Renesas RX13T Application Note

APPLICATION NOTE

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

RX13T, For “Evaluation System for BLDC Motor”

Abstract

This application note aims to explain the sample programs for a permanent magnet synchronous motor with encoder, by using functions of RX13T. The explanation includes, how to use the library of ‘Renesas Motor Workbench’ tool, that is support tool for motor control development. This software also uses the Smart Configurator tool, especially the Motor component that provides driver configuration of multi-function timer pulse unit and 12-bit A/D converter for motor control.

The target software of this application note is only to be used as reference and Renesas Electronics Corporation does not guarantee the operations. Please use them after carrying out a thorough evaluation in a suitable environment.

Operation Checking Device

Operations of the target software of this application note are checked by using the following device.

• RX13T (R5F513T5ADFL)

Target Software

The target programs of this application note are as follows.

• RX13T_MRSSK2_SPM_ENCD_FOC_CSP_RV100 (IDE: CS+)

• RX13T_MRSSK2_SPM_ENCD_FOC_E2S_RV100 (IDE: e

• Vector control with encoder software for ‘Evaluation System For BLDC Motor’ and ‘RX13T CPU Card’

studio)

Reference

• RX13T Group User’s Manual: Hardware (R01UH0822)

• Application note: ‘Vector control for permanent magnet synchronous motor with encoder (Algorithm)’

(R01AN3789)

• Renesas Motor Workbench User’s Manual (R21UZ0004)

• Evaluation System For BLDC Motor User’s Manual (R12UZ0062)

• RX13T CPU CARD User’s Manual (R12UZ0051)

• Smart Configurator User’s Manual: RX API Reference (R20UT4360)

• RX Smart Configurator User’s Guide: CS+ (R20AN0470)

• RX Smart Configurator User’s Guide: e

studio (R20AN0451)

R01AN5790EJ0100 Rev.1.00 Page 1 of 41 Mar.12.21

RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

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

1.1 Development environment ...................................................................................................................... 3

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

2.1 Hardware configuration ........................................................................................................................... 4

2.2 Hardware specifications .......................................................................................................................... 5

2.2.1 User interfaces ...................................................................................................................................... 5

2.2.2 Peripheral functions ............................................................................................................................... 6

2.3 Software configuration ............................................................................................................................. 7

2.3.1 Software file configuration ..................................................................................................................... 7

2.3.2 Smart Configurator File Configuration ................................................................................................... 8

2.3.3 Module configuration ........................................................................................................................... 11

2.4 Software specifications .......................................................................................................................... 12

3. Descriptions of the Control Program ....................................................................................... 13

3.1 Contents of Control ............................................................................................................................... 13

3.1.1 Motor Start/Stop .................................................................................................................................. 13

3.1.2 A/D Converter ...................................................................................................................................... 13

3.1.3 Position Profile Generation (Position Profile of Trapezoidal Curve for Speed Command Value) ....... 14

3.1.4 Speed Measurement ........................................................................................................................... 15

3.1.5 Modulation ........................................................................................................................................... 16

3.1.6 State Transition ................................................................................................................................... 18

3.1.7 Startup Method .................................................................................................................................... 19

3.1.8 System Protection Function ................................................................................................................ 20

3.2 Function Specifications of Vector Control using Encoder Software ...................................................... 21

3.3 Macro Definitions of Vector Control Software Using Encoder .............................................................. 25

3.4 Control Flowcharts ................................................................................................................................ 27

3.4.1 Main Process ....................................................................................................................................... 27

3.4.2 Carrier Synchronous Interrupt Handling (100 [µs]) ............................................................................. 28

3.4.3 1 [ms] Interrupt Handling ..................................................................................................................... 29

3.4.4 Over Current Detection Interrupt Handling .......................................................................................... 30

3.4.5 Encoder Count Capture Interrupt Handling ......................................................................................... 31

3.4.6 Hall Signal Interrupt Handling .............................................................................................................. 32

4. Motor Control Development Support Tool ‘Renesas Motor Workbench’ ................................. 33

4.1 Overview ................................................................................................................................................ 33

4.2 List of Variables for Scope Function ‘Analyzer’ ..................................................................................... 34

4.3 Operation Example for Analyzer ........................................................................................................... 37

4.4 Operation Example for User Button ...................................................................................................... 39

Revision History .............................................................................................................................. 41

R01AN5790EJ0100 Rev.1.00 Page 2 of 41 Mar.12.21

RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

Microcontroller

Evaluation board

Motor*3

RX13T (R5F513T5ADFL)

48V 5A Inverter Board For BLDC Motor & RX13T CPU Card*1

FH6S20E-X81*2

IDE version

Smart Configurator for RX

Toolchain version*4

CS+ V8.04.00

Standalone Version 2.7.0

CC-RX: V3.02.00 e2 studio version 2020-10

Bundled with e2 studio as plug-in

1. Overview

This application note aims to explain the sample programs for a permanent magnet synchronous motor (PMSM)* ‘Renesas Motor Workbench’ tool, that is support tool for motor control development.

Note that these sample programs use the algorithm described in the application note ‘Vector control for permanent magnet synchronous motor with encoder (Algorithm)’.

Note: 1. PMSM is also known as brushless DC motor (BLDC).

with encoder, by using functions of RX13T. The explanation includes, how to use the library of

1.1 Development environment

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

Table 1-1 Hardware Development Environment

Table 1-2 Software Development Environment

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

Notes: 1. 48V 5A Inverter Board For BLDC Motor (RTK0EM0000B10021BJ) and RX13T CPU Card

(RTK0EMXA10C00000BJ) are products of Renesas Electronics Corporation. 48V 5A Inverter Board For BLDC Motor is included in Evaluation System For BLDC Motor (RTK0EMX270S00020BJ).

2. FH6S20E-X81 is a product of NIDEC SERVO CORPORATION. NIDEC SERVO (http://www.nidec-servo.com/)

3. Motors conforming to the inverter specifications listed in chapter 2 of Evaluation System For BLDC Motor User’s Manual (R12UZ0062) can be connected to the product. When using motors other than the one included with the product, make sure to check the motor specifications carefully.

4. If the same version of the toolchain (C compiler) specified in the project is not in the import destination, the toolchain will not be selected and an error will occur. Check the selected status of the toolchain on the project configuration dialog For the setting method, refer to FAQ 3000404.

(https://en-support.renesas.com/knowledgeBase/18398339)

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RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

A/D converter input

Bus vo ltage

Rotat ion spe ed com mand

PWM output

Over cu rrent detect ion

Power supply circuit

Switch in put

Motor rotation start/stop

Error reset

LED outpu t

Over cu rrent detect ion inpu t

Inverter circuit

Phase current

detec tion

Phase curren t

Encode r inp ut

RX13T

GND

Input DC24V

VR1

SW1

SW2

LED1 LED2

vVw

PB5

PB4

P46 / AN00 6

P47 / AN00 7

PD6

PD4

P71 / MT IOC3B (Up) P72 / MT IOC4A (V

)

P73 / MT IOC4B (Wp) P74 / MT IOC3D (Un)

P75 / MT IOC4C (Vn) P76 / MT IOC4D (Wn)

PE2

/ P OE10#

PMSM

P40 / AN 000

IU_AIN

P42 / AN 002

IW_AIN

PB0 / MTCLKB

PB1 / MTCLKA

Hall I nput

P93 / IRQ0

P94 / IRQ1

PA2 / IRQ4

U port

W po rt

V port

HU port

HW p ort

HV port

GND port

port

ENC_Z p ort

ENC_A port

ENC_B port

GND port

port

LED3

PB3

2. System overview

Overview of this system is explained below.

2.1 Hardware configuration

The hardware configuration is shown below.

Figure 2-1 Hardware Configuration Diagram

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RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

Item

Interface component

Function

Rotation position /

Variable resistor (VR1)

Reference value of rotation position / speed input START/STOP

Toggle switch (SW1)

Motor rotation start/stop command

ERROR RESET

Push switch (SW2)

Command of recovery from error status

LED1

Orange LED

• At the time of motor rotation: ON

• At the time of stop: OFF

LED2

Orange LED

• At the time of error detection: ON At the time of normal operation: OFF

LED3

Orange LED

• Complete of positioning: ON Uncomplete of positioning: OFF

RESET

Push switch (RESET1)

System reset

R5F513T5ADFL port name

Function

P46 / AN006

Inverter bus voltage measurement

P47 / AN007

For position / speed command value input (analog value)

PB5

START/STOP toggle switch

PB4

ERROR RESET toggle switch

PD6

LED1 ON/OFF control

PD4

LED2 ON/OFF control

PB3

LED3 ON/OFF control

P40 / AN000

U phase current measurement

P42 / AN002

W phase current measurement

P71 / MTIOC3B

PWM output (Up) / Low active

P72 / MTIOC4A

PWM output (Vp) / Low active

P73 / MTIOC4B

PWM output (Wp) / Low active

P74 / MTIOC3D

PWM output (Un) / High active

P75 / MTIOC4C

PWM output (Vn) / High active

P76 / MTIOC4D

PWM output (Wn) / High active

P93 / IRQ0

Hall Phase-U signal input

P94 / IRQ1

Hall Phase-V signal input

PA2 / IRQ4

Hall Phase-W signal input

PB1 / MTCLKA

Encoder Phase-A signal input

PB0 / MTCLKB

Encoder Phase-B signal input

PE2 / POE10#

PWM emergency stop input at the time of over-current detection

2.2 Hardware specifications

2.2.1 User interfaces

List of user interfaces of this system is given in Table 2-1.

Table 2-1 User Interfaces

speed

List of port interfaces of this system is given in Table 2-2.

Table 2-2 Port Interfaces

(analog value)

•

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Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

•

measurement

•

2.2.2 Peripheral functions

List of the peripheral functions used in this system is given in Table 2-3.

Table 2-3 List of the Peripheral Functions

12-bit A/D CMT MTU3 POE3C

Rotation speed command value

input

• Current of each phase U and W

measurement

1 [ms] interval timer

Complementary PWM output

• Encoder phase counter

• Encoder count capture

• Inverter bus voltage

(1) 12-bit A/D converter (S12ADF)

U phase current (I

W phase current (Iw), inverter bus voltage (Vdc) and rotation speed reference are

u),

measured by using the single scan mode (use hardware trigger). The sample-and-hold function is used for U phase current (I

and W phase current (Iw) measurement.

(2) Compare match timer (CMT)

The channel 0 of the compare match timer is used as 1 [ms] interval timer.

(3) Multi-function timer pulse unit 3 (MTU3c)

The operation mode varies depending on channels. On the channels 3 and 4, output (p-side is active low, n-side is active high) with dead time is performed by using the complementary PWM mode.

The channel 1 of MTU3 operate in phase counting mode, the counter is incremented or decremented according to the phase difference between Phase-A and Phase-B signals from the encoder. The channel 0 of MTU3 is used as free-run timer for speed measurement.

(4) Port output enable 3 (POE3C)

PWM output ports are set to high impedance state when an overcurrent is detected (when a falling edge of the POE10# port is detected).

Set PWM output ports to high

impedance state to stop the PWM

output.

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RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

r_mtr_common.h: Common definition

(Project Folder)

‘In Circuit Scope’) is attached to the name of folders, files, functions, variables related to ‘Renesas Motor Workbench’.

demo

motor_module

application

controller

lib

ics

lib

ref

src

controller

functions

mode

main.h, main.c: User main function r_mtr_board.h, r_mtr_board.c: Function definition for board UI

r_mtr_ctrl_mcu.h: Common definition depends on MCU

r_mtr_config.h: Common definition for software configuration

r_mtr_control_parameter.h: Configuration definition for control parameters

r_mtr_ipd.h, r_mtr_ipd.obj: Function definition of IPD controller

speed observer

r_mtr_ics.h, r_mtr_ics.c: Function definition for Analyzer UI r_mtr_ctrl_encoder.h, r_mtr_ctrl_encoder.c: Function definition of encoder

r_mtr_mod.h, r_mtr_mod.c: Function definition for modulation

r_mtr_statemachine.h, r_mtr_statemachine.c:

src

smc_gen

Smart Configurator generated driver, API

Smart Configurator configuration file

r_mtr_ctrl_mrssk.h, r_mtr_ctrl_mrssk.c:

Function definition depends on inverter

r_mtr_driver_access.h, r_mtr_driver_access.c: User access function definition

2.3 Software configuration

2.3.1 Software file configuration

Folder and file configuration of the sample programs are given below.

RX13T_MRSSK2_SPM_ENCD_FOC_xxx_RVyyy*1:

ICS2_RX13T.lib: Communication library for GUI tool

ICS2_RX13T.h: Function definition for GUI tool r_mtr_interrupt.c: Interrupt function definition for Analyzer*

r_mtr_volt_err_comp.h, r_mtr_volt_err_comp.obj: Function definition for voltage error compensation

r_mtr_ctrl_gain_calc.obj: Function definition for calculation of control gains

r_mtr_speed_observer.h, r_mtr_speed_observer.obj: Function definition for

r_mtr_motor_parameter.h: Configuration definition for motor parameters r_mtr_inverter_parameter.h: Configuration definition for inverter parameters

r_mtr_pi_control.h, r_mtr_pi_control.c: Function definition for PI control

r_mtr_transform.h, r_mtr_transform.c: Function definition for coordinate transform

r_mtr_foc_control_encd_position.h, r_mtr_foc_control_encd_position.c:

r_mtr_foc_current.h, r_mtr_foc_current.c: Function definition for current control

r_mtr_foc_speed.h, r_mtr_foc_speed.c: Function definition for speed control

r_mtr_foc_position.h, r_mtr_foc_position.c: Function definition for position control r_mtr_interrupt_carrier.c: Function definition of carrier interrupt r_mtr_interrupt_1ms.c: Function definition of 1ms interrupt

r_mtr_interrupt_sensor.c: Function definition of sensor signal interrupt

r_mtr_parameter.h: Various parameter definition

r_mtr_position_profiling.h, r_mtr_position_profiling.c: Function definition of

r_mtr_ctrl_rx13t.h, r_mtr_ctrl_rx13t.c: Function definition depends on MCU

r_mtr_ctrl_hall.h, r_mtr_ctrl_hall.c: Function definition of hall

r_mtr_filter.h, r_mtr_filter.c: Function definition for general purpose filters

r_mtr_foc_action.c: Action function definition

Function definition of FOC control

position profiling.

Function definition for state transition

Notes: 1. xxx: CSP refers to CS+ version. E2S refers to e2 studio version. yyy: revision version number eg. 100: Rev.version 1.00

2 Regarding the specification of Analyzer function in the motor control development support tool ‘Renesas Motor

Workbench’, please refer to the section 4.The identifier ‘ics/ICS (ICS is previous motor control development support tool

Figure 2-2 Folder and file configuration

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RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

(Smart Configurator Output Folder)

src

smc_gen

Config_PORT

Config_S12AD0

Config_IWDT

Peripherals driver for GPIO ports. Unused ports are also configured here.

Config_CMT0

Config_POE

Config_befoc

General*

r_bsp*

r_config*

r_pincfg*

Peripheral driver for single scan mode 12-bit A/D conversion for VR1 Peripheral driver for watch-dog timer.

Config_IWDT_user.c: User function for Watchdog timer

Peripheral driver for compare match timer of 1ms interval

Config_CMT0_user.c: User function for Compare match timer

Peripheral driver for port output enable that places PWM output in

Config_POE_user.c: User function for Port Output Enable

Peripheral drivers for multi-function timer pulse unit (MTU) and 12-bit A/D converter

for Motor control

r_cg_hardware_setup.c: Peripheral initialization < various BSP package files *1 >

BSP: Board Support Package

Notes: 1. Regarding BSP package files, please refer to README.txt file in <r_bsp> folder

3. Refer to Section 6.2 in “RX Smart Configurator User’s Guide:e2 studio (R20AN0451)” for explanation of these files and folder

< for FIT configuration files*2 > < for pin code generation >

Config_MTU0

Peripheral driver for Normal Mode Timer configuration for speed measurement

Config_MTU0_user.c: User function to process interrupt for speed calculation

Config_MTU1

Peripheral driver for Normal Mode Timer configuration for phase measurement

Config_ICU

Peripheral driver to configure interrupt requests for external Hall interrupt

Config_ICU_user.c: User function for Hall interrupt service

2.3.2 Smart Configurator File Configuration

Peripheral drivers were configured easily by using Smart Configurator tool for this project. In this tool, a dedicated configurator for motor drive application related peripherals is used to configure multi-function timer and 12-bit A/D converter. Smart Configurator saves information such as the target MCU, peripheral, clock and pin functions setting for the project in *.scfg file. Refer to the file, RX13T_MRSSK2_SPM_ENCD_FOC_xxx_RVyyy.scfg, in the root folder to see the peripheral settings of this project. (xxx: CSP refers to CS+ version. E2S refers to e

Folder and file configuration of Smart Configurator generated output are shown below.

Config_PORT.h, Config_PORT.c: Driver and API for Port Config_PORT_user.c: User function for Port

Config_S12AD0.h, Config_S12AD0.c: Driver and API for AD port Config_S12AD0_user.c: User function for AD function of Board UI

Config_IWDT.h, Config_IWDT.c: Driver and API for Watchdog timer

studio version. yyy: revision version number)

Config_CMT0.h, Config_CMT0.c: Driver and API for Compare match timer

high-impedance state when over-current or output short-circuit occurs

Config_POE.h, Config_POE.c: Driver and API for Port Output Enable

Config_MTU0.h, Config_MTU0.c: Driver and API for free-run timer

Config_MTU1.h, Config_MTU1.c: Driver and API for phase counting mode Config_MTU1_user.c: User function to start timer

Config_ICU.h, Config_ICU.c: Driver and API for IRQ external pin interrupt

(S12AD) for basic motor control.

Config_befoc.h, Config_befoc.c: Driver and API for Multi-function timer and AD

Config_befoc_user.c: User function for Multi-function timer and AD conversion

r_smc_entry.h: Includes header files of generated code of peripheral drivers added to <various header files> project

conversion for Motor control

FIT: Firmware Integration Technology

2. r_config is created by e2studio project creation utilizing Smart Configurator tool. FIT is not used in this sample software

Figure 2-3 Smart Configurator Folder and File Configurations

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RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

Type of motor

Type of sensor

Motor drive method

s: stepping motor

r: resolver

foc: field-oriented control

void R_Config_befoc_Create_UserInit(void)

/* End user code. Do not edit comment generated here */

/* Configure S12AD as single scan mode AD converter */

S12AD.ADSTRGR.WORD = _0900_MTR_AD_TRSA_TRG4AN;

Smart Configurator Motor component configuration name is named according to the following convention.

Configuration filename format: Config_<Type of motor><Type of sensor><Motor drive method>

The table below shows various motor types, sensor types and motor drive method for defining the Motor configuration filename.

Table 2-4 Smart Configurator Motor configuration filename format

b: brushless DC Motor (BLDC) i: induction motor

e: encoder m: magnetic encoder

120: 120-degree conduction control

s: sensor-less h: hall sensor

In this project, the type of motor used is BLDC motor and driven with encoder field-oriented control. Therefore, the configuration name is Config_befoc.

Tips:

The application-specific Smart Configurator Motor component is presented in a simple and easy to understand GUI that consolidates several peripherals to configure peripherals required for basic motor drive in one interface. These peripherals include the multi-function timer pulse unit (MTU) and AD converter.

While benefiting from the ease of configuring Motor driver related peripherals in single interface, it is important to note that the Motor component set-up the same registers that could been set-up by other components, (eg. AD converter) and vice-versa. This will cause overwriting of registers that are commonly set-up by both the Motor or AD converter component. This is expected and user must pay attention to these circumstances and to take appropriate countermeasure. User can make use of the generated <Configuration_name>_user.c of affected component to perform the countermeasure.

An example can be found in this project in the Config_befoc_user.c file. This file implements the device driver for Motor peripheral module of Smart Configurator. In its user’s initialization API, A/D Channel select register S12AD.ADANSA0 is updated to select AN007 as highlighted in the sample code below.

{ /* Start user code for user init. Do not edit comment generated here */ R_Config_befoc_StartTimerCount(); R_Config_befoc_StartAD(); R_Config_MTU1_Start(); R_Config_MTU0_Start(); S12AD.ADANSA0.WORD |= _0080_AD_ANx07_USED;

An overwriting of S12AD.ADANSA0 register occurred in Config_befoc.c file that caused AN007 to be deselected. Below shows the code in Config_befoc.c where the overwriting of S12AD.ADANSA0 occurred.

S12AD.ADCSR.WORD = _0000_MTR_AD_SINGLE_SCAN_MODE; S12AD.ADANSA0.WORD = _0001_MTR_AD_AN000_USED | _0004_MTR_AD_AN002_USED |

_0040_MTR_AD_AN006_USED;

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Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

/* Set channels and sampling time */

S12AD.ADSSTR7 = _0D_AD0_SAMPLING_STATE_7;

AN007 had been selected earlier in Config_S12AD0.c file in R_Config_S12AD0_Create API. Below shows the code where AN007 was originally selected when A/D converter peripheral driver was set-up.

S12AD.ADANSA0.WORD = _0080_AD_ANx07_USED;

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RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

Application Layer (User Application)

main.c

User Interface Module

Main

r_mtr_ics.c

r_mtr_board.c

Middle Layer (Motor Control Process)

r mtr driver access.c

Interface Module

Control Module (FOC, Feedback Loop Control)

r_mtr_interrupt_carrier.c

r_mtr_foc_control_encd_position.c

r_mtr_foc_current.c

r_mtr_interrupt_1ms.c

r_mtr_interrupt_sensor.c

r_mtr_foc_speed.c

r_mtr_foc_position.c

Other Control Modules

Device Layer (MCU Register Access, Inverter Driver, Sensor Driver)

Inverter Module

r_mtr_ctrl_mrssk.c

r_mtr_ctrl_encoder.c

r_mtr_ctrl_hall.c

MCU Module

r_mtr_interrupt.c

r_mtr_ctrl_rx13t.c

H/W Layer (MCU Inverter)

Function Call

Set User Command to Buffer

Set Control Gain & Command

Set PWM duty

Get Voltage, Current & Angle/Speed

Interrupt Process Modules

Control Modules

Get A/D Converter Data & Sensor Signal

Output PWM Signal

2.3.3 Module configuration

Module configuration of the sample programs is described below.

Figure 2-4 Module Configuration

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RX13T

Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

Item

Content

Control method

Vector control

from Analyzer

Position detection of rotor

Incremental encoder (A-B Phase), Hall sensor (UVW Phase) Input voltage

DC 24 [V]

Main clock frequency

32 [MHz]

Carrier frequency (PWM)

20 [kHz] (carrier cycle: 50 [µs])

Dead time

2 [μs]

(Current loop)

Control cycle

1 [ms]

-180° to 180°

ICS UI

Position command generation: Position profile of

Accuracy of position

0.3° (Encoder pulse: 300[ppr] 4 for multiplying 1200 [cpr])

Dead band of position *

Encoder count ±1 [cpr] (±0.3°)

Position control system: 10 Hz

Optimization setting for

Optimization level

2 (-optimize = 2) (default)

Optimization method

Size priority (default)

ROM/RAM size

ROM: 23.1 KB port is detected), the PWM output ports are set to high impedance state.

2.4 Software specifications

Table 2-5 shows basic software specification of this system. For details of the vector control, refer to the application note ‘Vector control of permanent magnet synchronous motor with encoder: algorithm’.

Table 2-5 Basic Specifications of Vector Control PMSM with Encoder Software

Motor control start/stop Determined depending on the level of SW1 (“Low”: control start “High”: stop) or input

magnetic pole

Control cycle

(Speed and Position loop)

Management of position command value

Management of speed command value

Natural frequency of each control system

compiler

100 [μs] (twice the carrier cycle)

Board UI Position command generation: Direct input of VR1

(input range)

trapezoidal curve for speed command value (input range)

-32768° to 32767° (Max speed) CW / CCW: 2000 [rpm]

CW: 0 [rpm] to 2000 [rpm] CCW: 0 [rpm] to 2000 [rpm]

Current control system: 300 Hz Speed control system: 30 Hz

RAM: 5.6 KB

Processing stop for protection Motor control signal outputs (six outputs) will be disabled, under any of the following

conditions.

Current of each phase exceeds 3.82 [A] (monitored every 100 [μs]) Inverter bus voltage exceeds 28 [V] (monitored every 100 [μs])

Inverter bus voltage is less than 14 [V] (monitored every 100 [μs])

4. Rotation speed exceeds 3000 [rpm] (monitored every 100 [μs])

When an external over current signal is detected (when a falling edge of the POE10#

Note: * Dead zone is provided to prevent hunting in positioning.

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Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

Item

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

Channel

Rotation position command value

0° to 180°: 07FFH to 0000H

AN007

CCW

0° to -180°: 0800H to 0FFFH

Rotation speed CW

0 [rpm] to 2000[rpm]: 07FFH to 0000H

CCW

0 [rpm] to 2000[rpm]: 0800H to 0FFFH

Item

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

Channel

Inverter bus voltage

0 [V] to 111 [V]: 0000H to 0FFFH

AN006

Item

Conversion ratio (U, W phase current: A/D conversion value)

Channel

U, W phase current

-12.5 [A] to 12.5 [A]: 0000H to 0FFFH *

Iu: AN000

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

The start and stop of the motor are controlled by input from Analyzer function of ‘Renesas Motor Workbench’ or SW1 switch of inverter board.

A general-purpose port is assigned to SW1. The port is read within the main loop. When the port is at a ‘Low’ level, the software determines that the motor should be started. Conversely, when the level is switched to ‘High’, the program determines that the motor should be stopped.

3.1.2 A/D Converter

(1) Motor Rotation Position and Speed Command Value

The motor rotation position and speed command value can be set by Analyzer input or A/D conversion of the VR1 output value (analog value). The A/D converted VR1 value is used as rotation speed command value, as shown below.

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

command value

(2) Inverter Bus Voltage

Inverter bus voltage is measured as given in Table 3-2. It is used for modulation factor calculation, under-voltage detection and over-voltage detection. (When an

abnormality is detected, PWM is stopped.)

Table 3-2 Inverter Bus Voltage Conversion Ratio

(3) U, W Phase Current

The U and W phase currents are measured as shown in Table 3-3 and used for vector control.

Table 3-3 Conversion Ratio of U and W Phase Current

Note: * For more details of A/D conversion characteristics, refer to RX13T Group User’s Manual: Hardware.

Iw: AN002

R01AN5790EJ0100 Rev.1.00 Page 13 of 41 Mar.12.21

+ 30 hidden pages

Renesas RX13T Application Note

Specifications and Main Features

Frequently Asked Questions

User Manual

Abstract

Operation Checking Device

Target Software

Reference

Contents

1. Overview

1.1 Development environment

2. System overview

2.1 Hardware configuration

2.2 Hardware specifications

2.2.1 User interfaces

2.2.2 Peripheral functions

2.3 Software configuration

2.3.1 Software file configuration

2.3.2 Smart Configurator File Configuration

2.3.3 Module configuration

2.4 Software specifications

3. Descriptions of the Control Program

3.1 Contents of Control

3.1.1 Motor Start/Stop

3.1.2 A/D Converter