M16C/Tiny Sensor-less PMSM Driving Platform by 120
Contents
1. NEC 2010 4 1 http www renesas com 201044 H1H EIT m ETAT Chttp www renesas com DLA http www renesas com inguiry KENESAS 8 10 11 12 Notice All information included in this document is current as of the date this document is issued Such information however is subject to change without any prior notice Before purchasing or using any Renesas Electronics products listed herein please confirm the latest product information with a Renesas Electronics sales office Also please pay regular and careful attention to additional and different information to be disclosed by Renesas Electronics such as that disclosed through our website Renesas 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 Renesas Electronics products or technical information described in this document2. re Switch the output pattern 30 degree after the zero crossing of the induced voltage Figure 3 1 1 Time Charting RSBJEUMO0001 0101 Rev 1 01 ae Calcultation the actual rotation speed from intervals between zero crossings of the induced voltages RENESAS VCC Figure 3 1 2 Three phase IGBT inverter circuit In the 120 degree trapezoidal communication mode three phase IGBT circuit turn on sequence is UpWn WnVp VpUn UnWp WpVn VnUp two IGBT are conducted every 60 electrical degrees Accordingly PWM wave have 6 output pattern switching It is shown as the figure 3 1 1 and figure 3 1 2 Output pattern is switched when motor rotor angles 60 electrical degree every time Zero crossings of the induced voltages is at the mid of each output pattern 30 electrical degree In this program the function of output pattern switching is carried out by PFCR register of M16C62A It can control each bit in the PFCi i 0 to 5 to enable each one of three phase PWM output pins When setting the PFCi i 0 to 5 to 0 three phase PWM output pin functions act as I O port and can output H level state and L level state In order to outputting PWM wave when motor rotor angles 360 electrical degrees PFCR register should be set based the following table Wn Wp Vn Vp Un Up X X PFC5 PFC4 PFC3 PFC2 PFC1 PFCO Patt
3. Figure 3 1 3 Detection of zero crossing of induced voltage and comparator output The output pattern of the MCU depends on position information of induced voltages The voltages output by the inverter are compared with half the bus voltage and the results are fed to the MCU The following table shows the connection between MCU pins and induced voltage signals Input pin BEMF signal P1 INT3 V BEMF P1 INT4 W BEMF P1 INT5 U BEMF Table 3 1 3 the connection of input pin and induce voltage RSBJEUMO001 0101 Rev 1 01 11 RENESAS In our program when motor mode changes into turnon mode TB1 interrupt is enabled after the next carrier wave cycle interrupt motor woke mode become run mode Every 50us TB1 interrupts If the TB1 interrupt request bit is set to 1 after another 50us the TB1 interrupt request bit is still set to 1 the zero crossing of induced voltages is detected and it is at the mid point 30 electrical degrees of each output pattern Switching of the output pattern is delayed by 30 electrical degrees from zero crossing detected The process avoid occurring wrong pulses to be mistaken the detection of zero crossing of induced voltages because of motor demagnetization at the point of output pattern switching The U phase processing is shown as figure 3 1 2 When motor work mode changes into stop mode tb1s is set to 0 TB1 interrupt stops but interrupt enable is still open The detectio
4. Yes V BootstrapPWM processing No g OutputMode lt M TURNO Yes V TurnonPWM processing g OutputMode M RUN Yes RunPWM processing a RTI Rev 1 01 22 RENESAS 4 5 Bootstrap Processing BootstrapPWM k IDBO lt 0x3f IDB1 0x00 generate 3 phase PWM p8_0 INACTIVE_LVL pd8_0 1 p8_1 INACTIVE_LVL pd8_1 p7_2 INACTIVE_LVL pd7_2 p7_3 INACTIVE_LVL pd7_3 p7_4 INACTIVE_LVL pd7_4 p7_5 INACTIVE_LVL pd7_5 1 1 1 1 1 s BootstpStep lt 3 k TPRC 1 PFCR register wirte enable PFCR PFCRTbIBoot s_BootstpStep output PWM wave g_OutputMode Turnon mode s BootstpStep 0 s BootstpCnt 0 s_BootstpCnt lt 400 Yes s BootstpCnt 1 5 BootstpCn 0 s BootstpStep 1 lt Timer value M CARR CNT BootsrapeDuty SINT 32 M CARR CN T gt gt 15 Set timer values Timer A4 register timer value Timer A1 register timer value Timer A2 register timer value v StopCheck processing Stop Reguested g OutputMode M TURNOFF RTS RSBJEUMO0001 0101 Rev 1 01 23 RENESAS 4 6Turn on Processing TurnonPWM v INI PWM DUTY g PWMDuty M g PWMDuty
5. No license express implied or otherwise is granted hereby under any patents copyrights or other intellectual property rights of Renesas Electronics or others You should not alter modify copy or otherwise misappropriate any Renesas Electronics product whether in whole or in part Descriptions of circuits software and other related information in this document are provided only to illustrate the operation of semiconductor products and application examples You are fully responsible for the incorporation of these circuits software and information in the design of your equipment Renesas Electronics assumes no responsibility for any losses incurred by you or third parties arising from the use of these circuits software or information When exporting the products or technology described in this document you should comply with the applicable export control laws and regulations and follow the procedures required by such laws and regulations You should not use Renesas Electronics products or the technology described in this document for any purpose relating to military applications or use by the military including but not limited to the development of weapons of mass destruction Renesas Electronics products and technology may not be used for or incorporated into any products or systems whose manufacture use or sale is prohibited under any applicable domestic or foreign laws or regulations Renesas Electronics has used reasonable care in pre
6. lt RSBJEUM0001 0101 Rev 1 01 32 RENESAS v g PreDItCnt s DItCnt v g ReloadCnt s DItCnt gt gt 1 s DItCnt 0 g SpeedTgt gt 088g DItCntRe g PreDltCnt g PWMDuty 1 g SpeedTgt gt 088g DItCntRef gt g PreDltCnt g PWMDuty 1 g PWMDuty gt M Max PWM duty g PWMDuty M Max PWM duty No g PWMDuty lt M Min PWM duty g PWMDuty M Min PWM duty h Save current PWM duty and actual rotation speed v C RTS p RSBJEUM0001 0101 Rev 1 01 33 RENESAS 4 12 Calculate Rotation Speed Command Processing C CalSpeedCnd v Rotation speed command input value AD vaule M K SPEED AD_REF 2 11 V s ADSum Rotation speed command input v Average calculation counter 1 Average calculation counter gt 16 s ADSpeed s ADSum 16 s ADSum 0 Average calculation counter 0 lt y Return value 5 ADSpeed V RTS RSBJEUMO0001 0101 Rev 1 01 34 Notes regarding these materials 1 This document is provided for reference purposes only so that Renesas customers may select the appropriate Renesas products for their use Renesas neither makes warranties or representations with respect to the accuracy or completeness of the information contained in this document nor grants
7. s ReloadStg 0 Int counter 0 Int4ic 0 lt No V Int3ic 0 Int5ic 0 gt lt s ReloadCnt gt 0 s ReloadCnt 1 Rev 1 01 RENESAS RSBJEUM0001 0101 s ReloadCnt 0 g Stage s ReloadStg g Stage 0 v Yes Output Wn phase PWM wave v Yes Output Vp phase PWM wave Yes v Output Un phase PWM wave v Yes Output Wp phase PWM wave Output Vn phase PWM wave Output Up phase PWM wave gt V TPRCO 1 PFCR PFCRTbl g Stage v int4ic amp 0x00 int3ic amp 0x00 intdic amp 0x00 P RTS Rev 1 01 31 RENESAS 4 11 PWM Duty Calculation Processing CalPWMDuty V g DItCntRef lt Tgt DIt Conv g TargetCnt 12 No Yes s DItCnt 13 No SpeedAct gt certain rotation speed CalCnt gt 12 v Yes CalCnt gt 12 CalCnt 0 Yes v v CalCnt 0 g DItCntArray CalCnt s_DltCnt lt V v g DItCntArray CalCnt s DItCnt CalCnt 1 v v CalCnt 1 g AvrDItCnt g DItCntArray i i 0 to CalCnt g AvrDItCnt 12 s DItCnt g AvrDItCnt V g SpeedAct Dit Act Conv s DItCnt 13
8. 0 A D control register 1 0x2b Vref connect ANO to AN7 10bit A D control register 2 0x05 Sample amp Hold PO v RSBJEUM0001 0101 Enable Interrupts I falg 1 v RTS Rev 1 01 20 RENESAS 4 3 Turn off Processing C TurnoffPWM Stop TB1 TA4 TA1 TA2 M CARR CNT M MIN DUTY 120 SINT 32 M CARR CNT gt gt 2415 II Set time value IDBO Ox3f IDB1 0x00 generate 3 phase PWM Protect register 0x02 INVCO 0x08 output enable Protect register 0x00 Y p8 0 lt INACTIVE LVL pd8 0 p8 1 INACTIVE LVL pd8 1 p7 2 INACTIVE LVL pd7 2 p7 3 INACTIVE LVL pd7 3 p7 4 INACTIVE_LVL pd7_4 1 p7 5 INACTIVE LVL pd7 5 1 ou IN IN aa am om V TPRC 1 PFCR register wirte enable PFCR 0 not output PWM wave g SpeedCnd 0 Yes s StopMode 0 V g SpeedCnd lt 0 lt OutputMode Turnoff mode Yes g SpeedCnd gt 0 Yes g OutputMode Bootstrap mode g MotTheta 0 s StopMode 1 Startup control counter 0 Actual rotation speed lt M Start Hz Target rotation speed M Start Hz 2 P RTS RSBJEUMO0001 0101 Rev 1 01 RENESAS 4 4 PWM Interrupt Processing RSBJEUM0001 0101 C PWMINT OutputMode M TURNOFF Yes v TurnoffPWM processing No OutputMode lt M BOOTSTRAP
9. Speed Command PWM duty cycle depends on counting values of TAi The actual rotation speed is proportion to PWM duty cycle the bigger is PWM duty cycle the faster is the actual rotation speed In the course of approaching rotation speed command the carrier wave cycle pulses can be acquired by target rotation speed every time Every result is saved a 1dimension array including 12 data units Then 12 elements are added to calculate average value a current carrier wave pulses between zero crossings can be gotten According to formula 3 3 1 the current actual rotation speed will be gotten Consequently the PWM duty cycle is changed according to the conditions given below Condition Amount of change Target rotation speed gt Actual rotation speed A duty Target rotation speed gt Actual rotation speed A duty RSBJEUM0001 0101 Rev 1 01 13 RENESAS 2 6 List of function modules Module name Label name Input Output Description Motor control main Main PWM 120slc20 PFCR Main processing processing lnitialization PWMinitial Set initial values for AD processing conversion zero crossing detection and three phase PWM PWM interrupt PWMint Ei Call the turnoff bootstrap processing turnon and run processing Turn off processing TurnoffPWM Turns off the three pahse PWM outputs and checks whether to proceed to startup operation Turn on Processing TurnonPWM Performs
10. any license to any intellectual property rights or any other rights of Renesas or any third party with respect to the information in this document 2 Renesas shall have no liability for damages or infringement of any intellectual property or other rights arising out of the use of any information in this document including but not limited to product data diagrams charts programs algorithms and application circuit examples 3 You should not use the products or the technology described in this document for the purpose of military applications such as the development of weapons of mass destruction or for the purpose of any other military use When exporting the products or technology described herein you should follow the applicable export control laws and regulations and procedures required by such laws and regulations 4 All information included in this document such as product data diagrams charts programs algorithms and application circuit examples is current as of the date this document is issued Such information however is subject to change without any prior notice Before purchasing or using any Renesas products listed in this document please confirm the latest product information with a Renesas sales office Also please pay regular and careful attention to additional and different information to be disclosed by Renesas such as that disclosed through our website http www renesas com 5 Renesas has used reasonable care in com
11. sample P72 V V phase voltage P73 V V phase voltage P74 W W phase voltage P73 W W phase voltage P8 U U phase voltage P8 U U phase voltage RSBJEUMO0001 0101 Rev 1 01 RENESAS 1 3 software specifications Motor type permanent magnet synchronous motor PMSM Numbers of pole pairs 2 Control method 120 degree commutation using trapezoidal waves Motor Position Detection Detected by three phase induced voltage of motor Carrier Frequency 5kHz Range of Rotation Speed Command Single Direction 1000rpm to 7200 rpm Error detection The Fo signal forced shut down signal of the IPM is input to the NMI pin of the MCU Thus if the Fo signal goes low the three phase output is forcibly stopped and the three phase output pins are placed in the high impedance state RSBJEUMO0001 0101 Rev 1 01 RENESAS 2 Description of Software 2 1 Output Pattern Switching U BEMF V BEMF W BEMF Up Un Vp Wp Wn Pattern 5 Pattern 0 Pattern 1 Pattern 2 Pattern 3 Pattern 4 Pattern 5 e pt p a pt pt p 4 pt pp LTR 1 4 o o 0 nn 3 banji je Zero crossing ae pe JUUL
12. startup operation and check run mode switch Bootstrap processing BootstrapPWM Charging for 3 phase IGBT circuit TB1 int processing TB1Int Performs 50us timer inquiry and detect induced voltage Run RunPWM Normal PWM operation Processing processing Run calculation Cal PwmRun Performs sensor less control processing and Output pattern switching PWM duty calculation CalPWMDuty Calculates actual rotation processing speed and PWM duty Stop check processing StopCheck UNIT_16 Check whether the Stop processing is stopped by a check rotation speed command or sul an error Calculate Rotation CalSpeedCnd UINT 16 UNIT 16 Convert AD value to rotation Speed Command Ad rotation speed command Input speed Value command RSBJEUM0001 0101 Rev 1 01 14 RENESAS 2 7 List of vrialbles Item Label Data Type Resolution Description Stop state s StopMode UINT 16 240 Output state g_OutputMode UINT_8 2 0 Operation mode Output angle g_MotTheta UINT_16 2111 Startup control s StartCnt UINT 16 210 counter Target rotation s TargetCnt UINT 16 240 Counter used to provide the period speed calculation Zz gt 2ms of target rotation speed counter calculation Rotation speed g_SpeedCnd UINT_16 2M ADC input command rpm SpeedCnd 241 2p number of pole pairs X 60 Target rotation g SpeedTgt UINT 16 244 The value changed toward the r
13. value into rotation speed command AD rotation speed s ADSum UINT 32 2112 16 times AD value sum sum zero crossing s_CalCnt UINT_8 2 0 Calculate average zero crossing interval array pointer RSBJEUM0001 0101 Rev 1 01 15 RENESAS interval pulse AD sample interval g_swtime UINT_16 2 0 Sample once every 16 carrier wave interrupt Induced voltage g ChkOnCnt UINT_16 2 0 Counter used to provide a time delay detection disable time counter for detect a induced voltage zero crossing 2 8 List of Macro definition Macro name Macro value Resolution Description M_CTRL_TS 6711 2 25 Control cycle 0 0002 2425 M_K_SPEED_AD_REF 6032 2 12 A D conversion ratio 240 2 pi 1024 2112 M Sft SPEED AD RE 11 M Start Hz 419 211 Carrier wave cycle 5k startup rotation speed M Sft TURNON MODE 15 2 0 M_TURNON_MODE_TIM 1500 2 0 Start up time E M_THETA_60DEG 2145 2 11 Pi 3 2 11 M_THETA_360DEG 12868 2 11 2 Pi 2 11 M_CARR_CNT 4000 2 0 Carrier wave cycle is 5k M_TURNOFF 0 210 Turnoff work mode M BOOTSTRAP 1 2 0 Bootstrap work mode M_TURNON 2 2 0 Turnon work mode M_RUN 3 2 0 Run work mode M INI DUTY 120 1600 215 Initial PWM duty 0 08 2415 M_MIN_DUTY_120 328 215 Min PWM duty 0 01 2115 M_MAX_DUTY_120 29488 215 Max PWM duty 0 9 2415 M_BOOT_DUTY_120 3276 215 Bootstrap PWM duty 0 1 2 15 M Sft DUTY 120 TIME 15 2 0 M_BOOT
14. I Interrupt ProCeS N i stisni ria ne R E E E E R bes 26 4 8 Stop Check Processing ee 26 4 9 Run Processing avanse 27 4 10 PWM Run Calculation Processing nn 28 4 11 PWM Duty Calculation Processing 32 4 12 Calculate Rotation Speed Command ProceSSing 34 RSBJEUMO0001 0101 Rev 1 01 6 RENESAS 1 About This Platform 1 1 The hardware block diagram M16C Tiny SD P8s nNMI nSD TT IThree phase motor control VP P7z TA1ourV __ Wn P73 TA1iN V We P74 TA2ouT W Wn P7s TA2in W Ii UP P80 TA40ut U UN P81 TA4in U J IPM circuit Vv Vu VwPVec Vous BUS in BUSour I Vsus P103 AN3 leus P102 AN Speed Command PO1 ANO1 A D Conversion Usemr P17 INT5 Weemr P16 INT4 Vsewr P15 INT3 Induce voltage detect Vin Uin Win PVcc Comparator Sample Circuit L 220V AC N N POWER circuit 1 2 The hardware resource assignment table Used SFR Function Description Used I O Port Function Description TA1 U phase PWM wave P15 INT IDV V phase induced voltage detection TA2 V phase PWM wave P16 INT IDW W phase induced voltage detection TA4 W phase PWM wave P17 INT IDU U phase induced voltage detection TB1 50us cycle inquiry PO ANO Rotation Speed Command TB2 Carrier wave cycle control P10 AN gt Bus current sample P103 AN3 Bus voltage
15. STRAPSTEP 3 Bootstrap mode step 2 9 List of constant variable Item Label Data Type Description Output ape switching PFCRTbI UINT_8 Comprise 6 output pattern PWM wave Zero crossing interval Tgt Dit Conv UINT 8 Convert target rotation speed to counter table zero crossing interval pulse Actual rotation speed Dit Act Conv UINT 8 Convert zero crossing interval pulse to actual table rotation speed PFCR output table for PFCRTbIBoot UINT 8 Include three elements for three phase IGBT bootstrap mode circuit charging RSBJEUM0001 0101 Rev 1 01 16 RENESAS 3 Finite State Machine of Motor Control The state of motor control can be shown by finite state machine FSM The following figure is the FSM of BLDC in this software It concludes four states the states can be switched to other states under the certain conditions o Trunoff Bootstrap Mode Mode 3 1 State Discription 1 Turnoff mode expresses that the rotation speed command from A D converts is 0 and MCU will not output PWM wave Under this mode if rotation speed command from A D converts is not equal to zero motor work mode changes into bootstrap mode the target rotation speed and actual rotation are set to the minimum rotation speed 1000rpm 2 Bootstrap mode indicate that under the condition of single power supply for IPM module bootstrap circuit finish the function of charging for upper arm IGBT of 3 phase IGBT circuit This method is implemented by MCU outputting
16. ation Processing PWMinitial J v g OutputMode lt Turnoff mode g Mottheta 0 s StopMode 1 g SpeedCnd 0 Set initial values for induced voltage inputs INT4 interrupt control register lt 0x00 INT3 interrupt control register lt 0x00 INT5 interrupt control register 0x00 Interrupt request cause select register 0xF8 I disable external interrupt set both edge trigger Set three pahse PWM initial values ICTB2 0x01 TB2 underflow generate interrupt Protect register 0x02 INVCO 0x44 sawtooth modulation mode no two active at an instance INVC1 0x20 disable DTT active Protect register 0x00 Protect register 0x02 TB2SC 0x02 set three phase output forcible cutoff by SD pin input IDBO 0x3f set 3 phase output buffer register 0 IDB1 Ox3f set 3 phase output buffer register 1 Protect register 0x00 TA1MR 0x12 one shot pulse mode TA2MR 0x12 one shot pulse mode TA4MR 0x12 one shot pulse mode TB2MR 0x00 time mode TRGSR 0x45 trigger select register TB2 trigger TB2 M CARR CNT TA4 TA1 TA2 M CARR CNT M INI DUTY 120 SINT 32 M CARR CNT gt gt 2115 Timer B2 interrupt vector setting Timer B2 interrupt control register 0x04 Count start flag 0x96 timer count start Protect register 0x02 INVCO 0x08 output enable Protect register 0x00 v Set A D conversion initial values A D control register 0 0x98 fAD 2 Repeat Sweep mode
17. bootstrap duty PWM wave In order to prove to enough charging time of upper arm IGBT the bootstrap mode last certain time When three phase IGBT circuit bootstrap mode is finished the motor work mode changes into turnon mode otherwise the bootstrap mode is continue When no rotation speed command is detected or three phase motor output control timer is disabled the motor work mode come back turnoff mode 3 Turnon mode points motor starts to run while MCU outputs initial duty PWM wave Output pattern switching is forcibly implemented by controlling PWM duty changing amount to calculate motor rotation angle Passing 1500 carrier wave cycle interrupt motor work mode changes into Run mode or it will continue turnon mode When no rotation speed command is detected or three phase motor output control timer is disabled the motor work mode come back turnoff mode 4 Run mode indicates that motor works normally while MCU outputs PWM wave by inputting certain rotation speed command And the rotation speed command is synchronous to rotate magnetic field frequency so zero crossing of induced voltage can be detected accurately to decide to output pattern stwiching by 50us timer interrupt When no rotation speed command is detected or three phase motor output control timer is RSBJEUM0001 0101 Rev 1 01 17 RENESAS disabled the motor work mode come back turnoff mode No intervals of zero crossing of induced voltages are detected when counter
18. c 0 Yes Int5i y Yes Int_counter 1 nter 2 Int_cou v Yes CalPWMDuty Processing V s ReloadStg 2 Int counter 0 Int5ic 0 lt v Int4ic 0 Int3ic 0 RSBJEUM0001 0101 Rev 1 01 No y g_OutputMode M_TURNON g_MotTheta 0 V idbO Ox3f idb1 Ox3f stop PWM output pfcr 0x3f enable PWM output pins int4ic amp 0x00 No int3ic amp 0x00 int5ic amp 0x00 clear interrupt request RTS No No 2 28 g Stage 2 Yes Int4i v Yes Int counter 1 Yes CalPWMDuty Processing v s ReloadStg 3 Int counter lt 0 Int4ic 0 lt No v Int3ic 0 Int5ic 0 g Stage 3 Yes Int3i Yes v Int counter 1 Yes CalPWMDuty Processing v s ReloadStg 3 Int counter lt 0 Int3ic 0 Dal No V Int4ic 0 Int5ic 0 RSBJEUM0001 0101 Rev 1 01 29 RSBJEUM0001 0101 Int5i y Yes Int counter 1 Int counter 2 Yes v CalPWMDuty Processing y s_ReloadStg 5 Int_counter 0 Int5ic 0 Int3ic 0 Int4ic 0 g Stage 5 Yes Int4i Yes y Int_counter 1 Int_counter 2 Yes v CalPWMDuty Processing
19. data books etc Standard Computers office equipment communications equipment test and measurement equipment audio and visual equipment home electronic appliances machine tools personal electronic equipment and industrial robots High Quality Transportation equipment automobiles trains ships etc traffic control systems anti disaster systems anti crime systems safety equipment and medical equipment not specifically designed for life support Specific Aircraft aerospace equipment submersible repeaters nuclear reactor control systems medical equipment or systems for life support e g artificial life support devices or systems surgical implantations or healthcare intervention e g excision etc and any other applications or purposes that pose a direct threat to human life You should use the Renesas Electronics products described in this document within the range specified by Renesas Electronics especially with respect to the maximum rating operating supply voltage range movement power voltage range heat radiation characteristics installation and other product characteristics Renesas Electronics shall have no liability for malfunctions or damages arising out of the use of Renesas Electronics products beyond such specified ranges Although Renesas Electronics endeavors to improve the quality and reliability of its products semiconductor products have specific characteristics such as the occurrence
20. ern 0 0 0 0 0 0 0 0 1 Pattern 1 0 0 1 0 0 0 0 0 Pattern 2 0 0 0 0 0 1 0 0 Pattern 3 0 0 0 0 0 0 1 0 Pattern 4 0 0 0 1 0 0 0 0 Pattern 5 0 0 0 0 1 0 0 0 Table 3 1 1 PFCR correspond to different output pattern The three phase PWM output pins have three states PWM wave H and L the output states depend on PFCR register Pi register and PDi register The output states table is shown on Table 3 1 2 RSBJEUMO0001 0101 Rev 1 01 10 RENESAS PFCi PDi Pi Output 0 1 0 D 0 1 1 H 1 X X PWM Table 3 1 2 three states of output pin 2 2 Detection of Induced Voltages Induced voltage U Vbus 2 A Vbus 2 MI WwW Vbus 2 All Comparator Output Signal zo dek U Switching output pattern
21. g in Run mode RTI 4 8 Stop Check Processing StopCheck Stop requested No stop requested C RTS RTS RSBJEUMO0001 0101 Rev 1 01 26 RENESAS 4 9 Run Processing RunPWM No g SpeedTgt gt set value Yes v SpdDlyCnt 600 SpdDlyCnt 300 IDBO 0x3f IDB1 0x00 Timer value lt M CARR CNT g PWMDuty SINT 32 M CAR R CNT gt gt 15 Set timer values Timer A4 register timer value Timer A1 register timer value Timer A2 register timer value y s_TargetCnt 1 s_TargetCnt gt s_DlyCnt s_TargetCnt 0 No g SpeedCnd gt g SpeedTgt g SpeedTgt 1 g SpeedTgt 1 gt lt v Stop Check processing Stop Reguested g OutputMode lt M TURNOFF h C RTS RSBJEUMO0001 0101 Rev 1 01 27 RENESAS 4 10 PWM Run Calculation Processing No C CalPWMRun s_DItCnt lt preset value Yes s_DItCnt 1 g Stage s ReloadStg Yes Yes Int3i v Yes Int counter 1 Int counter 2 v Yes CalPWMDuty Processing V s ReloadStg 1 Int counter 0 Int3ic 0 Int4ic 0 Int5i
22. g paragraph you should not use Renesas products for the purposes listed below 1 artificial life support devices or systems 2 surgical implantations 3 healthcare intervention e g excision administration of medication etc 4 any other purposes that pose a direct threat to human life Renesas shall have no liability for damages arising out of the uses set forth in the above and purchasers who elect to use Renesas products in any of the foregoing applications shall indemnify and hold harmless Renesas Technology Corp its affiliated companies and their officers directors and employees against any and all damages arising out of such applications 9 You should use the products described herein within the range specified by Renesas especially with respect to the maximum rating operating supply voltage range movement power voltage range heat radiation characteristics installation and other product characteristics Renesas shall have no liability for malfunctions or damages arising out of the use of Renesas products beyond such specified ranges 10 Although Renesas endeavors to improve the quality and reliability of its products IC products have specific characteristics such as the occurrence of failure at a certain rate and malfunctions under certain use conditions Please be sure to implement safety measures to guard against the possibility of physical injury and injury or damage caused by fire in the event of the failure of a Renesas
23. gt M Max PWM dut g PWMDuty M Max PWM duty g PWMDuty lt M Min PWM duty g_PWMDuty M Min PWM duty g Stage g MotTheta 60 degree IDBO 0x3f IDB1 0x00 generate 3 phase PWM V PFCR PFCRTbl g Stage v Timer value lt M CARR CNT g PWMDuty SINT 32 M CARR CNT gt gt 15 Set timer values Timer A4 register timer value Timer A1 register lt timer value Timer A2 register timer value Rotation speed command gt 0 Yes V g MotTheta lt M Start Hz M Start Hzx M CNTL TS lt RSBJEUM0001 0101 Rev 1 01 24 RENESAS g MotTheta gt 360 degree Yes v g MotTheta 360 degree lt V s StartCnt 1 Exceed Pre setting start time g Stage s ReloadStg No No g OutputMode lt M Run ko g_SpeedAct M Start Hz s ReloadStg g Stage s DItCnt Tgt Dit Conv M Start Hz 12 s DItCnt lt lt 1 s ReloadCnt 0 v Timer tb1 processing Da y s DItCnt 1 y Clear INTi i 3 to 5 interrup request bit y StopCheck processing Stop Requested g_OutputMode M_TURNOFF hi C RTS RSBJEUMO0001 0101 Rev 1 01 25 RENESAS 4 7 TB1 Interrupt Processing TB1INT v PWM duty calculation processin
24. iption of Software Describes software for motor control Section 3 Finite State Machine of Motor Control Describes state transition for motor control Section 4 Control flow Gives program flowchart RSBJEUMO0001 0101 Rev 1 01 5 RENESAS Contents lAbout Ths Platforni oo 7 1 1 The hardware block diagran sccis ne De teseadent eect armani bi nie 7 1 2 The hardware resource assignment table 7 1 3 software Spo INICAUOTI sosser Pane wea ee eee eee 8 2 Description of SO GT 9 2 1 Output Pattern S witching 22 5 2 icc GREENE 9 2 2 Detection of Induced VoltageS 9 11 2 3 Calculation of Actual Rotation Speed pe 12 2 4 Calculation of Target Rotation Speed 12 2 5 Calculation of PWM Duty Cycle 00 13 2 6 List of function modules 14 2 7 List of vrialbles sunn iso plakov vine nen aa ee a eared 15 2 8 Lastot Macro definition ore bce ija ek AA a ence eatin tae bee a es 16 2 9 Last of constant variable s r une 16 3 Finite State Machine of Motor Control Ne 17 3 1 State DISCHPUOD ss pe 17 3 2 Condition Description seni ei ea bse Eni dojeti eine violet lea edi born E Ea st Qloeeandyeaine 18 4 Control OW sr ro 19 4 1 Main processing for sensor less driving of an SPMSM by 120 degree trapezoidal wave commutation 0 19 4 2 Inualzation Processing 20 4 3 Turn ofi Processing vandre Se ee ATEN EM ila 21 4 4 PWM Interrupt Processing nena 22 4 5 Bootstrap Processing 0 00 ei 23 Z o Turn on POCEN EARE A E A EAA AA 24 47 TB
25. mation contained in this document or Renesas Electronics products or if you have any other inquiries Note 1 Renesas Electronics as used in this document means Renesas Electronics Corporation and also includes its majority owned subsidiaries Note 2 Renesas Electronics product s means any product developed or manufactured by or for Renesas Electronics RENESAS M16C Tiny Sensor less PMSM Driving Platform by 120 Degree Trapezoidal Wave Commutation M16C Tiny User s Manual RSBJ Published by Renesas System Solutions Beijing Co Ltd Beijing Technical Center Date March 2008 Version 1 01 Document Number RSBJEUM0001 0101 Copyright C Renesas System Solutions Beijing Co Ltd Beijing Technical Center All rights reserved Trademarks a General All brand or product names used in this manual are trademarks or registered trademarks of their respective companies or organizations b Specific Microsoft Windows is registered trademarks of Microsoft Corporation Pentium is a registered trademark of Intel RSBJEUMO0001 0101 Rev 1 01 1 RENESAS IMPORTANT INFORMATION lt READ this user s manual before using this platform board lt KEEP the user s manual handy for future reference Do not attempt to use the platform board until you fully understand its layout concept MCU Throughout this document the term Platform shall be defined as the Renesas M16C Tiny Sensor less PMSM D
26. n of induced voltage is shown as figure 3 1 1 2 3 Calculation of Actual Rotation Speed The actual rotation speed is calculated by interval between two zero crossings of induced voltages The interval comprises certain carrier wave cycle pulses In the PWM mode 6 intervals are passed every 360 electrical degree So if counting the carrier wave pulses every a rotate the actual rotation speed can be calculated by the following formula 2n x SkHz Actual rotation speed 3 3 1 Zero crossing interval x 6 In the actual programming the method of lookup table can be used Given an array of zero crossing interval pulses the corresponding actual rotation speed can be calculated based the above formula A zero crossing interval pulses is subtracted 13 the corresponding actual rotation speed can be looked up using the sequence number of array 2 4 Calculation of Target Rotation Speed The target rotation speed is brought towards the current rotation speed command at a rate of 0 5 rad s every certain interval until target rotation speed is approach to the rotation speed command If knowing current target rotation speed the carrier wave cycle pulses between intervals of zero crossings can be calculated using the above formula RSBJEUMO0001 0101 Rev 1 01 12 RENESAS 2 5 Calculation of PWM Duty Cycle Sawtooth Wave modulation mfl i fi TAi Output Figure 3 1 4 Relationship between PWM Duty Cycle and Rotation
27. of failure at a certain rate and malfunctions under certain use conditions Further Renesas Electronics products are not subject to radiation resistance design Please be sure to implement safety measures to guard them against the possibility of physical injury and injury or damage caused by fire in the event of the failure of a Renesas Electronics product such as safety design for hardware and software including but not limited to redundancy fire control and malfunction prevention appropriate treatment for aging degradation or any other appropriate measures Because the evaluation of microcomputer software alone is very difficult please evaluate the safety of the final products or system manufactured by you Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product Please use Renesas Electronics products in compliance with all applicable laws and regulations that regulate the inclusion or use of controlled substances including without limitation the EU RoHS Directive Renesas Electronics assumes no liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations This document may not be reproduced or duplicated in any form in whole or in part without prior written consent of Renesas Electronics Please contact a Renesas Electronics sales office if you have any questions regarding the infor
28. of zero crossing interval exceeds certain values the motor work mode change into turnon mode 3 2 Condition Description Condition number Description Rotation speed command is not equal to zero The three phase IGBT charging process is over Motor rotation speed is synchronous to rotate magnetic field frequency after passing some carrier wave cycle interrupts No rotation speed command Rotation speed command is equal to zero or three phase motor output control timer disable No intervals of zero crossing of induced voltages are detected The three phase IGBT charging process is not over Don t satisfied condition No 3 and No 6 6 6 6 E Always acquire accurate motor position information RSBJEUMO0001 0101 Rev 1 01 18 RENESAS 4 Control flow 4 1 Main processing for sensor less driving of an SPMSM by 120 degree trapezoidal wave commutation C Main y Set local variable ad_input 0x0000 Set local variable Ad_speed V PWMlinitial processing gt V ad input 0x03ff amp AD 1 v CalSpeedCnd processing V Ad speed is current calculate rotation speed No Ad speed lt M Start Hz Yes v v Rotation speed command 0 Rotation speed command Ad speed v RSBJEUMO0001 0101 Rev 1 01 19 RENESAS 4 2 lnitializ
29. otation speed speed command value at a rate of 0 5 rad per 2 ms Actual rotation g_SpeedAct UINT_16 2M Detect from the zero crossing speed interval of the induced voltages Zero crossings s_DitCnt UINT_16 240 Counter that measures the interval interval counter between zero crossings 60 Counter clock period is the carrier period Delay time counter s ReloadCnt UINT 16 2 0 Counter used to provide a time period for switching to the from a pattern switching until detection nest output pattem of induced voltage zero crossings is purp enabled Counter clock period is the carrier period output pattern g_Stage UINT_16 2 0 Current output pattern Next output s_ReloadStg UINT 16 20 Next pattern that is determined based Pattern IH on the induced voltage zero crossing detection PWM duty clcye g PwmDuty UINT 16 2113 Bootstrap charge s BootstpCnt UINT 16 2 0 A period delay for charging for every delay counter IGBT Bootstrap charge s_BootstpStep UINT_8 2 0 Three phase IGBT circuit bootstrap Step counter Current g DItCntRef UINT 16 240 zero crossings interval counter Former g PreDitCnt UINT 16 240 zero crossings interval counter Zero crossing g DItCntArray UINT 16 20 Save 12 times zero crossing interval interval array 12 pulses Average g_AvrDitCnt UINT_16 210 zero crossing interval pulse External Interrupt s IntCnt UINT 16 240 Detect two INTi interrupts for induced counter voltage AD rotation speed s_ADSpeed UINT_16 2 12 Change AD
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31. piling the information included in this document but Renesas assumes no liability whatsoever for any damages incurred as a result of errors or omissions in the information included in this document 6 When using or otherwise relying on the information in this document you should evaluate the information in light of the total system before deciding about the applicability of such information to the intended application Renesas makes no representations warranties or guaranties regarding the suitability of its products for any particular application and specifically disclaims any liability arising out of the application and use of the information in this document or Renesas products 7 With the exception of products specified by Renesas as suitable for automobile applications Renesas products are not designed manufactured or tested for applications or otherwise in systems the failure or malfunction of which may cause a direct threat to human life or create a risk of human injury or which require especially high quality and reliability such as safety systems or equipment or systems for transportation and traffic healthcare combustion control aerospace and aeronautics nuclear power or undersea communication transmission If you are considering the use of our products for such purposes please contact a Renesas sales office beforehand Renesas shall have no liability for damages arising out of the uses set forth above 8 Notwithstanding the precedin
32. product such as safety design for hardware and software including but not limited to redundancy fire control and malfunction prevention appropriate treatment for aging degradation or any other applicable measures Among others since the evaluation of microcomputer software alone is very difficult please evaluate the safety of the final products or system manufactured by you 11 In case Renesas products listed in this document are detached from the products to which the Renesas products are attached or affixed the risk of accident such as swallowing by infants and small children is very high You should implement safety measures so that Renesas products may not be easily detached from your products Renesas shall have no liability for damages arising out of such detachment 12 This document may not be reproduced or duplicated in any form in whole or in part without prior written approval from Renesas 13 Please contact a Renesas sales office if you have any questions regarding the information contained in this document Renesas semiconductor products or if you have any other inquiries RSBJEUMO0001 0101 Rev 1 01 35
33. riving Platform by 120 Degree Trapezoidal Wave Commutation which is for washing machine demo and prototype design reference Improvement Policy Renesas System Solutions Beijing Co Ltd Beijing Technical Center hereafter collectively referred to as Renesas pursues a policy of continuing improvement in design performance and safety of this evaluation board Renesas reserves the right to change wholly or partially the specifications design user s manual and other documentation at any time without notice Target User of the Product Those who have carefully read and thoroughly understood the information as well as restrictions contained in the user s manual should only use this product Do not attempt to use the product until you fully understand its mechanism Support Regarding support for the product no services will be provided RSBJEUMO0001 0101 Rev 1 01 2 RENESAS LIMITED WARRANTY Renesas warrants its products to be manufactured in accordance with published specifications and free from defects in material and or workmanship The foregoing warranty does not cover damage caused by fair wear and tear abnormal store condition incorrect use accidental misuse abuse neglect corruption misapplication addition or modification or by the use with other hardware or software as the case may be with which the product is incompatible No warranty of fitness for a particular purpose is offered The user assumes
34. the entire risk of using the product Any liability of Renesas is limited exclusively to the replacement of defective materials or workmanship DISCLAIMER RENESAS MAKES NO WARRANTIES EITHER EXPRESS OR IMPLIED ORAL OR WRITTEN EXCEPT AS PROVIDED HEREIN INCLUDING WITHOUT LIMITATION THEREOF WARRANTIES AS TO MARKETABILITY MECRCHANTABILITY FITNESS FOR ANY PARTICULAR PURPOSE OR USE OR AGAINST INFRINGEMENT OF ANY PATENT IN NO EVENT SHALL RENESAS BE LIABLE FOR ANY DIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY NATURE OR LOSSES OR EXPENSES RESULTING FROM ANY DEFECTIVE PRODUCT THE USE OF ANY PRODUCT OR ITS DOCUMENTATION EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGES EXCEPT AS EXPRESSLY STATED OTHERWISE IN THIS WARRANTY THIS PRODUCT IS SOLD AS IS AND YOU MUST ASSUME ALL RISK FOR THE USE AND RESULTS OBTAINED FROM THE PRODUCT RSBJEUMO0001 0101 Rev 1 01 3 RENESAS All Right Reserved This user s manual and product are copyrighted and all rights are reserved by Renesas No part of this user s manual all or part any be reproduced or duplicated in any form in hardcopy or machine readable form by any means available without Renesas s prior written consent Other Important Things to Keep in Mind 1 Circuitry and other examples described herein are meant merely to indicate the characteristics and performance of Renesas Technology s semiconductor products Renesas assumes no responsibility for any intellec
35. tual property claims or other problems that may result from applications based on the examples described herein 2 No license is granted by implication or otherwise under any patents or other rights of any third party or Renesas 3 MEDICAL APPLICATIONS Renesas Technology s products are not authorized for use in MEDICAL APPLICATIONS without the written consent of the appropriate officer of Renesas Technology Asia Sales company Such use includes but is not limited to use in life support systems Buyers of Renesas Technology s products are requested to notify the relevant Renesas Technology Asia Sales offices when planning to use the products in MEDICAL APPLICATIONS Limited Anticipation of Danger Renesas cannot anticipate every possible circumstance that might involve a potential hazard The warnings in this user s manual and on the product are therefore not all inclusive Therefore you must use the product safely at your own risk RSBJEUMO0001 0101 Rev 1 01 4 RENESAS PREFACE About this manual This user s manual discusses how to use three phase motor control timer function and a sample application of how to implement position sensor less driving of an SPMSM by 120 degree trapezoidal wave commutation which is a method that makes use of the induced voltage of the motor This example applies to MCUs in the MC16C TinyGroup Section 1 About this platform Gives specification on hardware and software Section 2 Descr
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