Renesas V850 Series, V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4 Note

To our customers,

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st

, 2010

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Application Note

Inverter Control by V850 Series

120° Excitation Method Control by Zero-Cross Detection

V850E/IA1 V850E/IA2 V850E/IA3 V850E/IA4 V850E/MA3

Document No. U17209EJ1V0AN00 (1st edition) Date Published September 2004 N CP(K)

2004

Printed in Japan

[MEMO]

2

Application Note U17209EJ1V0AN

NOTES FOR CMOS DEVICES

1

VOLTAGE APPLICATION WAVEFORM AT INPUT PIN

Waveform distortion due to input noise or a reflected wave may cause malfunction. If the input of the

IL

CMOS device stays in the area between V 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

IH

(MIN).

V

HANDLING OF UNUSED INPUT PINS

2

Unconnected CMOS device inputs can be cause of malfunction. If an input pin is unconnected, it is possible that an internal input level may be generated due to noise, etc., causing malfunction. CMOS devices behave differently than Bipolar or NMOS devices. Input levels of CMOS devices must be fixed high or low by using pull-up or pull-down circuitry. Each unused pin should be connected to V via a resistor if there is a possibility that it will be an output pin. All handling related to unused pins must be judged separately for each device and according to related specifications governing the device.

3

PRECAUTION AGAINST ESD

A strong electric field, when exposed to a MOS device, can cause destruction of the gate oxide and ultimately degrade the device operation. Steps must be taken to stop generation of static electricity as much as possible, and quickly dissipate it when it has occurred. Environmental control must be adequate. When it is dry, a humidifier should be used. It is recommended to avoid using insulators that 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 should be grounded. The operator should be grounded using a wrist strap. Semiconductor devices must not be touched with bare hands. Similar precautions need to be taken for PW boards with mounted semiconductor devices.

(MAX) and VIH (MIN) due to noise, etc., the device may

IL

(MAX) and

DD

or GND

4

STATUS BEFORE INITIALIZATION

Power-on does not necessarily define the initial status of a MOS device. Immediately after the power source is turned ON, devices with reset functions have not yet been initialized. Hence, power-on does not guarantee output pin levels, I/O settings or contents of registers. A device is not initialized until the reset signal is received. A reset operation must be executed immediately after power-on for devices with reset functions.

5

POWER ON/OFF SEQUENCE

In the case of a device that uses different power supplies for the internal operation and external interface, as a rule, switch on the external power supply after switching on the internal power supply. When switching the power supply off, as a rule, switch off the external power supply and then the internal power supply. Use of the reverse power on/off sequences may result in the application of an overvoltage to the internal elements of the device, causing malfunction and degradation of internal elements due to the passage of an abnormal current. The correct power on/off sequence must be judged separately for each device and according to related specifications governing the device.

6

INPUT OF SIGNAL DURING POWER OFF STATE

Do not input signals or an I/O pull-up power supply while the device is not powered. 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. Input of signals during the power off state must be judged separately for each device and according to related specifications governing the device.

Application Note U17209EJ1V0AN

3

These commodities, technology or software, must be exported in accordance with the export administration regulations of the exporting country. Diversion contrary to the law of that country is prohibited.

•

The information in this document is current as of July, 2004. The information is subject to change without notice. For actual design-in, refer to the latest publications of NEC Electronics data sheets or data books, etc., for the most up-to-date specifications of NEC Electronics products. Not all products and/or types are available in every country. Please check with an NEC Electronics sales representative for availability and additional information.

No part of this document may be copied or reproduced in any form or by any means without the prior

•

written consent of NEC Electronics. NEC Electronics assumes no responsibility for any errors that may appear in this document.

•

NEC Electronics does not assume any liability for infringement of patents, copyrights or other intellectual property rights of third parties by or arising from the use of NEC Electronics products listed in this document or any other liability arising from the use of such products. No license, express, implied or otherwise, is granted under any patents, copyrights or other intellectual property rights of NEC Electronics or others. Descriptions of circuits, software and other related information in this document are provided for illustrative

•

purposes in semiconductor product operation and application examples. The incorporation of these circuits, software and information in the design of a customer's equipment shall be done under the full responsibility of the customer. NEC Electronics assumes no responsibility for any losses incurred by customers or third parties arising from the use of these circuits, software and information.

•

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(2) "NEC Electronics products" means any product developed or manufactured by or for NEC Electronics (as

defined above).

M8E 0 2. 11-1

4

Application Note U17209EJ1V0AN

Regional Information

Some information contained in this document may vary from country to country. Before using any NEC Electronics product in your application, pIease contact the NEC Electronics office in your country to obtain a list of authorized representatives and distributors. They will verify:

•

Device availability

•

Ordering information

•

Product release schedule

•

Availability of related technical literature

•

Development environment specifications (for example, specifications for third-party tools and

components, host computers, power plugs, AC supply voltages, and so forth)

•

Network requirements

In addition, trademarks, registered trademarks, export restrictions, and other legal issues may also vary from country to country.

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N

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Novena Square, Singapore Tel: 6253-8311

J04.1

Application Note U17209EJ1V0AN

5

INTRODUCTION

Target Readers This application note is intended for users who understand the functions of the

V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4, and V850E/MA3, and who design application systems that use these microcontrollers. The applicable products are shown below.

• V850E/IA1 Standard products: Special products:

• V850E/IA2: Standard products: Special products:

• V850E/IA3 Standard products:

• V850E/IA4 Standard products:

• V850E/MA3 Standard products: 703132Y, 703132AY, 703133, 703133A, 703133Y, 703133AY, 703134, 703134A, 703134Y, 703134AY, 70F3134, 70F3134A, 70F3134Y, 70F3134AY

Purpose The purpose of this application note is to help the user understand how a brushless DC

motor is controlled via the 120° sensorless drive excitation method that uses PWM output and A/D converter input as a system example of the timer/counter function of the V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4, and V850E/MA3.

Organization This application note is divided into the following sections.

• Control method • Software configuration

• Hardware configuration • Program list

How to Use This Manual It is assumed that the reader of this application note has general knowledge in the fields

of electrical engineering, logic circuits, and microcontrollers.

Cautions 1. Application examples in this manual are intended for the “standard”

quality models for general-purpose electronic systems. When using an example in this manual for an application that requires the “special” quality grade, evaluate each component and circuit to be actually used to see if they satisfy the required quality standard.

2. To use this manual for special-grade products, read the part

numbers as follows:

µ

PD703114 → µPD703114(A)

µ

PD70F3114 → µPD70F3114(A)

µ

PD703116 → µPD703116(A), 703116(A1)

µ

PD70F3116 → µPD70F3116(A), 70F3116(A1)

µ

PD703116, 70F3116

µ

PD703116(A), 703116(A1), 70F3116(A), 70F3116(A1)

µ

PD703114, 70F3114

µ

PD703114(A), 70F3114(A)

µ

PD703183, 70F3184

µ

PD703185, 703186, 70F3186

µ

PD703131, 703131A, 703131Y, 703131AY, 703132, 703132A,

6

Application Note U17209EJ1V0AN

For details of hardware functions (especially register functions, setting methods, etc.) and electrical specifications

→ See the V850E/IA1 Hardware User’s Manual, V850E/IA2 Hardware User’s

Manual, V850E/IA3, V850E/IA4 Hardware User’s Manual, and V850E/MA3 Hardware User’s Manual.

For details of instruction functions

→ See the V850E1 Architecture User’s Manual.

Conventions Data significance: Higher digits on the left and lower digits on the right

Active low representation: xxx (overscore over pin or signal name) Memory map address: Higher addresses on the top and lower addresses on

the bottom

Note: Footnote for item marked with Note in the text Caution: Information requiring particular attention Remark: Supplementary information

Numeric representation: Binary ... xxxx or xxxxB Decimal ... xxxx Hexadecimal ... xxxxH Prefix indicating the power of 2 (address space, memory capacity): K (kilo): 2 M (mega): 2 G (giga): 2

10

= 1,024

20

= 1,0242

30

= 1,0243 Data type: Word: 32 bits Halfword: 16 bits Byte: 8 bits

Related documents The related documents indicated in this publication may include preliminary versions.

However, preliminary versions are not marked as such.

Documents related to V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4, V850E/MA3

Document Name Document No. V850E1 Architecture User’s Manual U14559E V850E/IA1 Hardware User’s Manual U14492E V850E/IA2 Hardware User’s Manual U15195E V850E/IA3, V850E/IA4 Hardware User’s Manual U16543E V850E/MA3 Hardware User’s Manual U16397E V850E/IA1, V850E/IA2 AC Motor Inverter Control Using Vector

Operation Application Note Inverter Control by V850 Series 120° Excitation Method Control by Zero-

Cross Detection Application Note

U14868E

This manual

Application Note U17209EJ1V0AN

7

Documents related to development tools (user’s manuals)

Document Name Document No.

IE-V850E-MC, IE-V850E-MC-A (In-Circuit Emulator for V850E/IA1, V850E/IA2)

IE-V850E1-CD-NW (PCMCIA Card Type On-Chip Debug Emulator for V850E/IA3, V850E/IA4, V850E/MA3)

IE-703116-MC-EM1 (In-Circuit Emulator Option Board for V850E/IA1) U14700E IE-703114-MC-EM1 (In-Circuit Emulator Option Board for V850E/IA2) U16533E CA850 Ver. 2.70 C Compiler Package

PM plus Ver. 5.20 U16934E ID850 Ver. 2.50 Integrated Debugger Operation U16217E ID850NW Ver. 2.51 Integrated Debugger

(for V850E/MA3) ID850NWC Ver. 2.51 Integrated Debugger

(for V850E/IA3, V850E/IA4, V850E/MA3) SM850 Ver. 2.50 System Simulator

(for V850E/IA1, V850E/IA2) SM850 Ver. 2.00 or Later System

Simulator (for V850E/IA1, V850E/IA2) RX850 Ver. 3.13 or Later Real-Time OS

RX850 Pro Ver. 3.15 Real-Time OS

RD850 Ver. 3.01 Task Debugger U13737E RD850 Pro Ver. 3.01 Task Debugger U13916E AZ850 Ver. 3.10 System Performance Analyzer U14410E PG-FP4 Flash Memory Programmer U15260E

Operation U16932E C Language U16930E Assembly Language U16931E Link Directive U16933E

Operation U16454E

Operation U16525E

Operation U16218E

External Part User Open Interface Specifications

Basics U13430E Installation U13410E Technical U13431E Basics U13773E Installation U13774E Technical U13772E

U14487E

U16647E

U14873E

8

Application Note U17209EJ1V0AN

CONTENTS

CHAPTER 1 CONTROL METHOD..........................................................................................................12

1.1 Outline of Brushless DC Motor Control.................................................................................. 12

CHAPTER 2 HARDWARE CONFIGURATION.......................................................................................17

2.1 Configuration ............................................................................................................................ 17

2.2 Circuit Diagram ......................................................................................................................... 19

CHAPTER 3 SOFTWARE CONFIGURATION........................................................................................31

3.1 Control Block ............................................................................................................................ 31

3.2 Peripheral I/O............................................................................................................................. 32

3.3 Software Processing Structure ............................................................................................... 34

3.4 Flowchart................................................................................................................................... 36

3.4.1 Main processing...........................................................................................................................36

3.4.2 Motor control processing..............................................................................................................45

3.4.3 U zero-cross point interrupt processing........................................................................................50

3.4.4 V zero-cross point interrupt processing........................................................................................51

3.4.5 W zero-cross point interrupt processing.......................................................................................52

3.4.6 10 mSEC interval interrupt processing.........................................................................................53

3.4.7 A/D converter channel 0 interrupt processing ..............................................................................54

3.4.8 A/D converter channel 1 interrupt processing ..............................................................................55

3.4.9 Hardware initialization ..................................................................................................................56

3.4.10 Common area initialization...........................................................................................................57

3.4.11 Revolution start initialization.........................................................................................................57

3.4.12 LED display..................................................................................................................................58

3.5 Common Areas ......................................................................................................................... 59

3.6 Tables......................................................................................................................................... 60

3.7 Constant Definitions................................................................................................................. 62

CHAPTER 4 PROGRAM LIST ................................................................................................................63

4.1 Program List (V850E/IA1)......................................................................................................... 63

4.1.1 Symbol definition..........................................................................................................................63

4.1.2 Constant definition........................................................................................................................64

4.1.3 Interrupt handler setting ...............................................................................................................67

4.1.4 Startup routine setting ..................................................................................................................69

4.1.5 Main processing function..............................................................................................................72

4.1.6 LED display function.....................................................................................................................76

4.1.7 Motor control interrupt processing function ..................................................................................77

4.1.8 Zero-cross interrupt processing function ......................................................................................81

4.1.9 10 mSEC interval interrupt processing function ...........................................................................83

4.1.10 A/D converter interrupt processing function .................................................................................84

4.1.11 Hardware initialization processing function ..................................................................................84

4.1.12 Common area initialization processing function...........................................................................86

4.1.13 Revolution start initialization processing function.........................................................................86

4.1.14 Link directive file for V850E/IA1....................................................................................................87

4.2 Program List (V850E/IA2)......................................................................................................... 89

Application Note U17209EJ1V0AN

9

4.2.1 Symbol definition......................................................................................................................... 89

4.2.2 Constant definition....................................................................................................................... 90

4.2.3 Interrupt handler setting............................................................................................................... 93

4.2.4 Startup routine setting ................................................................................................................. 95

4.2.5 Main processing function............................................................................................................. 98

4.2.6 LED display function...................................................................................................................102

4.2.7 Motor control interrupt processing function.................................................................................103

4.2.8 Zero-cross interrupt processing function ....................................................................................107

4.2.9 10 mSEC interval interrupt processing function..........................................................................109

4.2.10 A/D converter interrupt processing function................................................................................110

4.2.11 Hardware initialization processing function.................................................................................110

4.2.12 Common area initialization processing function..........................................................................112

4.2.13 Revolution start initialization processing function.......................................................................112

4.2.14 Link directive file for V850E/IA2..................................................................................................113

4.3 Program List (V850E/IA3) ....................................................................................................... 115

4.3.1 Symbol definition........................................................................................................................115

4.3.2 Constant definition......................................................................................................................116

4.3.3 Interrupt handler setting..............................................................................................................119

4.3.4 Startup routine setting ................................................................................................................121

4.3.5 Main processing function............................................................................................................124

4.3.6 LED display function...................................................................................................................128

4.3.7 Motor control interrupt processing function.................................................................................129

4.3.8 Zero-cross interrupt processing function ....................................................................................132

4.3.9 10 mSEC interval interrupt processing function..........................................................................135

4.3.10 A/D converter interrupt processing function................................................................................135

4.3.11 Hardware initialization processing function.................................................................................136

4.3.12 Common area initialization processing function..........................................................................138

4.3.13 Revolution start initialization processing function.......................................................................138

4.3.14 Link directive file for V850E/IA3..................................................................................................138

4.4 Program List (V850E/IA4) ....................................................................................................... 140

4.4.1 Symbol definition........................................................................................................................140

4.4.2 Constant definition......................................................................................................................141

4.4.3 Interrupt handler setting..............................................................................................................144

4.4.4 Startup routine setting ................................................................................................................146

4.4.5 Main processing function............................................................................................................149

4.4.6 LED display function...................................................................................................................153

4.4.7 Motor control interrupt processing function.................................................................................154

4.4.8 Zero-cross interrupt processing function ....................................................................................157

4.4.9 10 mSEC interval interrupt processing function..........................................................................160

4.4.10 A/D converter interrupt processing function................................................................................160

4.4.11 Hardware initialization processing function.................................................................................161

4.4.12 Common area initialization processing function..........................................................................163

4.4.13 Revolution start initialization processing function.......................................................................163

4.4.14 Link directive file for V850E/IA4..................................................................................................163

4.5 Program List (V850E/MA3)..................................................................................................... 165

4.5.1 Symbol definition........................................................................................................................165

4.5.2 Constant definition......................................................................................................................166

4.5.3 Interrupt handler setting..............................................................................................................169

10

Application Note U17209EJ1V0AN

4.5.4 Startup routine setting ................................................................................................................171

4.5.5 Main processing function............................................................................................................174

4.5.6 LED display function...................................................................................................................178

4.5.7 Motor control interrupt processing function ................................................................................179

4.5.8 Zero-cross interrupt processing function ....................................................................................182

4.5.9 10 mSEC interval interrupt processing function .........................................................................184

4.5.10 A/D converter interrupt processing function ...............................................................................185

4.5.11 Hardware initialization processing function ................................................................................185

4.5.12 Common area initialization processing function.........................................................................187

4.5.13 Revolution start initialization processing function.......................................................................187

4.5.14 Link directive file for V850E/MA3................................................................................................188

Application Note U17209EJ1V0AN

11

CHAPTER 1 CONTROL METHOD

1.1 Outline of Brushless DC Motor Control

A brushless DC (BLDC) motor consists of a stator, coil, and rotor. The rotor, which includes a permanent magnet,

is rotated by the action of the magnetic field generated by the coil of the stator.

The magnetic field is generated by exciting the coil wound around the stator in a specific sequence. By controlling the intensity and cycle of the magnetic field with a microcontroller, the torque response and the number of revolutions of the motor can be controlled.

This section explains how to control a BLDC motor without a sensor by using the V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4, or V850E/MA3.

Figure 1-3 shows an example of the circuit of a three-phase brushless DC motor. The internal PWM output function of the microcontroller is used to control the current that flows through the motor, by using a transistor array consisting of six transistors.

The magnetic field is generated by controlling the excitation pattern of the six transistors as shown in Table 1-1.

Table 1-1. Excitation Pattern

Upper Arm Lower Arm Excitation

Pattern

<1> Active Inactive Inactive Inactive Active Inactive U → V <2> Active Inactive Inactive Inactive Inactive Active U → W <3> Inactive Active Inactive Inactive Inactive Active V → W <4> Inactive Active Inactive Active Inactive Inactive V → U <5> Inactive Inactive Active Active Inactive Inactive W → U <6> Inactive Inactive Active Inactive Active Inactive W → V

U V W U V W

Excitation

Direction

12

Application Note U17209EJ1V0AN

CHAPTER 1 CONTROL METHOD

Figure 1-1. Three-Phase DC Motor Voltage Waveform

<1> <2> <3> <4> <5> <6>

U phase

Driving voltage waveform

V phase

W phase

U phase

Induced voltage waveform

V phase

W phase

Application Note U17209EJ1V0AN

13

Magnetic

flux

CHAPTER 1 CONTROL METHOD

Figure 1-2. Rotor Position Detection Principle

CC

V

N

U

A

W-phase stator is located in the

center of the N pole

and S pole of a

S

magnet rotor

S

V

CC

N

U

A

S

V

W

V

WC

N

(a) Rotor position <1> … U-phase stator: S pole

V-phase stator: N pole W-phase stator: Center point

S

U

N

V

W

V

WC

A

V

CC

S

= 0

S

V

VC

= 0

V

W

N

(b) Rotor position <2> … U-phase stator: S pole

V-phase stator: Center point W-phase stator: N pole

S

U

V

N

CC

V

N

W

S

V

UC

= 0

A

(d) Rotor position <4> … U-phase stator: N pole

V-phase stator: S pole W-phase stator: Center point

S

U

N

V

VC

= 0

V

W

S

A

(e) Rotor position <5> … U-phase stator: N pole

V-phase stator: Center point W-phase stator: S pole

14

(c) Rotor position <3> … U-phase stator: Center point

V-phase stator: S pole W-phase stator: N pole

N

U

S

V

UC

= 0

Return to (a)

N

V

S

V

CC

A

W

N

V

CC

(f) Rotor position <6> … U-phase stator: Center point

V-phase stator: N pole W-phase stator: S pole

Application Note U17209EJ1V0AN

CHAPTER 1 CONTROL METHOD

Figure 1-3. Configuration of Three-Phase Brushless DC Motor

TrU

1

TrV

1

On Off Off

U

V

2

TrV

2

Off On Off

PWM control

TrW

1

U

W

V

W

2

U

Zero-cross point detection

V W

Application Note U17209EJ1V0AN

15

CHAPTER 1 CONTROL METHOD

The 120° control method for a BLDC motor without a sensor is described below.

To control a BLDC motor, the rotor position must be known.

To control a BLDC motor without a senso r, the rotor position is estimated using induced voltage.

The induced voltage is in phase with the driving voltage waveform and its waveform is close to a sine wave, as shown in Figure 1-1. Figure 1-2 illustrates how the polarity of the stator of the motor is switched and how the magnet rotor revolves.

As shown in Figures 1-1 and 1-2, a three-phase DC motor rotates its rotor by switching the three driving current patterns on the three coil phases.

During period <1> in Figure 1-1, for example, transistor Tr U

1 in Figure 1-3 is turned on by the U-phase dr iving pin,

and TrV2 is turned on by the V-phase driving pin, causing the current to flow from the U-phase driving pin toward the Vphase driving pin. At this time, the W-phase coil seems to be disconnected from the driver circuit and induced voltage is generated.

This induced voltage is used to detect the rotor position.

To control the number of revolutions of the motor, the voltage applied to the motor is controlled to change the current flowing through the coil. To change the voltage, a waveform that is controlled by PWM is applied to the transistor.

The voltage is changed by applying a waveform (PWM waveform) in proportion to the voltage to be applied, to the transistors on the lower arm side (TrU

2, TrV2, and TrW2) while the transistors on the upper arm side (TrU1, TrV1, and

TrW1) are on.

16

Application Note U17209EJ1V0AN

CHAPTER 2 HARDWARE CONFIGURATI ON

This chapter describes the hardware configuration.

2.1 Configuration

The reference system’s main functions are described below. In this reference system, when the revolution

specification switch is pressed after power application, the motor starts revolving in the direction specified.

Figure 2-1. Overall System Configuration

Volume for

speed control

Driver IC

Reset circuit

Revolution

specification SW

LED display

3

13

A/D converter

RESET

Port

Timer

Microcontroller

WDT

6

V-U V-V V-W

Interrupt

Position

detection

Position

detection

Position

detection

M

Current voltage

conversion

Current voltage

conversion

V-U

V-V

V-W

Application Note U17209EJ1V0AN

17

CHAPTER 2 HARDWARE CONFIGURATION

(1) Volume for speed control

Volume for increasing and decreasing the number of revolutions of the motor

(2) Revolution specification SW

CW, CCW, and STOP switches

(3) LED display

LED displaying the number of revolutions, operation time, etc.

(4) WDT

Watchdog timer

(5) Driver IC

Driver for driving motor

(6) Current voltage converter

Converting the motor driving current to voltage, used for detecting overcurrent

(7) Position detector

Rotor position estimation signal output from the induced voltage

18

Application Note U17209EJ1V0AN

CHAPTER 2 HARDWARE CONFIGURATION

2.2 Circuit Diagram

Figures 2-2 to 2-6 show diagrams of the sample reference system circuit.

This sample reference system circuit diagram includes the V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4, or V850E/MA3, a reset circuit, oscillator, a pin handling microcontroller peripheral block, operation mode switch block, LED output block, watchdog timer circuit block, drive circuit block, motor controller, and motor revolution indicator.

(1) Microcontroller and microcontroller peripheral block

The V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4, or V850E/MA3 includes a reset circuit, an oscillator that uses a resonator, and a block for handling the MODE pin and unused pins.

(2) Operation mode switch block

This includes switches that set the operation mode as CW or CCW operation.

(3) LED output block

This block includes 16 LEDs, which are used to indicate the revolution speed (rpm), errors, etc.

(4) Watchdog timer circuit block

This block uses the V850E/IA3, V850E/IA4, or V850E/MA3 stops for one ms or longer.

(5) Drive circuit block

The 6-phase outputs from the inverter timer are converted to U-, V-, and W-phase output for the motor driver. This drive circuit is not shown in detail in this example, since it varies depending on the motor’s specifications.

(6) Motor controller

This block includes the HPS-3-AS, LM324, and other devices that are used to measure the motor’s U and V drive currents via A/D conversion.

(7) Motor rotation indicator

This block includes a volume adjuster and the LM324 for setting the motor’s revolution speed (rpm).

µ

PD74HC123A to output stop signals when pulse output from the V 850E/IA1, V850E/IA2,

Application Note U17209EJ1V0AN

19

[MEMO]

CHAPTER 2 HARDWARE CONFIGURATION

20

Application Note U17209EJ1V0AN

CHAPTER 2 HARDWARE CONFIGURATION

Figure 2-2. Circuit Diagram of V850E/IA1

41

Speed Cont.

+5V

D1

21

RESE

T

SW

SW1

+5V

47Ω

R55

SW_CW SW_CCW SW_STOP

7SEGLED1

SW2 SW3 SW4

3

VR1A 10KΩ

3 2

R17 10KΩ

U3A

12

74ACT14

C2 47uF

C4 33pF

C5 33pF

10KΩ

KHz

uSEC

+7V+5V

+

-

R77

4

U1A LM324

11

RESET

5MHz

CLOCK 5MHz

+5V

R78

10KΩ

7SEG_LEDx8

1

R1

2.2KΩ

U3B

34

74ACT14

CKSEL

R51

R53

47Ω

47Ω R57 47Ω

MODE

R79

10KΩ

A

B

C

rpm

D

E

F

G

DP

DG1 DG2 DG3 DG4 DG5 DG6 DG7

WE

Velocity

141

142

143

144

ANI04

ANI05

ANI06

1

ANI07

2

AVDD

3

AVSS

4

AVREF1

5

ANI10

6

ANI11

7

ANI12

8

ANI13

9

ANI14

10

ANI15

11

ANI16

12

ANI17

13 R36 10KΩ R38 10KΩ R40 10KΩ R42 10KΩ R44 10KΩ R47 10KΩ

R65 10KΩ R67 10KΩ R70 10KΩ R74 10KΩ

1 2 3 4 5 6 7 8

10 11 12 13 14 15 16

18

LED_Seg1 LED_Seg2 LED_Seg3 LED_Seg4 LED_Seg5 LED_Seg6 LED_Seg7 LED_Seg8

LED_Dig1 LED_Dig2 LED_Dig3 LED_Dig4

LED_WE

TRIG_DBG

14

AD3_DBG

15

AD2_DBG

16

AD1_DBG

17

AD0_DBG

18

SYNC

19

CLK_DBG

20

RESET

21

CVDD

22

CVSS

23

X1

24

X2

25

CKSEL

26

MODE0

27

MODE1

28

MODE2

29

SI0/P40

30

SO0/P41

31

SCK0/P42

32

SI1/P43

33

SO1/P44

34

SCK1/P45

35

CRXD/P46

36

CTXD/P47

uPD70F3116GJ

V_U V_V V_W

RXD0/P3037TXD0/P3138RXD1/P3239TXD1/P33

40

R88 10KΩ

R89 10KΩ

R90 10KΩ

R87 10KΩ

135

136

137

138

139

140

AVSS

ANI00

ANI01

ANI02

ANI03

AVREF0

ASCK1/P34

RXD2/P3542TXD2/P3643ASCK2/P3744TI2/INTP20/P20

41

45

46

R92 10KΩ

R93 10KΩ

R91 10KΩ

R94 10KΩ

R10 10KΩ

R11 10KΩ

R12 10KΩ

R2 10KΩ

R3 10KΩ

129

130

131

132

133

134

AVDD

TO011

TO012

TO013

TO014

TO015

TCLR2/INTP25/P25

TI3/INTP30/TCLR3/P26

TO21/INTP21/P21

TO22/INTP22/P22

TO23/INTP23/P23

TO24/INTP24/P24

47

48

49

50

51

52

R95 10KΩ

R96 10KΩ

R97 10KΩ

R98 10KΩ

R99 10KΩ

R4 10KΩ

126

127

128

VSS5

VSS3

VDD3

TO010

TO3/INTP31/P27

VDD353VSS354VSS555VDD5

P53

P54

P55

R5 10KΩ

R6 10KΩ

R13 10KΩ

116

117

118

119

120

121

122

123

124

125

VDD5

TO000

TO001

TO002

TO003

TO004

TO005

AD0/PDL057AD1/PDL158AD2/PDL259AD3/PDL360AD4/PDL461AD5/PDL562AD6/PDL663AD7/PDL764AD8/PDL865AD9/PDL966AD10/PDL1067AD11/PDL1168AD12/PDL1269AD13/PDL1370AD14/PDL1471AD15/PDL15 56

P56

INTP4/P05

INTP5/P06

INTP6/P07

R7 10KΩ

R14 10KΩ

R15 10KΩ

R8 10KΩ

R16 47Ω

110

111

112

113

114

115

NMI/P00

ESO0/INTP0/P01

ESO1/INTP1/P02

ADTRG0/INTP2/P03

ADTRG1/INTP3/P04

TCLR11/INTP111/P15

R100 10KΩ

R101 10KΩ

R102 10KΩ

R9 10KΩ

109

TCUD11/INTP110/P14

TIUD11/TO11/P13 TCLR10/INTP101/P12 TCUD10/INTP100/P11

TIUD10/TO10/P10

HLDRQ/PCM3

HLDAK/PCM2

CLKOUT/PCM1

WAIT/PCM0 ASTB/PCT6

UWR/PCT1 LWR/PCT0

CS7/PCS7 CS6/PCS6 CS5/PCS5 CS4/PCS4 CS3/PCS3 CS2/PCS2 CS1/PCS1 CS0/PCS0 A23/PDH7 A22/PDH6 A21/PDH5 A20/PDH4 A19/PDH3 A18/PDH2 A17/PDH1 A16/PDH0

72

PCM4

PCT7 PCT5

RD/PCT4

PCT3 PCT2

VDD5 VSS5 VPP

1

100KΩ

R80

10KΩ

100KΩ

R86

10KΩ

100KΩ

R108

10KΩ

+12V

TP2 LC-2-G

1

6

5

+12V

6

5

R45

[W]

HPS-3-AS

CT1

IN-

IN+

R20

HPS-3-AS CT2

IN-

IN+

C9

0.1uF

C20

0.1uF

C21

0.1uF

TP3 LC-2-G

1

10KΩ

R106

R107

+12V

GND

+12V

GND

R73 R76

R84 R85

[MOT OUT]

J1 1

2 3

100KΩ

LM324

8

R103

4.7KΩ

C6

100KΩ

4.7KΩ

0.1uF

CN 3P

I_V

C7

I_U

V_U

V_V

V_W

C1

0.01uF film

LM339

22KΩ

0.1uF

C8

R104

6 5

C3

0.1uF

1MΩ

0.1uF

+

+12V

C22

R18

LM324

U1B

7

411

R28

-

9

+

10

4 11

+5V

1MΩ

0.01uF film

U1C

R69

R82

+12V

1 2

NC

3

OUT

4

VR2

10KΩ

1KΩ

+12V

1 2

NC

3

OUT

4

AGND

VR3

R46

1KΩ

10KΩ 10KΩ

C23

1uF

22KΩ

R19

R21

2.2KΩ

R35

2.2K

Ω

R64

U6A

312

7

+

1

6

-

R81

U6B

312

5

+

2

4

-

+12V

U6C

312

9

+

14

8

-

TP1 LC-2-G

[U] [V]

U2

1

HU

2

LU

3

HV

4

LV

5

HW

6

LW

7

ERR

OU OV

OW

MOT_DRV

U

8

V

9

W

10

R72

R83

R105

C14

0.1uF

WDO

C15

0.1uF

13

C16

0.1uF

Mot_Stop Mot_UH Mot_UL

Mot_VH Mot_VL

Mot_WH Mot_WL

+3.3V

+5V

C10

0.1uF

C17

0.1uF

C11

0.1uF

R22 10KΩ R23 10KΩ R24 10KΩ R25 10KΩ R26 10KΩ R27 10KΩ R29

R30 R31 10KΩ R32 10KΩ R33 10KΩ R34 10KΩ R37 10KΩ R39 10KΩ R41 10KΩ R43 10KΩ

R48 10KΩ R49 10KΩ R50 10KΩ R52 10KΩ R54 10KΩ R56 10KΩ R58 10KΩ R59 10KΩ R60 10KΩ R61 10KΩ R62 10KΩ R63 10KΩ R66 10KΩ R68 10KΩ R71 10KΩ R75 10KΩ

C18

0.1uF

C12

0.1uF

10KΩ 10KΩ

C19

0.1uF

C13

0.1uF

U7A

1

CLK

2

W_CLR

3

ERR

WDT

108

P108 107 106 105 104

P104 103

P103 102

P102 101

P101 100

P100 99

P99 98

P98 97

P97 96

P96 95

P95 94

P94 93

P93 92

P92 91

P91 90

P90 89

P89 88

P88 87

P87 86

P86 85

P85 84

P84 83

P83 82

P82 81

P81 80

P80 79

P79 78

P78 77

P77 76

P76 75

P75 74

P74 73

P73

WD_CLR

Watch Dog & Error

+12V +7V

J2

CON6

1 2 3 4 5 6

+5V +3.3V

-7V

POWER

Application Note U17209EJ1V0AN

21

Speed Cont.

D1

RESET SW

SW1

21

7SEGLED1

+5V

VR1A

41

10KΩ

SW2SW_CW SW3SW_CCW SW4SW_STOP

3

R12 10KΩ

C2 47uF

KHz

uSEC

+7V+5V

411

U1A LM324

3

+

2

-

U3A

12

74ACT14

RESET

+5V

R47

R48

10KΩ

1

R1

2.2KΩ

34

R28

MODE0

CKSEL

R38

R49 10KΩ

rpm

7SEG_LEDx8

U3B

74ACT14

47Ω

A B

C D

E

F

G

DP

DG1 DG2 DG3 DG4 DG5 DG6 DG7

WE

CHAPTER 2 HARDWARE CONFIGURATION

Figure 2-3. Circuit Diagram of V850E/IA2

Velocity

R2 10KΩ

R3 10KΩ

R4 10KΩ

R5 10KΩ

R6 10KΩ

R7 10KΩ

100

96

95

94

88

U4

ANI04

ANI0399ANI0298ANI0197ANI00

SI1/RXD1/P3227SO1/TXD1/P33

TXD0/P31

26

28

29

R53 10KΩ

R54 10KΩ

R55 10KΩ

R42 10KΩ

AVSS0

SCK1/ASCK1/P34

TI2/INTP20/P20

TO21/INTP21/P21

30

31

C4 33pF

C5 33pF

1 2 3 4 5 6 7 8

10 11 12 13 14 15 16

18

4MHz

CLOCK 4MHz

LED_Seg1 LED_Seg2 LED_Seg3 LED_Seg4 LED_Seg5 LED_Seg6 LED_Seg7 LED_Seg8

LED_Dig1 LED_Dig2 LED_Dig3 LED_Dig4

LED_WE

1

ANI05

2

AVDD1

3

AVSS1

4

ANI10

5

ANI11

6

ANI12

7

ANI13

8

ANI14

9

ANI15

10

ANI16

11

ANI17

12

MODE0

13

VSS3

14

RVDD

15

REGOUT

16

REGIN

17

X1

18

X2

19

RESET

20

CVSS

21

CKSEL

22

SI0/P40

23

SO0/P41

24

SCK0/P42

25

RXD0/P30

uPD70F3114GC

V_U V_V V_W

87

TO01593TO01492TO01391TO01290TO01189TO010

AVDD0

TO23/INTP23/P23

TCLR2/INTP25/P25

TI3/INTP30/TCLR3/P26

TO3/INTP31/P27

VSS38VDD39PDL0/AD040PDL1/AD141PDL2/AD242PDL3/AD343PDL4/AD444PDL5/AD545PDL6/AD646PDL7/AD747PDL8/AD848PDL9/AD949PDL10/AD10

TO22/INTP22/P22

TO24/INTP24/P24

32

33

34

35

36

37

R56 10KΩ

R57 10KΩ

R58 10KΩ

R59 10KΩ

R60 10KΩ

86

VSS

VDD

TO00585TO00484TO00383TO00282TO00181TO000

R8 10KΩ

R9 10KΩ

R10 10KΩ

R11 10KΩ

80

79

78

77

76

ESO1/INTP1/P02

INTP4/TO3OFF/P05

ADTRG1/INTP3/P04

ADTRG0/INTP2/P03

TCLR10/INTP101/P12 TCUD10/INTP100/P11

50

ESO0/INTP0/P01

NMI/P00

TIUD10/TO10/P10

PCM1/CLKOUT

PCM0/WAIT

PCT6/ASTB

PCT4/RD PCT1/UWR PCT0/LWR

VSS3

MODE1/VPP

PDH5/A21 PDH4/A20 PDH3/A19 PDH2/A18 PDH1/A17

PDH0/A16 PDL15/AD15 PDL14/AD14 PDL13/AD13 PDL12/AD12 PDL11/AD11

TP1 LC-2-G

[U] [V]

Mot_UH Mot_UL

Mot_VH Mot_VL

Mot_WH Mot_WL

+3.3V

+5V

C11

0.1uF

Mot_Stop

C12

C13

C14

0.1uF

C16

0.1uF

U6A

1

CLK

2

W_CLR

3

ERR

WDT

WDO

13

75 74 73 72 71 70 69 68 67 66 65 64

VDD

63 62 61 60 59 58 57 56 55 54 53 52 51

R18 10KΩ R19 10KΩ R20 10KΩ R21 10KΩ

R22 10KΩ R23 10KΩ R25 10KΩ R26 10KΩ R27 10KΩ

MODE1

R31 10KΩ R32 10KΩ R33 10KΩ R34 10KΩ R35 10KΩ R36 10KΩ R37 10KΩ

R39 10KΩ R40 10KΩ R41 10KΩ

WD_CLR

C9

0.1uF

C10

0.1uF

U2

1

HU

2

LU

3

HV

4

LV

5

HW

6

LW

7

ERR

OU

OV

OW

MOT_DRV

U

8

V

9

W

10

R45

R62

R68

TP3

TP2

LC-2-G

[W]

+12V

100KΩ

10KΩ

100KΩ

10KΩ

100KΩ

10KΩ

+12V

R29

R51

R65

R71

1

HPS-3-AS

CT1

6

5

R15

HPS-3-AS CT2

6

5

1

C1

0.01uF film

R43

R52

22KΩ

0.1uF

1

LM339

2

LM339

14

LM339

R13

11

-

U1B

6

+

5

4

C3

0.1uF

9

10

C8

+12V

1MΩ

R67

C19

0.1uF

+12V

1

+12V

IN-

2

NC

3

OUT

4

GND

IN+

VR2

10KΩ

1KΩ

+12V

1

+12V

IN-

2

NC

3

OUT

4

GND

IN+

AGND

VR3

10KΩ

C15

0.1uF

C17

0.1uF

C18

0.1uF

R30

1KΩ

10KΩ

R46

10KΩ

R50

10KΩ

R63 R64

10KΩ

R69

10KΩ

R70

10KΩ

22KΩ

R14

2.2KΩ

R16

R24

2.2KΩ

U5A

312

7

+

6

-

U5B

312

5

+

4

-

+12V

U5C

312

9

+

8

-

C20 1uF

LM324

7

R17

0.01uF film

-

U1C

+

4 11

+5V

1MΩ

100KΩ

LM324

8

R44

R61

[MOT OUT]

J1 1

2 3

CN 3P

I_V

100KΩ

C6

C7

0.1uF I_U

4.7KΩ V_U

4.7KΩ V_V

R66

4.7KΩ V_W

1

Watch Dog & Error

V

+12V +7V

J2

CON6

1 2 3 4 5 6

+5 +3.3V

-7V

Application Note U17209EJ1V0AN

POWER

23

D1

RESET SW

SW1

Speed Cont.

Comp. Ref.

SW_CW SW_CCW SW_STOP

CHAPTER 2 HARDWARE CONFIGURATION

Figure 2-4. Circuit Diagram of V850E/IA3

PDL9 PDL8 PDL7 PDL6

PDL4 PDL3 PDL2

VSS VDD PDL1 PDL0

1

100KΩ

R40

10KΩ

+12V

TP2 LC-2-G

1

6

5

+12V

6

5

R18

[W]

HPS-3-AS

CT1

IN-

IN+

R9

HPS-3-AS CT2

IN-

IN+

C10

0.1uF

TP3 LC-2-G

1

10KΩ

R39

+12V

OUT

GND

+12V

OUT

GND

R38

NC

10KΩ

NC

[MOT OUT]

J1 1

2 3

100KΩ

LM324

14

C3

100KΩ

4.7KΩ

0.1uF

CN 3P

I_V

C5

I_U

V_U

C1

0.01uF film

22KΩ

0.1uF

C6

10

C2

0.1uF

9

1MΩ

R7

-

U1C

+

411

13 12

+12V

LM324

8

R12

0.01uF film

-

U1D

+

411

+5V

R36

+12V

1 2 3 4

VR2

1KΩ

+12V

1 2 3 4

AGND

VR3

R19

1KΩ

10KΩ 10KΩ

22KΩ

R8

2.2KΩ

R10

R17

2.2KΩ

R35

U5A

312

7

+

1

6

LM339

TP1 LC-2-G

[U] [V]

Mot_UH Mot_UL

Mot_VH Mot_VL

Mot_WH Mot_WL

+2.5V

+5V

60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41

LED_Dig2 LED_Dig1 LED_Seg8 LED_Seg7 LED_Seg6 LED_Seg5 LED_Seg4 LED_Seg3

LED_Seg2 LED_Seg1

R21 10KΩ R23 10KΩ R25 10KΩ R27 10KΩ R29 10KΩ R30 10KΩ R31 10KΩ

C7

0.1uFC80.1uFC90.1uF

C12

C13

C11

0.1uF

U2

1

HU

2

LU

3

HV

4

LV

5

HW

6

LW

7

ERR

OU OV

OW

MOT_DRV

U

8

V

9

W

10

R37

+7V+5V

VR1A

4

10KΩ

3

1

4

U1A LM324

3

+

1

2

-

11

R2

2.2KΩ

Velocity

R4 10KΩ

R5 10KΩ

R6 10KΩ

R3 10KΩ

FLMD0

+7V+5V

51

VR1B 10K

Ω

4

U1B

5

+

6

-

11

U4A

12

74ACT14

RESET

+5V

R32 10KΩ

LM324

7

34

R33

10KΩ

R1

2.2KΩ

U4B

74ACT14

R34 10KΩ

R13 10KΩ R14 10KΩ R15 10KΩ R16 10KΩ

R20 10KΩ R22 10KΩ

R24 10KΩ R26 10KΩ R28 10KΩ

V_U V_V

V_W

1

ANI00

2

ANI01

3

P70/ANI20

4

P71/ANI21

5

P72/ANI22

6

P73/ANI23

7

AVDD

8

AVSS

9

CMPREF

10

AVSS

11

AVDD

12

P74/ANI24

13

P75/ANI25

14

ANI10

15

ANI11

16

ANI12

17

ANI13

18

P00/INTP0/TOQ0OFF

19

P02/INTP2/TOP2OFF

20

P03/INTP3

uPD70F3184GC

U3

75

80

79

78

77

76

PLLSIN

P17/TOP21/TIP21

P16/TOQ00/TIP20

P13/TOQ0B2/TIQ00

P14/TOQ0T3/EVTQ0

P15/TOQ0B3/TRGQ0

VDD25VSS

P04/INTP4/ADTRG0

P05/INTP5/ADTRG1

P06/INTP623P07/INTP7

21

22

24

26

74

73

72

71

70

69

68

67

VDD

EVSS

EVDD

FLMD0

P10/TOQ0T1/TIQ01/TOQ01

P12/TOQ0T2/TIQ03/TOQ03

P11/TOQ0B1/TIQ02/TOQ02

EVDD30EVSS

P40/SIB027P41/SOB028P42/SCKB0

CVDD

29

31

32X233X134

LED_Dig4

LED_WE

66

VSS

RESET36P43/TOP00/TIP00

P44/TOP01/TIP01

CVSS

35

37

38

LED_Dig3

61

PDL10

PDL1162PDL1263PDL1364PDL1465PDL15

P35/TIUD10/TO10 P33/SOB1/TXDA1

P32/SIB1/RXDA1

VSS39VDD

40

PDL5/FLMD1

P37/TCLR10

P36/TCUD10

P34/SCKB1

P31/TXDA0

P30/RXDA0

2

+5V

R11

2 1

10KΩ

C4

47uF

SW2 SW3 SW4

7SEGLED1

KHz

uSEC

rpm

DG1 DG2 DG3 DG4 DG5 DG6 DG7

7SEG_LEDx8

R41

2

LM339

14

LM339

1MΩ

R42

4.7KΩ V_V

1MΩ

R52

4.7KΩ V_W

R53

C18

0.1uF

U5B

C19

0.1uF

312

5

+

4

-

+12V

U5C

312

9

+

8

-

100KΩ

R48

KΩ

R43 10KΩ

R44 10

R45 10KΩ

1

A

2

B

3

C

4

D

5

E

6

F

7

G

8

DP

10 11 12 13 14 15 16

18

WE

LED_Seg1 LED_Seg2 LED_Seg3 LED_Seg4 LED_Seg5 LED_Seg6 LED_Seg7 LED_Seg8

LED_Dig1 LED_Dig2 LED_Dig3 LED_Dig4

LED_WE

15pF

R46 10KΩ

R47 10KΩ

4MHz

C15

C16 15pF

WD_CLR

U6A

1

CLK

2

W_CLR

3

ERR

WDT

WDO

13

Watch Dog & Error

+12V +7V

+5V +3.3V

J2

1 2 3 4 5 6

CON6

-7V

R51

10KΩ

100KΩ

R54

R57

10KΩ

C14

0.1uF

R49

10KΩ

R50

10KΩ

R55

10KΩ

R56

10KΩ

C17

POWER

Application Note U17209EJ1V0AN

25

RESE SW

Speed Cont.

Comp. Ref.

D1

SW1

+5V

21

T

7SEGLED1

CHAPTER 2 HARDWARE CONFIGURATION

Figure 2-5. Circuit Diagram of V850E/IA4

PDL9

PLD8 EVDD EVSS

PDL7

PDL6

PDL5/FLMD1

PDL4

PDL3

PDL2

VSS

VDD PDL1 PDL0

P27/TOP31

P26/TOQ10 P37/TCLR10 P36/TCUD10

P34/SCKB1

P31/TXDA0

P30/RXDA0

VSS

1

100KΩ

10KΩ

100KΩ

10KΩ

100KΩ

10KΩ

TP3

TP2

LC-2-G

[V]

[W]

1

C1

22KΩ

C6

0.1uF

10

C2

0.1uF

R77

9

1MΩ

0.1uF

R14

11

-

U1C

+

4

-

13 12

+12V

+5V

1MΩ

C19

C13

0.1uF

C15

0.1uF

C18

0.1uF

10KΩ

R56

R80

+12V

R52

R61 R74

R79

OUT GND

NC

10KΩ

NC

VR2

AGND

VR3

+12V

1 2 3 4

1KΩ

+12V

1 2 3 4

R29

1KΩ

10KΩ 10KΩ

C20

0.1uF

22KΩ

R15

2.2KΩ

R18

R27

2.2KΩ

R49

U5A

312

7

+

1

6

LM339

R58

U5B

312

5

+

2

4

LM339

+12V

U5C

312

9

+

14

8

LM339

HPS-3-AS

CT1

6

IN-

5

IN+

+12V

R17

HPS-3-AS CT2

6

IN-

5

IN+

+12V

R28

R57

R75

R81

0.01uF film

LM324

8

R19

0.01uF film

11

U1D

+

4

R50

R59

100KΩ

LM324

14

R76

4.7KΩ

[MOT OUT]

J1 1

2 3

CN 3P

I_V

100KΩ

C4

C5

0.1uF I_U

4.7KΩ V_U

4.7KΩ V_V

V_W

TP1 LC-2-G

[U]

Mot_UH Mot_UL

Mot_VH Mot_VL

Mot_WH Mot_WL

+2.5V

+5V

75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51

LED_Dig2 LED_Dig1

LED_Seg8 LED_Seg7 LED_Seg6 LED_Seg5 LED_Seg4 LED_Seg3

LED_Seg2 LED_Seg1

WD_CLR

R32 10KΩ R34 10KΩ R36 10KΩ R37 10KΩ R39 10KΩ R41 10KΩ R42 10KΩ R43 10KΩ R45 10KΩ

R48 10KΩ

C7

0.1uFC80.1uFC90.1uF

C10

C11

C12

0.1uF

C14

0.1uF

Mot_Stop

U6A

1

CLK

2

W_CLR

3

ERR

WDT

WDO

13

U2

1

HU

2

LU

3

HV

4

LV

5

HW

6

LW

7

ERR

OU

OV

OW

MOT_DRV

U

8

V

9

W

10

R51

R60

R78

Watch Dog & Error

+12V +7V

J2

CON6

1 2 3 4 5 6

+5V +2.5V

-7V

+7V+5V

41

VR1A 10KΩ

3

5

VR1B 10KΩ

2

1

SW2SW_CW SW3SW_CCW

P

SW4SW_STO

R16 10KΩ

U4A

12

74ACT14

C3 47uF

KHz

uSEC

411

U1A LM324

3

+

1

2

-

R2

2.2KΩ

+7V+5V

411

U1B LM324

5

+

7

6

-

R1

2.2KΩ

U4B

34

74ACT14

RESET

+5V

R53

R54

R55

10KΩ

rpm

Velocity

R3 10KΩ

R4 10KΩ

R5 10KΩ

R6 10KΩ

R7 10KΩ

R8 10KΩ

R9 10KΩ

R11 10KΩ

R12 10KΩ

R13 10KΩ

R10 10KΩ

FLMOD0

LED_Dig3

LED_Dig4

LED_WE

100

99

98

97

96

95

94

93

92

91

90

89

88

87

86

85

84

83

82

78

77

PDL1581PDL1480PDL1379PDL12

P51/DCK/TCUD11

P50/DDI/TIUD11/TO11

RESET47P43/TOP00/TIP00

CVDD

CVSS

43X244X145

46

48

R72 10KΩ

C16

15pF

76

PDL11

PDL10

P35/TIUD10/TO10

P33/SOB1/TXDA1

P32/SIB1/RXDA1

P44/TOP01/TIP0149VDD

50

R73 10KΩ

4MHz C17

15pF

U3

VSS

EVSS

EVDD

FLMD0

P13/TOQ0B2/TIQ00

P10/TOQ0T1/TIQ01/TOQ01

P12/TOQ0T2/TIQ03/TOQ03

P11/TOQ0B1/TIQ02/TOQ02

P21/TOQ1B1

EVDD38EVSS39P23/TOQ1B2

P41/SOB033P42/SCKB0

P20/TOQ1T1

P22/TOQ1T2

34

35

36

37

R66 10KΩ

R67 10KΩ

R68 10KΩ

VDD

40

41

KΩ

R69 10

R70 10KΩ

P24/TOQ1T3

42

R71 10KΩ

P52/DMS/TCLR11

P25/TOQ1B3

DDO

DRST

PLLSIN

P17/TOP21/TIP21

1 R20 10KΩ R21 10KΩ R22 10KΩ R23 10KΩ R24 10KΩ R25 10KΩ R26 10KΩ

R30 10KΩ R31 10KΩ R33 10KΩ R35 10KΩ

R38 10KΩ R40 10KΩ

R82 10KΩ

V_U V_V

V_W

LED_Seg1

1

A

LED_Seg2

2

B

LED_Seg3

3

C

LED_Seg4

4

D

LED_Seg5

5

E

LED_Seg6

6

F

LED_Seg7

7

G

LED_Seg8

8

DP

DG1 DG2 DG3 DG4 DG5 DG6 DG7

WE

LED_Dig1

10

LED_Dig2

11

LED_Dig3

12

LED_Dig4

13 14 15 16

LED_WE

18

ANI00

2

ANI01

3

ANI02

4

ANI03

5

P70/ANI20

6

P71/ANI21

7

P72/ANI22

8

P73/ANI23

9

AVDD

10

AVSS

11

CMPREF

12

AVSS

13

AVDD

14

P74/ANI24

15

P75/ANI25

16

P76/ANI26

17

P77/ANI27

18

ANI10

19

ANI11

20

ANI12

21

ANI13

22

P00/INTP0/TOQ0OFF

23

P01/INTP1/TOQ1OFF

24

P02/INTP2/TOP2OFF

25

P03/INTP3/TOP3OFF

uPD70F3186GC

P16/TOQ00/TIP20

P15/TOQ0B3/TRGQ0

VDD30VSS

P04/INTP4/ADTRG0

P05/INTP5/ADTRG1

P06/INTP628P07/INTP7

26

27

29

31

R63 10KΩ

R64 10KΩ

R65 10KΩ

P14/TOQ0T3/EVTQ0

P40/SIB0

32

uSEC

7SEG_LEDx8

Application Note U17209EJ1V0AN

POWER

27

Speed Cont.

D1

RESET SW

SW1

21

P

7SEGLED1

+3.3V

41

SW2SW_CW SW3SW_CCW SW4SW_STO

VR1A 10KΩ

3

R31 10KΩ

C2 47uF

KHz

uSEC

+7V+3.3V

411

U1A LM324

3

+

2

-

U3A

12

74AC14

RESET

+3.3V

R80

R81

10KΩ

1

R1

2.2KΩ

34

R82

10KΩ

rpm

7SEG_LEDx8

U3B

74AC14

DP

DG1 DG2 DG3 DG4 DG5 DG6 DG7

WE

CHAPTER 2 HARDWARE CONFIGURATION

Figure 2-6. Circuit Diagram of V850E/MA3

Velocity

1

100KΩ

10KΩ

100KΩ

10KΩ

100KΩ

10KΩ

+12V

R87

R111

R117

TP2 LC-2-G

1

6

5

+12V

6

5

R58

[W]

HPS-3-AS

CT1

IN-

IN+

R34

HPS-3-AS CT2

IN-

IN+

TP3 LC-2-G

1

10KΩ

C7

0.1uF

C18

0.1uF

C21

0.1uF

+12V

OUT GND

NC

10KΩ

NC

R110

R115 R116

[MOT OUT]

J1 1

2 3

100KΩ

LM324

8

C4

R112

4.7KΩ

100KΩ

4.7KΩ

0.1uF

CN 3P

I_V

C5

I_U

V_U

V_V

V_W

C1

0.01uF film

+12V

1 2 3 4

VR2

1KΩ

+12V

1 2 3 4

AGND

VR3

R59

1KΩ

10KΩ

R85 R86

10KΩ

R91

10KΩ 10KΩ

22KΩ

R33

2.2KΩ

R35

R51

2.2KΩ

U5A

312

7

+

6

-

U5B

312

5

+

4

-

+12V

U5C

312

9

+

8

-

R32

LM324

-

U1B

6

7

+

5

411

C3

0.1uF

R45

0.01uF film

22KΩ

-

U1C

9

+

10

411

C6

+12V

0.1uF

R113

1MΩ

C22

0.1uF

+3.3V

R83

R89

1MΩ

R79

1

LM339

R88

2

LM339

14

LM339

TP1 LC-2-G

[U] [V]

LED_WE

R4 10KΩ

R5 10KΩ

R6 10KΩ

R7 10KΩ

R8 10KΩ

R9 10KΩ

R3 10KΩ

R2 10KΩ

RESETB

140

141

142

143

U4

R36 10KΩ R38 10KΩ

LED_Dig4 LED_Dig3 LED_Dig2 LED_Dig1

LED_Seg8 LED_Seg7 LED_Seg6 LED_Seg5 LED_Seg4 LED_Seg3 LED_Seg2 LED_Seg1

Mot_WL Mot_VL Mot_WH

Mot_VH Mot_UH Mot_UL

SW_CW SW_CCW SW_Stop

LED_Seg1

1

A B

C D

E

F

G

LED_Seg2

2

LED_Seg3

3

LED_Seg4

4

LED_Seg5

5

LED_Seg6

6

LED_Seg7

7

LED_Seg8

8

LED_Dig1

10

LED_Dig2

11

LED_Dig3

12

LED_Dig4

13 14 15 16

LED_WE

18

R40 10KΩ

R56 10KΩ

R67 10KΩ R68 10KΩ R68 10KΩ R68 10KΩ R70 10KΩ R72 10KΩ R73 10KΩ R75 10KΩ R77 10KΩ

1

AD14/PDL14

2

AD13/PDL13

3

AD12/PDL12

4

AD11/PDL11

5

AD10/PDL10

6

AD9/PDL9

7

AD8/PDL8

8

EVDD

9

EVSS

10

AD7/PDL7

11

AD6/PDL6

12

AD5/PDL5

13

AD4/PDL4

14

AD3/PDL3

15

AD2/PDL2

16

AD1/PDL1

17

AD0/PDL0

18

INTP001/TOP01/INTPP01/P01

19

INTP000/TOP00/EVTP0/TIP0/INTPP00/P00

20

INTP115/TOQB3/EVTQ/P15

21

INTP114/TOQB2/TIQ/P14

22

INTP013/TOQT3/INTPQ3/TOQ3/P13

23

VDD

24

VSS

25

INTP012/TOQT2/INTPQ2/TOQ2/P12

26

INTP011/TOQT1/INTPQ1/TOQ1/P11

27

INTP010/TOQB1/INTPQ0/TOQ0/P10

28

TDO/TC3/P27

29

TDI/INTP126/TC2/P26

30

INTP125/TC1/TIUD10/TO10/P25

31

INTP124/TC0/P24

32

TRST

33

INTP004/DMARQ0/TCLR10/INTP11/P04

34

INTP005/DMARQ1/TCUD10/INTP10/P05

35

TMS/INTP106/DMARQ2/P06

36

TCK/INTP107/DMARQ3/P07

uPD70F3134AGJ

144

PAL2/A2

PAL1/A1

PAL0/A0

PDL15/AD15

EVDD37EVSS38DMAAK3/PBD3

DMAAK2/PBD2

39

40

41

R94 10KΩ

R93 10KΩ

R92 10KΩ

R10 10KΩ

R11 10KΩ

R12 10KΩ

R13 10KΩ

R14 10KΩ

R15 10KΩ

128

129

130

131

132

133

134

135

136

137

138

139

EVSS

EVDD

PAL9/A9

PAL8/A8

PAL7/A7

PAL6/A6

PAL5/A5

PAL4/A4

PAL3/A3

INTP134/RXD3/P34

INTP021/TOP10/EVTP1/TIP1/INTPP10/P21

INTP022/TOP11/INTPP11/P22

DMAAK1/PBD1

DMAAK0/PBD0

42

43

44

45

46

R96 10KΩ

R97 10KΩ

R92 10KΩ

R95 10KΩ

PAL13/A13

PAL12/A12

PAL11/A11

PAL10/A10

INTP132/ASCK2/SCK2/P32

INTP131/RXD2/SI2/P31

INTP130/TXD2/SO2/P30

INTP133/TXD3/P33

ASCK1/SCK1/P45

RXD1/SI1/P4451TXD1/SO1/P43

ASCK0/SCK0/P42

47

48

49

50

52

53

R98 10KΩ

R99 10KΩ

SW_Stop

V_V

V_U

V_W

5MHz

CLOCK 5MHz

R16 10KΩ

R17 10KΩ

125

126

127

PAL15/A15

PAL14/A14

RXD0/SI0/P4154TXD0/SO0/P40

55

56X257X158

SW_CW

SW_CCW

C19 33pF

124

VSS

CVDD

R18 10KΩ

122

123

VDD

PAH0/A16

59

C20 33pF

R19 10KΩ

PAH1/A17

CVSS

R20 10KΩ

R22 10KΩ

R23 10KΩ

R24 10KΩ

R21 10KΩ

R25 10KΩ

R26 10KΩ

R27 10KΩ

111

112

113

114

115

116

117

118

119

120

121

EVSS

EVDD

PAH9/A25

PAH8/A24

PAH7/A23

PAH6/A22

PAH5/A21

PAH4/A20

PAH3/A19

PAH2/A18

P50/INTP050/INTPP20/TOP20/EVTP2/TIP2

PSEL

CKSEL

VDD62VVSS63MODE064MODE165RESET66AVDD167ANO1/P8168ANO0/P80

60

61

R104 10KΩ

R105 10KΩ

PSEL

CKSEL

R107 10KΩ

R106 10KΩ

MODE

RESETB

69

R109 10KΩ

R108 10KΩ

R28 10KΩ

R29 10KΩ

R30 10KΩ

109

110

PCD1/SDCLK

PCD0/SDCKE

PCD2/SDCAS

PCD3/SDRAS

PCS0/CS0 PCS1/CS1

PCS2/CS2/IOWR

PCS3/CS3 PCS4/CS4

PCS5/CS5/IORD

PCS6/CS6 PCS7/CS7

EVSS EVDD

PCT0/LBE/LWR/LDQM

PCT1/UBE/UWR/UDQM

PCT4/RD

PCT5/WR/WE

PCT6/ASTB

PCT7/BCYST

PCM0/WAIT

PCM1/BUSCLK

PCM2/HLDAK PCM3/HLDRQ PCM4/REFRQ

P51/INTP051/INTPP21/TOP21

AVSS170AVSS071AVDD0

P37/INTP137/ADTRG

72

P20/NMI

P70/ANI0 P71/ANI1 P72/ANI2 P73/ANI3 P74/ANI4 P75/ANI5 P76/ANI6 P77/ANI7

VSS VDD

+2.5V

+3.3V

C8

0.1uF

C12

0.1uF

C9

0.1uF

C13

0.1uF

R37 10KΩ R39 10KΩ R41 10KΩ R42 10KΩ R43 10KΩ R44 10KΩ R46 10KΩ R47 10KΩ R48 10KΩ

R49 10KΩ R50 10KΩ R52 10KΩ R53 10KΩ R54 10KΩ R55 10KΩ R57 10KΩ

R60 10KΩ R61 10KΩ R62 10KΩ R63 10KΩ R64 10KΩ R65 10KΩ R66 10KΩ

R69 10KΩ R71 10KΩ

R74 10KΩ R76 10KΩ R78 10KΩ

C10

0.1uF

C14

0.1uF

1

2

3

C11

0.1uF

C15

0.1uF

Mot_Stop

U6A

CLK

W_CLR

ERR

WDT

C16

0.1uF

108 107 106 105 104 103 102 101 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 75 74 73

WD_CLR

Watch Dog & Error

J2

1 2 3 4 5 6

CON6

Velocity

C17

0.1uF

WDO

+12V +7V

-7V

Mot_UH Mot_UL

Mot_V Mot_VL

Mot_WH Mot_WL

13

+3.3V +2.5V

H

U2

1

HU

2

LU

3

HV

4

LV

5

HW

6

LW

7

ERR

OU

OV

OW

MOT_DRV

U

8

V

9

W

10

R84

R90

R114

Application Note U17209EJ1V0AN

POWER

29

CHAPTER 3 SOFTWARE CONFIGURATION

3.1 Control Block

Figure 3-1 shows a diagram of the software control block of the reference system.

Figure 3-1. Diagram of Software Control Block of Reference System

Control by microcontroller

<6>

A/D

conver-

<7>

Current

monitor

sion

A/D

conver-

sion

iu

iv

u

<3> Speed control

v

PWM

conver-

sion

Driver

circuit

<1> Target speed

(volume)

+

<2>

−

Speed

<5>

w

u, v, w

detection

<1> The volume is loaded by the A/D converter as a target speed. <2> The speed to be calculated is determined by the difference from the present speed. <3> Values of phases U, V, and W are set. <4> The zero-cross point is detected by an induced voltage (by hardware). <5> The speed is calculated by the interval of zero-cross point in each phase. <6> An overcurrent is detected by the A/D converter. <7> The speed is controlled by a current value.

Motor

<4>

External

zero-cross

point

detection

Application Note U17209EJ1V0AN

31

CHAPTER 3 SOFTWARE CONFIGURATION

3.2 Peripheral I/O

The following types of peripheral I/O functions are used in this reference system.

Table 3-1. List of Peripheral I/O Functions

Function

Inverter timer Timer 00 (TM00) Timer 00 (TM00) Timer Q0 (TMQ0) Timer Q0 (TMQ0) Timer Q0 (TMQ0) 10 ms timer Timer 21 (TM21) Timer 21 (TM21) Timer P0 (TMP0) Timer P0 (TMP0) Timer D0 (TMD0) Motor control timer Timer 3 (TM3) Timer 3 (TM3) Timer P1 (TMP1) Timer P1 (TMP1) Timer D1 (TMD1) Speed measuring timer Timer 4 (TM4) Timer 4 (TM4) Timer P2 (TMP2) Timer P2 (TMP2)

U-phase current ANI00 ANI00 ANI00 ANI00 ANI0 V-phase current ANI10 ANI10 ANI10 ANI10 ANI1 Setting speed (volume) ANI01 ANI01 ANI01 ANI01 ANI4 U-phase zero-cross input INTP20 INTP20 INTP2 INTP2 INTP130 V-phase zero-cross input INTP 21 INTP21 INTP3 INTP3 INTP131 W-phase zero-cross input INTP22 INTP22 INTP4 INTP4 INTP132 CW key input P40 P40 P40 P40 P40 CCW key input P41 P41 P41 P41 P41 STOP key input P42 P42 P42 P42 P42 WDT reset output P43 P30 P30 P30 P43 LED output

Peripheral I/O

Function Name

(V850E/IA1)

PDL0 to PDL11, PDL15

Peripheral I/O

Function Name

(V850E/IA2)

PDL0 to PDL11, PDL15

Peripheral I/O

Function Name

(V850E/IA3)

PDL0 to PDL11, PDL15

Peripheral I/O

Function Name

(V850E/IA4)

PDL0 to PDL11, PDL15

Peripheral I/O

Function Name

(V850E/MA3)

Timer ENC10 (TMENC10)

PDL0 to PDL11, PDL15

32

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

(1) Description of peripheral I/O functions

(a) Inverter timer

Inverter timers are used to output PWM waveforms. In this application circuit example, the settings are as shown below.

• 20 kHz symmetrical triangular waveform mode

• Dead time: 6

µ

s

• Inverter timer output: Low active

• When ESO0, TOQ0OFF, or INTP000 pin input is at high level, PWM output is stopped.

(b) Motor control timer

Motor control timers are used to issue interrupts at a 50

(c) 10 ms timer

10 ms timers are used to issue interrupts at a 10 ms interval.

(d) Speed measuring timer

Used for measuring the revolution speed of the motor.

(e) Current value input

ANI00, ANI0 (V850E/MA3 only): U-phas e current value (−5 to +5 A) ANI10, ANI1 (V850E/MA3 only): V-phase current value (−5 to +5 A)

(f) Speed specification volume value input

ANI01 or ANI4 (V850E/MA3 only) is used to input a value from 0 to 1,023.

µ

s interval.

Application Note U17209EJ1V0AN

33

CHAPTER 3 SOFTWARE CONFIGURATION

3.3 Software Processing Structure

The software processing structure is shown below.

Figure 3-2. Main Processing Structure

CW

revolution

processing

CW

revolution operation

Operation

(STOP CW)

Processing

during

deceleration

Detection time

processing

STOP processing

Operation

(STOP CCW)

CCW

revolution

processing

CCW

revolution operation

34

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-3. Interrupt Processing Structure

(a) Motor control processing (b) Control pin selection processing (c) Wait timer processing

U, V, W change

interrupt

50 s interval interrupt

µ

Motor control

processing

Control pin

selection

processing

Wait timer

processing

10 ms interval interrupt

The status of the operation mode switch is monitored by the main processing, and processing is transferred to CW,

CCW, and stop status. The motor is control led in the specified status by using a 50

µ

s interval interrupt.

There are the following three motor control statuses.

• Stop status The motor is not controlled.

• Initial operation status Estimated revolution control is performed up to the speed at which the zero-cross point of electromotive force can be detected.

• Speed control status Feedback revolution control is performed so that the indication speed is attained.

Application Note U17209EJ1V0AN

35

CHAPTER 3 SOFTWARE CONFIGURATION

3.4 Flowchart

3.4.1 Main processing

Figure 3-4 shows the flowchart of the main processing.

36

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-4. Main Processing

START

: Refer to 4.1.5, 4.2.5, 4.3.5, 4.4.5, 4.5.5 Main processing function.

(hardware initialization)

C

(used area initialization)

hinit

ainit

Enable interrupts

SW CW pressed?

Yes

SW mode = CW

: Refer to Figure 3-20 Hardware Initialization.

: Refer to Figure 3-21 Common Area Initialization.

No

SW CCW pressed?

Yes

SW mode = CCW

No

SW STOP pressed?

Yes

SW mode = STOP

No

Case?

(case 0 to case 7)

0

1

2

3

4

5

6

Application Note U17209EJ1V0AN

37

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-5. Case 0 (Processing During Stoppage)

0

SW mode = CW?

Yes

Disable interrupts

Initialize target speed and request

CCW initialization

Enable interrupts Enable interrupts

Processing number 1

No

Disable interrupts

Initialize target speed and request

CCW initialization

Processing number 4

A

38

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-6. Case 1 (CW Acceleration Processing)

1

No

Re-set acceleration/deceleration counter

Target speed < Indication speed?

Set speed monitor start timer to 5 seconds

Initialization of

acceleration/deceleration

counter 0 ends?

Yes

Increase target speed

No

Target speed > Indication speed?

Yes

Decrease target speed

Set speed monitor start timer to 5 seconds

No

Processing number 2

SW mode = CCW or STOP?

Yes

Processing number 3

No

A

Application Note U17209EJ1V0AN

39

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-7. Case 2 (CW Constant-Speed Processing)

Indication speed as target speed

SW mode = CCW or STOP?

Processing number 3

2

No

Yes

A

Figure 3-8. Case 3 (CW Stop Processing)

3

No

Acceleration/deceleration c ou n ter = 0?

Yes

Re-set acceleration/deceleration counter

Target speed > Indication speed?

Yes

Decrease target speed

Set speed monitor start time to 5 seconds

No

Set stop flag to on and processing

number to 0

A

40

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-9. Case 4 (CCW Acceleration Processing)

4

No

Set speed monitor start time to 5 seconds

Initial operation ends with

acceleration/deceleration cou nte r = 0?

Yes

Re-set acceleration/deceleration counter

Target speed < Indication speed?

Yes

Increase target speed

SW mode = CCW or STOP?

Yes

No

Target speed > Indication speed?

Yes

Decrease target speed

Set speed monitor start time to 5 seconds

No

Processing number 5

Processing number 6

A

Application Note U17209EJ1V0AN

41

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-10. Case 5 (CCW Constant-Speed Processing)

5

Target speed = (– indication speed)

SW mode = CW or STOP?

Yes

Processing number 6

No

A

Figure 3-11. Case 6 (CCW Stop Processing)

No

Acceleration/deceleration counter = 0?

Re-set acceleration/deceleration counter

6

Yes

42

Target speed < (− indication speed)?

Yes

Increase target speed

Set speed monitor start t ime to 5 se co nds

A

Application Note U17209EJ1V0AN

No

Set stop flag to on and processing

number to 0

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-12. Detect Wait (1/2)

A

No

Processing number 2 or 5?

Yes

Speed monitor starts?

Yes

Present speed < Error speed?

Yes

Set error number ERR_NO3

Stop flag on

PWM output off

B

Application Note U17209EJ1V0AN

43

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-12. Detect Wait (2/2)

B

No

Display average counter = 0?

Yes

Set display average counter to 100

led_num

(Present average speed

indication)

led_num

(Control period indication)

led_num

(Interrupt processing

time indication)

led_num

(Operation processing

time indication)

44

No

Error flag on?

Yes

7-segment display off

500 ms?

Yes

Error number 1?

Yes

“1” displayed on 7-segment

500 ms?

Yes

Application Note U17209EJ1V0AN

No

C

No

“2” displayed on 7-segment

3.4.2 Motor control processing

Figure 3-13. Control Interrupt Processing (1/5)

CHAPTER 3 SOFTWARE CONFIGURATION

Motor_CONT

fcalcu

(speed calculation)

Convert radian to rpm value

No

Calculate total speed value from present

Speed counter = 0?

Yes

Re-set speed counter

value of speed counter

: Refer to 4.1.7, 4.2.7, 4.3.7, 4.4.7, 4.5.7 Motor control

interrupt processing function.

Clear total speed value

1

Application Note U17209EJ1V0AN

45

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-13. Control Interrupt Processing (2/5)

1

Stop flag on?

Yes

All phases of PWM port off

5

No

3

No

Operation start output

Get display timer start value

Clear PWM output prohibition

Reset watchdog timer

Initial flag on?

Initial revolution processing

Yes

Increment initial counter

46

No

5

Initial counter > Output time?

Yes

Clear initial counter

CW?

Yes

Extract output value from initial CW revolution pattern table

Count up pattern extraction

Same output pattern continues to be output the number of times specified by the table.

No

Extract output value from initial CCW revolution pattern table

Count up pattern extraction

2

Application Note U17209EJ1V0AN

U phase high side output on?

U phase comparison value = 0

V and W phase comparison

values = Initial value

High side is valid by clearing the value to 0.

Write PWM output pattern

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-13. Control Interrupt Processing (3/5)

2

No

Yes

V phase high side output on?

Yes

V phase comparison value = 0

U and W phase comparison

values = Initial value

No

W phase comparison value = 0

U and V phase comparison

values = Initial value

Pattern extraction counter ≥ 6?

Yes

Clear pattern extraction counter

init_upco > 14?

Yes

Initial flag off

No

To select and output six types of output patterns

End if value of number of revolutions table counter is 14 or more

Increment init_upco by 1

3

Application Note U17209EJ1V0AN

47

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-13. Control Interrupt Processing (4/5)

3

Speed difference = Target speed – Present speed

Calculate PWM output value

Speed integral value > MAX. value?

Yes

Speed integral value = MAX. value

PWM value < 0?

Yes

PWM value as 1

Normal revolution processing

No

Speed integral value < −MAX. value?

Yes

Speed integral value = −MAX. value

No

PWM value > MAX.?

Yes

No

Speed integral value

calculation

No

PWM value as MAX.

4

Remarks 1. PWM = (Present speed × ksp) + (Speed difference × ksp/10) + Speed integral value + Speed

offset value

2. Speed integral value = Speed integral value + (Speed difference × ksi)

3. ksp: Speed proportion gain ksi: Speed integral gain

48

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-13. Control Interrupt Processing (5/5)

Read present PWM output pattern

4

U phase high side output on?

Yes

U phase comparison value = 0

Set V and W phase comparison values

EXIT

No

U phase high side output on?

V phase comparison value = 0

Set U and W phase comparison

values

No

Yes

W phase comparison value = 0 Set U and V phase comparison

values

Application Note U17209EJ1V0AN

49

CHAPTER 3 SOFTWARE CONFIGURATION

3.4.3 U zero-cross point interrupt processing

Figure 3-14. U Zero-Cross Point Interrupt Processing

int_p20

No

Initial flag off and stop flag off?

Yes

Capture speed measuring timer value and restart

Set reference position from other phase status

Target revolution CCW?

Yes

Extract output pattern from CCW table according

to present zero-cross point status

U phase high side output on?

Yes

U phase comparison value = 0 Set V and W phase comparison values

: Refer to 4.1.8, 4.2.8, 4.3.8, 4.4.8, 4.5.8 Zero-cross interrupt processing function.

No

Extract output pattern from CW table according

to present zero-cross point status

No

V phase high side output on?

Yes

V phase comparison value = 0 Set U and W phase comparison values

No

W phase comparison value = 0 Set U and V phase comparison values

50

Write PWM output pattern

Speed calculation count up

EXIT

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

3.4.4 V zero-cross point interrupt processing

Figure 3-15. V Zero-Cross Point Interrupt Processing

int_p21

No

Initial flag off and stop flag off?

Yes

Capture speed measuring timer value and restart

Set reference position from other phase status

Target revolution CCW?

Yes

Extract output pattern from CCW table according

to present zero-cross point status

U phase high side output on?

Yes

U phase comparison value = 0 Set V and W phase comparison values

: Refer to 4.1.8, 4.2.8, 4.3.8, 4.4.8, 4.5.8 Zero-cross interrupt processing function.

No

Extract output pattern from CW table according

to present zero-cross point status

No

V phase high side output on?

Yes

V phase comparison value = 0 Set U and W phase comparison values

No

W phase comparison value = 0 Set U and V phase comparison values

Write PWM output pattern

Speed calculation count up

EXIT

Application Note U17209EJ1V0AN

51

CHAPTER 3 SOFTWARE CONFIGURATION

3.4.5 W zero-cross point interrupt processing

Figure 3-16. W Zero-Cross Point Interrupt Processing

int_p22

: Refer to 4.1.8, 4.2.8, 4.3.8, 4.4.8, 4.5.8 Zero-cross interrupt processing function.

No

Initial flag off and stop flag off?

Yes

Capture speed measuring timer value and restart

Set reference position from other phase status

Target revolution CCW?

Yes

Extract output pattern from CCW table

according to present zero-cross point status

U phase high side output on?

Yes

U phase comparison value = 0

Set V and W phase comparison values

No

Extract output pattern from CW table according

to present zero-cross point status

No

V phase high side output on?

Yes

V phase comparison value = 0

Set U and W phase comparison

values

No

W phase comparison value = 0

Set U and V phase comparison

values

52

Write PWM output pattern

Speed calculation count up

EXIT

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

3.4.6 10 mSEC interval interrupt processing

Figure 3-17. 10 mSEC Interval Interrupt Processing

Acceleration/deceleration counter = 0?

int_ETC

Wait counter = 0?

Yes

Display counter = 0?

Yes

: Refer to 4.1.9, 4.2.9, 4.3.9, 4.4.9, 4.5.9

10 mSEC interval interrupt processing function.

No

Wait counter – 1

No

Acceleration/deceleration counter – 1

No

Display counter – 1

EXIT

Application Note U17209EJ1V0AN

53

CHAPTER 3 SOFTWARE CONFIGURATION

3.4.7 A/D converter channel 0 interrupt processing

Figure 3-18. A/D Converter Channel 0 Interrupt Processing

Read U phase current value

| Current value | > MAX_I?

U, V, W phase output off

Read V phase current value

I Current value I > MAX_I?

int_ad0

Yes

Set error flag

Yes

: Refer to 4.1.10, 4.2.10, 4.3.10, 4.4.10, 4.5.10 A/D converter interrupt

processing function.

No

U, V, W phase output off

Set error flag

EXIT

54

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

3.4.8 A/D converter channel 1 interrupt processing

Figure 3-19. A/D Converter Channel 1 Interrupt Processing

int_ad1

Read volume value

EXIT

: Refer to 4.1.10, 4.2.10, 4.3.10, 4.4.10 A/D converter

interrupt processing function.

Application Note U17209EJ1V0AN

55

3.4.9 Hardware initialization

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-20. Hardware Initialization

Initialization of port used

7-segment LED extinguished

Motor control timer setting

Speed measuring timer setting

Initialization of inverter timer

hinit

10 ms timer setting

All phases active

: Refer to 4.1.11, 4.2.11, 4.3.11, 4.4.11, 4.5.11 Hardware

initialization processing function.

56

A/D initialization

Interrupt settings of

INTP20 to INTP22

(V850E/IA1, V850E/IA2),

INTP2 to INTP4

(V850E/IA3, V850E/IA4), or

INTP130 to INTP132 (V850E/MA3)

EXIT

Application Note U17209EJ1V0AN

3.4.10 Common area initialization

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-21. Common Area Initialization

ainit

• Error flag off

• Initial flag off

• Clear display counter

• Stop flag on

• Target speed = 0

• Speed integral value = 0

EXIT

3.4.11 Revolution start initialization

Figure 3-22. Revolution Start Initialization

start_init

: Refer to 4.1.12, 4.2.12, 4.3.12, 4.4.12, 4.5.12 Common area

initialization processing function.

: Refer to 4.1.13, 4.2.13, 4.3.13, 4.4.13, 4.5.13

Revolution start initialization processing function.

Clear average speed buffer

Initialize average speed calculation area

Output initial revolution pattern

Initialize processing area

EXIT

Application Note U17209EJ1V0AN

57

3.4.12 LED display

led_num

CHAPTER 3 SOFTWARE CONFIGURATION

Figure 3-23. LED Display

: Refer to 4.1.6, 4.2.6, 4.3.6, 4.4.6, 4.5.6 LED display function.

Area 1?

Yes

Display 4 digits of area 1

EXIT

No

Revolution speed

Area 2?

Yes

Display 2 digits of area 2

Control P processing time

No

Control period

Area 3?

Display 2 digits of area 3

Operation processing time

No

Yes

Display 2 digits of area 4.

58

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

3.5 Common Areas

The following table shows the major common areas used by the reference system.

Table 3-2. Common Area List

Symbol Type Usage Set Value

error_flag unsigned char Error flag

init_flag unsigned char Indicates initial revolution

cont_time unsigned short Interrupt processing time 1 µs units cont_time1 unsigned short Operation time 1 disp_co unsigned short Average speed counter for display volume unsigned short Speed volume value timer_count unsigned short Time wait counter 10 ms units accel_count unsigned short

stop_flag unsigned short Stop flag

before_posi[21][2] signed short Position buffer total_sa signed short Position total difference sum_speed unsigned int

speed_co unsigned int Counter for average speed calculation 0, 1, … now_speed signed int Present speed rpm object_speed signed int Target speed rpm d_speed signed int Display speed rpm iua signed short U-phase current iva signed short V-phase current o_iqai signed int Speed integral value base_position signed int Speed estimation reference point sa_time unsigned int For speed measurement timer_count unsigned short Time wait counter init_co unsigned short

init_pat unsigned char Initial revolution output pattern number 0 to 5 init_upco unsigned short Initial revolution output table number 0 to 10 int_co unsigned int U, V, W interrupt counter 0, 1, … pwm_value signed int PWM output value Output bit pattern

Acceleration/deceleration operation time counter

Total value area for average speed calculation

Output selection monitor counter during initial revolution

0: No error ERR_NO1: Overcurrent ERR_NO3: Speed difference error

ON: Initial revolution in progress OFF: Stop or normal revolution in progress

µ

s units

10 ms units

ON: Stopped OFF: Revolving

0, 1, …

Application Note U17209EJ1V0AN

59

CHAPTER 3 SOFTWARE CONFIGURATION

3.6 Tables

(1) LED output pattern

Contains display pattern data 0 to 9.

unsigned short led_pat[10] = { 0xfc. 0x60, ~ };

(2) Initial CW output pattern

Contains an output pattern for CW initial operation.

unsigned short cw_data[6][2] = { { 0x09, 0x00 }, { 0x21, 0x00 }, ∼ };

Note The underlined values differ depending on the target microcontroller.

Figure 3-24. Bit Assignment

Note

WL WU VL VU UL UU

(3) Initial CCW output pattern

Contains an output pattern for CCW initial operation.

unsigned short ccw_data[6][2] = { { 0x18, 0x00 }, { 0x12, 0x00 }, ∼ };

Note The underlined values differ depending on the target microcontroller.

(4) Initial revolution pattern output time

The initial pattern is output with the revolution speed increased each time the interrupt of this table occurs.

unsigned short up_data[ ] = { 255, 242, ~ };

Note

60

Application Note U17209EJ1V0AN

CHAPTER 3 SOFTWARE CONFIGURATION

(5) Normal CW revolution output pattern

Contains an output pattern in accordance with the status of the zero-cross point during normal CW revolution.

unsigned short run_cw_data[8][2] = { { 0x00, 0x00 }, { 0x21, 0x00 }, ∼ };

Note The underlined values differ depending on the target microcontroller.

(6) Normal CCW revolution output pattern

Contains an output pattern in accordance with the status of the zero-cross point dur i ng normal CCW revolution.

unsigned short run_ccw_data[8][2] = { { 0x00, 0x00 }, { 0x09, 0x00 }, ∼ };

Note

The underlined values differ depending on the target microcontroller.

Note

Application Note U17209EJ1V0AN

61

CHAPTER 3 SOFTWARE CONFIGURATION

3.7 Constant Definitions

The following table shows the major constants used by the reference system.

Symbol Usage Value PAI TH_U Radian value, jack-up constant 1000 RAD Radian value of one revolution 2 × PAI × TH_U OFFSET Original point OFFSET 1945 RPM_RADS rpm → radian conversion constant 2 × PAI × TH_U/60 KSP Speed proportion constant 917 KSI Speed integral constant 0 P Number of motor poles 2 KSPGETA Speed proportion constant jack-up constant 10 KSIGETA Speed integral constant jack-up constant 14 SGETA sin jack-up constant 14 PWM_TS PWM cycle 50 PWM_DATA PWM set value PWM_TS/0.05 SPEED_MAX Maximum speed 500 (3000 rpm) SPEED_MINI Minimum speed 100 (600 rpm) SPEED_INIT Initial revolution speed 700 rpm SA_SPEED_MAX Maximum speed difference 800 IQMAX Maximum speed integral value 200000 MAX_I Maximum current value 800 TS Motor control period 800 ACCEL_TIME Acceleration/deceleration time constant, 10 ms 1 ACCEL_DATA Number of acceleration/deceleration incremental revolutions 40 rpm WATCH_START Speed monitor start time, 10 ms 500 ACCEL_VAL_1ST Initial acceleration/deceleration time constant 50 ACCEL_VAL Acceleration/deceleration time constant 3 ACCEL_SPD Acceleration/deceleration constant 50 PWM_INIT PWM initial value PWM_DATA/4

π

3.141592

µ

s

µ

s

62

Application Note U17209EJ1V0AN

CHAPTER 4 PROGRAM LIST

4.1 Program List (V850E/IA1)

4.1.1 Symbol definition

/****************************************************************************** /

/* Common area */

/****************************************************************************** /

unsigned char ram_start ;

unsigned char error_flag ; /* Error flag */

unsigned char init_flag ; /* Initial flag */

unsigned short cont_time ; /* Interrupt control time uSEC */

unsigned short cont_time1 ; /* Vector operation time uSEC */

unsigned short disp_co ; /* Interrupt control time display timer */

unsigned short volume ; /* Volume value */

unsigned short timer_count ; /* Time wait counter */

unsigned short accel_count ; /* Acceleration/deceleration operation time */

/* counter */

unsigned char stop_flag ; /* Stop flag */

signed short before_posi[21][2] ; /* Position buffer */

signed short total_sa ; /* Position total difference */

signed int sum_speed ;

signed int speed_co ;

signed int now_speed ; /* Present speed rms */

signed int object_speed ; /* Target speed rms */

unsigned int d_speed ; /* Display speed rms */

unsigned char ram_end ;

#pragma section const begin

const unsigned short led_pat[10] = { 0xfc, 0x60, 0xda, 0xf2, 0x66, 0xb6, 0xbe, 0xe0,

0xfe, 0xe6 } ;

#pragma section const end

/****************************************************************************** /

/* Common flags */

/****************************************************************************** /

extern unsigned char ram_start ;

extern unsigned char error_flag ; /* Error flag */

extern unsigned char init_flag ; /* Initial flag */

extern unsigned short cont_time ; /* Interrupt control time uSEC */

extern unsigned short cont_time1 ; /* Vector operation time uSEC */

extern unsigned short disp_co ; /* Interrupt control time display timer */

extern unsigned short volume ; /* Volume value */

extern unsigned short timer_count ; /* Time wait counter */

extern unsigned short accel_count ; /* Acceleration/deceleration operation */

/* time counter */

extern unsigned char stop_flag ; /* Stop flag */

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63

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extern signed short before_posi[21][2] ; /* Position buffer */ extern signed short total_sa ; /* Position total difference */ extern signed int sum_speed ; extern signed int speed_co ; extern signed int now_speed ; /* Present speed rms */ extern signed int object_speed ; /* Target speed rms */ extern unsigned int d_speed ; /* Display speed rms */ extern unsigned char ram_end ;

#pragma section const begin extern const unsigned short led_pat[] ;; #pragma section const end /****************************************************************************** / /* Motor common definition */ /****************************************************************************** / extern signed short iua ; /* U-phase current */ extern signed short iva ; /* V-phase current */ extern signed int o_iqai ; /* Speed integral value area */ extern signed int base_position ; /* Speed estimation value reference point */ extern unsigned int sa_time ; /* Speed measurement value */ extern unsigned short timer_count ; /* Time wait counter */ extern unsigned short accel_count ; /* Acceleration/deceleration operation */ /* time counter */

extern unsigned short init_co ; /* Initial interrupt counter */ extern unsigned char init_pat ; /* Initial pattern counter */ extern unsigned short init_upco ; /* Initial speed-up counter */ extern unsigned int int_co ; /* UVW interrupt counter */ extern signed int pwm_value ; /* PWM output value */

#pragma section const begin extern const unsigned char cw_data[][2] ; extern const unsigned char ccw_data[][2] ; extern const unsigned char up_data[] ; extern const unsigned char run_cw_data[][2] ; extern const unsigned char run_ccw_data[][2] ; #pragma section const end

4.1.2 Constant definition

/****************************************************************************** / /* I/O */ /****************************************************************************** / #define BASE_IO 0xc200000 #define LED11 3 #define LED12 2 #define LED13 1 #define LED14 0

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#define LED21 5

#define LED22 4

#define LED31 7

#define LED32 6

#define LED41 9

#define LED42 8

#define DIPSW 0x10

#define SW 0x20

#define DA1 0x30

#define DA2 0x40

#define DA3 0x50

#define WRESET 0x60

#define MODE 0x70

/****************************************************************************** /

/* Constant */

/****************************************************************************** /

#define ON 1

#define OFF 0

#define CW 1 /* CW operation mode */

#define CCW 2 /* CCW operation mode */

#define STOP 0 /* Operation stop mode */

#define ERR_NO1 1 /* Overcurrent error */

#define ERR_NO2 2 /* Speed difference error */

/****************************************************************************** /

/* Motor constant */

/****************************************************************************** /

/* Motor constant */

#define PAI 3.14159265 /* π */

#define TH_U 1000 /* Radian value jack-up constant */

#define RAD (int)(2*PAI*TH_U) /* Radian value of one revolution */

#define OFFSET 1945 /* Original point OFFSET */

#define RPM_RADS (int)((2*PAI*TH_U)/60) /* rpm -> radian conversion constant */

/* Motor constant */

#define KSP 750 /* Speed proportion constant */

#define KSI 10 /* Speed integral constant */

#define P 2 /* Number of poles */

#define KSPGETA 10 /* KP jack-up constant */

#define KSIGETA 14 /* KSI jack-up constant */

#define SGETA 14 /* sin jack-up constant */

#define PWM_TS 50 /* PWM cycle */

#define PWM_DATA (PWM_TS/0.05) /* PWM set value */

#define SPEED_MAX 3000 /* Maximum speed 3000 rpm */

#define SPEED_MINI 800 /* Minimum speed 800 rpm */

#define SPEED_INIT 700 /* Initial revolution speed rpm */

#define SA_SPEED_MAX 800 /* Maximum speed difference rpm */

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#define IQAMAX 200000 /* Maximum speed integral value */ #define MAX_I 800 /* Maximum current value */ #define TS 200 /* Motor control time interval uSEC */ #define ACCEL_TIME 1 /* Acceleration/deceleration time */ /* constant 10 mSEC */ #define ACCEL_DATA 40 /* Number of acceleration/deceleration */

/* incremental revolutions rpm */ #define WATCH_START 500 /* Speed monitor start time 10 mSEC */ #define ACCEL_VAL_1ST 50 /* Initial acceleration/deceleration */ /* time constant */ #define ACCEL_VAL 3 /* Acceleration/deceleration time */ /* constant */ #define ACCEL_SPD 50 /* Acceleration/deceleration constant */

#define PWM_INIT PWM_DATA/4 /* PWM initial value */ /****************************************************************************** / /* Function constant */ /****************************************************************************** / void fcalcu( signed int *wrm, signed int *trm ); void OUT_data( unsigned short reg, unsigned short data ); unsigned short IN_data( int reg ); void led_num( int no, long data ) ; /****************************************************************************** / /* Motor-related common area */ /****************************************************************************** / signed short iua ; /* U-phase current */ signed short iva ; /* V-phase current */ signed int o_iqai ; /* Speed integral value area */ signed int base_position ; /* Speed estimation value reference point */ unsigned int sa_time ; /* Speed measurement value */ unsigned int before_time ; /* Previous speed measuring timer value */ unsigned short accel_count ; /* Acceleration/deceleration operation time counter */

unsigned short init_co ; /* Initial interrupt counter */ unsigned char init_pat ; /* Initial pattern counter */ unsigned short init_upco ; /* Initial speed-up counter */ unsigned int int_co ; /* UVW interrupt counter */ signed int di ; signed int pwm_value ; /* PWM output value */

#pragma section const begin const unsigned char cw_data[6][2] = { {0x09,0x00},{0x21,0x00},{0x24,0x00}, {0x06,0x00},{0x12,0x00},{0x18,0x00} }; const unsigned char ccw_data[6][2] = { {0x18,0x00},{0x12,0x00},{0x06,0x00}, {0x24,0x00},{0x21,0x00},{0x09,0x00} }; const unsigned char up_data[] = { 255, 242, 229, 217, 206, 195, 185, 176, 166, 158, 158, 158, 158, 158, 158, 158, 158, 158, 158, 158 } ; const unsigned char run_cw_data[8][2] = { {0x00,0x00},{0x21,0x00},{0x06,0x00},

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{0x24,0x00},{0x18,0x00},{0x09,0x00}, {0x12,0x00},{0x00,0x00} }; const unsigned char run_ccw_data[8][2] = { {0x00,0x00},{0x09,0x00},{0x24,0x00}, {0x21,0x00}, {0x12,0x00},{0x18,0x00}, {0x06,0x00},{0x00,0x00} }; #pragma section const end

4.1.3 Interrupt handler setting

/****************************************************************************** / /* Interrupt symbol table */ /****************************************************************************** / .extern _ _start .extern _int_MOTOR .extern _int_U .extern _int_V .extern _int_W .extern _int_AD0 .extern _int_AD1 .extern _int_ETC

.globl V_RESET .globl V_U .globl V_V .globl V_W .globl V_ETC .globl V_MOTOR .globl V_AD0 .globl V_AD1 #******************************************************************************* .section ".handler",text V_RESET: jr _start V_U: ld.w [sp],r1 add 4,sp jr _int_U -- INTP20 V_V: ld.w [sp],r1 add 4,sp jr _int_V -- INTP21 V_W: ld.w [sp],r1 add 4,sp jr _int_W -- INTP22 V_ETC: ld.w [sp],r1 add 4,sp

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jr _int_ETC -- Other timers V_MOTOR: ld.w [sp],r1 add 4,sp jr _int_MOTOR -- Speed control timer V_AD0: ld.w [sp],r1 add 4,sp jr _int_AD0 -- A/D converter CH0 V_AD1: ld.w [sp],r1 add 4,sp jr _int_AD1 -- A/D converter CH1

.extern V_RESET .extern V_U .extern V_V .extern V_W .extern V_ETC .extern V_MOTOR .extern V_AD0 .extern V_AD1 /****************************************************************************** / /* Interrupt jump table */ /****************************************************************************** / .section ".vect_RESET",text mov #V_RESET,r1 jmp [r1]

.section ".id_NO",text .byte 0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff

.section ".vect_U",text add -4,sp st.w r1,[r3] mov #V_U,r1 jmp [r1]

.section ".vect_V",text add -4,sp st.w r1,[r3] mov #V_V,r1 jmp [r1]

.section ".vect_W",text add -4,sp st.w r1,[r3] mov #V_W,r1

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jmp [r1]

.section ".vect_ETC",text add -4,sp st.w r1,[r3] mov #V_ETC,r1 jmp [r1]

.section ".vect_MOTOR",text add -4,sp st.w r1,[r3] mov #V_MOTOR,r1 jmp [r1]

.section ".vect_AD0",text add -4,sp st.w r1,[r3] mov #V_AD0,r1 jmp [r1]

.section ".vect_AD1",text add -4,sp st.w r1,[r3] mov #V_AD1,r1 jmp [r1]

4.1.4 Startup routine setting

#============================================================================= # DESCRIPTIONS: # This assembly program is a sample of start-up module for ca850. # If you modified this program, you must assemble this file, and # locate a given directory. # # Unless -G is specified, sections are located as the following. # # | : | # | : | # tp -> -+-------------- + _ _start _ _tp_TEXT # | start up | # |-------------- | # text section | | # | user program | # | | # |-------------- | # | library | # -+-------------- + # | |

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# sdata section | | # | | # gp -> -+-------------- + _ _ssbss # | | # sbss section | | # | | # +-------------- + _ _stack _ _esbss _ _sbss # | stack area | # bss section | | # | 0x400 bytes | # sp -> -+-------------- + _ _stack + STACKSIZE _ _ebss # | : | # | : | # | : | # ep -> -+-------------- + _ _ep_DATA # tidata section | | # -+-------------- + # sidata section | | # -+-------------- + # | : | # | : | # #============================================================================= #----------------------------------------------------------------------------# special symbols #---------------------------------------------------------------------------- .extern _ _tp_TEXT, 4 .extern _ _gp_DATA, 4 .extern _ _ep_DATA, 4 .extern _ _ssbss, 4 .extern _ _esbss, 4 .extern _ _sbss, 4 .extern _ _ebss, 4

#----------------------------------------------------------------------------# C program main function #---------------------------------------------------------------------------- .extern _main

#----------------------------------------------------------------------------# dummy data declaration for creating sbss section #---------------------------------------------------------------------------- .sbss .lcomm _ _sbss_dummy, 0, 0

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#----------------------------------------------------------------------------# system stack #---------------------------------------------------------------------------- .set STACKSIZE, 0x400 .bss .lcomm _ _stack, STACKSIZE, 4

#----------------------------------------------------------------------------# start up # pointers: tp - text pointer # gp - global pointer # sp - stack pointer # ep - element pointer # exit status is set to r10 #---------------------------------------------------------------------------- .text .align 4 .globl _ _start .globl _exit .globl _ _exit _ _start: mov 0x12,r10 st.b r10,VSWC[r0] -- Set peripheral I/O wait

mov 0x07,r10 -- ×10 st.b r0,PHCMD[r0] st.b r10,CKC[r0] -- PLL xx multiplication nop nop nop nop nop

mov #_ _tp_TEXT, tp -- set tp register mov #_ _gp_DATA, gp -- set gp register offset add tp, gp -- set gp register mov #_ _stack+STACKSIZE, sp -- set sp register mov #_ _ep_DATA, ep -- set ep register # mov #_ _ssbss, r13 -- clear sbss section mov #_ _esbss, r12 cmp r12, r13 jnl .L11 .L12: st.w r0, [r13] add 4, r13 cmp r12, r13 jl .L12

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.L11: # mov #_ _sbss, r13 -- clear bss section mov #_ _ebss, r12 cmp r12, r13 jnl .L14 .L15: st.w r0, [r13] add 4, r13 cmp r12, r13 jl .L15 .L14: # jarl _main, lp -- call main function _ _exit: halt -- end of program _ _startend: nop # # #-------------------------- end of start up module ----------------------------# # #

4.1.5 Main processing function

#include "Common.h" #include "Motor.h" #pragma ioreg /* Peripheral I/O register definition */

static int save_psw; /****************************************************************************** / /* 3-phase motor control program */ /****************************************************************************** / void main() { unsigned char proc_no ; /* Present processing number */ signed int speed ; /* Indication speed rms */ signed int accel_spd ; int sw, sw_mode ; /* */ hinit() ; /* Hardware initialization */ ainit() ; /* Initialization of area used */ proc_no = 0 ; _ _EI(); while( 1 ) { accel_spd = ( SPEED_MAX - SPEED_MINI ) / 100; speed = ( ( SPEED_MAX - SPEED_MINI ) * volume / 1024 ) + SPEED_MINI ; /* Indication speed calculation by volume */ sw = ~IN_data( SW ) & 0x07 ; /* Read operation button */

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if ( sw == 1 ) { sw_mode = CW ; } else if ( sw == 2 ) { sw_mode = CCW ; } else if ( sw == 4 ) { sw_mode = STOP ; } switch( proc_no ) { /* STOP processing */ case 0 : if ( sw_mode == CW ) { _ _DI() ; object_speed = SPEED_MINI ; /* Set target speed to minimum value */ stop_flag = OFF ; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ accel_count = ACCEL_VAL_1ST ; /* Set acceleration/deceleration counter */ init_flag = 2 ; /* CCW initial request */ start_init() ; /* Initialize revolution start */ _ _EI() ; proc_no = 1 ; /* Set next processing number */ } else if ( sw_mode == CCW ) { _ _DI() ; stop_flag = OFF ; /* Stop flag off */ object_speed = -SPEED_MINI ; /* Set target speed to minimum value */ timer_count = WATCH_START ; /* Set speed monitor start time to */ /* 5 SEC */ accel_count = ACCEL_VAL_1ST ; /* Set acceleration/deceleration counter */ init_flag = 3 ; /* CCW initial request */ start_init() ; /* Initialize revolution start */ _ _EI() ; proc_no = 4 ; /* Set CCW processing number */ } break ; /* CW processing, acceleration */ case 1 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed < speed ) { object_speed += accel_spd ; if ( object_speed > speed ) object_speed = speed; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else if ( object_speed > speed ) { object_speed -= accel_spd ; if ( object_speed < speed ) object_speed = speed; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else { proc_no = 2 ; /* Constant-speed processing */ }

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} if ( (sw_mode == CCW) || (sw_mode == STOP) ) { proc_no = 3 ; /* Deceleration, set processing number */ } break ; /* CW processing, constant-speed */ case 2 : object_speed = speed ; if ( (sw_mode == CCW) || (sw_mode == STOP) ) { proc_no = 3 ; /* Deceleration, set processing number */ } break ; /* CW stop processing */ case 3 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed > SPEED_MINI ) { object_speed -= accel_spd ; if ( object_speed < SPEED_MINI ) object_speed = SPEED_MINI; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else { stop_flag = ON ; /* Stop flag on */ proc_no = 0 ; /* Set stop processing number */ } } break ; /* CCW processing, acceleration */ case 4 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed < -speed ) { object_speed += accel_spd ; if ( object_speed > -speed ) object_speed = -speed; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else if ( object_speed > -speed ) { object_speed -= accel_spd ; if ( object_speed < -speed ) object_speed = -speed; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else { proc_no = 5 ; /* Constant-speed processing */ } } if ( (sw_mode == CW) || (sw_mode == STOP) ) { proc_no = 6 ; /* Deceleration, set processing number */ } break ; /* CCW processing, constant-speed */ case 5 :

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object_speed = -speed ; if ( (sw_mode == CW) || (sw_mode == STOP) ) { proc_no = 6 ; /* Deceleration, set processing number */ } break ; /* CCW stop processing */ case 6 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed < -SPEED_MINI ) { object_speed += accel_spd ; if ( object_speed > -SPEED_MINI ) object_speed = -SPEED_MINI; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else { stop_flag = ON ; /* Stop flag on */ proc_no = 0 ; /* Set stop processing number */ } } break ; }

if ( ( proc_no == 2 ) || ( proc_no == 5 ) ) { if ( timer_count == 0 ) { if ( abs( object_speed - now_speed ) > SA_SPEED_MAX ) { error_flag = ERR_NO2 ; /* Set error No. */ } } }

if ( disp_co == 0 ) { led_num(1, d_speed / 100 ); /* Number of revolutions */ d_speed = 0 ; disp_co = 100 ; if ( abs(now_speed) == 0 ) { disp_co = 0; } led_num(2, 1000/PWM_TS ); /* Carrier frequency */ led_num(3, cont_time ); /* Overall processing time */ led_num(4, cont_time1 ); /* Vector operation processing time */ } if ( error_flag ) { while( 1 ) { OUT_data( LED41, ~0x00 ) ; /* LED display off */ OUT_data( LED42, ~0x00 ) ; timer_count = 50 ; while( timer_count ) ; if ( error_flag == ERR_NO1 ) { OUT_data( LED41, ~0x9e ) ; /* E1 display */

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OUT_data( LED42, ~0x60 ) ; } else if ( error_flag == ERR_NO2 ) { OUT_data( LED41, ~0x9e ) ; /* E2 display */ OUT_data( LED42, ~0xda ) ; } else { OUT_data( LED41, ~0x9e ) ; /* E3 display */ OUT_data( LED42, ~0xf2 ) ; } timer_count = 50 ; while( timer_count ) ; } } } }

4.1.6 LED display function

/****************************************************************************** / /* LED value display subroutine */ /* no : Display area number (1 to 4) */ /* data: Display data (0 to 99) */ /****************************************************************************** / void led_num( int no, long data ) { if ( no == 1 ) { data = data % 10000; OUT_data( LED11, ~led_pat[data/1000]&0xff ) ; OUT_data( LED12, ~led_pat[(data%1000)/100]&0xff ) ; OUT_data( LED13, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED14, ~led_pat[data%10]&0xff ) ; } else if ( no == 2 ) { OUT_data( LED21, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED22, ~led_pat[data%10]&0xff ) ; } else if ( no == 3 ) { OUT_data( LED31, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED32, ~led_pat[data%10]&0xff ) ; } else { OUT_data( LED41, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED42, ~led_pat[data%10]&0xff ) ; } } /****************************************************************************** / /* External I/O output subroutine */ /* reg : Output register number */ /* data: Output data */ /****************************************************************************** / void OUT_data( unsigned short reg, unsigned short data ) {

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if ( reg == WRESET ) { P4.3 = 0; data = 1; /* Dummy step */ P4.3 = 1; } else { PDL = data | ( reg << 8 ); PDL = reg | ( reg << 8 ) | 0x8000; } } /****************************************************************************** / /* External I/O input subroutine */ /* reg: Input register number */ /****************************************************************************** / unsigned short IN_data( int reg ) { unsigned char *po; /* */ if ( reg == SW ) { return P4; } else { return 0; } }

4.1.7 Motor control interrupt processing function

#include "Common.h" #include "Motor.h" #pragma ioreg /* Peripheral I/O register definition */ /****************************************************************************** / /* Motor control timer interrupt processing */ /****************************************************************************** / _ _interrupt void int_MOTOR(void) { ADSCM00 = 0x8001 ; /* Start AD0 */ ADSCM10 = 0x8000 ; /* Start AD1 */ } /****************************************************************************** / /* Motor control processing */ /****************************************************************************** / void Motor_CONT(void) { signed int wrm, wre, trm, tre ; signed int o_wre, we, o_iqap, o_iqa ; signed int s_time, ek, sa ; unsigned char wk ; signed int cow ;

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signed int o_vua, o_vva, o_vwa ; signed int o_vda, o_vqa ; /* */ /****************************************************************************** / /* Calculation processing of speed and rotor position */ /****************************************************************************** / fcalcu( &wrm, &trm ) ; sum_speed += ( wrm * TH_U / RPM_RADS ) ; /* Radian -> rpm */ if ( --speed_co == 0 ) { speed_co = 100000 / TS ; /* Set 100 mSEC counter value */ now_speed = sum_speed / speed_co ; sum_speed = 0 ; } wrm = now_speed * RPM_RADS / TH_U ; wre = wrm * P ; tre = ( trm * P + OFFSET ) % RAD ;

if ( ( stop_flag == OFF ) && ( error_flag == 0 ) ) { s_time = TM3 ; TUC00 = 0x02 ; /* Clear PWM output prohibition */ OUT_data( WRESET, 0 ) ; /* Reset watchdog timer */ /****************************************************************************** / /* Initial revolution processing */ /****************************************************************************** / if ( init_flag ) { cow = init_upco ; if ( cow > 4 ) cow = 4; if ( ++init_co > ( (long)up_data[ cow ] * 34000L / ( SPEED_INIT * TS ) ) ) { init_co = 0 ; if ( init_flag == 2 ) { wk = cw_data[ init_pat++ ][0] ; } else { wk = ccw_data[ init_pat++ ][0] ; } if ( wk & 0x01 ) { BFCM00 = 0 ; BFCM01 = PWM_INIT ; BFCM02 = PWM_INIT ; } else if ( wk & 0x04 ) { BFCM00 = PWM_INIT ; BFCM01 = 0 ; BFCM02 = PWM_INIT ; } else { BFCM00 = PWM_INIT ; BFCM01 = PWM_INIT ; BFCM02 = 0 ; } POER0 = wk ;

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if ( init_pat >= 6 ) { init_pat = 0 ; if ( init_upco > 14 ) { init_flag = 0 ; } else { init_upco++ ; } } } } else { /****************************************************************************** / /* Normal revolution processing */ /****************************************************************************** / o_wre = abs(object_speed) * RPM_RADS * P / TH_U ; /* rpm -> radian conversion */ we = o_wre - wre ;

o_iqap = ( ( wre * KSP ) + ( we * KSP ) ) >> KSPGETA ; o_iqa = o_iqap + ( o_iqai >> KSIGETA ) ;

if ( o_iqai > IQAMAX ) { o_iqai = IQAMAX ; } else if ( o_iqai < -IQAMAX ) { o_iqai = -IQAMAX ; } else { o_iqai += ( KSI * we ) ; }

pwm_value = o_iqa ; if ( pwm_value <= 0 ) { pwm_value = 1 ; } else if ( pwm_value >= PWM_DATA ) { pwm_value = ( PWM_DATA ) - 1 ; } wk = POER0 ; if ( wk & 0x01 ) { BFCM00 = 0 ; BFCM01 = pwm_value ; BFCM02 = pwm_value ; } else if ( wk & 0x04 ) { BFCM00 = pwm_value ; BFCM01 = 0 ; BFCM02 = pwm_value ; } else { BFCM00 = pwm_value ; BFCM01 = pwm_value ; BFCM02 = 0 ; }

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cont_time1 = ( TM3 - s_time ) * 10 / 16; /* Convert to uSEC */ } } else { POER0 = 0x00 ; /* All phases off */ now_speed = 0; cont_time1 = 0; } } /****************************************************************************** / /* Calculation processing of speed, etc. */ /****************************************************************************** / void fcalcu( signed int *wrm, signed int *trm ) { signed short es_trm, cur_time, delta, i ; signed int wwrm, wk, *p1, *p2; // // Speed and position calculation from zero-cross point // cur_time = TM4 ; delta = ( (RAD/6/P) * cur_time ) / sa_time ; /* Calculation of rotor position */ /* difference from reference point */ /* (radian) */ if ( object_speed >= 0 ) { es_trm = base_position + delta; } else { es_trm = base_position - delta; if ( es_trm < 0 ) es_trm += (RAD/P); }

total_sa -= before_posi[20][1] ;

p1 = (int *)before_posi[19] ; p2 = (int *)before_posi[20] ; for ( i = 0; i <= 19 ; i++ ) { *p2-- = *p1-- ; } before_posi[0][0] = *trm = es_trm % (RAD/P) ;

wk = before_posi[0][0] - before_posi[1][0] ; if ( abs(wk) > (RAD/2/P) ) { if ( wk < 0 ) { wk = (RAD/P) + wk ; } else { wk = wk - (RAD/P) ; } }

before_posi[1][1] = wk ;

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total_sa += wk ; /* Total difference in average buffer */ wwrm = ( total_sa * ( 1000000 / 20 / TH_U ) / TS ); *wrm = wwrm ; /* Speed radian/second */ }

4.1.8 Zero-cross interrupt processing function

/****************************************************************************** / /* U zero-cross point interrupt */ /****************************************************************************** / _ _interrupt void int_U(void) { unsigned char wk ; /* */ if ( ( ( init_flag == 0 ) && ( stop_flag == OFF) ) ) { sa_time = TM4 ; TMC4 = 0x61; TMC4 = 0x63; /* Restart timer */

if ( ~P2 & 0x04 ) { /* Check W phase */ base_position = 0 ; } else { base_position = RAD/2/P ; }

if ( object_speed < 0 ) { wk = run_ccw_data[ P2 & 0x07 ][0] ; } else { wk = run_cw_data[ P2 & 0x07 ][0] ; } if ( wk & 0x01 ) { BFCM00 = 0 ; BFCM01 = pwm_value ; BFCM02 = pwm_value ; } else if ( wk & 0x04 ) { BFCM00 = pwm_value ; BFCM01 = 0 ; BFCM02 = pwm_value ; } else { BFCM00 = pwm_value ; BFCM01 = pwm_value ; BFCM02 = 0 ; } POER0 = wk ; } int_co++ ; }

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/****************************************************************************** / /* V zero-cross point interrupt */ /****************************************************************************** / _ _interrupt void int_V(void) { unsigned char wk ; /* */ if ( ( ( init_flag == 0 ) && ( stop_flag == OFF) ) ) { sa_time = TM4 ; TMC4 = 0x61; TMC4 = 0x63; /* Restart timer */

if ( ~P2 & 0x01 ) { /* Check U phase */ base_position = RAD/3/P ; } else { base_position = RAD*5/6/P ; }

if ( object_speed < 0 ) { wk = run_ccw_data[ P2 & 0x07 ][0] ; } else { wk = run_cw_data[ P2 & 0x07 ][0] ; } if ( wk & 0x01 ) { BFCM00 = 0 ; BFCM01 = pwm_value ; BFCM02 = pwm_value ; } else if ( wk & 0x04 ) { BFCM00 = pwm_value ; BFCM01 = 0 ; BFCM02 = pwm_value ; } else { BFCM00 = pwm_value ; BFCM01 = pwm_value ; BFCM02 = 0 ; } POER0 = wk ; } int_co++ ; } /****************************************************************************** / /* W zero-cross point interrupt */ /****************************************************************************** / _ _interrupt void int_W(void) { unsigned char wk ;

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/* */ if ( ( ( init_flag == 0 ) && ( stop_flag == OFF) ) ) { sa_time = TM4 ; TMC4 = 0x61; TMC4 = 0x63; /* Restart timer */

if ( ~P2 & 0x02 ) { /* Check V phase */ base_position = RAD*2/3/P ; } else { base_position = RAD/6/P ; }

if ( object_speed < 0 ) { wk = run_ccw_data[ P2 & 0x07 ][0] ; } else { wk = run_cw_data[ P2 & 0x07 ][0] ; } if ( wk & 0x01 ) { BFCM00 = 0 ; BFCM01 = pwm_value ; BFCM02 = pwm_value ; } else if ( wk & 0x04 ) { BFCM00 = pwm_value ; BFCM01 = 0 ; BFCM02 = pwm_value ; } else { BFCM00 = pwm_value ; BFCM01 = pwm_value ; BFCM02 = 0 ; } POER0 = wk ; } int_co++ ; }

4.1.9 10 mSEC interval interrupt processing function

/****************************************************************************** / /* Other timer interrupt processing (10 mSEC interval) */ /****************************************************************************** / _ _multi_interrupt void int_ETC(void) { unsigned short dummy ; /* Wait timer processing */ if ( timer_count != 0 ) { timer_count -= 1 ; }

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/* Acceleration/deceleration timer processing */ if ( accel_count != 0 ) { accel_count -= 1 ; } /* */ if ( disp_co != 0 ) { d_speed += abs( now_speed ) ; disp_co -= 1 ; } }

4.1.10 A/D converter interrupt processing function

/****************************************************************************** / /* A/D converter interrupt processing for U-phase current and speed volume */ /****************************************************************************** / _ _multi_interrupt void int_AD0(void) { iua = (( ADCR00 & 0x3ff ) - 0x200) ; if ( abs(iua) > MAX_I ) { POER0 = 0 ; /* PWM output off */ error_flag = ERR_NO1 ; /* Set error No. */ } volume = 1023 - ( ADCR01 & 0x3ff ) ; /* Set volume value */ Motor_CONT() ; cont_time = TM3 * 10 / 16; /* Convert to uSEC */ } /****************************************************************************** / /* A/D converter interrupt processing for V-phase current */ /****************************************************************************** / _ _interrupt void int_AD1(void) { iva = (( ADCR10 & 0x3ff ) - 0x200) ; if ( abs(iva) > MAX_I ) { POER0 = 0 ; /* PWM output off */ error_flag = ERR_NO1 ; /* Set error No. */ } }

4.1.11 Hardware initialization processing function

/****************************************************************************** / /* Hardware (peripheral I/O) initialization */ /****************************************************************************** / void hinit( void ) {

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short dummy ; /* Port mode register initialization */ PM4 = 0xf7 ; PMDL = 0x0000 ;

OUT_data( LED11, 0xff ) ; /* LED OFF */ OUT_data( LED12, 0xff ) ; OUT_data( LED13, 0xff ) ; OUT_data( LED14, 0xff ) ; OUT_data( LED21, 0xff ) ; OUT_data( LED22, 0xff ) ; OUT_data( LED31, 0xff ) ; OUT_data( LED32, 0xff ) ; OUT_data( LED41, 0xff ) ; OUT_data( LED42, 0xff ) ; /* Set 10 mSEC timer TM2 */ STOPTE0 = 0x0000; PRM02 = 0x01; /* Select fXX/2 */ CSE0 = 0x0028; /* Select fCLK/64 (3.2 uSEC) */ TCRE0 = 0x2000; /* Start timer */ CVSE50 = 1562*2 ; /* 10 mSEC */ CMSE050 = 0x2400; CC2IC5 = 0x06; /* Set motor control interrupt timer TM3 */ PRM03 = 1 ; /* fCLK = fXX */ TMC30 = 0x51; /* fXX = 4 MHz*10/64(1.6 uSEC) */ TMC31 = 0x09 ; CC30 = TS * 10 / 16 ; /* TS uSEC interval */ TMC30 = 0x53; /* Start timer */ CC3IC0 = 0x02; /* Reset interrupt mask */ /* Set speed measuring timer TM4 */ TMC4 = 0x61; /* fXX(4 MHz*10/2)/128(6.4 uSEC) */ CM4 = 0xffff; TMC4 = 0x63; /* TM4 start */ /* TM0 initialization */ PRM01 = 0 ; /* fCLK = fXX/2 */ SPEC0 = 0x0000 ; TOMR0 = 0x80 ; /* Set output mode */ PSTO0 = 0x00 ; /* Disable real-time output */ BFCM00 = PWM_DATA /2 ; /* Set duty to 50 */ BFCM01 = PWM_DATA /2 ; /* Set duty to 50 */ BFCM02 = PWM_DATA /2 ; /* Set duty to 50 */ BFCM03 = PWM_DATA ; /* Set PWM cycle */ DTRR0 = 40*3 ; /* Dead time 6 uSEC */ POER0 = 0x3f ; /* All phases active */ TMC00 = 0x8018 ; /* Start TMPWM timer */ /* Set A/D */

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ADSCM00 = 0x0001 ; ADSCM10 = 0x0000 ; ADIC0 = 0x03 ; ADIC1 = 0x03 ; /* Set zero-cross signal interrupt pin */ FEM0 = 0x0c ; /* INTP20 both-edge interrupt */ CC2IC0 = 0x01 ; FEM1 = 0x0c ; /* INTP21 both-edge interrupt */ CC2IC1 = 0x01 ; FEM2 = 0x0c ; /* INTP22 both-edge interrupt */ CC2IC2 = 0x01 ; OUT_data( MODE, 0x02 ) ; /* Voltage comparator mode */ }

4.1.12 Common area initialization processing function

/****************************************************************************** / /* Common area initialization */ /****************************************************************************** / void ainit( void ) { /* Initialization of flags */ error_flag = 0 ; /* Clear error flag */ init_flag = OFF ; /* Initial flag off */ disp_co = 100 ; d_speed = 0 ; /* Motor control area initialization */ stop_flag = ON ; /* Stop flag on */ object_speed = 0 ; /* Target speed 0 */ o_iqai = 0 ; /* Speed integral value 0 */ }

4.1.13 Revolution start initialization processing function

/****************************************************************************** / /* Revolution start initialization */ /****************************************************************************** / void start_init( void ) { int i; /* */ for ( i = 0 ; i < 21 ; i++ ) before_posi[i][1] = 0; total_sa = 0 ; sum_speed = 0 ; speed_co = 100000 / TS ;

init_co = 0 ; init_pat = 0 ;

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init_upco = 0 ; }

4.1.14 Link directive file for V850E/IA1

/****************************************************************************** / /* Link directive file for V850E/IA1 */ /****************************************************************************** / VECT_RESET: !LOAD ?RX V0x0000000 { .vect_RESET = $PROGBITS ?AX .vect_RESET; }; ID_NO: !LOAD ?RX V0x0000070 { .id_NO = $PROGBITS ?AX .id_NO; }; VECT_U: !LOAD ?RX V0x00001f0 { .vect_U = $PROGBITS ?AX .vect_U; }; VECT_V: !LOAD ?RX V0x0000200 { .vect_V = $PROGBITS ?AX .vect_V; }; VECT_W: !LOAD ?RX V0x0000210 { .vect_W = $PROGBITS ?AX .vect_W; }; VECT_ETC: !LOAD ?RX V0x0000240 { .vect_ETC = $PROGBITS ?AX .vect_ETC; }; VECT_MOTOR: !LOAD ?RX V0x0000260 { .vect_MOTOR = $PROGBITS ?AX .vect_MOTOR; }; VECT_AD0: !LOAD ?RX V0x00003a0 { .vect_AD0 = $PROGBITS ?AX .vect_AD0; }; VECT_AD1: !LOAD ?RX V0x00003b0 { .vect_AD1 = $PROGBITS ?AX .vect_AD1; };

HANDLER: !LOAD ?RX V0x00001000 { .handler = $PROGBITS ?AX .handler; }; TEXT: !LOAD ?RX { .text = $PROGBITS ?AX .text; };

CONST : !LOAD ?R { .const = $PROGBITS ?A .const; };

DATA : !LOAD ?RW V0x0fffc000 {

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.data = $PROGBITS ?AW ; .sdata = $PROGBITS ?AWG ; .sbss = $NOBITS ?AWG ; .bss = $NOBITS ?AW ; };

_ _tp_TEXT @ %TP_SYMBOL; _ _gp_DATA @ %GP_SYMBOL &_ _tp_TEXT{DATA}; _ _ep_DATA @ %EP_SYMBOL;

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4.2 Program List (V850E/IA2)

4.2.1 Symbol definition

/****************************************************************************** / /* Common area */ /****************************************************************************** / unsigned char ram_start ; unsigned char error_flag ; /* Error flag */ unsigned char init_flag ; /* Initial flag */ unsigned short cont_time ; /* Interrupt control time uSEC */ unsigned short cont_time1 ; /* Vector operation time uSEC */ unsigned short disp_co ; /* Interrupt control time display timer */ unsigned short volume ; /* Volume value */ unsigned short timer_count ; /* Time wait counter */ unsigned short accel_count ; /* Acceleration/deceleration operation time */ /* counter */ unsigned char stop_flag ; /* Stop flag */ signed short before_posi[21][2] ; /* Position buffer */ signed short total_sa ; /* Position total difference */ signed int sum_speed ; signed int speed_co ; signed int now_speed ; /* Present speed rms */ signed int object_speed ; /* Target speed rms */ unsigned int d_speed ; /* Display speed rms */ unsigned char ram_end ;

#pragma section const begin const unsigned short led_pat[10] = { 0xfc, 0x60, 0xda, 0xf2, 0x66, 0xb6, 0xbe, 0xe0, 0xfe, 0xe6 } ; #pragma section const end /****************************************************************************** / /* Common flags */ /****************************************************************************** / extern unsigned char ram_start ; extern unsigned char error_flag ; /* Error flag */ extern unsigned char init_flag ; /* Initial flag */ extern unsigned short cont_time ; /* Interrupt control time uSEC */ extern unsigned short cont_time1 ; /* Vector operation time uSEC */ extern unsigned short disp_co ; /* Interrupt control time display timer */ extern unsigned short volume ; /* Volume value */ extern unsigned short timer_count ; /* Time wait counter */ extern unsigned short accel_count ; /* Acceleration/deceleration operation */ /* time counter */ extern unsigned char stop_flag ; /* Stop flag */ extern signed short before_posi[21][2] ; /* Position buffer */ extern signed short total_sa ; /* Position total difference */ extern signed int sum_speed ;

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extern signed int speed_co ; extern signed int now_speed ; /* Present speed rms */ extern signed int object_speed ; /* Target speed rms */ extern unsigned int d_speed ; /* Display speed rms */ extern unsigned char ram_end ;

#pragma section const begin extern const unsigned short led_pat[] ;; #pragma section const end /****************************************************************************** / /* Motor common definition */ /****************************************************************************** / extern signed short iua ; /* U-phase current */ extern signed short iva ; /* V-phase current */ extern signed int o_iqai ; /* Speed integral value area */ extern signed int base_position ; /* Speed estimation value reference point */ extern unsigned int sa_time ; /* Speed measurement value */ extern unsigned short timer_count ; /* Time wait counter */ extern unsigned short accel_count ; /* Acceleration/deceleration operation */ /* time counter */

extern unsigned short init_co ; /* Initial interrupt counter */ extern unsigned char init_pat ; /* Initial pattern counter */ extern unsigned short init_upco ; /* Initial speed-up counter */ extern unsigned int int_co ; /* UVW interrupt counter */ extern signed int pwm_value ; /* PWM output value */

#pragma section const begin extern const unsigned char cw_data[][2] ; extern const unsigned char ccw_data[][2] ; extern const unsigned char up_data[] ; extern const unsigned char run_cw_data[][2] ; extern const unsigned char run_ccw_data[][2] ; #pragma section const end

4.2.2 Constant definition

/****************************************************************************** / /* I/O */ /****************************************************************************** / #define BASE_IO 0xc200000 #define LED11 3 #define LED12 2 #define LED13 1 #define LED14 0 #define LED21 5 #define LED22 4 #define LED31 7

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#define LED32 6 #define LED41 9 #define LED42 8

#define DIPSW 0x10 #define SW 0x20 #define DA1 0x30 #define DA2 0x40 #define DA3 0x50 #define WRESET 0x60 #define MODE 0x70 /****************************************************************************** / /* Constant */ /****************************************************************************** / #define ON 1 #define OFF 0 #define CW 1 /* CW operation mode */ #define CCW 2 /* CCW operation mode */ #define STOP 0 /* Operation stop mode */ #define ERR_NO1 1 /* Overcurrent error */ #define ERR_NO2 2 /* Speed difference error */ /****************************************************************************** / /* Motor constant */ /****************************************************************************** / /* Motor constant */ #define PAI 3.14159265 /* π */ #define TH_U 1000 /* Radian value jack-up constant */ #define RAD (int)(2*PAI*TH_U) /* Radian value of one revolution */ #define OFFSET 1945 /* Original point OFFSET */ #define RPM_RADS (int)((2*PAI*TH_U)/60) /* rpm -> radian conversion constant */ /* Motor constant */ #define KSP 750 /* Speed proportion constant */ #define KSI 10 /* Speed integral constant */ #define P 2 /* Number of poles */

#define KSPGETA 10 /* KP jack-up constant */ #define KSIGETA 14 /* KSI jack-up constant */ #define SGETA 14 /* sin jack-up constant */

#define PWM_TS 80 /* PWM cycle */ #define PWM_DATA (PWM_TS/0.05) /* PWM set value */ #define SPEED_MAX 3000 /* Maximum speed 3000 rpm */ #define SPEED_MINI 800 /* Minimum speed 800 rpm */ #define SPEED_INIT 700 /* Initial revolution speed rpm */ #define SA_SPEED_MAX 800 /* Maximum speed difference rpm */ #define IQAMAX 200000 /* Maximum speed integral value */ #define MAX_I 800 /* Maximum current value */ #define TS 200 /* Motor control time interval uSEC */

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#define ACCEL_TIME 1 /* Acceleration/deceleration time */ /* constant 10 mSEC */ #define ACCEL_DATA 40 /* Number of acceleration/deceleration */ /* incremental revolutions rpm */ #define WATCH_START 500 /* Speed monitor start time 10 mSEC */ #define ACCEL_VAL_1ST 50 /* Initial acceleration/deceleration */ /* time constant */ #define ACCEL_VAL 3 /* Acceleration/deceleration time */ /* constant */ #define ACCEL_SPD 50 /* Acceleration/deceleration constant */

#define PWM_INIT PWM_DATA/4 /* PWM initial value */ /****************************************************************************** / /* Function constant */ /****************************************************************************** / void fcalcu( signed int *wrm, signed int *trm ); void OUT_data( unsigned short reg, unsigned short data ); unsigned short IN_data( int reg ); void led_num( int no, long data ) ; /****************************************************************************** / /* Motor-related common area */ /****************************************************************************** / signed short iua ; /* U-phase current */ signed short iva ; /* V-phase current */ signed int o_iqai ; /* Speed integral value area */ signed int base_position ; /* Speed estimation value reference point */ unsigned int sa_time ; /* Speed measurement value */ unsigned short timer_count ; /* Time wait counter */ unsigned short accel_count ; /* Acceleration/deceleration operation time counter */

unsigned short init_co ; /* Initial interrupt counter */ unsigned char init_pat ; /* Initial pattern counter */ unsigned short init_upco ; /* Initial speed-up counter */ unsigned int int_co ; /* UVW interrupt counter */ signed int di ; signed int pwm_value ; /* PWM output value */

#pragma section const begin const unsigned char cw_data[6][2] = { {0x09,0x00},{0x21,0x00},{0x24,0x00}, {0x06,0x00},{0x12,0x00},{0x18,0x00} }; const unsigned char ccw_data[6][2] = { {0x18,0x00},{0x12,0x00},{0x06,0x00}, {0x24,0x00},{0x21,0x00},{0x09,0x00} }; const unsigned char up_data[] = { 255, 242, 229, 217, 206, 195, 185, 176, 166, 158, 158, 158, 158, 158, 158, 158, 158, 158, 158, 158 } ; const unsigned char run_cw_data[8][2] = { {0x00,0x00},{0x21,0x00},{0x06,0x00}, {0x24,0x00},{0x18,0x00},{0x09,0x00}, {0x12,0x00},{0x00,0x00} };

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const unsigned char run_ccw_data[8][2] = { {0x00,0x00},{0x09,0x00},{0x24,0x00}, {0x21,0x00},{0x12,0x00},{0x18,0x00}, {0x06,0x00},{0x00,0x00} }; #pragma section const end

4.2.3 Interrupt handler setting

/****************************************************************************** / /* Interrupt symbol table */ /****************************************************************************** / .extern _ _start .extern _int_MOTOR .extern _int_U .extern _int_V .extern _int_W .extern _int_AD0 .extern _int_AD1 .extern _int_ETC

.globl V_RESET .globl V_U .globl V_V .globl V_W .globl V_ETC .globl V_MOTOR .globl V_AD0 .globl V_AD1 #******************************************************************************* .section ".handler",text V_RESET: Jr _ _start V_U: ld.w [sp],r1 add 4,sp jr _int_U -- INTP20 V_V: ld.w [sp],r1 add 4,sp jr _int_V -- INTP21 V_W: ld.w [sp],r1 add 4,sp jr _int_W -- INTP22 V_ETC: ld.w [sp],r1 add 4,sp jr _int_ETC -- Other timers V_MOTOR:

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ld.w [sp],r1 add 4,sp jr _int_MOTOR -- Speed control timer V_AD0: ld.w [sp],r1 add 4,sp jr _int_AD0 -- A/D converter CH0 V_AD1: ld.w [sp],r1 add 4,sp jr _int_AD1 -- A/D converter CH1

.extern V_RESET .extern V_U .extern V_V .extern V_W .extern V_ETC .extern V_MOTOR .extern V_AD0 .extern V_AD1 /****************************************************************************** / /* Interrupt jump table */ /****************************************************************************** / .section ".vect_RESET",text mov #V_RESET,r1 jmp [r1]

.section ".id_NO",text .byte 0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xff

.section ".vect_U",text add -4,sp st.w r1,[r3] mov #V_U,r1 jmp [r1]

.section ".vect_V",text add -4,sp st.w r1,[r3] mov #V_V,r1 jmp [r1]

.section ".vect_W",text add -4,sp st.w r1,[r3] mov #V_W,r1 jmp [r1]

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.section ".vect_ETC",text add -4,sp st.w r1,[r3] mov #V_ETC,r1 jmp [r1]

.section ".vect_MOTOR",text add -4,sp st.w r1,[r3] mov #V_MOTOR,r1 jmp [r1]

.section ".vect_AD0",text add -4,sp st.w r1,[r3] mov #V_AD0,r1 jmp [r1]

.section ".vect_AD1",text add -4,sp st.w r1,[r3] mov #V_AD1,r1 jmp [r1]

4.2.4 Startup routine setting

#============================================================================= # DESCRIPTIONS: # This assembly program is a sample of start-up module for ca850. # If you modified this program, you must assemble this file, and # locate a given directory. # # Unless -G is specified, sections are located as the following. # # | : | # | : | # tp -> -+-------------- + _ _start _ _tp_TEXT # | start up | # |-------------- | # text section | | # | user program | # | | # |-------------- | # | library | # -+-------------- + # | | # sdata section | | # | |

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# gp -> -+-------------- + _ _ssbss # | | # sbss section | | # | | # +-------------- + _ _stack _ _esbss _ _sbss # | stack area | # bss section | | # | 0x400 bytes | # sp -> -+-------------- + _ _stack + STACKSIZE _ _ebss # | : | # | : | # | : | # ep -> -+-------------- + _ _ep_DATA # tidata section | | # -+-------------- + # sidata section | | # -+-------------- + # | : | # | : | # #============================================================================= #----------------------------------------------------------------------------# special symbols #---------------------------------------------------------------------------- .extern _ _tp_TEXT, 4 .extern _ _gp_DATA, 4 .extern _ _ep_DATA, 4 .extern _ _ssbss, 4 .extern _ _esbss, 4 .extern _ _sbss, 4 .extern _ _ebss, 4

#----------------------------------------------------------------------------# C program main function #---------------------------------------------------------------------------- .extern _main

#----------------------------------------------------------------------------# dummy data declaration for creating sbss section #---------------------------------------------------------------------------- .sbss .lcomm _ _sbss_dummy, 0, 0

#----------------------------------------------------------------------------# system stack

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#---------------------------------------------------------------------------- .set STACKSIZE, 0x400 .bss .lcomm _ _stack, STACKSIZE, 4

#----------------------------------------------------------------------------# start up # pointers: tp - text pointer # gp - global pointer # sp - stack pointer # ep - element pointer # exit status is set to r10 #---------------------------------------------------------------------------- .text .align 4 .globl _ _start .globl _exit .globl _ _exit _ _start: mov 0x02,r10 st.b r10,VSWC[r0] -- Set peripheral I/O wait

mov 0x07,r10 -- ×10 st.b r0,PHCMD[r0] st.b r10,CKC[r0] -- PLL xx multiplication nop nop nop nop nop

mov #_ _tp_TEXT, tp -- set tp register mov #_ _gp_DATA, gp -- set gp register offset add tp, gp -- set gp register mov #_ _stack+STACKSIZE, sp -- set sp register mov #_ _ep_DATA, ep -- set ep register # mov #_ _ssbss, r13 -- clear sbss section mov #_ _esbss, r12 cmp r12, r13 jnl .L11 .L12: st.w r0, [r13] add 4, r13 cmp r12, r13 jl .L12 .L11: #

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mov #_ _sbss, r13 -- clear bss section mov #_ _ebss, r12 cmp r12, r13 jnl .L14 .L15: st.w r0, [r13] add 4, r13 cmp r12, r13 jl .L15 .L14: # jarl _main, lp -- call main function _ _exit: halt -- end of program _ _startend: nop # # #-------------------------- end of start up module ----------------------------# # #

4.2.5 Main processing function

#include "Common.h" #include "Motor.h" #pragma ioreg /* Peripheral I/O register definition */

static int save_psw; /****************************************************************************** / /* 3-phase motor control program */ /****************************************************************************** / void main() { unsigned char proc_no ; /* Present processing number */ signed int speed ; /* Indication speed rms */ signed int accel_spd ; int sw, sw_mode ; /* */ hinit() ; /* Hardware initialization */ ainit() ; /* Initialization of area used */ proc_no = 0 ; _ _EI(); while( 1 ) { accel_spd = ( SPEED_MAX - SPEED_MINI ) / 100; speed = ( ( SPEED_MAX - SPEED_MINI ) * volume / 1024 ) + SPEED_MINI ; /* Indication speed calculation by volume */ sw = ~IN_data( SW ) & 0x07 ; /* Read operation button */ if ( sw == 1 ) { sw_mode = CW ;

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} else if ( sw == 2 ) { sw_mode = CCW ; } else if ( sw == 4 ) { sw_mode = STOP ; } switch( proc_no ) { /* STOP processing */ case 0 : if ( sw_mode == CW ) { _ _DI() ; object_speed = SPEED_MINI ; /* Set target speed to minimum value */ stop_flag = OFF ; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ accel_count = ACCEL_VAL_1ST ; /* Set acceleration/deceleration counter */ init_flag = 2 ; /* CCW initial request */ start_init() ; /* Initialize revolution start */ _ _EI() ; proc_no = 1 ; /* Set next processing number */ } else if ( sw_mode == CCW ) { _ _DI() ; stop_flag = OFF ; /* Stop flag off */ object_speed = -SPEED_MINI ; /* Set target speed to minimum value */ timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ accel_count = ACCEL_VAL_1ST ; /* Set acceleration/deceleration counter */ init_flag = 3 ; /* CCW initial request */ start_init() ; /* Initialize revolution start */ _ _EI() ; proc_no = 4 ; /* Set CCW processing number */ } break ; /* CW processing, acceleration */ case 1 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed < speed ) { object_speed += accel_spd ; if ( object_speed > speed ) object_speed = speed; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else if ( object_speed > speed ) { object_speed -= accel_spd ; if ( object_speed < speed ) object_speed = speed; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else { proc_no = 2 ; /* Constant-speed processing */ } } if ( (sw_mode == CCW) || (sw_mode == STOP) ) { proc_no = 3 ; /* Deceleration, set processing number */

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} break ; /* CW processing, constant-speed */ case 2 : object_speed = speed ; if ( (sw_mode == CCW) || (sw_mode == STOP) ) { proc_no = 3 ; /* Deceleration, set processing number */ } break ; /* CW stop processing */ case 3 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed > SPEED_MINI ) { object_speed -= accel_spd ; if ( object_speed < SPEED_MINI ) object_speed = SPEED_MINI; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else { stop_flag = ON ; /* Stop flag on */ proc_no = 0 ; /* Set stop processing number */ } } break ; /* CCW processing, acceleration */ case 4 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed < -speed ) { object_speed += accel_spd ; if ( object_speed > -speed ) object_speed = -speed; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else if ( object_speed > -speed ) { object_speed -= accel_spd ; if ( object_speed < -speed ) object_speed = -speed; timer_count = WATCH_START ;/* Set speed monitor start time to 5 SEC */ } else { proc_no = 5 ; /* Constant-speed processing */ } } if ( (sw_mode == CW) || (sw_mode == STOP) ) { proc_no = 6 ; /* Deceleration, set processing number */ } break ; /* CCW processing, constant-speed */ case 5 : object_speed = -speed ; if ( (sw_mode == CW) || (sw_mode == STOP) ) { proc_no = 6 ; /* Deceleration, set processing number */

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} break ; /* CCW stop processing */ case 6 : if ( accel_count == 0 ) { accel_count = ACCEL_VAL ; /* Set acceleration/deceleration counter */ if ( object_speed < -SPEED_MINI ) { object_speed += accel_spd ; if ( object_speed > -SPEED_MINI ) object_speed = -SPEED_MINI; timer_count = WATCH_START ; /* Set speed monitor start time to 5 SEC */ } else { stop_flag = ON ; /* Stop flag on */ proc_no = 0 ; /* Set stop processing number */ } } break ; }

if ( ( proc_no == 2 ) || ( proc_no == 5 ) ) { if ( timer_count == 0 ) { if ( abs( object_speed - now_speed ) > SA_SPEED_MAX ) { error_flag = ERR_NO2 ; /* Set error No.*/ } } }

if ( disp_co == 0 ) { led_num(1, d_speed / 100 ); /* Number of revolutions */ d_speed = 0 ; disp_co = 100 ; if ( abs(now_speed) == 0 ) { disp_co = 0; } led_num(2, 1000/PWM_TS ); /* Carrier frequency */ led_num(3, cont_time ); /* Overall processing time */ led_num(4, cont_time1 ); /* Vector operation processing time */ } if ( error_flag ) { while( 1 ) { OUT_data( LED41, ~0x00 ) ; /* LED display off */ OUT_data( LED42, ~0x00 ) ; timer_count = 50 ; while( timer_count ) ; if ( error_flag == ERR_NO1 ) { OUT_data( LED41, ~0x9e ) ; /* E1 display */ OUT_data( LED42, ~0x60 ) ; } else if ( error_flag == ERR_NO2 ) { OUT_data( LED41, ~0x9e ) ; /* E2 display */

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OUT_data( LED42, ~0xda ) ; } else { OUT_data( LED41, ~0x9e ) ; /* E3 display */ OUT_data( LED42, ~0xf2 ) ; } timer_count = 50 ; while( timer_count ) ; } } } }

4.2.6 LED display function

/****************************************************************************** / /* LED value display subroutine */ /* no : Display area number (1 to 4) */ /* data : Display data (0 to 99) */ /****************************************************************************** / void led_num( int no, long data ) { if ( no == 1 ) { data = data % 10000; OUT_data( LED11, ~led_pat[data/1000]&0xff ) ; OUT_data( LED12, ~led_pat[(data%1000)/100]&0xff ) ; OUT_data( LED13, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED14, ~led_pat[data%10]&0xff ) ; } else if ( no == 2 ) { OUT_data( LED21, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED22, ~led_pat[data%10]&0xff ) ; } else if ( no == 3 ) { OUT_data( LED31, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED32, ~led_pat[data%10]&0xff ) ; } else { OUT_data( LED41, ~led_pat[(data%100)/10]&0xff ) ; OUT_data( LED42, ~led_pat[data%10]&0xff ) ; } } /****************************************************************************** / /* External I/O output subroutine */ /* reg : Output register number */ /* data : Output data */ /****************************************************************************** / void OUT_data( unsigned short reg, unsigned short data ) { if ( reg == WRESET ) { P3.0 = 0; data = 1; /* Dummy step */

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Application Note U17209EJ1V0AN

CHAPTER 4 PROGRAM LIST

P3.0 = 1; } else { PDL = data | ( reg << 8 ); PDL = reg | ( reg << 8 ) | 0x8000; } } /****************************************************************************** / /* External I/O input subroutine */ /* reg : Input register number */ /****************************************************************************** / unsigned short IN_data( int reg ) { unsigned char *po; /* */ if ( reg == SW ) { return P4; } else { return 0; } }

4.2.7 Motor control interrupt processing function

#include "Common.h" #include "Motor.h" #pragma ioreg /* Peripheral I/O register definition */ /****************************************************************************** / /* Motor control timer interrupt processing */ /****************************************************************************** / _ _interrupt void int_MOTOR(void) { ADSCM00 = 0x8001 ; /* Start AD0 */ ADSCM10 = 0x8000 ; /* Start AD1 */ } /****************************************************************************** / /* Motor control processing */ /****************************************************************************** / void Motor_CONT(void) { signed int wrm, wre, trm, tre ; signed int o_wre, we, o_iqap, o_iqa ; signed int s_time, ek, sa ; unsigned char wk ; signed int cow ; signed int o_vua, o_vva, o_vwa ; signed int o_vda, o_vqa ; /* */

Application Note U17209EJ1V0AN

103

Renesas V850 Series, V850E/IA1, V850E/IA2, V850E/IA3, V850E/IA4 Note

Specifications and Main Features

Frequently Asked Questions

User Manual

INTRODUCTION

CHAPTER 1 CONTROL METHOD

1.1 Outline of Brushless DC Motor Control

CHAPTER 2 HARDWARE CONFIGURATI ON

2.1 Configuration

2.2 Circuit Diagram

CHAPTER 3 SOFTWARE CONFIGURATION

3.1 Control Block

3.2 Peripheral I/O

3.3 Software Processing Structure

3.4 Flowchart

3.4.1 Main processing

3.4.2 Motor control processing

3.4.3 U zero-cross point interrupt processing

3.4.4 V zero-cross point interrupt processing

3.4.5 W zero-cross point interrupt processing

3.4.6 10 mSEC interval interrupt processing

3.4.7 A/D converter channel 0 interrupt processing

3.4.8 A/D converter channel 1 interrupt processing

3.4.9 Hardware initialization

3.4.10 Common area initialization

3.4.11 Revolution start initialization

3.4.12 LED display

3.5 Common Areas

3.6 Tables

3.7 Constant Definitions

CHAPTER 4 PROGRAM LIST

4.1 Program List (V850E/IA1)

4.1.1 Symbol definition

4.1.2 Constant definition

4.1.3 Interrupt handler setting

4.1.4 Startup routine setting

4.1.5 Main processing function

4.1.6 LED display function

4.1.7 Motor control interrupt processing function

4.1.8 Zero-cross interrupt processing function

4.1.9 10 mSEC interval interrupt processing function

4.1.10 A/D converter interrupt processing function

4.1.11 Hardware initialization processing function

4.1.12 Common area initialization processing function

4.1.13 Revolution start initialization processing function

4.1.14 Link directive file for V850E/IA1

4.2 Program List (V850E/IA2)

4.2.1 Symbol definition

4.2.2 Constant definition

4.2.3 Interrupt handler setting

4.2.4 Startup routine setting

4.2.5 Main processing function

4.2.6 LED display function

4.2.7 Motor control interrupt processing function