APPLICATION NOTE
R01AN3788EJ0110
Rev.1.10
Oct. 01. 2020
RX24T/RX24U
Sensorless Vector Control for Permanent Magnet Synchronous Motor
(Implementation)
Abstract
This application note aims at explaining sensorless vector control software for a permanent magnet synchronous motor,
by using functions of RX24T/RX24U. The explanation includes, how to use the library of ‘Renesas Motor Workbench’
tool, that is support tool for motor control development.
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 devices.
- RX24T (R5F524TAADFP)
- RX24U (R5F524UEADFB)
Target Software
The target software of this application note is as follows.
- RX24T_MRSSK_SPM_LESS_FOC_CSP_RV110 (IDE：CS+)
- RX24T_MRSSK_SPM_LESS_FOC_E2S_RV110 (IDE：e
- RX24U_MRSSK_SPM_LESS_FOC_CSP_RV110 (IDE：CS+)
- RX24U_MRSSK_SPM_LESS_FOC_E2S_RV110 (IDE：e
RX24T/RX24U Sensorless vector control software for ‘24V Motor Control Evaluation System for RX23T’ and
‘RX24T/RX24U CPU Card’
2
studio)
2
studio)
Reference
- RX24T Group User’s Manual: Hardware (R01UH0576EJ0200)
- RX24U Group User’s Manual: Hardware (R01UH0658EJ0100)
- Application note: ‘Sensorless vector control for permanent magnet synchronous motor (Algorithm)’
(R01AN3786EJ0101)
- Renesas Motor Workbench V.1.00 User’s Manual (R21UZ0004EJ0100)
- Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T User’s Manual (R20UT3697EJ0120)
- RX24T CPU Card User’s Manual (R20UT3696EJ0110)
- RX24U CPU Card User’s Manual (R12TU0018EJ0100)
R01AN3788EJ0110 Rev.1.10 Page 1 of 31
Oct. 01. 2020
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Contents
1. Overview .......................................................................................................................................... 3
2. System Overview ............................................................................................................................. 4
3. Descriptions of the Control Program .......................................................................................... 10
4. Motor Control Development Support Tool ‘Renesas Motor Workbench’ ................................ 27
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Microcontroller
Evaluation board
Motor
(Note 3)
RX24T/RX24U
R5F524UEADFB)
CS+ version
e2studio version
Toolchain version
(Note 4)
1. Overview
This application note explains how to implement the sensorless vector control software of permanent magnet
synchronous motor (PMSM) using the RX24T/RX24U microcontroller. The explanation includes, how to use the
library of ‘Renesas Motor Workbench’ tool, that is support tool for motor control development.
Note that the software uses the algorithm described in the application note ‘Sensorless vector control for permanent
magnet synchronous motor (Algorithm)’.
1.1 Development Environment
Table 1-1 and Table 1-2 show development environment of the software explained in this application note.
Table 1-1 Hardware Development Environment
(R5F524TAADFP/
24V inverter board & RX24T/RX24U CPU Card
(Note 1)
TG-55L
Table 1-2 Software Development Environment
V8.03.00 2020-04 CC-RX: V3.02.00
For purchase and technical support, contact sales representatives and dealers of Renesas Electronics Corporation.
Notes:1. 24V inverter board & RX24T CPU Card (RTK0EM0009C03402BJ) / RX24U CPU Card
(RTK0EMX590C02000BJ) are products of Renesas Electronics Corporation.
2. TG-55L is the product of TSUKASA ELECTRIC.
TSUKASA ELECTRIC (http://www.tsukasa-d.co.jp/
)
3. Motors conforming to the inverter specifications listed in chapter 2 of Renesas Solution Starter Kit 24V
Motor Control Evaluation System for RX23T User’s Manual (R20UT3697EJ0120) 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.
FAQ 3000404: Program ""make"" not found in PATH error when attempting to build an imported
project (e² studio)
(Note 2)
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
RX24T/RX24U
A/D converter input
Bus voltage
Rotation speed command
MTU3 output
Over current detection
V
dc
GND
Power supply circuit
DC 24 V input
U port
W port
V port
HU port
HW port
HV port
GND port
V
cc
port
VR1
Switch input
Motor rotation start/stop
Error reset
LED output
LED1 LED2
Over current detection
input
U
p
V
p
W
p
V
n
U
n
W
n
Inverter circuit
Phase current
detection
OC
V
u
VvV
w
I
u
I
w
ENC_Z port
ENC_A port
ENC_B port
GND port
V
cc
port
P80
P81
P64 / AN204
P53 / AN209
PA2
PA1
P71 / MTIOC3B (U
p
)
P72 / MTIOC4A (V
p
)
P73 / MTIOC4B (W
p
)
P74 / MTIOC3D (U
n
)
P75 / MTIOC4C (V
n
)
P76 / MTIOC4D (W
n
)
P70 / POE0#
PMSM
P44 / AN100
IU_AIN
Phase
current
P46 / AN102
IW_AIN
SW1 SW2
2. System Overview
Overview of this system is explained below.
2.1 Hardware Configuration
The hardware configuration is shown below.
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Oct. 01. 2020
Figure 2-1 Hardware Configuration Diagram
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Item
Interface component
Function
Rotation speed
Variable resistor (VR1)
Reference value of rotation speed input
(analog value)
START/STOP
Toggle switch (SW1)
Motor rotation start/stop command
ERROR RESET
Toggle switch (SW2)
Command of recovery from error status
LED1
Yellow green LED
- At the time of motor rotation: ON
- At the time of stop: OFF
LED2
Yellow green LED
- At the time of error detection: ON
- At the time of normal operation: OFF
RESET
Push switch (RESET1)
System reset
R5F524TAADFP/ R5F524UEADFB
port name
Function
P64 / AN204
Inverter bus voltage measurement
P53 / AN209
For rotation speed command value input (analog value)
P80
START/STOP toggle switch
P81
ERROR RESET toggle switch
PA2
LED1 ON/OFF control
PA1
LED2 ON/OFF control
P44 / AN100
U phase current measurement
P46 / AN102
W phase current measurement
P71 / MTIOC3B
PWM output (Up)
P72 / MTIOC4A
PWM output (Vp)
P73 / MTIOC4B
PWM output (Wp)
P74 / MTIOC3D
PWM output (Un)
P75 / MTIOC4C
PWM output (Vn)
P76 / MTIOC4D
PWM output (Wn)
P70 / POE0#
PWM emergency stop input at the time of over-current detection
2.2 Hardware Specifications
2.2.1 User Interface
List of user interfaces of this system is given in Table 2-1.
Table 2-1 User Interfaces
List of port interfaces of this system is given in Table 2-2.
Table 2-2 Port Interfaces
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
12-bit A/D Converter
CMT
MTU3
POE3
- Rotation speed command value
- Inverter bus voltage 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
input
- Current of each phase U and W
measurement
1 [ms] interval timer
Complementary
PWM output
Set PWM output ports to
high impedance state to stop
the PWM output.
(1) 12-Bit A/D Converter (S12ADF)
U phase current (Iu)
using the single scan mode (use hardware trigger). The sample-and-hold function is used for U phase current (Iu)
W phase current (Iw), inverter bus voltage (Vdc) and rotation speed reference are measured by
,
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 (MTU3)
On the channel 3 and 4, output (active level: high) with dead time is performed by using the complementary PWM
mode.
(4) Port Output Enable 3 (POE3)
PWM output ports are set to high impedance state when an over-current is detected (when a falling edge of the POE0#
port is detected) or when an output short circuit is detected.
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
middle
driver
user_interface
application
main
ics
board
interface
common
control
inverter
mcu
ICS_RX24T/RX24U.obj : Communication library for GUI tool
ICS_RX24T/RX24U.h : Function definition for GUI tool
(Project Folder)
config
r_mtr_parameter.h : Various parameter definition
r_mtr_common.h : Common definition
r_mtr_transform.h, r_mtr_transform.c : Function definition for coordinate transform
r_mtr_driver_access.h, r_mtr_driver_access.c : User access function definition
r_mtr_board.h, r_mtr_board.c : Function definition for board UI
r_mtr_ics.h, r_mtr_ics.c : Function definition for Analyzer
(Note1)
UI
r_mtr_ctrl_mrssk.h, r_mtr_ctrl_mrssk.c : Function definition depends on inverter board
r_mtr_interrupt.c : Interrupt function definition
r_mtr_config.h : Common definition for software configuration
Note 1: Regarding the specification of Analyzer function in the motor control development support tool
2.3 Software Configuration
2.3.1 Software File Configuration
Folder and file configuration of the software are given below.
main.h, main.c : main function
r_mtr_filter.h, r_mtr_filter.c : Function definition for general purpose filters
r_mtr_fluxwkn.h, r_mtr_fluxwkn.c : Function definition for flux weakening control
r_mtr_mod.h, r_mtr_mod.c : Function definition for modulation
r_mtr_pi_control.h, r_mtr_pi_control.c : Function definition for PI control
r_mtr_statemachine.h, r_mtr_statemachine.c : Function definition for state transition
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_foc_action.c : Action function definition
r_mtr_interrupt_carrier.c : Carrier interrupt function definition
r_mtr_interrupt_1ms.c : 1[ms] interrupt function definition
r_mtr_foc_control_less_foc.h, mtr_foc_control_less_foc.c : Function definition for vector control
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_bemf_observer.h, r_mtr_bemf_observer.obj: Function definition for BEMF observer
r_mtr_opl_damp_ctrl.h, r_mtr_opl_damp_ctrl.obj : Function definition for
r_mtr_opl2less.h, r_mtr_opl2less.obj : Function definition for sensorless switching control
r_mtr_ctrl_rx24t/rx24u.h, r_mtr_ctrl_rx24t/rx24u.c : Function definition depends on MCU
r_mtr_ctrl_mcu.h : Common definition depends on MCU
auto_generation : Folder for auto generation files
r_mtr_motor_parameter.h : Configuration definition for motor parameters
r_mtr_inverter_parameter.h : Configuration definition for inverter parameters
r_mtr_control_parameter.h : Configuration definition for control parameters
openloop damping control
‘Renesas Motor Workbench’, please refer to the chapter 4.The identifier ‘ics/ICS (ICS is previous
motor control development support tool ‘In Circuit Scope’) is attached to the name of folders, files,
functions, variables related to ‘Renesas Motor Workbench’.
Figure 2-2 Folder and File Configuration
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (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
Control Module (FOC, Feedback Loop Control)
r_mtr_interrupt_carrier.c
r_mtr_foc_control.c
r_mtr_foc_current.c
r_mtr_interrupt_1ms.c
r_mtr_foc_speed.c
Other Control Modules
Device Layer (MCU Register Access, Inverter Driver)
Inverter Module
r_mtr_ctrl_mrssk.c
r_mtr_interrupt.c
r_mtr_ctrl_rx24t/rx24u.c
H/W Layer (MCU Inverter)
Function Call
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
Output PWM Signal
2.3.2 Module Configuration
Module configuration of the software is described below.
R01AN3788EJ0110 Rev.1.10 Page 8 of 31
Oct. 01. 2020
Figure 2-3 Module Configuration
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Item
Content
Control method
Vector control
Position detection method
Sensorless
Motor rotation start/stop
Determined depending on the level of SW1 (‘Low’: rotation start, ‘High’: stop) or
input from Analyzer
Input voltage
DC 24 [V]
Carrier frequency (PWM)
20 [kHz]
Dead time
2 [μs]
Control period
Current control / Position and speed estimation: 100 [μs]
Speed control:1 [ms]
Interrupt occupancy
Less than 50 [%]
Rotation speed control
CW: 0 [rpm] to 2650 [rpm]
CCW: 0 [rpm] to 2650 [rpm]
Natural frequency
Current control system: 300 [Hz]
Position estimation system: 50 [Hz]
Optimization setting
Optimization level
2(-optimize=2) (default setting)
Optimization method
Size priority(-size) (default setting)
ROM/RAM size
ROM: 15.0KB
RAM: 4.4KB
Processing stop for
- Disables the motor control signal output (six outputs), under any of the
output ports are set to high impedance state.
2.4 Software Specifications
Table 2-4 shows basic software specification of this system. For details of the sensorless vector control, refer to the
application note ‘Sensorless vector control for permanent magnet synchronous motor (Algorithm)’.
Table 2-4 Basic Specifications of Sensorless Vector Control Software
(twice the carrier period)
range
of each control system
of compiler
protection
Speed control system: 5 [Hz]
BEMF estimation system: 1000 [Hz]
following conditions.
1. Current of each phase exceeds 0.89 [A] (monitored every 100 [μs])
2. Inverter bus voltage exceeds 28 [V] (monitored every 100 [μs])
3. 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
POE0# port is detected) or when the output short circuit is detected, the PWM
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Item
Conversion ratio (Reference: A/D conversion value)
Channel
CW
0 rpm to 2700 rpm: 0800H to 0FFFH
CCW
0 rpm to 2700 rpm: 07FFH to 0000H
Item
Conversion ratio
(Inverter bus voltage: A/D conversion value)
Channel
Inverter bus voltage
0 [V] to 111 [V]: 0000H to 0FFFH
AN204
Item
Conversion ratio
(U, W phase current: A/D conversion value)
Channel
Iu: AN100
Iw: AN102
3. Descriptions of the Control Program
The target software of this application note is 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 RSSK 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’ level, the
software determines that the motor should be stopped.
3.1.2 A/D Converter
(1) Motor Rotation Speed Reference
The motor rotation speed reference 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 Speed Reference
Rotation speed reference
(2) Inverter Bus Voltage
Inverter bus voltage is measured as given in Table 3-2.
It is used for modulation factor calculation and over-voltage detection (when an abnormality is detected, PWM is
stopped).
(3) U, W Phase Current
The U and W phase currents are measured as shown in Table 3-3 and used for vector control.
U, W phase current -10 [A] to 10 [A]: 0000H to 0FFFH
Table 3-2 Inverter Bus Voltage Conversion Ratio
Table 3-3 Conversion Ratio of U and W Phase Current
(Note)
AN209
Note: For more details of A/D conversion characteristics, refer to ‘RX24T Group User’s Manual: Hardware’,
‘RX24U Group User’s Manual: Hardware’.
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
U V
W
ωt
ωt
ωt
ωt
Modulation wave
: command voltage
Carrier wave (triangular wave): PWM timer count
U phase switching
waveform
V phase switching
waveform
Voltage between U – V lines
(U phase waveform) ｰ
(V phase waveform)
3.1.3 Modulation
The target software of this application note uses pulse width modulation (hereinafter called PWM) to generate the input
voltage to the motor. And the PWM waveform is generated by the triangular wave comparison method.
(1) Triangular Wave Comparison Method
The triangular wave comparison method is used to output the voltage command value. By this method, the pulse width
of the output voltage can be determined by comparing the carrier waveform (triangular wave) and voltage command
value waveform. The voltage command value of the pseudo sinusoidal wave can be output by turning the switch on or
off when the voltage command value is larger or smaller than the carrier wave respectively.
Figure 3-1 Conceptual Diagram of the Triangular Wave Comparison Method
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Average
voltage
t
V
T
ON
T
OFF
T
ON
+ T
OFF
T
ON
Duty =
× 100 [%]
E
V
m =
m: Modulation factor V: Voltage command value E: Inverter bus voltage
As shown in Figure 3-2, ratio of the output voltage pulse to the carrier wave cycle is called duty.
Figure 3-2 Definition of Duty
Modulation factor m is defined as follows.
The voltage command can be generated by setting PWM compare register properly to obtain the desired duty.
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
SYSTEM MODE
INACTIVE
ERROR
POWER ON
/
RESET
[
RESET EVENT
]
[ACTIVE EVENT
]
[INACTIVE EVENT]
[ERROR EVENT]
RUN MODE
INIT
BOOT
Control Config
Current
Speed
Position
Torque
Voltage
[Complete current
offset adjustment]
[ERROR EVENT]
[RESET EVENT]
EVENT
INACTIVE
ACTIVE
ERROR
RESET
MODE
INACTIVE ACTIVE ERROR
INACTIVE
INACTIVE INACTIVE
ACTIVE
ERROR ERROR
ERROR
ERROR
ERROR
INACTIVE
ACTIVE
ERROR
DRIVE
ACTIVE
Control Config
Current
Speed
Position
Torque
Voltage
Control Config
Current
Speed
Position
Torque
Voltage
[Start open-loop control]
[Switch to open-loop control]
[Switch to sensorless control]
INACTIVE
By user operation
ACTIVE
By user operation
ERROR
When the system detects an error
RESET
By user operation
3.1.4 State Transition
Figure 3-3 is a state transition diagram of the sensorless vector control software. In the target software of this
application note, the software state is managed by ‘SYSTEM MODE’ and ‘RUN MODE’. And ‘Control Config’ shows
the active control system in the software.
Figure 3-3 State Transition Diagram of Sensorless Vector Control Software
(1). SYSTEM MODE
‘SYSTEM MODE’ indicates the operating states of the system. The state transits on occurrence of each event (EVENT).
‘SYSTEM MODE’ has 3 states that are motor drive stop (INACTIVE), motor drive (ACTIVE), and abnormal condition
(ERROR).
(2). RUN MODE
‘RUN MODE’ indicates the condition of the motor control. ‘RUN MODE’ transits sequentially as shown in Figure 3-3
when ‘SYSTEM MODE’ is ‘ACTIVE’.
(3). EVENT
When ‘EVENT’ occurs in each ‘SYSTEM MODE’, ‘SYSTEM MODE’ changes as shown in the table of Figure 3-3,
according to that ‘EVENT’.
EVENT name Occurrence factor
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Oct. 01. 2020
Table 3-1 List of EVENT
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
MTR
_
ID
_
CONST
(1)
Id reference [
A]
Iq reference [A]
Speed reference
[rad
/s]
Id reference during
open-loop control
MTR_ID_ZERO_CONST
(3)
Id=0 control
MTR_MODE
_BOOT
RUN MODE
Id reference status
0
0
0
Iq reference status
Speed reference status
MTR_ID_UP
(0)
MTR_IQ_ZERO_CONST
(0)
MTR_
SPEED
_ZERO
_
CONST (0)
Target speed reference
MTR
_ID_DOWN
(2)
MTR_IQ_SPEED_PI_OUTPUT
(1)
MTR_SPEED_CHANGE
(
1
)
MTR
_
MODE
_
DRIVE
speed PI output
Reference speed threshold
for sensorless switch control
MTR_IQ_AUTO_ADJ
(2)
t [s]
t [s]
t [s]
Sensorless Switching Transition
3.1.5 Startup Method
Figure 3-4 shows startup control of sensorless vector control software. Each reference value setting of d-axis current,
q-axis current and speed is managed by respective status.
Figure 3-4 Startup Control of Sensorless Vector Control Software
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Over-current limit value [A]
0.89
Monitoring cycle [µs]
100
Over-voltage limit value [V]
28
Monitoring cycle [µs]
100
Under-voltage limit value [V]
14
Monitoring cycle [µs]
100
Speed limit value [rpm]
3000
Monitoring cycle [µs]
100
3.1.6 System Protection Function
This control software has the following error status and executes emergency stop functions in case of occurrence of
respective errors. Table 3-4 shows each setting value for the system protection function.
- Over-current error
The over-current detection is performed by both hardware detection method and software detection method. In response to
over-current detection, an emergency stop signal is generated from the hardware (hardware detection). When the emergency
stop signal is generated, the PWM output ports are set to high impedance state.
In addition, U, V, and W phase currents are monitored in every over-current monitoring cycle. When an over-current is
detected, the CPU executes emergency stop (software detection). The over-current limit value is calculated from the
nominal current of the motor [
- Over-voltage error
The inverter bus voltage is monitored in every over-voltage monitoring cycle. When an over-voltage is detected, the
CPU performs emergency stop. Here, the over-voltage limit value is set in consideration of the error of resistance value
of the detect circuit.
- Under-voltage error
The inverter bus voltage is monitored in every under-voltage monitoring cycle. The CPU performs emergency stop
when under-voltage is detected. Here, the under-voltage limit value is set in consideration of the error of resistance
value of the detect circuit.
MP_NOMINAL_CURRENT_RMS].
- Over-speed error
The rotation speed is monitored in every rotation speed monitoring cycle. The CPU performs emergency stop when the
speed is over the limit value.
Table 3-4 Setting Values of the System Protection Function
Over-current error
Over-voltage error
Under-voltage error
Over-speed error
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Decoupling
Control
PWM
Current
PI
dq
UVW
dq
UVW
ω*
i
q
*=0
i
q
*
v
d
*
θ
i
d
i
q
i
u
iw
θ
v
u
v
v
v
w
+
-
+
+
i
q
i
d
vd**
v
q
**
Voltage
Limit
iq*
v
q
*
M
Voltage
error
Compen
-sation
v
u
v
v
v
w
BEMF
Observer
⊿θ
vq*
v
d
*
id*iq*
ω*
Openloop
Damping
Control
Open-loop to Sensorless
Switching Control
i
d
*
e
d
e
q
1/s
-
+
ω
comp
100 [us] Interrupt (Carrier Interrupt) Process1 [ms] interrupt Process
Decoupl ing
Control
PWM
Curre nt
PI
Spee d
PI
dq
UVW
dq
UVW
ω*
i
d
*
ω
LPF
iq*
v
d
*
θ
i
d
i
q
i
u
i
w
θ
v
u
v
v
v
w
+
-
+
+
i
q
i
d
vd**
v
q
**
Flux-
weakening
Voltage
Limit
i
d
iq**
v
q
*
M
Voltage
err or
Compe n
-sat i on
v
u
v
v
v
w
ω
θ
i
q
BEMF
Ob ser ver
Angl e & Speed
Estimater
⊿θ
vq*
v
d
*
id*iq*
ω*
1 [ms] interrupt Process
100 [us] Interrupt Process
Speed
LPF
ω
LPF
3.2 Function Specifications of Sensorless Vector Control Software
The control process of the target software of this application note is mainly consisted of 100[us] period interrupt (carrier
interrupt) and 1[ms] period interrupt. In Figure 3-5 and Figure 3-6, the control process in the red broken line part is
executed every 100[us] period, and the control process in the blue broken line part is executed every 1[ms] period.
This chapter shows the specification of 2 interrupt functions and functions executed in each interrupt period. In the
following tables, only primary functions of the sensorless vector control are listed. Regarding the specification of
functions not listed in the following tables, refer to source codes.
R01AN3788EJ0110 Rev.1.10 Page 16 of 31
Oct. 01. 2020
Figure 3-5 Block Diagram of Sensorless Vector Control (Open-loop Control)
Figure 3-6 Block Diagram of Sensorless Vector Control (Sensorless Control)
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
File name
Function overview
Process overview
r_mtr_interrupt_carrier.c
mtr _foc_interrupt_carrier
Calling every 100 [μs]
- PWM duty setting
r_mtr_interrupt_1ms.c
mtr_foc_interrupt_1ms
Calling every 1 [ms]
- Speed PI control
Table 3-5 List of Interrupt Functions
Input：(mtr_foc_control_t *) st_foc
Output：None
Input：(mtr_foc_control_t *) st_foc
Output：None
/ Structure pointer for vector control
/ Structure pointer for vector control
- Current and Vdc monitoring
- Current PI control
- Speed/position estimation
- Startup control
- d-axis/q-axis current and
speed reference setting
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
File name
Function overview
Process overview
r_mtr_ctrl_mrssk.c
mtr_get_current_iuiw
Output: None
Obtaining the U/W phase
mtr_get_vdc
Output: (float) f4_temp_vdc / Vdc value
Obtaining the Vdc
r_mtr_foc_control_
mtr_error_check
Output: None
Error monitoring
mtr_current_offset_adjustment
Output: None
Cancel current offset
mtr_calib_current_offset
Output: None
Calculation of current
mtr_angle_speed
Output: None
Position and speed
mtr_foc_voltage_limit
Output: None
Limiting voltage reference
r_mtr_foc_current.c
mtr_current_pi_control
Output: None
Current PI control
mtr_foc_current_decoupling
Output: None
Decoupling control
r_mtr_transform.c
mtr_transform_uvw_dq_abs
Output: None
Coordinate transform UVW
mtr_transform_dq_uvw_abs
Output: None
Coordinate transform dq to
Table 3-6 List of Functions Executed in 100[us] Period Interrupt (Carrier Interrupt) (1/2)
less_speed.c
Input: (float*) f4_iu_ad
/ U phase current A/D conversion value pointer
(float*) f4_iw_ad
/ W phase current A/D conversion value pointer
(uint8_t) u1_id / Motor ID
Input: (uint8_t) u1_id / Motor ID
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
current
offset
estimation
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
Input: (mtr_current_control_t *) st_cc
/ Structure pointer for current control
Input: (mtr_current_control_t *) st_cc
/ Structure pointer for current control
(float)f4_speed_rad / Rotation speed
(mtr_parameter_t *) mtr_para
/ Structure pointer for motor parameter
Input: (const mtr_rotor_angle_t *) p_angle
/ Structure pointer for phase management
(const float*) f4_uvw / UVV phase pointer
(float*) f4_dq / dq-axis pointer
Input: (const mtr_rotor_angle_t *) p_angle
/ Structure pointer for phase management
(const float*) f4_dq / dq-axis pointer
(float*) f4_uvw / UVW phase pointer
to dq
UVW
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
File name
Function overview
Process overview
r_mtr_volt_err_comp.
mtr_volt_err_comp_main
Output: None
Voltage error
r_mtr_ctrl_rx24t.c /
mtr_inv_set_uvw
Output: None
PWM output setting
r_mtr_bemf_observer
mtr_bemf_observer
Output: None
Calculation for BEMF
mtr_bemf_calc_d
Output: (float) f4_temp / Estimated d-axis BEMF
Calculation for estimated
mtr_bemf_calc_q
Output: (float) f4_temp / Estimated q-axis BEMF
Calculation for estimated
mtr_angle_speed_pll
Output: None
Calculation for position
r_mtr_opl_damp_ctrl.
mtr_opl_damp_ctrl
/ Feedback value for speed reference
Open-loop damping
Table 3-7 List of Functions Executed in 100[us] Period Interrupt (Carrier Interrupt) (2/2)
obj
r_mtr_ctrl_rx24u.c
.obj
Input: (mtr_volt_comp_t *) st_volt_comp
/ Structure pointer for voltage error compensation
(float*) p_f4_v_array
/ Array pointer for 3-phase voltage compensation amount
(float*) p_f4_i_array
/ Array pointer for 3 phase current
(float) f4_vdc / Inverter bus voltage
Input: (float) f4_duty_u / U phase modulation factor
(float) f4_duty_v / V phase modulation factor
(float) f4_duty_w / W phase modulation factor
(uint8_t) u1_id / Motor ID
Input: (mtr_bemf_observer_t *) st_bemf_obs
/ Structure pointer for BEMF observer
(float) f4_vd_ref / d-axis voltage reference
(float) f4_vq_ref / q-axis voltage reference
(float) f4_id / d-axis current
(float) f4_iq / q-axis current
Input: (mtr_bemf_observer_t *) st_bemf_obs
/ Structure pointer for BEMF observer
(float) f4_speed_rad / Estimated speed
(float) f4_iq / q-axis current
compensation
observer
d-axis BEMF
obj
R01AN3788EJ0110 Rev.1.10 Page 19 of 31
Oct. 01. 2020
Input: (mtr_bemf_observer_t *) st_bemf_obs
/ Structure pointer for BEMF observer
(float) f4_speed_rad / Estimated speed
(float) f4_id / d-axis current
Input: (float)f4_phase_err / Phase error
(mtr_pll_est_t *) st_pll_est
/ Structure pointer for position and speed estimation
(float*) f4_speed / Estimated speed pointer
Input: (mtr_opl_damp_t *) st_opl_damp
/ Structure pointer for open-loop damping control
(float) f4_ed / Estimated d-axis BEMF
(float) speed_ref / Speed reference
Output: (float)f4_temp_damp_comp_speed
q-axis BEMF
and speed estimation
control
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
File name
Function overview
Process overview
r_mtr_foc_control_less_f
mtr_set_speed_ref
/ Speed reference
Speed reference setting
mtr_set_iq_ref
/ q-axis current reference
q-axis current reference
mtr_set_id_ref
/ d-axis current reference
d-axis current reference
r_mtr_foc_speed.c
mtr_speed_pi_control
/ q-axis current reference
Speed PI control
r_mtr_opl2less.obj
mtr_opl2less_iq_calc
/ q-axis current reference
Generating q-axis current
r_mtr_fluxwkn.obj
R_FLUXWKN_Run
/ Status of flux-weakening control
Flux-weakening control
Table 3-8 List of Functions Executed in 1[ms] Period Interrupt
oc.c
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
Output: (float) f4_speed_rad_ref_buff
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
Output: (float) f4_iq_ref_buff
Input: (mtr_foc_control_t *) st_foc
/ Structure pointer for vector control
Output: (float) f4_id_ref_buff
Input: (mtr_speed_control_t *) st_sc
/ Structure pointer for speed control
(float) f4_speed_rad / Rotation speed
Output: (float) f4_iq_ref_calc
input: (float) f4_ed / Estimated d-axis BEMF
(float) f4_eq / Estimated q-axis BEMF
(float) f4_id
/ d-axis current reference when open-loop
(float) f4_torque_current
/ Torque current when open-loop control
(float) f4_phase_err / Phase error
Output: (float) f4_temp_iq_ref
setting
setting
reference for sensorless
switching control
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Oct. 01. 2020
Input: (fluxwkn_t *) p_fluxwkn
/ Structure pointer for flux weakening control
(float) f4_speed_rad / Rotation speed
(const float*) p_f4_idq
/ dq-axis current pointer
(float*) p_f4_idq_ref / dq-axis current
reference pointer
Output: (uint16_t) u2_fw_status
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
File name
Macro name
Definition value
Remarks
r_motor_parameter.h
MP_POLE_PAIRS
2
Number of pole pairs
MP_RESISTANCE
8.5f
Resistance [Ω]
MP_D_INDUCTANCE
0.0045f
d-axis inductance [H]
MP_Q_INDUCTANCE
0.0045f
q-axis inductance [H]
MP_MAGNETIC_FLUX
0.02159f
Flux [Wb]
MP_ROTOR_INERTIA
0.0000028f
Rotor inertia [kgm^2]
MP_NOMINAL_CURRENT_RMS
0.42f
Nominal current [A(rms)]
Definition
value
r_mtr_control_parameter.h
CP_SPEED_OMEGA
5.0f
Natural frequency of speed
control system [Hz]
CP_SPEED_ZETA
1.0f
Damping ratio of speed control
system
CP_CURRENT_OMEGA
300.0f
Natural frequency of current
control system [Hz]
CP_CURRENT_ZETA
1.0f
Damping ratio of current control
system
CP_E_OBS_OMEGA
1000.0f
Natural frequency of BEMF
estimation system [Hz]
CP_E_OBS_ZETA
1.0f
Damping ratio of BEMF
estimation system
CP_PLL_EST_OMEGA
50.0f
Natural frequency of position
estimation system [Hz]
CP_PLL_EST_ZETA
1.0f
Damping ratio of position
estimation system
CP_ID_DOWN_SPEED_RPM
600
Speed (mechanical) when start
reference [rpm]
CP_ID_UP_SPEED_RPM
300
Speed (mechanical) when start
reference [rpm]
CP_MAX_SPEED_RPM
2650
Maximum speed (mechanical)
[rpm]
CP_SPEED_LIMIT_RPM
3000
Speed limit value (mechanical)
[rpm]
CP_OL_ID_REF
0.5f
d-axis current reference in
open-loop mode [A]
3.3 Macro Definition of Sensorless Vector Control Software
The macro definitions in the target software of this application note are listed below. In the following tables, only
definitions set the software configuration are listed. Regarding the macro definitions not listed in the following tables,
refer to source codes.
Table 3-9 List of Macro Definitions ‘r_mtr_motor_parameter.h’
Table 3-10 List of Macro Definitions ‘r_mtr_control_parameter.h’
File name Macro name
Remarks
decreasing d-axis current
increasing d-axis current
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Definition
value
r_mtr_inverter_parameter.h
IP_DEADTIME
2.0f
Dead time [us]
IP_CURRENT_RANGE
20.0f
Current A/D conversion range [A]
(-10[A] ~ 10[A])
IP_VDC_RANGE
111.0f
Vdc A/D conversion range [V]
(0[V] ~ 111[V])
IP_INPUT_V
24.0f
Input DC voltage [V]
IP_CURRENT_LIMIT
5.0f
Over-current limit [A]
(Note)
IP_OVERVOLTAGE_LIMIT
28.0f
High voltage limit [V]
IP_UNDERVOLTAGE_LIMIT
14.0f
Low voltage limit [V]
File name
Macro name
Definition value
Remarks
r_mtr_config.h
IP_MRSSK
-
Inverter select macro
RX24T_MRSSK /
RX24U_MRSSK
-
MCU select macro
MP_TG55L
-
Motor select macro
CP_TG55L
-
CONFIG_DEFAULT_UI
ICS_UI
Default UI selection
BOARD_UI: Board UI
USE_LESS_SWITCH
1
Sensorless switching control
1: Enable
USE_FLUX_WEAKENIN
0
Flux weakening control
1: Enable
USE_VOLT_ERR_COM
1
Voltage error compensation
1: Enable
USE_OPENLOOP_DAM
1
Open-loop damping control
1: Enable
GAIN_MODE
MTR_GAIN_DESIGN_M
Gain mode
PI gain direct input mode
MOD_METHOD
MOD_METHOD_SVPW
Modulation method
Space Vector PWM
Table 3-11 List of Macro Definitions ‘r_mtr_inverter_parameter.h’
File name Macro name
Note: This value is calculated from the rated power of the shunt resistance.
Table 3-12 List of Macro Definitions ‘r_mtr_config.h’
Remarks
ICS_UI: Use Analyzer UI
G
P
PING
0: Disable
0: Disable
0: Disable
0: Disable
ODE
MTR_GAIN_DESIGN_MOD:
PI gain design mode
MTR_GAIN_DIRECT_MOD
E:
M
MOD_METHOD_SPWM:
Sinusoidal PWM
MOD_METHOD_SVPWM:
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Main process
Initialization of
peripheral functions
Initialization of
user interface
Initialization of variables used
in the main process
Initialization of sequence
process
Initialization of GUI tool
communication function
Watchdog timer clear
UI ?
[Board]
[Analyzer]
Power supply voltage
stabilization wait
Rotation speed reference
setting
Determine rotation speed.
Reset process
LED control
Change motor operation mode
according to SW status.
LED control
Input parameters.
Change motor operation mode
based on the value of
com_u1_mode_system.
3.4 Control Flowcharts
3.4.1 Main Process
R01AN3788EJ0110 Rev.1.10 Page 23 of 31
Figure 3-7 Main Process Flowchart
Oct. 01. 2020
RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
100[us] period interrupt (carrier interrupt)
process
End
Error check
Position and speed estimation
PWM register setting
Current PI control
Get U phase and W phase current
Get inverter bus voltage
(u,v,w) to (d,q) transform
Decoupling control
PWM duty calculation
(d,q) to (u,v,w) transform
Voltage limit
U phase and W phase
current offset adjustment
SYSTEM MODE
INACTIVE MODE
ACTIVE MODE
Current offset adjustment
Completed ?
Completed
Incompleted
Cancel current offset and V phase current
calculation
Voltage error compensation
3.4.2 100[us] Period Interrupt (Carrier Interrupt) Process
Figure 3-8 100[us] Period Interrupt (Carrier Interrupt) Process Flowchart
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
1 [ms] period interrupt process
SYSTEM M ODE
End
[INACTIVE]
[AC TI VE ]
R UN MO D E
Current o ffse t adju stment
To BOOT MO DE
[INIT MODE]
[BOOT MODE]
[DRIVE MODE]
[UNconfirmed]
[Confirmed]
d-axis c urrent c onst set tin g
Run mode tran sition to DR IVE M ODE
[UNconfirmed]
[Confirmed]
Decide direction
Speed re feren ce se ttin g
q-axis c urrent r eference set ting
d-axis c urrent r eference set ting
Speed re feren ce se ttin g
q-axis c urrent r eference set ting
d-axis c urrent r eference set ting
Flux weakening c ontr ol
: In t he fil e “r_mtr_confi g.h”,
pl ease deci de whether or no t to proces s
Speed & Phase er ror LPF
3.4.3 1 [ms] Period Interrupt Process
Figure 3-9 1[ms] Period Interrupt Process Flowchart
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Over-current detection interrupt process
End
PWM output pins setting
Clearing high impedance status
3.4.4 Over-Current Detection Interrupt Process
The over-current detection interrupt occurs when POE0# pin detects falling-edge or when output levels of the MTU
complementary PWM output pins are compared and simultaneous active-level output continues for one cycle or more.
Therefore, when this interrupt process is executed, PWM output pins are already in high-impedance state and the output
to the motor is stopped.
Figure 3-10 Over-Current Detection Interrupt Process Flowchart
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Main Window
Analyzer Window
Control Window
Scope Window
4. Motor Control Development Support Tool ‘Renesas Motor Workbench’
4.1 Overview
‘Renesas Motor Workbench’ is support tool for development of motor control system. ‘Renesas Motor Workbench’ can
be used with target software of this application note to analyze the control performance. The user interfaces of ‘Renesas
Motor Workbench’ provide functions like rotating/stop command, setting rotation speed reference, etc... Please refer to
‘Renesas Motor Workbench V.1.00 User’s Manual’ for usage and more details. ‘Renesas Motor Workbench’ can be
downloaded from 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) Click on [ File ] and select [Open RMT File(O)] from drop down Menu.
Select the RMT file from following location of e2studio/CS+ project folder.
‘[Project Folder]/ application/user_interface/ics/’
(3) Use the ‘Connection’ [COM] select menu to choose the COM port.
(4) Click on the ‘Analyzer’ icon of Select Tool panel to open Analyzer function window.
(5) Please refer to ‘4.3 Operation Example for Analyzer’ for motor driving operation.
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
Variable name
Type
Content
com_u1_sw_userif (*)
uint8_t
User interface switch
1: Board user interface use
com_u1_mode_system (*)
uint8_t
State management
3: Reset
com_u1_direction
uint8_t
Rotation direction
com_s2_ref_speed_rpm
int16_t
Speed reference (Mechanical) [rpm]
com_u2_mtr_pp
uint16_t
Number of pole pairs
com_f4_mtr_r
float
Resistance [Ω]
com_f4_mtr_ld
float
d-axis Inductance [H]
com_f4_mtr_lq
float
q-axis Inductance [H]
com_f4_mtr_m
float
Flux [Wb]
com_f4_mtr_j
float
Inertia [kgm^2]
com_u2_offset_calc_time
uint16_t
Current offset value calculation time [ms]
com_f4_limit_speed_change
float
Speed limit change rate (Electrical) [rpm]
com_u2_max_speed_rpm
uint16_t
Maximum speed value (Mechanical) [rpm]
com_u2_id_up_speed_rpm
uint16_t
Speed when start increasing d-axis current reference
(Mechanical) [rpm]
com_f4_id_up_time
float
Ramping up time of d-axis current reference [ms]
com_f4_ref_id
float
d-axis current reference in open loop mode [A]
com_u2_id_down_speed_rpm
uint16_t
Speed when start decreasing d-axis current reference
(Mechanical) [rpm]
com_f4_id_down_time
float
Decreasing time of d-axis current reference [ms]
com_f4_speed_omega
float
Natural frequency of speed control system [Hz]
com_f4_speed_zeta
float
Damping ratio of speed control system
com_f4_current_omega
float
Natural frequency of current control system [Hz]
com_f4_current_zeta
float
Damping ratio of current control system
com_f4_e_obs_omega
float
Natural frequency of BEMF estimation system [Hz]
com_f4_e_obs_zeta
float
Damping ratio of BEMF estimation system
com_f4_pll_est_omega
float
Natural frequency of position estimation system [Hz]
com_f4_pll_est_zeta
float
Damping ratio of position estimation system
com_f4_id_kp
float
d-axis current PI control proportional gain
com_f4_id_ki
float
d-axis current PI control Integral gain
com_f4_iq_kp
float
q-axis current PI control proportional gain
com_f4_iq_ki
float
q-axis current PI control Integral gain
com_f4_speed_kp
float
Speed PI control proportional gain
com_f4_speed_ki
float
Speed PI control Integral gain
com_u2_overspeed_limit_rpm
uint16_t
Over-speed limit value (Mechanical) [rpm]
4.2 List of Variables for Analyzer function
Table 4-1 is a list of variables for Analyzer. These variables are reflected to the corresponding variables in ‘Middle
Layer’ when the same value as of g_u1_enable_write is written to com_u1_enable_write. However, note that variables
with (*) do not depend on com_u1_enable_write.
Table 4-1 List of Variables for Analyzer [1/2]
0: ICS user interface use (default)
0: Stop mode
1: Run mode
0：CW
1：CCW
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
com_f4_nominal_current_rms
float
Nominal current [A(rpm)]
com_f4_switch_phase_err_deg
float
Phase error enabled switching to sensorless control
(Electrical) [deg]
com_f4_opl2less_sw_time
float
Process time of sensorless switching control [s]
com_f4_ed_hpf_omega
float
d-axis BEMF HPF cut-off frequency [Hz]
com_f4_ol_damping_zeta
float
Damping ratio of open-loop damping control
com_f4_ol_damping_fb_limit_rate
float
Feedback limit of open-loop damping control
com_f4_phase_err_lpf_cut_freq
float
Phase error LPF cut-off frequency [Hz]
com_u1_enable_write
uint8_t
Enable to rewriting variables
(when the same values as of g_u1_enable_write is written)
Name of primary variables
Type
Content
g_st_foc.st_cc.f4_id_ref
float
d-axis current reference [A]
g_st_foc.st_cc.f4_id_ad
float
d-axis current [A]
g_st_foc.st_cc.f4_iq_ref
float
q-axis current reference [A]
g_st_foc.st_cc.f4_iq_ad
float
q-axis current [A]
g_st_foc.f4_iu_ad
float
U phase current A/D conversion value [A]
g_st_foc.f4_iv_ad
float
V phase current A/D conversion value [A]
g_st_foc.f4_iw_ad
float
W phase current A/D conversion value [A]
g_st_foc.st_cc.f4_vd_ref
float
d-axis output voltage reference [V]
g_st_foc.st_cc.f4_vq_ref
float
q-axis output voltage reference [V]
g_st_foc.f4_refu
float
U phase voltage reference [V]
g_st_foc.f4_refv
float
V phase voltage reference [V]
g_st_foc.f4_refw
float
W phase voltage reference [V]
g_st_foc.f4_modu
float
U phase modulation factor
g_st_foc.f4_modv
float
V phase modulation factor
g_st_foc.f4_modw
float
W phase modulation factor
g_st_foc.f4_ed
float
Estimated d-axis BEMF [V]
g_st_foc.f4_eq
float
Estimated q-axis BEMF [V]
g_st_foc.f4_angle_rad
float
Estimated position (Electrical) [rad]
g_st_foc.st_sc.f4_ref_speed_rad_ctrl
float
Speed reference (Electrical) [rad/s]
g_st_foc.st_sc.f4_speed_rad
float
Estimated speed (Electrical) [rad/s]
g_st_foc.f4_phase_err_rad
float
Phase error (Electrical) [rad]
g_st_foc.u2_error_status
uint16_t
Error status
Table 4-2 List of Variables for Analyzer [2/2]
Next, the primary variables that are frequently observed during the motor driving evaluation are listed in Table 4-2.
Please refer when using Analyzer function. Regarding variables not listed in Table 4-2, refer to source codes.
Table 4-3 List of Primary Variables for Sensorless Vector Control
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
②Write reference speed
④Cｌick “Read” button
①Check
⑤Write (“0”or “1”)
③⑦Cｌick “Write” button
⑥Write “1”
②Cｌick “Write” button
①Write “0”
②Cｌick
“Write” button
①Write “3
”
4.3 Operation Example for Analyzer
The section shows an example below for motor driving operation using Analyzer. Operation is using ‘Control Window’
of Analyzer. Regarding specification of ‘Control Window’, refer to ‘Renesas Motor Workbench V.1.00 User’s Manual’.
- Driving the motor
(1) Confirm the check-boxes of column [W?] for ‘com_u1_mode_system’, ‘com_s2_ref_speed_rpm’,
‘com_u1_enable_write’ marks.
(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_u1_enable_write’.
(5) Set a same value of ‘g_u1_enable_write’ in the [Write] box of ‘com_u1_enable_write’.
(6) Write ‘1’ in the [Write] box of ‘com_u1_mode_system’.
(7) Click the ‘Write’ button.
- Stop the motor
(1) Write ‘0’ in the [Write] box of ‘com_u1_mode_system’
(2) Click the ‘Write’ button.
- Error cancel operation
(1) Write ‘3’ in the [Write] box of ‘com_u1_mode_system’
(2) Click the ‘Write’ button.
Figure 4-2 Procedure - Driving the Motor
Figure 4-3 Procedure - Stop the Motor
Figure 4-4 Procedure - Error Cancel Operation
R01AN3788EJ0110 Rev.1.10 Page 30 of 31
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RX24T/RX24U Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)
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R01AN3788EJ0110 Rev.1.10 Page 31 of 31
Oct. 01. 2020
Rev.
Date
Description
Page
Summary
1.00
Apr. 05, 2017
-
First edition issued
1.01
Jul. 07, 2017
-
Update for software version 1.01
Fixed typo error in document
1.10
Oct. 01, 2020
-
Update the toolchain version
Revision History
A-1
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 V
(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 V
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 system-evaluation test for the given product.
(Max.) and VIH (Min.).
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IL
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