Renesas RX72T APPLICATION NOTE

APPLICATION NOTE

R01AN4721EJ0100 Rev.1.00 Page 1 of 37 Mar 29. 2019

RX72T

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

Abstract

This application note aims to explain the sample programs for a permanent magnet synchronous motor with encoder, by using functions of RX72T. 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 device.

- RX72T (R5F572TKCDFB)

Target Software

The target programs of this application note are as follows.

- RX72T_MRSSK_SPM_ENCD_FOC_CSP_RV100 (IDE: CS+)

- RX72T_MRSSK_SPM_ENCD_FOC_E2S_RV100 (IDE: e2studio)

Vector control with encoder software for ‘24V Motor Control Evaluation System for RX23T’ and ‘RX72T CPU Card’

Reference

- RX72T Group User’s Manual: Hardware (R01UH0803)

- Application note: ‘Vector control for permanent magnet synchronous motor with encoder (Algorithm)’ (R01AN3789)

- Renesas Motor Workbench V.1.00 User’s Manual (R21UZ0004)

- Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T User’s Manual (R20UT3697)

R01AN4721EJ0100

Rev.1.00

Mar 29. 2019

RX72T Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

R01AN4721EJ0100 Rev.1.00 Page 2 of 37 Mar 29. 2019

Contents

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

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

3. Descriptions of the Control Program .......................................................................................... 10

4. Motor Control Development Support Tool ‘Renesas Motor Workbench’ ................................ 29

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1. Overview

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

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

Microcontroller

Evaluation board

Motor

RX72T(R5F572TKCDFB)

24V inverter board & RX72T CPU Card

(Note 1)

FH6S20E-X81

(Note 2)

Table 1-2 Software Development Environment

Toolchain version

CC-RX V3.01.00

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

Notes:1. 24V inverter board & RX72T CPU Card are product of Renesas Electronics Corporation.

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

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2. System overview

Overview of this system is explained below.

2.1 Hardware configuration

The hardware configuration is shown below.

A/D converter input

Bus voltage

Rotation speed command

PWM output

Over current detection

Power supply circuit

Switch input

Motor rotation start/stop

Error reset

LED output

Over current detection input

Inverter circuit

Phase current

detection

Phase current

Encoder input

RX72T

GND

Input DC24V

VR1

SW1

SW2

LED1 LED2

vVw

P35

PA0

P63 / AN209

P43 / AN003

PC5

PC6

P71 / MTIOC3B / GTIOC4A(Up)

P72 / MTIOC4A / GTIOC5A(Vp)

P73 / MTIOC4B / GTIOC6A(Wp)

P74 / MTIOC3D / GTIOC4B(Un)

P75 / MTIOC4C / GTIOC5B(Vn)

P76 / MTIOC4D / GTIOC6B(Wn)

P70 / POE0#

PMSM

P40 / AN000

IU_AIN

P42 / AN002

IW_AIN

LED3

P34

PA7 / MTCLKA

PA6 / MTCLKB

Hall Input

P23 / IRQ11

P24 / IRQ4

P25 / IRQ10

U port

W port

V port

HU port

HW port

HV port

GND port

port

ENC_Z port

ENC_A port

ENC_B port

GND port

port

Figure 2-1 Hardware Configuration Diagram

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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

Item

Interface component

Function

Rotation position / speed

Variable resistor (VR1)

Reference value of rotation position / 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

LED3

Yellow green LED

- Complete of positioning: ON

- Uncomplete of positioning: OFF RESET

Push switch

System reset

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

Table 2-2 Port Interfaces

R5F572TKCDFB port name

Function

P63 / AN209

Inverter bus voltage measurement

P43 / AN003

For position / speed command value input (analog value)

P35

START/STOP toggle switch

PA0

ERROR RESET toggle switch

PC5

LED1 ON/OFF control

PC6

LED2 ON/OFF control

P34

LED3 ON/OFF control

P40 / AN000

U phase current measurement

P42 / AN002

W phase current measurement

P71 / MTIOC3B / GTIOC4A

PWM output (Up)

P72 / MTIOC4A / GTIOC5A

PWM output (Vp)

P73 / MTIOC4B / GTIOC6A

PWM output (Wp)

P74 / MTIOC3D / GTIOC4B

PWM output (Un)

P75 / MTIOC4C / GTIOC5B

PWM output (Vn)

P76 / MTIOC4D / GTIOC6B

PWM output (Wn)

P23 / IRQ11

Hall Phase-U signal input

P24 / IRQ4

Hall Phase-V signal input

P25 / IRQ10

Hall Phase-W signal input

PA7 / MTCLKA

Encoder Phase-A signal input

PA6 / MTCLKB

Encoder Phase-B signal input

P70 / POE0#

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

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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 / GPTW

POE3B

- Rotation speed command value input

- Current of each phase U and W

measurement

- Inverter bus voltage measurement

500 [µs] interval timer

- Complementary PWM output

- Encoder phase counter

- Encoder count capture

Set PWM output ports to high impedance state to stop the PWM output.

(1) 12-bit A/D converter (S12ADH)

U phase current (Iu), W phase current (Iw), inverter bus voltage (Vdc) and rotation speed reference are measured by using the single scan mode (use hardware trigger). The sample-and-hold function is used for U phase current (Iu) and W phase current (Iw) measurement.

(2) Compare match timer (CMT)

The channel 0 of the compare match timer is used as 500 [µs] interval timer.

(3) Multi-function timer pulse unit 3 (MTU3d)

The operation mode varies depending on channels. On the channels 3 and 4, output (active level: 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.

(4) General PWM Timer (GPTW)

The operation mode varies depending on channels. On the channels 4, 5 and 6, output (active level: high) with dead time is performed by using the PWM Output Operating mode.

The channel 3 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 9 is used as free-run timer for speed measurement.

(5) Port output enable 3 (POE3B)

PWM output ports are set to high impedance state when an overcurrent is detected (when a falling edge of the POE0# port is detected) and when an output short circuit is detected.

The setting of the PWM output timer is selected by the following macro definition.

Table 2-4 List of Macro Definitions ‘r_mtr_ctrl_rx72t.h’

File name

Macro name

Definition value

Remarks

r_mtr_ctrl_rx72t.h

MTR_GPT

0:MTU 1:GPT

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2.3 Software configuration

2.3.1 Software file configuration

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

Figure 2-2 Folder and file configuration

middle

driver

user_interface

application

main

ics

board

interface

common

control

inverter

mcu

sensor

main.h, main.c: main function

r_mtr_ics.h, r_mtr_ics.c: Function definition of Analyzer

note1

r_mtr_board.h, r_mtr_board.c: Function definition of board UI

ICS2_RX72T.lib: Tool communication library

ICS2_RX72T.h: Function definition of tool communication

(Project Folder)

r_mtr_driver_access.h, r_mtr_driver_access.c: Function definition of user access

r_mtr_common.h: Common definition

r_mtr_filter.h, r_mtr_filter.c: Function definition of general purpose filter

r_mtr_fluxwkn.h, r_mtr_fluxwkn.objc : Function definition for flux weakening control

r_mtr_pi_control.h, r_mtr_pi_control.c: Function definition of PI controller r_mtr_transform.h, r_mtr_transform.c: Function definition of coordinate transformation r_mtr_volt_err_comp.h, r_mtr_volt_err_comp.obj: Function definition of voltage error

compensation

r_mtr_mod.h, r_mtr_mod.c: Function definition of modulation r_mtr_statemachine.h, r_mtr_statemachine.c: Function definition of state machine

r_mtr_parameter.h: Function definition of various parameter

r_mtr_ctrl_gain_calc.obj: Function definition of control gain calculation r_mtr_foc_action.c: Function definition of event action r_mtr_interrupt_carrier.c: Function definition of carrier interrupt r_mtr_interrupt_timer.c: Function definition of periodic interrupt r_mtr_interrupt_sensor.c: Function definition of sensor signal interrupt r_mtr_foc_control_encd_position.h, r_mtr_foc_control_encd_position.c

: Function definition of FOC control

r_mtr_foc_current.h, r_mtr_foc_current.c: Function definition of current control r_mtr_foc_speed.h, r_mtr_foc_speed.c: Function definition of speed control r_mtr_foc_position.h, r_mtr_foc_position.c: Function definition of position control r_mtr_position_profiling.h, r_mtr_position_profiling.c

Function definition of position profiling

r_mtr_speed_observer.h, r_mtr_speed_observer.obj:

Function definition of speed observer

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

r_mtr_ctrl_mrssk.h, r_mtr_ctrl_mrssk.c: Function definition depends on inverter board

r_mtr_ctrl_encoder.h, r_mtr_ctrl_encoder.c: Function definition of encoder

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

config

Notes: 1. Regarding the specification of Analyzer function in the motor control development support tool

‘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’.

r_mtr_config.h: Common definition for software configuration

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

r_mtr_encoder_parameter.h: Configuration definition for encoder parameters

r_mtr_interrupt.c: Interrupt function definition

r_mtr_ctrl_rx72t.h, mtr_ctrl_rx72t.c: Function definition depends on MCU r_mtr_ctrl_mcu.h: Common definition depends on MCU auto_generation: Folder for auto generation files

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2.3.2 Module configuration

Module configuration of the sample programs is described below.

Figure 2-3 Module Configuration

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_timer.

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)

r_mtr_ctrl_mrssk.c

r_mtr_ctrl_encoder.c

r_mtr_ctrl_hall.c

r_mtr_interrupt.c

r_mtr_ctrl_rx72t.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

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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

Item

Content

Control method

Vector control

Motor control start/stop

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

Position detection of rotor magnetic pole

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

DC 24 [V]

Carrier frequency (PWM)

20 [kHz] (carrier cycle: 50[µs])

Dead time

2 [μs]

Control cycle (Current loop)

50 [μs]

Control cycle (Speed and Position loop)

500 [µs]

Management of position command value

Board UI

Position command generation: Direct input of VR1 (input range)

-180°～180°

ICS UI

Position command generation: Position profile of trapezoidal curve for speed command value (input range)

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

Management of speed command value

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

Accuracy of position

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

Dead band of position

(Note)

Encoder count ±1 [cpr] (±0.3°)

Natural frequency of each control system

Current control system:300Hz Speed control system:30Hz Position control system:10Hz

Optimization setting for compiler

Optimization level

2 (-optimize=2) (default)

Optimization method

Size priority (default)

ROM/RAM size

ROM: 21.0KB RAM: 4.8KB

Processing stop for protection

Motor control signal outputs (six outputs) will be disabled, under any of the following conditions.

1. Current of each phase exceeds 3.28 [A] (monitored every 50 [μs])

2. Inverter bus voltage exceeds 28 [V] (monitored every 50 [μs])

3. Inverter bus voltage is less than 14 [V] (monitored every 50 [μs])

4. Rotation speed exceeds 3000 [rpm] (monitored every 50 [μs])

When an external over current signal is detected (when a falling edge of the POE0# port is detected) and when the output short circuit is detected, the PWM output ports are set to high impedance state.

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

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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

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’, 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

Item

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

Channel

Rotation position command value

0°～180°:0800H～0FFFH

AN003 CCW

0 °～-180°:07FFH～0000H

Rotation speed command value

0 [rpm]～2000[rpm]:0800H～0FFFH

CCW

0 [rpm]～2000[rpm]:07FFH～0000H

(2) Inverter Bus Voltage

Inverter bus voltage is measured as given in エラー! 参照元が見つかりません。. 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

Item

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

Channel

Inverter bus voltage

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

AN209

(3) U, W Phase Current

The U and W phase currents are measured as shown in エラー! 参照元が見つかりません。 and used for vector control.

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

Item

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

Channel

U, W phase current

-10 [A] to 10 [A]: 0000H to 0FFFH

(Note 1)

Iu: AN000 Iw: AN002

Notes:1 For more details of A/D conversion characteristics, refer to RX72T Group User’s Manual: Hardware. .

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

In vector control software for PMSM with encoder, the position profile generation is used to create command value (input position value). The implementation of command value is each control cycle is used as method of managing acceleration and the maximum speed value with respect to target position value.

Figure 3-1 Position Profile Generation

Enter the following variables from the Analyzer to create a command value.

‐Position reference [degree] (com_s2_ref_position_deg) ‐Acceleration time (com_f4_accel_time) ‐Maximum speed command value (com_f4_accel_max_ref_speed_rad) ‐Position stabilization wait time (com_u2_ref_pos_interval_time)

u1_ref_pos_status

u1_ref_pos_mode

Time[s]

Speed

Position

Constant Speed

com_s2_max_speed_rpm

com_u2_ref_pos_interval_time

MTR_CTRL_TRIANGLE

MTR_CTRL_TRAPEZOIDAL

MTR_CTRL_TRIANGLE ：f4_accel_max_ref_speed_rad * f4_accel_time >= f4_dt_pos_rad

MTR_CTRL_TRAPEZOIDAL ：f4_accel_max_ref_speed_rad * f4_accel_time < f4_dt_pos_rad

com_s2_ref_position_deg

MTR_POSITION_STEADY_STATE

MTR_POSITION_TRANSITION_STATEE

MTR_POSITION_STEADY_STATE

MTR_POSITION_TRANSITION_STATE

com_s2_ref_position_deg

Reference Position

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3.1.4 Speed Measurement

In order to obtain better real-time performance and higher speed resolution at low speed, this system use encoder signal edge interval to calculate speed, the speed extrapolation is used in PI control calculation. In addition, taking the difference between rise time and fall time and the accuracy of quadrature of encoder signal into consideration, the speed is calculated with time elapsed and angle changed in one period of encoder Phase-A or Phase-B signals.

(1) Speed Calculation

2π/Pulses per Rotation

Timer Counter

Capture Capture

Counter Difference

Phase-A

Encoder Signal

Phase-B

Encoder Signal

2π/Pulses per Rotation

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Figure 3-2 Speed Calculation using Encoder

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3.1.5 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.

U V W

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)

Figure 3-3 Conceptual Diagram of the Triangular Wave Comparison Method

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Here, as shown in the Figure 3-4, ratio of the output voltage pulse to the carrier wave is called duty.

Average

voltage

OFF

+ T

OFF

Duty =

× 100 [%]

Figure 3-4 Definition of Duty

Modulation factor m is defined as follows.

m =

m: Modulation factor V: Voltage command value E: Inverter bus voltage

The voltage command can be generated by setting PWM compare register properly to obtain the desired duty.

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3.1.6 State Transition

Figure 3-5 is a state transition diagram of the 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.

SYSTEM MODE

INACTIVE

ERROR

POWER ON/

RESET

[RESET EVENT]

[ACTIVE EVENT]

[INACTIVE EVENT]

[ERROR EVENT]

RUN MODE

INIT

BOOT

Control Config

Cu r re n t

Sp e ed

Po s it i on

To r qu e

Vo l ta g e

DRIVE

ACTIVE

[MTR_ID_ZERO_CONST

== st_g.u1_flag_id_ref]

[g_f4_offset_calc_time

== st_g.u2_cnt_adjust]

[ERROR EVENT]

[RESET EVENT]

EVENT

INACTIVE

ACTIVE

ERROR

RESET

MODE

INACTIVE ACTIVE ERROR

INACTIVE

INACTIVE INACTIVE

ACTIVE

ERROR ERROR

ERROR

INACTIVE

ACTIVE

ERROR

[MTR_LOOP_POSITION ==

com_u1_ctrl_loop_mode]

[MTR_LOOP_SPEED ==

com_u1_ctrl_loop_mode]

Control Config

Cu r re n t

Sp e ed

Po s it i on

To r qu e

Vo l ta g e

Control Config

Cu r re n t

Sp e ed

Po s it i on

To r qu e

Vo l ta g e

Figure 3-5 State Transition Diagram of Vector Control PMSM with Encoder Software

(1). SYSTEM MODE

‘SYSTEM MODE’ indicates the operating states of the system. The state transits on occurrence of each event (EVENT).

‘SYSTEM MODE’ has 3 states that are motor drive stop (INACTIVE), motor drive (ACTIVE), and abnormal condition

(ERROR).

(2). RUN MODE

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

(3). EVENT When ‘EVENT’ occurs in each ‘SYSTEM MODE’, ‘SYSTEM MODE’ changes as shown the table in Figure 3-5,

according to that ‘EVENT’.

Table 3-1 List of EVENT

EVENT name

Occurrence factor

INACTIVE

by user operation

ACTIVE

by user operation

ERROR

when the system detects an error

RESET

by user operation

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3.1.7 Startup Method

Figure 3-6 shows the software implementation of d-axis and encoder alignment method. The d-axis alignment method used as startup control of position control method, in initialization mode (MTR_MODE_INIT) and Boot mode (MTR_MODE_BOOT). In drive mode (MTR_MODE_DRIVE) vector control is implemented for PMSM with Encoder. Each reference value setting of d-axis current, q-axis current and speed is managed by respective status.

MTR_ID_CONST

(1)

Id reference[A]

Iq reference[A]

Speed reference

[rpm]

com_f4_ref_id

MTR_ID_ZERO_CONST

(3)

Id=0 control

MTR_MODE_BOOT

RUN MODE

Id reference status

speed PI output

Iq reference status

Speed reference status

MTR_MODE_INIT

MTR_ID_UP

(0)

MTR_ID_ZERO_CONST

(3)

MTR_IQ_ZERO_CONST

(0)

MTR_SPEED_ZERO_CONST

(0)

MTR_IQ_SPEED_PI_OUTPUT

(1)

MTR_POSITION_CONTROL_OUTPUT

(1)

MTR_MODE_DRIVE

MTR_ID_CONST

(1)

MTR_ID_UP

(0)

MTR_POSITION_CONST

(0)

Position reference status

MTR_POSITION_TRAPEZOID

(1)

Position reference

[degree]

com_s2_ref_position_deg

[s]

Figure 3-6 Startup Position Control of Vector Control PMSM with Encoder Software

MTR_ID_CONST

(1)

Id reference[A]

Iq reference[A]

Speed reference

[rpm]

com_f4_r ef_id

MTR_ID_ZERO_CONST

(3)

Id=0 control

MTR_MODE _BOOT

RUN MODE

Id reference status

speed PI output

Iq reference status

Speed reference status

MTR_MODE _INIT

MTR_ID_UP

(0)

MTR_ID_ZERO_CONST

(3)

MTR_IQ_ZERO_CONST

(0)

MTR_SPEED_ZERO_CONST

(0)

MTR_IQ_SPEED_PI_O UTPUT

(1)

MTR_SPEED_CHANGE

(2)

MTR_MODE _DRIVE

MTR_ID_CONST

(1)

MTR_ID_UP

(0)

[s]

com_s2_r ef_speed_rpm

Figure 3-7 Startup Speed Control of Vector Control PMSM with Encoder Software

For details of the position control of a vector controlled PMSM using encoder, refer to the application note ‘Vector control of permanent magnet synchronous motor with encoder: algorithm’.

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3.1.8 System Protection Function

This control program 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 as well as 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 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 [MP_NOMINAL_CURRENT_RMS].

 Over-voltage error

The inverter bus voltage is monitored in 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 under-voltage monitoring cycle. The CPU performs emergency stop when under-voltage is detected. Here, the low voltage limit value is set in consideration of the error of resistance value of the detect circuit.

 Over-speed error

The rotation speed is monitored in 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-current limit value [A]

3.82

Monitoring cycle [s]

Over-voltage error Over-voltage limit value [V]

Monitoring cycle [s]

Under-voltage error Under-voltage limit value [V]

Monitoring cycle [s]

Over-speed error Speed limit value [rpm]

3000

Monitoring cycle [s]

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3.2 Function Specifications of Vector Control using Encoder Software

The control process of the target software of this application note is mainly consisted of 50[µs] period interrupt (carrier interrupt) and 500[µs] period interrupt. As following Figure 3-8, the control process in the red broken line part is executed every 50[µs] period, and the control process in the blue broken line part is executed every 500[µs] period.

Decoupling

Control

PWM

Current

Speed

UVW

Encoder

ω*

id*

iq*

vd*

Position P

+ Speed FF

θ*

vd**

vq**

Voltage

Limit

iq**

vq* vq*

Voltage

error

Compen

-sation

Hall

Encoder Interrupt

Carrier Interrupt

Switch Position & Speed

Calculation Mode

Switch

Position/Speed

Loop mode

Speed

Observer

Position Profiling

θ_reference

IPD Controler

+ Position P + Speed FF

Switch

Position/Speed Loop Controller

Carrier Interrupt Process

500us Interrupt Process

Encoder Interrupt Process

Encoder

A/B

Phase

signal

ω*

iq*id*

ω_reference

Hall Interrupt

Process

Rotor Angle

Detection

Switch Angle Adjust mode

Figure 3-8 System Block of Vector Control with Encoder

This chapter shows the specification of 4 interrupt functions and functions executed in each interrupt cycle. In the following tables, only essential functions of the vector control are listed. Regarding the specification of functions not listed in following tables, refer to source codes.

Table 3-5 List of Control Functions ‘mtr_interrupt.c’

File name

Function name

Process overview

r_mtr_interrupt_carrier.c

mtr_foc_carrier_interrupt Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control Output: None

Calling every 50 [μs]

- Current and voltage monitoring

-Error detection

- Current offset detection

- Vector calculation

- Current PI control

r_mtr_interrupt_timer.c

mtr_foc_500us_interrupt Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control

Output: None

Calling every 500 [µs]

- Startup control

- d-axis/q-axis current and speed reference set

- Speed PI control

r_mtr_interrupt_sensor.c

mtr_angle_adj_hall_interrupt Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control

Output: None

Called when the Hall phase signals (Phase-U/V/W)

- Get Hall signal

- Rotor phase calculation

- Hall error process

- Disable Hall interrupt

mtr_encd_pos_speed_calc_interrupt Input: (mtr_foc_control_t *) st_foc / FOC motor structure

Output: None

Called when the encoder phase counts (Phase-A and B)

- Rotor phase calculation

- Speed calculation

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Table 3-6 List of Functions for 50us interrupt [1/2]

File name

Function name

Process overview

r_mtr_ctrl_mrssk.c

mtr_get_current_iuiw Input: (float*) f4_iu_ad / U phase current A/D conversion value

(float*) f4_iw_ad / W phase current A/D conversion value (uint8_t) u1_id / Motor ID

Output: None

Obtaining the UVW phase current

mtr_get_vdc Input: (uint8_t) u1_id / Motor ID Output: (float) f4_temp_vdc / Vdc value

Obtaining the Vdc

r_mtr_foc_control_enc d_position.c

mtr_error_check Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control Output: None

Error monitoring

mtr_current_offset_adjustment Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control Output: None

UVW phase current offset adjustment

mtr_calib_current_offset Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control Output: None

UVW phase current offset calculation

mtr_encd_pos_speed_calc Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control Output: None

Position and speed calculation for encoder pulse

mtr_foc_voltage_limit Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control Output: None

Voltage command value limit

mtr_angle_speed Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control Output: None

Rotor phase and speed related process (Switching calculation method)

r_mtr_foc_current.c

mtr_current_pi_control Input: (mtr_foc_control_t * )st_foc / Structure pointer for vector control Output: None

Current PI

mtr_decoupling_control Input: (mtr_foc_control_t *) st_foc / Structure pointer for vector control

(float)f4_speed_rad / speed (mtr_parameter_t*)mtr_para / motor parameter structure

Output: None

Decupling control

r_mtr_transform.c

mtr_transform_uvw_dq_abs 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

Output: None

Coordinate transform UVW to dq

mtr_transform_dq_uvw_abs 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

Output : None

Coordinate transform dq to UVW

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Table 3-7 List of Functions for 50us Interrupt [2/2]

File name

Function name

Process overview

r_mtr_volt_err_comp.c

mtr_volt_err_comp_main Input:(mtr_volt_comp_t *) st_volt_comp / Voltage error

compensation structure

(float*) p_f4_v_array / Three phase voltage compensation

value array pointer

(float*) p_f4_i_array / Three phase current compensation

value array pointer

(float)f4_vdc / Vdc value

Output: None

Voltage error compensation

r_mtr_ctrl_rx72t.c

mtr_inv_set_uvw Input:(float) f4_modu / U phase modulation factor

(float) f4_modv / V phase modulation factor (float) f4_modw / W phase modulation factor (uint8_t) u1_id / Motor ID

Output: None

PWM output setting

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Table 3-8 List of Functions for 500us Interrupt

File name

Function name

Process overview

r_mtr_ctrl_hall.c

mtr_angle_adj_hall_init Input:(mtr_hall_t *) st_hc / Hall sensor structure Output:(float) f4_hall_angle_rad / angle of signal detection for Hall

sensor

Initialize rotor angle detection for Hall sensor

r_mtr_ctrl_encoder.c

mtr_set_encd_tcnt Input:(uint8_t) u1_id / Motor ID

(uint16_t) u2_cnt_value / counter value

Output: None

Set for encoder count resister

mtr_encd_cnt_reset Input:(uint8_t) u1_id / Motor ID

(uint16_t) u2_cnt_value / counter value

Output: None

Initialize encoder timer counter value

r_mtr_ctrl_rx72t.c

mtr_speed_calc_timer_start Input:(uint8_t) u1_id / Motor ID Output: None

Start for encoder timer

mtr_irq_interrupt_enable Input:(uint8_t) u1_id / Motor ID Output: None

Enable Hall interrupt

r_mtr_foc_control_encd_p osition.c

mtr_hall_error Input:(mtr_foc_control_t *) st_foc / FOC motor structure

(float) f4_hall_angle_rad / angle of Hall

Output: None

Hall sensor error process mtr_set_pos_ref Input:(mtr_foc_control_t *) st_foc / FOC motor structure Output:(float32) f4_ref_pos_rad_calc / position command value

Setting the command value for position control

mtr_set_speed_ref Input:(mtr_foc_control_t *) st_foc / FOC motor structure Output:(float32) f4_speed_ref_rad _calc / speed command value

Setting the command value for speed control

mtr_set_iq_ref Input:(mtr_foc_control_t *) st_foc / FOC motor structure Output:(float32) f4_iq_ref_calc / q-axis current command value

Setting the q axis current command value

mtr_set_id_ref Input:(mtr_foc_control_t *) st_foc / FOC motor structure Output:(float32) f4_id_ref_calc / d-axis current command value

Setting the d axis current command value

r_mtr_fluxwkn.obj

R_FLUXWKN_Run 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 / Status of flux-weakening control

Flux-weakening control

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3.3 Macro Definitions of Vector Control Software Using Encoder

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

Table 3-9 List of Macro Definitions ‘r_mtr_motor_parameter.h’

File name

Macro name

Definition value

Remarks

r_mtr_motor_parameter.h

MP_POLE_PAIRS

Number of pole pairs

MP_MAGNETIC_FLUX

0.006198f

Flux [Wb]

MP_RESISTANCE

0.453f

Resistance [Ω]

MP_D_INDUCTANCE

0.0009447f

d-axis Inductance [H]

MP_Q_INDUCTANCE

0.0009447f

q-axis Inductance [H]

MP_ROTOR_INERTIA

0.00000962f

Rotor inertia [kgm^2]

MP_NOMINAL_CURRENT_RMS

1.8f

Nominal torque [Arms]

Table 3-10 List of Macro Definitions ‘r_mtr_control_parameter.h’

File name

Macro name

Definition value

Remarks

r_mtr_control_parameter.h

CP_CURRENT_OMEGA

300.0f

Natural frequency of the current loop[Hz]

CP_CURRENT_ZETA

1.0f

Damping ratio of the current loop

CP_SPEED_OMEGA

30.0f

Natural frequency of the speed loop[Hz]

CP_SPEED_ZETA

1.0f

Damping ratio of the speed loop

CP_POS_OMEGA

10.0f

Natural frequency of the position loop[Hz]

CP_SOB_OMEGA

200.0f

Natural frequency of the speed observer[Hz]

CP_SOB_ZETA

1.0f

Damping ratio of the speed observer

CP_MIN_SPEED_RPM

Minimum speed (mechanical) [rpm]

CP_MAX_SPEED_RPM

2000

Maximum speed (mechanical) [rpm]

CP_SPEED_LIMIT_RPM

3000

Limit speed (mechanical) [rpm]

CP_OL_ID_REF

1.5f

d-axis current command value [A]

Table 3-11 List of Macro Definitions ‘r_mtr_inverter_parameter.h’

File name

Macro name

Definition value

Remarks

r_mtr_inverter_parameter.h

IP_DEADTIME

2.0f

Deadtime [µs]

IP_CURRENT_RANGE

20.0f

current sensing range

IP_VDC_RANGE

111.0f

voltage sensing range

IP_INPUT_V

24.0f

input DC voltage [V]

IP_CURRENT_LIMIT

5.0f

Current limit[A]

(Note)

IP_OVERVOLTAGE_LIMIT

28.0f

Over voltage limit [V]

IP_UNDERVOLTAGE_LIMIT

14.0f

Under voltage limit [V]

Note: This value is calculated from the rated power of the shunt resistance.

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Table 3-12 List of Macro Definitions ‘r_mtr_config.h’

File name

Macro name

Definition value

Remarks

r_mtr_config.h

IP_MRSSK

Inverter select macro

RX72T_MRSSK

MCU select macro

MP_FH6S20EX81

Motor select macro

CP_FH6S20EX81

RP_FH6S20EX81

CONFIG_DEFAULT_UI

ICS_UI

Select default UI ICS_UI: Use the Analyzer for RMW BOARD_UI: Use board interface

FUNC_ON

Enable

FUNC_OFF

Disable

DEFAULT_FLUX_WEAKENI NG

FUNC_OFF

Flux weakening control

DEFAULT_VOLT_ERR_CO MP

FUNC_ON

Voltage error compensation

ANGLE_ADJUST_MODE

MTR_ANGLE_ADJ_EXCIT

Select angle adjust mode MTR_ANGLE_ADJ_EXCIT: Forced

excitation mode MTR_ANGLE_ADJ_HALL: Hall mode

POS_CTRL_MODE

MTR_CTRL_IPD

Select position control mode MTR_CTRL_PID: PID controller MTR_CTRL_IPD: IPD controller

LOOP_MODE

MTR_LOOP_POSITION

Select control loop mode MTR_LOOP_SPEED: speed loop MTR_LOOP_POSITION: position loop

GAIN_MODE

MTR_GAIN_DESIGN_MODE

Gain mode MTR_GAIN_DESIGN_MODE:

PI gain design mode

MTR_GAIN_DIRECT_MODE:

PI gain direct input mode

MOD_METHOD

MOD_METHOD_SVPWM

modulation method MOD_METHOD_SPWM:

Sinusoidal PWM

MOD_METHOD_SVPWM:

Space Vector PWM

Table 3-13 List of Macro Definitions ‘r_mtr_encoder_parameter.h’

File name

Macro name

Definition value

Remarks

r_mtr_encoder_parameter.h

EP_PULSE_PER_REV

300

Pulse par revolution [ppr]

Table 3-14 List of Macro Definitions ‘r_mtr_common.h’

File name

Macro name

Definition value

Remarks

r_mtr_common.h

MTR_TFU_OPTIMIZE

1:Use TFU code 0:Use Standard library code

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3.4 Control Flowcharts

3.4.1 Main Process

Main process

Initialization of

peripheral functions

Initialization of

user interface

Initialization of variables used

in the main process

Initialization of sequence

process

Initialization of Analyzer

Watchdog timer clear

UI ?

[Board]

[Analyzer]

LED control

Determine rotation position.

Reset process

Power supply voltage

stabilization wait

Change motor operation mode

according to SW status.

Rotation position command

value setting

Input parameters.

Change motor operation mode

based on the value of

com_u1_mode_system.

LED control

Figure 3-9 Main Process Flowchart

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3.4.2 Carrier Synchronous Interrupt Handling (Vector Control using Encoder)

Carrier synchronous interrupt

End

(UVW)- (d-q) Transform

PWM register setting

Current PI control

Get U phase and W phase current values

Get inverter bus voltage value.

Angle and speed related Process

Decoupling control

PWM duty calculation

Voltage limit

U phase and W phase current

offset adjustment

Error check

SYSTEM MODE

offset adjustment

[ACTIVE]

[INACTIVE]

[confirmed]

[unconfirmed]

Current offset detection

Calculate V-phase current

Voltage error compensation

(d-q)-(UVW) Transform

Angle and speed calculation

Encoder counter processing

Phase-lead compensation

Figure 3-10 50 [μs] Cycle Interrupt Handling

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3.4.3 500 [µs] Interrupt Handling

500 [us] interrupt

SYSTEM MODE

End

[INACTIVE]

[ACTIVE]

RUN MODE

Position reference setting

Current offset adjustment

[INIT MODE]

[BOOT MODE]

[DRIVE MODE]

[Unconfirmed]

[Confirmed]

d-axis current const setting

Run mode transition to DRIVE MODE

[Unconfirmed]

[Confirmed]

Speed reference setting

q-axis current reference setting

d-Axis current reference setting

Position reference setting

Speed reference setting

q-axis current reference setting

d-Axis current reference setting

Decide direction

To BOOT MODE

To DRIVE MODE

Magnetic pole position

detection mode

Detection of Hall initial angle

Error handling of Hall detection angle

Initialize encoder counter

Encoder timer start

Enable Hall interrupt

[Initial position

detection by Hall]

[Forced excitation]

Figure 3-11 500 [µs] Interrupt Handling

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3.4.4 Over Current Detection Interrupt Handling

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.

Over current detection interrupt

End

Motor stop process

Clearing high impedance status

Figure 3-12 Over Current Detection Interrupt Handling

3.4.5 Encoder Count Capture Interrupt Handling

Encoder count capture interrupt

End

Encoder alignment finished

Encoder phase counter cumulation

Encoder position calculation

Encoder speed calculation

[YES]

[NO]

Encoder edge interval cumulation

Zero speed detection

Encoder edge interval moving average

Figure 3-13 Encoder Count Capture Interrupt Handling

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3.4.1 Hall Signal Interrupt Handling

Hall signal interrupt

End

RUN MODE

[DRIVE MODE]

[Other than

DRIVE MODE]

Detection of Hall signal

Disable Hall interrupt

Error handling of Hall detection angle

Calculate of rotor angle

Figure 3-14 Hall Signal Interrupt Handling

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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 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 ‘4.3Operation Example for Analyzer’ for motor driving operation.

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4.2 List of Variables for Scope Function ‘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 of g_u1_enable_write are 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

Variable name

Type

Content

com_u1_sw_userif (*)

uint8_t

User interface switch 0: ICS user interface use (default) 1: Board user interface use

com_u1_mode_system(*)

uint8_t

State management 0: Stop mode

1: Run mode 3: Reset

com_u1_direction

uint8_t

Rotation direction 0: CW 1: CCW

com_u1_ctrl_loop_mode

uint8_t

Control loop mode switch 0: Speed control

1: Position control (default)

com_u1_ctrl_method_mode

uint8_t

Control method switch 0: PID control (Position P/Speed PI/Current PI)

1:IPD control(position・Speed IPD

+Position FF+ Speed FF+Position P/ Current PI) (default)

FF:Feed-forward control

com_u1_position_input_mode

uint8_t

Position reference input mode switch 0:0 output

1:Direct input 2:Position profiling (default)

com_u1_encd_angle_adj_mode

uint8_t

Angle detection mode switch 0: Forced excitation(default)

1: Position detection using Hall signal

com_s2_ref_position_deg

int16_t

Position command value [degree]

com_s2_ref_speed_rpm

int16_t

Speed command value [rpm]

com_u2_min_speed_rpm

uint16_t

Minimum speed [[rpm]

com_u2_max_speed_rpm

uint16_t

Maximum speed [rpm]

com_u2_speed_limit_rpm

uint16_t

Overspeed Limit [rpm]

com_u2_hs_change_speed_rpm

uint16_t

Speed calculation mode switch speed [rpm]

com_u2_hs_change_margin_rpm

uint16_t

Speed calculation mode switch margin speed [rpm]

com_u2_pos_interval_time

uint16_t

Time interval of the position command changes [s]

com_u2_pos_dead_band

uint16_t

Dead band of position

com_u2_pos_band_limit

uint16_t

Positioning complete range

com_u2_encd_cpr

uint16_t

Encoder pulse count (4 for multiplying)

com_u2_offset_calc_time

uint16_t

Current offset value calculation time [ms]

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_f4_nominal_current_rms

float

Nominal current [Arms]

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Table 4-2 List of Variables for Analyzer

Variable name

Type

Content

com_f4_current_omega

float

Natural frequency of the current loop[Hz]

com_f4_current_zeta

float

Damping ratio of the current loop

com_f4_speed_omega

float

Natural frequency of the speed loop[Hz]

com_f4_speed_zeta

float

Damping ratio of the speed loop

com_f4_pos_omega

float

Natural frequency of the position loop[Hz]

com_f4_sob_omega

float

Natural frequency of the speed observer [Hz]

com_f4_sob_zeta

float

Damping ratio of the speed observer

com_f4_id_kp

float

d axis current PI control proportional term gain

com_f4_id_ki

float

d axis current PI control integral term gain

com_f4_iq_kp

float

q axis current PI control proportional term gain

com_f4_iq_ki

float

q axis current PI control integral term gain

com_f4_speed_kp

float

Speed PI control proportional term gain

com_f4_speed_ki

float

Speed PI control integral term gain

com_f4_pos_kp

float

Position control proportional term gain

com_f4_ipd_speed_k_ratio

float

Speed control gain ratio for IPD

com_f4_ipd_pos_kp_ratio

float

Position control proportional term gain ratio for IPD

com_f4_ipd_err_limit_1

float

Position error limit for IPD

com_f4_ipd_err_limit_2

float

Position error limit for IPD

com_f4_accel_time

float

Acceleration time [s] (for position control)

com_f4_ol_ref_id

float

d-axis current command value [A]

com_f4_id_up_time

float

d-axis current command value addition time [ms]

com_ f4_speed_rate_limit

float

Acceleration limit [s] (for speed control)

com_u1_enable_write

uint8_t

Enabled to rewriting variables

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R01AN4721EJ0100 Rev.1.00 Page 32 of 37 Mar 29. 2019

The primary variables that are frequently observed when the motor driving evaluation are listed in Table 4-3. Please refer when using Analyzer function. Regarding variables not listed in Table 4-3, refer to source codes.

Table 4-3 List of Primary variable for Encoder Vector Control

Name of primary variable for Encoder Vector Control

Type

Content

g_st_foc.u2_error_status

uint16_t

error status

g_st_foc.st_cc.f4_id_ref

float

d-axis current command value [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 command value [A]

g_st_foc.st_cc.f4_iq_ad

float

q-axis current [A]

g_st_foc.f4_iu_ad

float

W 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 command value [V]

g_st_foc.st_cc.f4_vq_ref

float

q-axis output voltage command value [V]

g_st_foc.f4_refu

float

U phase voltage command value [V]

g_st_foc.f4_refv

float

V phase voltage command value [V]

g_st_foc.f4_refw

float

W phase voltage command value [V]

g_st_foc.st_sc.f4_ref_speed_rad_ctrl

float

Command value for speed PI control (Electrical) [rad/s]

g_st_foc.st_sc.f4_speed_rad

float

Speed (Electrical) [rad/s]

g_st_foc.st_pc.f4_ref_pos_rad_ctrl

float

Command value for Position control (Electrical) [rad]

g_st_foc.st_pc.f4_pos_rad

float

Position (Electrical) [rad]

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R01AN4721EJ0100 Rev.1.00 Page 33 of 37 Mar 29. 2019

4.3 Operation Example for Analyzer

This 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 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’

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.

②Write reference speed

④Cｌick “Read” button

①Check

⑤Write (“0”or “1”)

③⑦Cｌick “Write” button

⑥Write “1”

Figure 4-2 Procedure - Driving the motor

- Stop the motor

① Write ‘0’ in the [Write] box of ‘com_u1_mode_system’ ② Click the ‘Write’ button.

②Cｌick “Write” button

①Write “0”

Figure 4-3 Procedure - Stop the motor

- Error cancel operation

① Write ‘3’ in the [Write] box of ‘com_u1_mode_system’ ② Click the ‘Write’ button.

②Cｌick “Write” button

①Write “3”

Figure 4-4 Procedure - Error cancel operation

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R01AN4721EJ0100 Rev.1.00 Page 34 of 37 Mar 29. 2019

4.4 Operation Example for User Button

The section shows an example below for motor driving operation using User Button.

- Driving or Stop the motor in position control mode

By setting as shown in Figure 4-5, driving and stopping change each time the button is pressed.

Figure 4-5 Driving or Stop the Motor in position control mode

- Change position

By setting as shown in Figure 4-6, enter the command position and press the button to change the position.

Figure 4-6 Change position

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R01AN4721EJ0100 Rev.1.00 Page 35 of 37 Mar 29. 2019

- Driving or Stop the motor in speed control mode

By setting as shown in Figure 4-7, driving and stopping change each time the button is pressed.

Figure 4-7 Driving or Stop the Motor in speed control mode

- Change speed

By setting as shown in Figure 4-8, enter the command speed and press the button to change the speed.

Figure 4-8 Change speed

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R01AN4721EJ0100 Rev.1.00 Page 36 of 37 Mar 29. 2019

Website and Support

Renesas Electronics Website

http://www.renesas.com/

Inquiries

http://www.renesas.com/contact/

All trademarks and registered trademarks are the property of their respective owners.

RX72T Vector Control for Permanent Magnet Synchronous Motor with Encoder (Implementation)

R01AN4721EJ0100 Rev.1.00 Page 37 of 37 Mar 29. 2019

Revision History

Rev.

Date

Description

Page

Summary

1.00

Mar. 29, 2019

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 system-evaluation test for the given product.

Notice

1. Descriptions of circuits, software and other related information in this document are provided only to illustrate the operation of semiconductor products

and application examples. You are fully responsible for the incorporation or any other use of the circuits, software, and information in the design of your product or system. Renesas Electronics disclaims any and all liability for any losses and damages incurred by you or third parties arising from the use of these circuits, software, or information.

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3. No license, express, implied or otherwise, is granted hereby under any patents, copyrights or other intellectual property rights of Renesas Electronics or

others.

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and all liability for any losses or damages incurred by you or third parties arising from such alteration, modification, copying or reverse engineering.

5. Renesas Electronics products are classified according to the following two quality grades: “Standard” and “High Quality”. The intended applications for

each Renesas Electronics product depends on the product’s quality grade, as indicated below. "Standard": Computers; office equipment; communications equipment; test and measurement equipment; audio and visual equipment; home

electronic appliances; machine tools; personal electronic equipment; industrial robots; etc.

"High Quality": Transportation equipment (automobiles, trains, ships, etc.); traffic control (traffic lights); large-scale communication equipment; key

financial terminal systems; safety control equipment; etc. Unless expressly designated as a high reliability product or a product for harsh environments in a Renesas Electronics data sheet or other Renesas Electronics document, Renesas Electronics products are not intended or authorized for use in products or systems that may pose a direct threat to human life or bodily injury (artificial life support devices or systems; surgical implantations; etc.), or may cause serious property damage (space system; undersea repeaters; nuclear power control systems; aircraft control systems; key plant systems; military equipment; etc.). Renesas Electronics disclaims any and all liability for any damages or losses incurred by you or any third parties arising from the use of any Renesas Electronics product that is inconsistent with any Renesas Electronics data sheet, user’s manual or other Renesas Electronics document.

6. When using Renesas Electronics products, refer to the latest product information (data sheets, user’s manuals, application notes, “General Notes for Handling and Using Semiconductor Devices” in the reliability handbook, etc.), and ensure that usage conditions are within the ranges specified by Renesas Electronics with respect to maximum ratings, operating power supply voltage range, heat dissipation characteristics, installation, etc. Renesas Electronics disclaims any and all liability for any malfunctions, failure or accident arising out of the use of Renesas Electronics products outside of such specified ranges.

7. Although Renesas Electronics endeavors to improve the quality and reliability of Renesas Electronics products, semiconductor products have specific characteristics, such as the occurrence of failure at a certain rate and malfunctions under certain use conditions. Unless designated as a high reliability product or a product for harsh environments in a Renesas Electronics data sheet or other Renesas Electronics document, Renesas Electronics products are not subject to radiation resistance design. You are responsible for implementing safety measures to guard against the possibility of bodily injury, injury or damage caused by fire, and/or danger to the public in the event of a failure or malfunction of Renesas Electronics products, such as safety design for hardware and software, including but not limited to redundancy, fire control and malfunction prevention, appropriate treatment for aging degradation or any other appropriate measures. Because the evaluation of microcomputer software alone is very difficult and impractical, you are responsible for evaluating the safety of the final products or systems manufactured by you.

8. Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product. You are responsible for carefully and sufficiently investigating applicable laws and regulations that regulate the inclusion or use of controlled substances, including without limitation, the EU RoHS Directive, and using Renesas Electronics products in compliance with all these applicable laws and regulations. Renesas Electronics disclaims any and all liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations.

9. Renesas Electronics products and technologies shall not be used for or incorporated into any products or systems whose manufacture, use, or sale is prohibited under any applicable domestic or foreign laws or regulations. You shall comply with any applicable export control laws and regulations promulgated and administered by the governments of any countries asserting jurisdiction over the parties or transactions.

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

subsidiaries.

(Note2) “Renesas Electronics product(s)” means any product developed or manufactured by or for Renesas Electronics.

(Rev.4.0-1 November 2017)

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Renesas RX72T 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 interfaces

2.2.2 Peripheral functions

2.3 Software configuration

2.3.1 Software file configuration

2.3.2 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

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

3.1.4 Speed Measurement

3.1.5 Modulation

3.1.6 State Transition

3.1.7 Startup Method

3.1.8 System Protection Function

3.2 Function Specifications of Vector Control using Encoder Software

3.3 Macro Definitions of Vector Control Software Using Encoder

3.4 Control Flowcharts

3.4.1 Main Process

3.4.2 Carrier Synchronous Interrupt Handling (Vector Control using Encoder)

3.4.3 500 [µs] Interrupt Handling

3.4.4 Over Current Detection Interrupt Handling

3.4.5 Encoder Count Capture Interrupt Handling

3.4.1 Hall Signal Interrupt Handling

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

4.1 Overview

4.2 List of Variables for Scope Function ‘Analyzer’

4.3 Operation Example for Analyzer

4.4 Operation Example for User Button

Revision History

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

Notice