

s2_less_ramp_speed_rad

int16_t

Acceleration at PI control[krad/s2]

s2_draw_in_ref_v

int16_t

Reference voltage at draw-in [V]

s2_ol_ref_v

int16_t

Reference voltage at open-loop drive [V]

s2_angle_shift_adjust

int16_t

Adjust delay counts

Table 3-30 – List of variable “r_mtr_interrupt.c”

variable

type

content

Remarks

g_st_120

st_mtr_120_control_t

Structure for 120 conducting control

structure

g_u1_ol_v_pattern_table[2][7]

Uint8_t

Array for voltage pattern

Array

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3.4 Macro definitions of sensorless 120-degree conducting control software

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

Table 3-31 – List of Macro definitions “r_mtr_config.h”

Macro

Definition value

content

Remarks

RL78_G1M_MRSSK

- - Select CPU board

IP_MRSSK

- - Select inverter board

MP_TG55L

- - Select motor parameters

CP_TG55L

- - Select control parameters

ICS_UI

0 - RMW UI

Default

BOARD_UI

1 - RSSK board UI

MTRCONF_DEFAULT_UI

0/1 - Select UI

BOARD_UI / ICS_UI

HALL

0 - Hall effect sensor

LESS

1 - Sensorless

Default

MTRCONF_SENSOR_MODE

0/1 - Select sensor to detect position of rotor

HALL / LESS

Table 3-32 – List of Macro definitions “r_mtr_motor_parameter.h”

Macro

Definition value

content

Remarks

MP_POLE_PAIRS

2 - Number of pole pairs

MP_RESISTANCE

9.125f

Resistance [Ω]

MP_D_INDUCTANCE

0.003844f

D-axis inductance[H]

MP_Q_INDUCTANCE

0.004315f

Q-axis inductance[H]

MP_MAGNETIC_FLUX

0.02144f

Induced voltage constant [V s/rad]

MP_ROTOR_INERTIA

0.000002050f

Rotor inertia [kgm^2]

MP_NOMINAL_CURRENT_RMS

0.42f

Nominal current [A]

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Table 3-33 – List of Macro definitions “r_mtr_control_parameter.h”

Macro

Definition value

content

Remarks

CP_MAX_SPEED_RPM

3200

Maximum limit of command rotational speed [rpm]

Mechanical angle

CP_LIMIT_SPEED_RPM

3900

Maximum limit of estimated rotational speed [rpm]

Mechanical angle

CP_RAMP_LIMIT_V

0.25

Limit for variation of voltage [V]

CP_MIN_SPEED_RPM

530 [Hall effect sensor control mode]/ 265 [sensorless control mode]

Minimum limit of command rotational speed [rpm]

Mechanical angle

CP_SPEED_PI_KP

0.03015119f [Hall effect sensor control mode]/ 0.001041950f [sensorless control mode]

Proportional gain for speed PI control [V s/rad]

CP_SPEED_PI_KIDT

0.02192814f [Hall effect sensor control mode]/ 0.000551114f [sensorless control mode]

Integral gain for speed PI control [V s/rad]

CP_HALL2OL_REV_SPEED_RPM

530

Speed to transition to open-loop drive [rpm]

Hall effect sensor control mode

CP_RAMP_SPEED_RPM

Acceleration [rpm/ms]

CP_START_REF_V

3.5f - Initial voltage [V]

CP_OL2LESS_SPEED_RPM

530

Speed to transition to open-loop drive [rpm]

sensorless control mode

CP_OL_RAMP_SPEED_RPM

Acceleration at open-loop drive [rpm/ms]

CP_LESS_RAMP_SPEED_RPM

Acceleration at sensorless control [rpm/ms]

CP_OL_REF_V

4.3f

Reference voltage at open loop [V]

CP_DRAW_IN_REF_V

20.0f

Reference voltage at draw-in[V]

Table 3-34 – List of Macro definitions “r_mtr_inverter_parameter.h”

Macro

Definition value

content

Remarks

IP_VDC_RANGE

111.0f

Range of bus voltage [V]

IP_INPUT_V

24.0f

Input voltage [V]

IP_OVERVOLTAGE_LIMIT

28.0f

Upper limit of voltage [V]

IP_UNDERVOLTAGE_LIMIT

15.0f

Lower limit of voltage [V]

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Table 3-35 – List of Macro definitions “main.h”

Macro

Definition value

content

Remarks

MODE_INACTIVE

0x00

Inactive mode

MODE_ACTIVE

0x01

Active mode

MODE_ERROR

0x02

Error mode

SIZE_STATE

Number of states

Table 3-36 – List of Macro definitions “ICS_define.h”

Macro

Definition value

content

Remarks

RL78

CPU definition

Table 3-37 – List of Macro definitions “r_mtr_ics.h”

Macro

Definition value

content

Remarks

ICS_ADDR

0xFE00

Address of ICS

ICS_INT_LEVEL

ICS interrupt level setting

ICS_NUM

0x40

Data size of ICS communication

ICS_BRR

ICS bit rate register selection

ICS_MODE

ICS interrupt mode setting

ADJUST_ICS_PERIOD

150 - Adjust period of ICS communication process

Table 3-38 – List of Macro definitions “r_mtr_board.h”

Macro

Definition value

content

Remarks

SW_CHATTERING_CNT

Counts for judgement to remove chattering

VR1_MARGIN

400

Margin value for VR1

VR1_SCALING

mtr_conv_rpm2rad(CP_MAX_ SPEED_RPM+VR1_MARGIN) /0x0200

Scaling factor for speed calculation VR1_OFFSET

0x1FF

Offset for VR1

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Table 3-39 – List of Macro definitions in “r_mtr_ctrl_rl78g1m.h” [1/2]

Macro

Definition value

content

Remarks

MTR_CARRIER_FREQ

20.0f

Frequency of carrier interrupt [kHz]

MTR_TAU0_FREQ

20.0f

Frequency of TAU0 [MHz]

MTR_1MS_FREQ

1.0f - Frequency of 1ms interrupt [kHz]

MTR_IT_FREQ

15.0f

Frequency of 12-bit interval timer [kHz]

MTR_TAU_PWM_CNT

(uint16_t)(MTR_TAU0_FREQ / MTR_CARRIER_FREQ * 1000 - 1)

Resister counts of carrier interrupt MTR_IT_1MS_CNT

(uint16_t)(MTR_IT_FREQ / MTR_1MS_FREQ - 1)

Resister counts of 1ms interrupt

MTR_VDC_SCALING

(int16_t)(IP_VDC_RANGE /

1023.0f * (1 << MTR_Q_VOLTAGE))

Scaling factor to convert to voltage MTR_DUTY_BIT_SHIFT

5 - Bits shift for duty calculation

MTR_DUTY_SCALING

MTR_TAU_PWM_CNT >> (MTR_Q_VOLTAGE – MTR_DUTY_BIT_SHIFT)

Scaling factor for duty calculation MTR_TIME_WAIT_CHARGE_CAP

4300

Waiting time for capacitor charge

MTR_CNT_WAIT_CHARGE_CAP

20 - Number of loop times for capacitor charge

MTR_PORT_HALL_U

P1_bit.no2

U phase Hall effect sensor input port

MTR_PORT_HALL_V

P1_bit.no3

V phase Hall effect sensor input port

MTR_PORT_HALL_W

P1_bit.no4

W phase Hall effect sensor input port

MTR_PORT_UP

P0_bit.no0

U phase (positive phase) output port

MTR_PORT_UN

P0_bit.no1

U phase (negative phase) output port

MTR_PORT_VP

P0_bit.no2

V phase (positive phase) output port

MTR_PORT_VN

P0_bit.no3

V phase (negative phase) output port

MTR_PORT_WP

P0_bit.no4

W phase (positive phase) output port

MTR_PORT_WN

P0_bit.no5

W phase (negative phase) output port

MTR_PORT_SW1

P12_bit.no5

SW1 input port

MTR_PORT_SW2

P13_bit.no7

SW2 input port

MTR_PORT_LED1

P4_bit.no0

LED1 output port

MTR_TAU1_CNT

TCR01

TAU1 count resister

MTR_ADCCH_VR1

7 - A/D converter channel of VR1

MTR_ADCCH_VDC

6 - A/D converter channel of bus voltage

MTR_ADCCH_VU

3 - A/D converter channel of U phase voltage

MTR_ADCCH_VV

4 - A/D converter channel of V phase voltage

MTR_ADCCH_VW

5 - A/D converter channel of W phase voltage

MTR_ADCCH_IU

1 - A/D converter channel of U phase current

MTR_ADCCH_IV

2 - A/D converter channel of V phase current

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Table 3-40 – List of Macro definitions in “r_mtr_rl78g1m.h” [2/2]

Macro

Definition value

content

Remarks

MTR_UP_H

0x0010

Voltage pattern

MTR_UP_L

0x0000

MTR_UP_PWM

0x0001

MTR_VP_H

0x0020

MTR_VP_L

0x0000

MTR_VP_PWM

0x0002

MTR_WP_H

0x0040

MTR_WP_L

0x0000

MTR_WP_PWM

0x0004

- MTR_UN_H

0x0080

- MTR_UN_L

0x0000

MTR_UN_PWM

0x0008

MTR_VN_H

0x1000

- MTR_VN_L

0x0000

- MTR_VN_PWM

0x0100

MTR_WN_H

0x2000

MTR_WN_L

0x0000

MTR_WN_PWM

0x0200

MTR_ALL_OFF

0x0000

ERROR_NONE

0x00 - No error

ERROR_CHARGE_CAP_TIMEOUT

0x01 - Timeout error of capacitor charge

Table 3-41 – List of Macro definitions “r_mtr_common.h”

Macro

Definition value

content

Remarks

MTR_TWOPI

2*3.14159265359f

2π

MTR_TWOPI_60

MTR_TWOPI/60

2π/60

MTR_CW

0 - CW

MTR_CCW

1 - CCW

MTR_ON

0 - ON

MTR_OFF

1 - OFF

MTR_CLR

0 - Flag clear

MTR_SET

1 - Flag set

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Table 3-42 – List of Macro definitions “r_mtr_fixed.h”

Macro

Definition value

content

Remarks

MTR_Q_VOLTAGE

9 - Q-format of voltage

MTR_Q_AFREQ

4 - Q-format of angular frequency

MTR_Q_SPEED_KP

18 - Q-format of proportional gain

MTR_Q_SPEED_KIDT

22 - Q-format of integral gain

RSFT_AFREQ_KP_2VOLTAGE

MTR_Q_SPEED_KP + MTR_Q_AFREQ – MTR_Q_VOLTAGE

Right shift, (KP * speed) to voltage

RSFT_AFREQ_KIDT_2VOLTAGE

MTR_Q_SPEED_KIDT + MTR_Q_AFREQ – MTR_Q_VOLTAGE

Right shift, (KIDT * speed) to voltage

Table 3-43 – List of Macro definitions “r_mtr_parameter.h”

Macro

Definition value

content

Remarks

MTR_SPEED_CALC_BAS E

(int32_t)(156000 * MTR_TWOPI * (1 << MTR_Q_AFREQ))

Calculation parameter to convert the timer counter to rotational speed

MTR_SPEED_CALC_BAS E_1ST

MTR_SPEED_CALC_BASE/6

Calculation parameter to convert the timer counter to rotational speed at first speed calculation

MTR_SPEED_CALC_BAS E_2ND

MTR_PEED_CALC_BASE/3

Calculation parameter to convert the timer counter to rotational speed at second speed calculation

MTR_SPEED_CALC_BAS E_3RD

MTR_SPEED_CALC_BASE/2

Calculation parameter to convert the timer counter to rotational speed at third speed calculation

MTR_SPEED_CALC_BAS E_4TH

MTR_SPEED_CALC_BASE*2/3

Calculation parameter to convert the timer counter to rotational speed at fourth speed calculation

MTR_SPEED_CALC_BAS E_5TH

MTR_SPEED_CALC_BASE*5/6

Calculation parameter to convert the timer counter to rotational speed at fifth speed calculation

MTR_OL_CNT_CALC_BA SE

MTR_CARRIER_FREQ * 1000 * MTR_TWOPI / MTR_PATTERN_NUM

Calculation parameter to convert rotational speed to timer counter at open-loop drive

MTR_MAX_SPEED_RAD

mtr_conv_rpm2rad(CP_MAX_S PEED_RPM)

Maximum reference rotational speed [rad/s]

MTR_MIN_SPEED_RAD

mtr_conv_rpm2rad(CP_MIN_S PEED_RPM)

Minimum reference rotational speed [rad/s]

MTR_MAX_DRIVE_V

mtr_conv_q_voltage(IP_INPUT _V * 0.90f)

Maximum output voltage [V]

MTR_MIN_DRIVE_V

mtr_conv_q_voltage(IP_INPUT _V * 0.0f)

Minimum output voltage [V]

MTR_MCU_ON_V

mtr_conv_q_voltage(IP_INPUT _V * 0.8)

MCU stable supply voltage [V]

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Table 3-44 – List of Macro definitions “r_mtr_statemachine.h”

Macro

Definition value

content

Remarks

MTR_MODE_INIT

0x00

Initialization mode

MTR_MODE_DRIVE

0x01

Drive mode

MTR_MODE_STOP

0x02

Stop mode

MTR_SIZE_STATE

Number of states

MTR_EVENT_STOP

0x00

Stop event

MTR_EVENT_DRIVE

0x01

Run event

MTR_EVENT_ERROR

0x02

Error event

MTR_EVENT_RESET

0x03

Reset event

MTR_SIZE_EVENT

Number of events

Table 3-45 – List of Macro definitions in “r_mtr_120.h” [1/2]

Macro

Definition value

content

Remarks

MTR_TIMEOUT_CNT

200 - Counts for timeout

MTR_HALL2OL_REV_SPE ED_RAD

FIX_fromfloat(CP_HALL2OL_REV_ SPEED_RPM * PU_SF_AFREQ, MTR_Q_AFREQ)

Speed to transition to PI control at reverse of direction

Hall effect sensor control mode

MTR_AVOID_COMMUTAT ION

4 - Counts for avoiding to detect zero-crossing after commutation

Sensorless control mode

MTR_DRAW_IN_1ST_PAT TERN

1 - Voltage pattern at first draw-in

MTR_DRAW_IN_2ND_PA TTERN

2 - Voltage pattern at second drawin

MTR_PATTERN_CW_V_U

Voltage pattern at CW rotation

MTR_PATTERN_CW_W_ U

- MTR_PATTERN_CW_W_V

MTR_PATTERN_CW_U_V

MTR_PATTERN_CW_U_ W

- MTR_PATTERN_CW_V_W

MTR_PATTERN_CCW_V_ U

5 [Hall effect sensor control mode]/ 3 [sensorless control mode]

Voltage patten at CCW rotation

MTR_PATTERN_CCW_V_ W

1 [Hall effect sensor control mode]/ 2 [sensorless control mode]

MTR_PATTERN_CCW_U_ W

3 [Hall effect sensor control mode]/ 6 [sensorless control mode]

MTR_PATTERN_CCW_U_ V

2 [Hall effect sensor control mode]/ 4 [sensorless control mode]

MTR_PATTERN_CCW_W _V

6 [Hall effect sensor control mode]/ 5 [sensorless control mode]

MTR_PATTERN_CCW_W _U

4 [Hall effect sensor control mode]/ 1 [sensorless control mode]

- MTR_PATTERN_NUM

6 - Number of voltage patterns

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Table 3-46 – List of Macro definitions in “r_mtr_120.h” [2/2]

Macro

Definition value

content

Remarks

MTR_ERROR_NONE

0x00 - No error

MTR_ERROR_OVER_CURRENT

0x01 - Over current error

MTR_ERROR_OVER_VOLTAGE

0x02 - Over voltage error

MTR_ERROR_OVER_SPEED

0x04 - Over speed error

MTR_ERROR_HALL_TIMEOUT

0x08 - Timeout error for Hall effect sensor control mode

MTR_ERROR_BEMF_TIMEOUT

0x10 - Timeout error for sensorless control mode

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 - Undefined error

MTR_DRAW_IN_NONE

0 - No operation

MTR_DRAW_IN_1ST

1 - First draw-in

MTR_DRAW_IN_2ND

2 - Second draw-in

MTR_DRAW_IN_FINISH

3 - Draw-in finished

MTR_SPEED_ZERO_CONST

0 - Reference speed 0 const mode

MTR_SPEED_MANUAL

1 - Reference speed manual input mode

MTR_V_ZERO_CONST

0 - Reference voltage zero const mode

MTR_V_MANUAL

1 - Reference voltage manual input mode

MTR_V_PI_OUTPUT

2 - Reference voltage PI output mode

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3.5 Control flows (flow charts)

3.5.1 Main process

Main proces s

Initialization of hardware

Initialization of system variable s

Initialization of ICS commu nicat ion

Initialization of con trol system

Reset process

Waiting for stability of bus bo ltage

ICS

Set g_u1_flag_ui_change

Input command varia bles to ICS

structure

Change run mode by input of

u1_run_even t

Initialization for reset event

Clear WDT

ICS communi cation

YES

ICS

BOARD ELSE

Get status

Set g_u1_syst em_ mode to ACTIVE

Set command speed by VR1

Change run mode by state of switches

com_u1_run_ event changes or

g_u1_flag_ui_change is set

Change UI

Set com_s2_sw_userif to g_s2_sw_userif

YES

g_u2_system_error

Set g_u1_syst em_ mode to ERROR

ERROR_NONE

ELSE

Error process

Figure 3-7 – Main Process Flowchart

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3.5.2 Carrier cycle interrupt handling

Carrier interruption

Get bus voltage

Prepare speed calculation

End

Set voltage pattern

Hall pattern change ?

YES

Get TAU2 count

u2_run_mode

Motor stop

ELSE

DRIVE

Figure 3-8 – Carrier Cycle Interrupt Handling Flowchart (Hall Effect Sensor Control Mode)

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Carrier int erruption

Measure bu s voltage

u2_run_mode

u1_state_d raw_in

Zero cross detec tionDraw-in pr ocess

u1_flag_p at te rn_change

Prepare spe ed c alculation

Open-lo op drive process

End

DRIVE

ELSE

NOT FI NISH

FINISH

MANUAL

PI_OUT PUT

SET

CLEAR

u1_state_voltage_ re f

u1_flag_p at te rn_change

Delay counts calc ulation

Set choppi ng pattern

ELSE

u1_flag_s et _v_pattern

SET

CLEAR

Get TAU2 c ount

u1_flag_vdc_adc

Start delay t imer

SET

CLEAR

Measure 3 phase vol tages

Stop mot or

Figure 3-9 – Carrier Cycle Interrupt Handling Flowchart (Sensorless Control Mode)

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3.5.3 1 [ms] interrupt handling

1ms interr uption

Get motor status

u2_run_mo de

u1_state_s peed_ref

Set refe re nce speed

u1_state_vo lt age_ref

Rotation in ref erence directio n ?

Set u1_state_speed_ref to MANUAL

Set u1_state_voltage_ref to PI OUTPUT

Rotation in o ppo site direction

and at below thresh old speed

Set target voltage to starting vo ltage

Set reference voltage

Set PWM du ty

End

Error check

DRIVE

ZERO_CONST

ELSE

MANUAL

PI_OUTPUT

YES

ELSE

Timeout co unt er is less

than thre shold?

Increment o f u2 _cnt_timeout

YES

Stop mot or

Output voltage for sta rting-up

Set u1_state_speed_ref to MANUAL

Speed calc ul ation

Figure 3-10 – 1 [ms] Interrupt Handling(Hall effect sensor control mode)

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1ms interruption

Get motor status

u2_run_mode

u1_state_d raw_in

Set reference speed

u1_state_vo ltage_ ref

reference speed 󳌜 change speed

A constant time has

passed at draw-in?

u1_draw_in_state

Set u1_stat e_draw_in to 2ND

Set u1_stat e_speed_ref to MANUAL

Set u1_state_draw_in to FINISH

Set reference voltage

Set PWM duty

Set u1_flag_ol2less

Set acceler ation

reference s peed 󳆻 change speed

Set u1_state_voltage_ ref t o MANUAL

End

Error check

DRIVE

NOT FINISH

FINISH

Yes

1ST

2ND

MANUAL

PI_OUTPUT

YES

ELSE

Set voltage patten at open-loop drive

Set reference voltage for open-loop drive

Set acceler ation

Timeout co unter is less

than thresho ld?

Increment o f u2_cnt _ti meout

Stop motor

ELSE

YES

Calculate ope n-lo op count s

Speed calcul ation

Figure 3-11 – 1 [ms] Interrupt Handling (sensorless control mode)

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3.5.4 Overcurrent interrupt handling

Over currrent interruption

Disable INTP0 interruption

Error event process

Set error status to over current

End

Figure 3-12 – Over Current Detection Interrupt Handling

3.5.5 Delay timer interrupt handling

Delay interruption

Stop delay timer

u2_run_mode

Set voltage pattern

End

DRIVE

ELSE

Stop motor

Figure 3-13 – Delay timer Interrupt Handling

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

4.1 Overview

In the target sample programs described in this application note, user interfaces (rotating/stop command, rotation speed command, etc.) based on the motor control development support tool, ‘Renesas Motor Workbench’ can be used. Please refer to ‘Renesas Motor Workbench V 2.0 User’s Manual’ for usage and more details. You can find ‘Renesas Motor Workbench’ on Renesas Electronics Corporation website.

Figure 4-1 – Renesas Motor Workbench– Appearance

Set up for Renesas Motor Workbench

(1) Start ‘Renesas Motor Workbench’ by clicking this icon . (2) Drop down menu [File] → [Open RMT File(O)].

And select RMT file in ‘[Project Folder]/application/ics/’. (3) Use the ‘Connection’ COM select menu to choose the COM port. (4) Click the ‘Analyzer’ icon in right side of Main Window.

(Then, “Analyzer Window” will be displayed.) (5) Please refer to ‘4.3 Analyzer Operation Example for Analyzer’ for motor driving operation.

Main Window

Analyzer Window

Control Window

Scope Window

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4.2 List of variables for Analyzer

Table 4-1 is a list of variables for Analyzer. These variable values are reflected to the protect variables when the same values as g_s2_enable_write are written to com_s2_enable_write. However, note that variables with (*) do not depend on com_s2_enable_write.

Table 4-1 – List of Variables for Analyzer

variable

type

content

Remarks

([ ]: reflection variable name)

com_u1_run_event (*)

uint8_t

Input event and change run mode 0: Stop event 1: Drive event 2: Error event 3: Reset event

[g_u1_run_event]

com_s2_sw_userif (*)

int16_t

Management variable for UI 0: Analyzer use (default) 1: Board user interface use

[g_s2_sw_userif] com_u1_direction

uint8_t

Direction of rotation 0：CW 1：CCW

[g_st_120.u1_ref_dir]

com_s2_ref_speed_rpm

int16_t

Command rotational speed ［rpm］

[g_st_120.s2_ref_speed_rad]

com_s2_ramp_limit_v

int16_t

Limit of variation of voltage [V/ms]

[g_st_120.s2_ramp_limit_v]

com_s2_kp_speed

int16_t

Proportional gain for speed PI control [V s/rad]

[g_st_120.st_pi_speed.s2_kp]

com_s2_kidt_speed

int16_t

Integral gain for speed PI control [V s/rad]

[g_st_120.st_pi_speed.s2_kidt]

com_s2_ramp_speed_rpm

int16_t

Acceleration [rpm/ms]

[g_st_120.s2_ramp_speed_rad]

com_s2_start_ref_v

int16_t

Reference voltage at starting[V]

[g_st_120.st_hall.s2_start_ref_v]

com_s2_ol_ramp_speed_rpm

int16_t

Acceleration at open-loop drive [rpm/ms]

[g_st_120.st_less.s2_ol_ramp_speed_rad]

com_s2_less_ramp_speed_rpm

int16_t

Acceleration at PI control [RPM/ms]

[g_st_120.st_less.s2_less_ramp_speed_rad]

com_s2_draw_in_ref_v

int16_t

Reference voltage at draw-in [V]

[g_st_120.st_less.s2_draw_in_ref_v]

com_s2_ol_ref_v

int16_t

Reference voltage at open-loop drive[V]

[g_st_120.st_less.s2_ol_ref_v]

com_s2_ol2less_speed_rpm

int16_t

Speed to transition to PI control[rpm]

[g_st_120.st_less.s2_ol2less_speed_rad]

com_s2_angle_shift_adjust

int16_t

adjust delay counts

[g_st_120.st_less.s2_angle_shift_adjust]

com_s2_enable_write

int16_t

Variable to allow to input ICS structure

[g_s2_enable_write]

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4.3 Operation Example for Analyzer

An example of motor driving operation using Analyzer is shown below. For operation “Control Window Figure 4-1” is used. Refer to ‘Renesas Motor Workbench V 2.0 User’s Manual’ for “Control Window”.

 Driving the motor

(1) The [W?] check boxes contain checkmarks for “com_u1_run_event”, “com_s2_ref_speed_rpm”,

“com_s2_enable_write” (2) Input a reference speed value in the [Write] box of “com_s2_ref_speed_rpm”. (3) Click the “Write” button. (4) Click the “Read” button. Confirm the [Read] box of “com_s2_ref_speed_rpm”, “g_s2_enable_write”. (5) Input a same value of “g_s2_enable_write” in the [Write] box of “com_s2_ref_speed_rpm”. (6) Input a value of “1” in the [Write] box of “com_u1_run_event”. (7) Click the “Write” button.

󳏁Write reference speed

󳏃Cｌick 󳆟Read󳆠 button

󳏀Check

󳏄Write (󳆟0󳆠or 󳆟1󳆠)

󳏂󳏆Cｌick 󳆟Write󳆠 button

󳏅Write 󳆟1󳆠

Figure 4-2 – Procedure - Driving the motor

 Stop the motor

(1) Type a value of “0” in the [Write] box of “com_u1_run_event” (2) Click the “Write” button.

󳏁Cｌick 󳆟Write󳆠 button

󳏀Write 󳆟0󳆠

Figure 4-3 – Procedure - Stop the motor

 Error cancel operation

(1) Type a value of “3” in the [Write] box of “com_u1_run_event” (2) Click the “Write” button.

󳏁Cｌick 󳆟Write󳆠 button

󳏀Write 󳆟3󳆠

Figure 4-4 – Procedure - Error cancel operation

Application Note

R01AN5516EJ0100 Rev.1.00 Page 48 of 48

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Revision record

Rev.

Date

Description

Page

Summary

1.00

2020/08/01

First edition issued

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.

1. Precaution against Electrostatic Discharge (ESD) A strong electrical field, when exposed to a CMOS device, can cause destruction of the gate oxide and ultimately degrade the device operation. Steps must be taken to stop the generation of static electricity as much as possible, and quickly dissipate it when it occurs. Environmental control must be adequate. When it is dry, a humidifier should be used. This is recommended to avoid using insulators that can easily build up static electricity. Semiconductor devices must be stored and transported in an anti-static container, static shielding bag or conductive material. All test and measurement tools including work benches and floors must be grounded. The operator must also be grounded using a wrist strap. Semiconductor devices must not be touched with bare hands. Similar precautions must be taken for printed circuit boards with mounted semiconductor devices.

2. Processing at power-on The state of the product is undefined at the time 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 time 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 time 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 time when power is supplied until the power reaches the level at which resetting is specified.

3. Input of signal during power-off state Do not input signals or an I/O pull-up power supply while the device is powered off. The current injection that results from input of such a signal or I/O pull-up power supply may cause malfunction and the abnormal current that passes in the device at this time may cause degradation of internal elements. Follow the guideline for input signal during power-off state as described in your product documentation.

4. 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 the 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.

5. Clock signals After applying a reset, only release the reset line after the operating clock signal becomes stable. When switching the clock signal during program execution, wait until the target clock signal is 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. Additionally, 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.

6. Voltage application waveform at input pin Waveform distortion due to input noise or a reflected wave may cause malfunction. If the input of the CMOS device stays in the area between VIL (Max.) and VIH (Min.) due to noise, for example, the device may malfunction. Take care to prevent chattering noise from entering the device when the input level is fixed, and also in the transition period when the input level passes through the area between VIL (Max.) and VIH (Min.).

7. Prohibition of access to reserved addresses Access to reserved addresses is prohibited. The reserved addresses are provided for possible future expansion of functions. Do not access these addresses as the correct operation of the LSI is not guaranteed.

8. Differences between products Before changing from one product to another, for example to a product with a different part number, confirm that the change will not lead to problems. The characteristics of a microprocessing unit or microcontroller unit products in the same group but having a different part number might differ in terms of 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 systemevaluation test for the given product.

Notice

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(Note1) “Renesas Electronics” as used in this document means Renesas Electronics Corporation and also includes its directly or indirectly controlled

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(Rev.4.0-1 November 2017)

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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

3.2 Function specifications of 120-degree conducting control software

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

3.4 Macro definitions of sensorless 120-degree conducting control software

3.5 Control flows (flow charts)

3.5.1 Main process

3.5.2 Carrier cycle interrupt handling

3.5.3 1 [ms] interrupt handling

3.5.4 Overcurrent interrupt handling

3.5.5 Delay timer interrupt handling

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

4.1 Overview

4.2 List of variables for Analyzer

4.3 Operation Example for Analyzer

Revision record

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

Notice