RX62T Three-Shunt Sensorless Vector Control of Permanent
Contents
1. Standalone Operation Buttons Figure 1 Evaluation Board R01AN0902EU0201 Rev 2 01 Page 4 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Figure 2 shows the evaluation kit hardware circuit for the three shunt current measurements Jumpers J6 and J9 are shorted while J7 and J8 are open The composite currents of all three MOSFET inverter low side legs can be measured with a single shunt resistor of 0 1 or that the current in each individual leg can be determined with three shunt resistors Table 1 lists the jumper setting for the three shunt current measurements So W p x gt a RJKO6S56DPB Q2 Q3 RJIKO6S6 DPB Qs RJKO6S DPB Qas RJK0655 DPB a7 Figure 2 Three Shunt Current Measurements in the Low Side Inverter Legs Table 1 Jumper Settings for Three Shunt Current Measurements R01AN0902EU0201 Rev 2 01 Page 5 of 29 Jul 30 2014 stENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA The motor currents of L L l are measured by three shunt resistors The shunt currents L 2 1 are measured by a 12 bit ADC unit 0 of channel ANOO2 ANOOland ANOOO All three ADC channels have PGA support Figure 3 shows the three shunt current sample amplifier circuit with the 2 5V DC offset If using the internal PGA the external amplifiers in the2. Jul 30 2014 2tENESAS Page 11 of 29 RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA RX62T 12 bit ADC PGA 12 bitADC gam G gt Vout shunt R Ks Figure 8 Shunt Current Sensing with PGA RO1ANO0902EU0201 Rev 2 01 Page 12 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 6 Software Implementation The three shunt sensorless vector control software is the same as the one in the Application Note of Three Shunt Sensorless Vector Control of PMSM This section just explains how to set up the registers and modify the gain for the internal PGA in the software If the internal PGA is used the changes of the software are only for the ADC registers and the gain of the three shunt current measurement Two ADC registers should be defined for the PGA usage 6 1 ADC Channel Select Register ADANS Figure 9 defines the bit definition of the ADC channel select register for three shunt current measurements If the bits 0 to 2 are set to 1 the PGAs for ANOOO ANOO1 and AN002 are enabled These channels are used to sample the three shunt currents The bits 8 to 10 need to set to 1 in order to select ANOOO ANOO1 and ANOO2 PGAs Therefore this register is set as 0707 for this application Accress CCO8 SOG h ots bis O13 D12 bit b10 DS Ds b7 b bs bs 63 D2 bf cc CHT PGC PG991 P
3. 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 systems 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 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 You should not use Renesas Electronics products or 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 When exporting the Renesas Electronics 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 It
4. is selected R01AN0902EU0201 Rev 2 01 Page 21 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Create manage and run configurations a p Gx op Name Evakit_Rx62T_SVC_3Shunt_PGA x e filter text Main gt 5 Debugger Startup Source Common Debug only GDB Hardware Debugging Sits 7 GDB Simulator Debugging SH RL78 RH8 Debug Evakit_Rx62T_SVC_3Shunt_PGA x tl GHS Local C C Launch Variables Search Project Browse Renesas GDB Hardware Attach Renesas GDB Hardware Debugging Project Evakit_Rx62T_SVC_3Shunt_PGA x EvaKit_Rx62T_SVC_3Shunt_PGA Browse Renesas Simulator Debugging RX only Build if required before launching Build configuration Use Active bal J Select configuration using C C Application Enable auto build Disable auto build Use workspace settings Configure Workspace Settings i a Filter matched 8 of 13 items LSA Figure 20 Debug Configuration Main Dialog Box Step 4 Select the Debugger tab as shown in Figure 21 Step 5 Select the GDB Settings sub tab under the Debugger tab and set the Debugger hardware to E1 and Target Device to RSF562TA Fa Debug Conligurations Create manage and run configurations SER GH ame Evaki
5. monsiraton GUIDE a iscssirrsarstrrasanectsrsetscbsasainiarasnsaininracetiaatedisbsaioissisaraneibiabadadieasaddsbinsalesiassaneihtandend 16 Appendix A References ccccccccsseeeceseeeeeeceeeeeeseeeeeeneeseeesseeeesseueeeessaeeeessaeeeeseeeeessaeeeessaneeessageeeessaaes 28 RO1ANO0902EU0201 Rev 2 01 Page 1 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 1 Overview The sensorless vector control requires the current measurement for three shunt or single shunt Traditionally the current is sampled and amplified by an external amplifier before inputting it to the ADC channels of the microcontroller It is not complex to design the linear amplifier circuit but the extra circuits add to the hardware cost and increase the board size For the Renesas RX62T microcontroller the PGA adds additional functionality and it is integrated in the 12 bit ADC modules 6 ADC channels for the AN000 to ANOO2 and AN100 to AN102 can be selected for amplification The PGA gain value is programmable to 13 3 10 0 6 7 5 7 5 0 4 4 4 0 3 6 3 1 2 5 2 0 1 0 The outputs go into the analog multiplexer of the ADC converter allowing the amplified signal to be converted by the ADC The PGA does not require feedback and input resistance therefore it can significantly reduce costs and save board space Since the gains can be configured through software control it makes the controls h
6. Electronics product before using it in a particular application You may not use any Renesas Electronics product for any application for which it is not intended Renesas Electronics shall not be in any way liable for any damages or losses incurred by you or third parties arising from the use of any Renesas Electronics product for which the product is not intended by Renesas Electronics 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 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
7. in Figure 14 prompts the user to Select a directory to search for existing Eclipse projects Step 4 Select the Radio Button Select archive file and click lt Browse gt to locate the Three Shunt Sensorless Vector Control with Internal PGA zip file to import into the workspace The selected project will then appear with a checked box in the Projects message box as seen in Figure 14 Step 5 Check the Add project to working sets check box and then click the lt Finish gt button to complete the project import RO1ANO902EU0201 Rev 2 01 Page 18 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA e C C e studio PE ial _ lolx File Edit Source Refactor Ne oe Import Projects g T Select a directory to search for existing Eclipse projects C Select root directory 7 Browse Select archive file C WorkSpace Rx62T_kit_updated_e2stud Browse Select All Deselect Al Options M Search for nested projects IY Copy projects into workspace N Working sets JV Add project to working sets Working sets 7 Select o Figure 14 Importing Projects into the Workspace 2 of 2 If the file does not appear with a check box in the Projects message box the selected zip file is the wrong zip file type or it was not properly exported If the file already exists in the workspace then the user will see a
8. of the PGA for each ADC channel The bits 0 to 3 are set for ANOOO the bits 4 to 7 for ANOOI and the bits 8 to 11 for ANO02 Typically the same gain is used for three shunt currents As calculated above in section 5 2 PGA Gain Calculation the gain is set as 4 for this application Therefore the bits need to set as 0111 for each channel RO1ANO0902EU0201 Rev 2 01 Page 13 of 29 Jul 30 2014 stENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Aide og Ae Amorfer F100 3 077 0 10 t Setting proh bited 0110 3 6 5 br to be PGORIISANM S 0 Gan Saad fa AHDOD oF ba Puy Programmable Gan COO 2 0 Arnoiifier O00 x25 00 10 Setting proh bited OO 4 t Setting proh tated 0100 3 077 0 101 Setting prob hited 0110 3 638 DIEE 1000 As 100250 EELE TEE 104 4 x6 687 1100 Setting proh hited 1104 x000 1170 93 333 111 4 Setting prob bated bit iob PODOPGAINGD GalnSelectforANOG2 bii b RAN Prograranaiae ait O00 2 0 Anier O00 2s O00 40 Setting proh hited 00 1 1 Seling proh bited 0100 lt 0r7 010 4 Setting proh bied D F10 6s D TIE 1000 nda 100Ta0 1010 Tris 101 EGE 1100 Setting proh bited 179 i xt 14710 t3333 1114 img pioi bied biS tobi Reserved These bits are panyo read as 0 The write value shouid ahvays be Avi Figure 10 Bit Definition of the ADC PGA Register for the Three Shunt Current Measurements RO1ANO09
9. one with a different type number confirm that the change will not lead to problems The characteristics of MPU MCU in the same group but having different type numbers may differ because of the differences in internal memory capacity and layout pattern When changing to products of different type numbers implement a system evaluation test for each of the products Notice 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 Renesas Electronics has used reasonable care in preparing the information included in this document but Renesas Electronics does not warrant that such information is error free Renesas Electronics assumes no liability whatsoever for any damages incurred by you resulting from errors in or omissions from the information included herein 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 document No license express implied or ot
10. red frame can be removed The jumpers of JP10 JP11 and JP12 are set to 2 3 The outputs from the three shunt resistors directly input to the microcontroller after the 5V limit and the small capacitor filter Table 2 lists the jumper settings for the internal PGA selection remove Figure 3 Three Shunt Current Sampling with External Amplifier Table 2 Jumper Settings for Internal PGA JP10 JP11 JP12 JP13 JP14 JP15 RO1ANO902EU0201 Rev 2 01 Page 6 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 4 RX62T PGA RX62T 12 bit ADC converters include a PGA for additional functionality The two units of ADC unitO S12ADAO and unit S12ADA1 can be operated separately PGA and comparators are provided for AN000 to ANOO2 and AN100 to AN102 Figure 4 shows the structure of the ADC converter unitO 3 channels with the PGA It can be seen that each of the ADC channels AN000 ANOOI and ANOO2 have a separate PGA It is the same configuration for the ADC unitl Each PGA should be enabled and defined to be used by the ADC channel selection register The default is to by pass the internal PGA All three channels have separate sample and hold circuits which allows the three shunt currents to be simultaneously sampled 12bit ADC unito Programmable Gain Amp cho chi converter che cha J F Window com atay A pi For 3 shunt con
11. 014 2tENESAS Revision Record Rev 1 00 2 00 2 01 Date Nov 18 2011 Jan 31 2014 Jul 30 2014 Description Page 16 Summary First edition issued Second edition issued Demonstration Guide added A 1 General Precautions in the Handling of MPU MCU Products The following usage notes are applicable to all MPU MCU products from Renesas For detailed usage notes on the products covered by this manual refer to the relevant sections of the manual If the descriptions under General Precautions in the Handling of MPU MCU Products and the body of the manual differ from each other the description in the body of the manual takes precedence Handling of Unused Pins Handle unused pins in accord with the directions given under Handling of Unused Pins in the manual The input pins of CMOS products are generally in the high impedance state In operation with an unused pin in the open circuit state extra electromagnetic noise is induced in the vicinity of LSI an associated shoot through current flows internally and malfunctions occur due to the false recognition of the pin state as an input signal become possible Unused pins should be handled as described under Handling of Unused Pins in the manual Processing at Power on The state of the product is undefined at the moment when power is supplied The states of internal circuits in the LSI are indeterminate and the states of register settings and pins are
12. 0201 Rev 2 01 Page 27 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Appendix A References l RX62T Group User s Manual Hardware R0O1UH0034EJ0110 April 20 2011 2 DevCon 2010 Courses ID 620C Complete Motor Control Integration with RX62T D 623C Understanding Sensorless Vector Control with Floating Point Unit FPU Implementation 3 Application Note of Sensorless Vector Control of Three Phase PMSM Motors REU05B0103 0100 Rev 1 00 March 2009 4 Application Note of Mcrp05 Brushless AC Motor Reference Platform REUO5B0051 0100 Feb 2009 5 Huangsheng Xu Rohan Hubin and Dave Cocca Sensorless Vector Control of PMSM Motor Using One Shunt Current Detection IEEE IAS 2008 Oct 5 9 Edmonton Alberta Canada 6 Huangsheng Xu and Yashvant Jani Understanding Sensorless Vector Control for Brushless DC Motors ESC 2008 Embedded System Silicon Valley Conference April 15 17 San Jose California USA RO1ANO902EU0201 Rev 2 01 Page 28 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Website and Support Renesas Electronics Website http www renesas com Inquiries http www renesas com inquiry All trademarks and registered trademarks are the property of their respective owners RO1ANO0902EU0201 Rev 2 01 Page 29 of 29 Jul 30 2
13. 02EU0201 Rev 2 01 Page 14 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 6 3 Current Gain Setting The shunt resistor 0 1Q senses the maximum 5Amps of current to convert the current to the 0 5 voltage R1 and R2 are 1KQ and 6 8KQ respectively When the shunt current iu OA the voltage to the ADC of Vu 0 6V iu 5A Vu 0 16V iu 5A Vu 1 04V The internal amplifier gain is 4 The three phase motor currents are measured as i KADI AN002 i spa i KADI ANOO1 i pa i KADI AN000 i spe KADI 5 4096 Rshunt Kamp Where l l and 1 are three phase motor currents Ly opset gt lv_offset gt Pd Ly ofset ALE U Vand W phase current offsets respectively AN002 ANOOI and ANOOO are the 12 bit ADC reading values of u v and w phase shunt currents KAD I is the motor phase current scaling Rshunt is the value of the shunt resistor Kamp is the gain of the internal PGA RO1ANO902EU0201 Rev 2 01 Page 15 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 7 Demonstration Guide 7 1 Introduction to the Demonstration Guide The purpose of this Demonstration Guide is to help users get up and running quickly with the RX62T motor control kit YMCRPRX62T The RX62T Microcontroller is pre programmed to run Three Shunt Sensorl
14. 3 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 3 Hardware Platform and Setup for PGA The RX62T evaluation board is a single board with an integrated power inverter with the controller The hardware includes a low voltage MOSFET power stage a communication stage and a RX62T microcontroller based controller as shown in Figure 1 The board has the following features SCS 2S A complete 3 phase inverter with a low voltage motor 24V external power supply to provide DC bus voltage 15V and 5V power supply Power devices use Renesas low voltage MOSFETs Power rating up to 120 watts Supports three shunt and single shunt current measurements Easily change jumpers from the external amplifiers to the internal PGA USB communication with the PC via a H8S2212 MCU Graphical User Interface GUI used to both modify the motor and control parameters and tune the speed and position control Connectors for Hall sensors and encoder connections LCD to monitor the operation status Supports the standalone mode set by potentiometer and push buttons Supports the second motor drive signals and connector for another motor control power stage gt 2S SCS 2S 2 2 SCS 2S SCS hS SCS 2S SCS 2S 2 LCD Displayer Renesas MOSFETs lr 00 JGJ Wu Sijiani2 pu f Pow H8S Emulator
15. 5 a Figure 7 Motor Current Sensing Comparison Between External Amplifier and PGA 5 2 PGA Gain Calculation Figure 8 shows the shunt current measurement with the PGA The shunt resistor used in this application is 0 192 The measured current range is from 5A to 5A The voltage of the shunt resistance is from 0 5V to 0 5V R1 and R2 resistors are selected to make this voltage to the some positive value The value of Vs Vin and Vout can be estimated as below Vs V O V RsxIs RO1ANO902EU0201 Rev 2 01 Page 10 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Vref x R1 Rs x Is x R2 wane oeg inlV RIF R2 RIFR a ame ee A outlV I R R1 R2 Vout includes two parts one is for the offset part voltage and the other is for the gain voltage The offset voltage and gain voltage of the RX62T are under G XxX Vep X RI 2 5 R1 R2 G x Rs x Is x R2 25 R1 R2 Circuit condition is with Vref 5V Is 5A R2 kRI 5 xG xR1 oe R1 kR1 7 Rs x 5G x kR1 25 R1 kR1 g Therefore 2G 1 k 2xkGxRs S 1 k Gain k 4 and Rs 0 1Q set to the equations above R1 1KQ R2 6 8k Q They are selected by the evaluation kit Therefore the voltages are iu OA the voltage to the ADC of Vu 0 6V iu 5A Vu 0 16V iu 5A Vu 1 04V And the internal amplifier gain is set as 4 R01AN0902EU0201 Rev 2 01
16. AGI room CURRENT Algerithm infomation ae Speed Control Foition Senha Figure 28 Setting the Speed to Turn the Motor in the GUI Application Step 7 Click the Parameter Settings button The Parameter Settings feature can be used to manually adjust the preset variables using the GUI Figure 29 shows the Parameter Settings dialog box Renesas RX62T Demo Kit User Interface rCENESAS Communication Settings Disconnect zoon VOLTAGE zom CURRENT Algorithm information Parameter Settings System Monitor Speed Control 6000 rer INDEX DESCRIPTIC UNIT MAX VALUE VALID Reload I 00 Default 0 rue write Postion Control f 2 01 Minima cpm 200 5000 02 Miomu rpm 1000 20000 03 Acceleri rpm 10000 10000 04 Decelen rpm s 05 Polar co l l 1 06 Startup Apk AmpDriv 0 0 07 Masomur Apk AmpDrv 08 Stator F Oln OtenDrv 0 Figure 29 Changing the Parameter Settings in the GUI Application If standalone mode is used the target board will Disconnect and no longer be communicating with the GUI The LED DL6 will be on but it will no longer be blinking In order to reconnect from standalone mode press P6 reset and Connect to the GUI using the User Interface To terminate the GUI application return the control needle to zero position press the Disconnect button and then press the Exit button to close the application R01AN0902EU
17. BRENESAS OO speuicarionnore RX62T Three Shunt Sensorless Vector Control of Permanent Magnet Synchronous Motors PMSM with Internal Programmable Gain Amplifier PGA Introduction RO1AN0902EU0201 Rev 2 01 Jul 30 2014 This document presents the RX62T three shunt sensorless vector control solution using the internal PGA which has been implemented on the RX62T evaluation kit with three shunt current measurements It describes the evaluation kit hardware setup for the internal PGA the RX62T PGA the PGA related sample circuit design the gain calculation and software implementation For the three shunt sensorless vector control please refer to the application note of Three Shunt Sensorless Vector Control of PMSM Target Device RX62T Contents le SW e E amen neadmountewsinvetiaduauticaatsysnmtadacueeaeh teamteatuansaadnenacabasssissneuntienenesiaausumnes 2 2 Specification and Performance Data ccccccccccccsseeceeceeceeceeeeeeseeeeeeseeeeeeesadeeessaceeeesseseeesseeeessaaeeees 3 3 Hardware Platform and Setup for PGA sencesseccsccesicancieeedponueaccewersdescecwencacdeceaeneencnedeieceseagomeanariaaseenenes 4 rR e A al eee ne ene A ee E E ee ee ee eee eee 7 5 PGA Related Sample Circuit Design and Gain Calculation ccccccseeccceeeeseeceeeeeeseeeeeseeeeeeeeeeas 8 6 Software Implementation cccceeccccccssssecececeeesececccaeseecececeeeecececeeeeceeeesaueeeeseseaeeeeesssaeeeeesssaaaaes 13 Tz D
18. Gc39 PGJ PGCC1 Pecco ere SEL SEL SEL EN EN EN 3 c C 3 c c 9 J c e 9 c C 9 9 c Vale sfter reset Symbol Bit Name Description PGOOOEN ANO00 Programmabie 0 Programmable gain amplifier disabled Gain Amplifier Enable 1 Programmable gain amplifier enabled PGOO1EN AN001 Programmabie 0 Programmable gain amplifier disabled Gain Amplifier Enable 1 Programmable gain amplifier enabled PGOO2EN These bits are always read as 0 The write value should always be 0 PGOOOSEL j ANO000 Programmable 0 Programmable gain amplifier not used bypassed Gain Amplifier Select 1 Programmable gain amplifier used PGOO1SEL AN001 Programmable 0 Programmable gain amplifier not used bypassed Gain Am lifier Select 1 Programmable gain amplifier used PGOO2SEL AN002 Programmable 0 Programmable gain amplifier not used bypassed Gain Amplifier Select 1 Programmable gain amplifier used b11 Reserved This bit is always read as 0 The write value should always be 0 b13 b12 CH 1 0 Channel Set These bits select the analog input channels to be A D converted in R W S12ADA0 For details see table 27 6 b15 b14 Reserved These bits are always read as 0 The write value should always be 0 RW Figure 9 Bit Definition of the ADC Channel Select Register for Three Shunt Current Measurements 6 2 ADC Programmable Gain Amplifier Register ADPG Figure 10 defines the bit definition of the ADC PGA register for the three shunt current measurements It defines the gain
19. Renesas RX62T Demo Kit User Interface Communication Settings Disconnect Forameter settings Algorithm information Syriem Monitor O 3 Shunt Sensorless Vector Control with Extemal Amplifier O 1 Shunt Sensorless Vector Control with Extennal Amplifier pued Control a 3 Shunt Sensorless Vector Control with Internal Amplifier Pasion Cone O 1 Shunt Sensorless Vector Control with Internal Amplifier O Encoder Based Position Control Figure 27 Algorithm Information in the GUI Application Step 5 Click the lt Speed Control gt button Step 6 Set the speed arbitrarily by dragging the indicator needle to the right or left as shown in Figure 28 The speed can also be manually typed into the dialog box below the needle shown in Figure 28 Note The user needs to set the directional speed value from 2000 to 4000 rpm to run this demo The motor shaft should rotate with the setting speed Returning the control needle to zero position stops the motor By default the demo sets parameter values for speed e Minimum speed 2000 rpm Maximum speed 4000 rpm Acceleration 5000 rpm s Deceleration 5000 rpm s Startup time 1000 ms RO1ANO902EU0201 Rev 2 01 Page 26 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Renesas RX42T Demo Kit User Interface Communication Settings _Distonnect zoom VOLT
20. ave high adaptability and flexibility The PGA with the RX62T reduces the amount of components from the original design and it can greatly simplify the previously complex circuit design and improve work efficiency The software described in this application note is applicable to the following devices and platforms MCU RX62T and RX62N Motor Three Phase Brushless DC BLDC and PMSM Platform Renesas Evaluation Kit Control algorithm Three Shunt Sensorless Vector Control Using Internal PGA SCS S SCS S gt S gt KS R01AN0902EU0201 Rev 2 01 Page 2 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 2 Specifications and Performance Data The implementation of the three shunt sensorless vector control solution using an internal PGA is based on the Renesas evaluation kit and the RX62T MCU The main specifications are described as following Input Voltage 24VDC Rated Bus Voltage 24V Output Voltage 24VAC Rated Output Power 120W PWM Switch Frequency 20KHz Control Loop Frequency 1OKHz Current Measurement 3 Shunt Resistors Implementation FPU CPU Bandwidth 20 Used Flash Memory 33 824Kbytes Used RAM 4 397Kbytes Used Stack 336bytes SCS hS SCS hS SCS 2S 2 SCS 2S SCS hS SCS 2S SCS 2S SCS 2S SCS hS SCS hS SCS 2S R01AN0902EU0201 Rev 2 01 Page
21. ctor Control of PMSM with Internal Programmable Gain Amplifier PGA FJ Debug Configurations Create manage and run configurations Gia x eRy E Debug only E GDB Hardware Debugging E GDB Simulator Debugging SH F wka GHS Local C C Launch a Renesas GDB Hardware Attach amp E Renesas GDB Hardware Debugg EvaKit_Rx62T_SVC_3Shunt_F E Renesas Simulator Debugging R GDB Settings Connection Settings Debug Tool Settings Clock Main Clock So Extal Frequency MHz Permit Clock Source Change On Writing Internal Flash Yes Connection with Target Board Emulator JTaq Clock Frequency MHz Fine Baud Rate Mbps Hot Plug Fiter matched 8 of 12 items Apply Revert Figure 22 Debug Configuration Dialog Box 1 of 2 FJ Debug Configurations Create manage and run configurations Saxlaxyy Name EvaKit_Rx62T_SVC_3Shunt_PGA x sE Debug only E GDB Hardware Debugging E GDB Simulator Debugging SH F wka GHS Local C C Launch i Renesas GDB Hardware Attach Use Defaut IO Filename You EE Renesas GDB Hardware Debugg IO File eclipse_home internal IoFiles RX62T sfrx E EvaKit_ Rx62T_SVC_3Shunt F Break eclpse_home N RX Force Hardware Breakpoints Memo E Renesas Simulator Debugging R Internal Flash Memory Overwrite External Memory Areas Work RAM Start Address Work RAM Size Bytes E System U shun Filter matched 8 of 12 items Figure 23 Deb
22. d Rs have been set in order to get Vin O0V x x is a small positive value above 0 1 volts to less than 2 volts which depends on the PGA gain Define the PGA register for the gain to get Vout 5V or less Vout gain X Vin Figure 7 clearly shows the difference between these two amplifiers The external amplifier shifts the output voltage from the shunt resistor to the positive value The offset makes 0 to 2 5V When the gain equals 2 5 Vutmax 2or lx 25 gt SY Vouemin 209 1425 0y The input voltage to the ADC channels is 0 to 5 volts On the other hand for the internal PGA there is no offset circuit for the internal amplifier It just amplifies the voltage to the maximum 5 volts Therefore the input voltage to the ADC should be a small positive value for the maximum polarity current As described above R1 and R2 can be set to make the input voltage as Vin 0V x For example in Figure 7 x equals 0 235 to 1 5V If the PGA gain is set as 2 5 the ADC sample voltage would be 0 5875V for the maximum 5 Amps current and 3 75V for the maximum 5 Amps current for the evaluation board RO1AN0902EU0201 Rev 2 01 Page 9 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA RXG2T 12 bit ADC a Lee Vout When Is is a manus of ee ee eo ASA e Gain x V in TE AEAEE Cee Vin 0V x external Op Amp RXA6ZT PGA Gain 2 5 Gain 2 5 T 50V ny 25
23. eds to install e studio version 3 0 or higher and Renesas complier CCRX revision v1 02 01 Note This demo will only use Renesas complier CCRX revision v1 02 01 The user will need to create a new file folder in Windows Explorer Open the e studio IDE as shown in Figure 12 and proceed with the following Steps Step 1 Browse or type the newly created file folder path in the Workspace Launcher window and click the lt OK gt button RENESAS e2studio vag FJ Workspace Launcher X Select a workspace Parts C pyrght rom Ren e2 studio stores your projects in a folder called a workspace Choose a workspace folder to use for this session Use this as the default and do not ask again Figure 12 e studio IDE Start up Windows and Workspace Launcher Step 2 Select Import from the File pull down menu After selecting Import Figure 13 shows a Select dialog box that prompts the user to Create new projects from an archive file or directory Step 3 Select Existing Projects into Workspace from the Select pop up dialog box and click the lt Next gt button RO1ANO902EU0201 Rev 2 01 Page 17 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA ENESAS j gt Figure 13 Importing Projects into the Workspace 1 of 2 After clicking the lt Next gt Button the Import Projects dialog box
24. ess Vector Control with External Amplifier Therefore the user will need to reprogram the board using the E1 programmer debugger to demonstrate the Three Shunt Sensorless Vector Control of PMSM with Internal PGA and later sections will explain how to 1 setup the demo board 2 build and debug the demo project with e studio and 3 run the GUI application The user needs to connect the motor and the power supply to experience the efficient motor control capabilities of the Renesas RX62T microcontroller Caution Do not connect power to the board until all instructions are followed The Demo contains the following items RX62T Motor Control Evaluation Board YMCRPRX62T One BLDC Motors with a 3 way Molex connector and encoder cable 24V DC power supply E1 debugger Mini USB cable CD ROM for motor firmware and application GUI 7 2 Demo Board Setup Figure 11 a shows the board with the motor connected to J8 and the power supply to J3 There are four push buttons a thumb wheel potentiometer a graphic LCD and a few simple steps to quickly operate the motor out of the box For debugging or programming the user needs to connect J5 with E1 Use the Mini USB connector J1 in the evaluation board for communication to the GUI ENCODER HALL MOTOR FUSE 24V0C 24VD0C Aux 7 DEBUG DEBUG START RMG2T H amp S SPEED STOP FORWARD REVERSE MODE E1 E10 a Board Layout b Functional Layout Figure 11 Board Layout Before starting
25. get firmware the user is now ready to setup the debug interface through the E1 debugger The E1 debugger is necessary as an interface from the software to the hardware Even if there is no need for any debugging this procedure is still necessary to reprogram the board using the provided algorithms Connect the 24V DC power to J3 the El Debugger to J5 and the motor to the J8 connector The connections are shown in Figure 18 Check the recommended jumper settings for this demo refer to section 7 2 FUSE 24VDG 24V0C Aux all e L IPD To LOLOL JFi6 JPA JPi3 i RESET JO Hes ou U gt DEBUG DEBUG START RX62T HES SPEED STOP FORWARD REVERSE MODE E1 E10 Figure 18 Debug Setup for the Demo Board Step 1 Select Debug Configurations from the Run pull down menu or click the debug icon 5 7 and select Debug Configurations Now the user will view the Debug Configurations Windows dialog box as shown in Figure 19 F Debug tvakit _ Rx6721_SVC_IShunt_PGA main e studio Fie Edt Source Refactor Navigate Search Project Run Window SSSR ier erg Now Se a os Acs t P Outline B Project Explorer 1 id KIr 15 EvaKit_Rx62T_SVC_IShumt _PGA Debug gt MCRPO _Lbeary gt Release mt comst_def h HIN oustornaeh m e e M M M dbst c Jus Configure bunch settngs from thc dalag l DA ges_ept noo i itype fter test Press the Wew butten to create a configuration of the
26. herwise 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 Renesas Electronics assumes no responsibility for any losses incurred by you or third parties arising from such alteration modification copy or otherwise misappropriation of Renesas Electronics product Renesas Electronics products are classified according to the following two quality grades Standard and High Quality The recommended applications for each Renesas Electronics product depends on the product s quality grade as indicated below Standard Computers office equipment communications equipment test and measurement equipment audio and visual equipment home electronic appliances machine tools personal electronic equipment and industrial robots etc High Quality Transportation equipment automobiles trains ships etc traffic control systems anti disaster systems anti crime systems and safety equipment etc Renesas Electronics products are neither intended nor authorized for use in products or systems that may pose a direct threat to human life or bodily injury artificial life support devices or systems surgical implantations etc or may cause serious property damages nuclear reactor control systems military equipment etc You must check the quality grade of each Renesas
27. is the responsibility of the buyer or distributor of Renesas Electronics products who distributes disposes of or otherwise places the product with a third party to notify such third party in advance of the contents and conditions set forth in this document Renesas Electronics assumes no responsibility for any losses incurred by you or third parties as a result of unauthorized use of Renesas Electronics products 11 This document may not be reproduced or duplicated in any form in whole or in part without prior written consent of Renesas Electronics 12 Please contact a Renesas Electronics sales office if you have any questions regarding the information 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 CENESAS SALES OFFICES Renesas Electronics Corporation http www renesas com Refer to http www renesas com for the latest and detailed information Renesas Electronics America Inc 2880 Scott Boulevard Santa Clara CA 95050 2554 U S A Tel 1 408 588 6000 Fax 1 408 588 6130 Renesas Electronics Canada Limited 1101 Nicholson Road Newmarket Ontario L3Y 9C3 Canada Tel 1 905 898 5441 Fax 1 905 898 3220 Renesas Electronic
28. message that states Some projects cannot be imported because they already exist in the workspace After clicking lt Finish gt the imported project is now in the e studio workspace shown in Figure 15 and the project should be in Debug mode by default Rr ae rs rt eee rome dor Evak Peis SC 1Sheet PGA Change Teolchain Version Piopi Hare Dai T e ihon PGA Teves Harm Ronnen AAL Testhan Current Verma who Brali Worse l fre 00 04 Figure 15 Setting the Toolchain Version in the e studio Workspace Step 6 Select Properties from the Project pull down menu and expand C C Build section Select the Change Toolchain Version option and set the Available Versions to v1 02 01 R01AN0902EU0201 Rev 2 01 Page 19 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Step 7 Select the Clean command from the Project pull down menu for cleaning and rebuilding the project Figure 16 shows the Clean Windows dialog box Step 8 Check the Start a build immediately option and select the Radio buttons Clean all projects and Build the entire workspace Then click the lt OK gt button to clean and rebuild all projects in the workspace For debugging the target firmware x file 1s generated in the Binaries workspace folder shown in Figure 17 For release set the acti
29. nect button will change to Disconnect The LED DL6 will blink while communicating between the target board and GUI Figure 26 shows the GUI after a successful connection Renesas RX62T Demo Kit User Interface Communication Settings Parametersenings Posillon Control Figure 26 Connecting to the Motor Control Demo GUI 2 of 2 The GUI will detect the programmed algorithm In this case the 3 Shunt Sensorless Vector Control with Internal Amplifier will be used After connection the Speed Control button is active while the Position Control button is grayed out The user can check with the Algorithm Information message box which shows a valid algorithm Clicking the Verify Jumper Settings button shows Table 5 in the GUI Figure 27 shows the Algorithm Information dialog box Follow the below procedure for using the GUI The LED DL1 will be blinking continuously while running demo with no fault occurrence If a fault occurs the LED DL2 will flash and DL1 will remain illuminated without flashing If a fault occurs press P6 reset and check if DL1 begins to blink If pressing P6 does not fix the fault disconnect and reconnect the E1 debugger and the Mini USB and reprogram the board using the steps discussed in section 7 3 2 RO1ANO902EU0201 Rev 2 01 Page 25 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA
30. ons ENCODER HALL MOTOR FUSE 24V0C 24VDC Aux t a E E ha i He Hre TT O Jra L JO W15 JPH RERET i DEBUG DEBUG RXG2T Hes STOP FORWARD REVERSE MODE Ei E10 Figure 24 Running the Demo with e studio and the GUI Step 2 Start the GUI program by double clicking on the Motor Control Demo icon lE or select the Motor Control Demo program from the Windows taskbar Start in All Programs under the Motor Control Demonstrator folder The GUI program screen will launch and display as shown in Figure 25 For a serial port update wait for a few seconds to get the Connect button highlighted and then proceed to Step 3 Note If the Connect button is not highlighted the GUI couldn t find the correct USB device driver for COM port setting Step 3 Click the Communication Settings tab on the top left of the GUI seen in Figure 25 and select Auto detect under the serial port drop down tab Step 4 Click lt Connect gt R01AN0902EU0201 Rev 2 01 Page 24 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA B Renesas RX62T Demo Kit User Interface ve Renesas RX62T Demo Kit User Interface Figure 25 Connecting to the Motor Control Demo GUI 1 of 2 After successfully connecting with the target board the Communication Settings area will change to a green color and the Con
31. poration All rights reserved Colophon 3 0
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33. selected type gt A ges_eqp h ey D Detuponiy Press the Dupicate button to copy the selected configuraton zia globdef h os T GOB Hordevere Debugging i z s HD gobvar h 7 TI GOB Srruktor Debusgne SH L73 RHESO K Press the Delete button to remneve the sciected configuration sal p c S 6 wha GS Local C C Launch E Press the Tier button to comigure ering options D A wtpeg c r le jada ame a ataca Edt or vew an exiting configuraton by selectny t 2A odefine_m h i j manc _ Configure bunch perspectve settings from the Perspectives preference a mask f page DIA mesratypes h i metorcontrol lt metorcontrolh P id resetpey c 6 sbrk c PIN stek h TIA stackscth TA owtches c ns EL s 2A swtches h te amp 8 typedefne h DID sommes Aaina h y p EE t EvaXt_Rx62T_SVC_1Shunt_PGA Debug Evakit_Rx62T_SVC_1Shunt_PGA x E Reverses Sudatta Deby er matched 7 of 11 tems Figure 19 Setup Debug Configuration in Workspace Step 2 Select Renesas GDB Hardware Debugging Using the mouse right click on Renesas GDB Hardware Debugging and select New as shown in Figure 19 Step 3 In Figure 20 under the Main tab in Debug Configurations Select the Three Shunt Sensorless Vector Control with Internal PGA EvaKit_Rx62T_SVC_3Shunt_PGA as the Project and verify the Build Configuration tab is selected as Debug and the Use workspace settings
34. t_Rx62T SVC_3Shunt_PGAx nye es le D Main Debugger gt gt Startup Commen Source EJ Debug onky Ii E GOE Hardware Debugging Debog harchuare et Tanget Device RSF562TA EJ GDS Simulator Debugging SH RLS F RK te GHS Local C C Launch GDE Settings Connection Settings Debug Tool Settings BF Renesas GOB Hardware Attach cae E E Renesas GO Hardware Debugging G08 4 E Evakit_Rx627_SVC_3Shunt_PGA x Autostart local GOG server Host name or IP address lncahost E Renesas Srmulator Debuggng RX onby Connect to remme GDE server GDE port ne CAE ADM port number 61236 GDA Command eclpse home DebugCompyrx elf gdb AMG 7 Enable werbose mode fe Non stop mode Required for RealTime Access 7 F Wo ee ee M T al Fiter matched amp of 12 tems 7 Figure 21 Debug Configuration Debugger Dialog Box Step 6 Select the Connection Settings sub tab and change the External Frequency value to 12 00 MHz and JTag Clock Frequency to 12 38 MHz Set Power to No Step 7 Select the Debug Tool Settings sub tab under the Debugger tab and select Big Endian in the Endian setting under Memory Then click the lt Apply gt button The typical debug settings for this demo are shown with RED boxes in Figure 22 and in Figure 23 RO1ANO0902EU0201 Rev 2 01 Page 22 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Ve
35. the demo reconfigure the jumpers JP6 JP15 as highlighted with red in Table 5 The jumper s location is Shown in Figure 11 b The board can be operated in standalone mode or in GUI mode Table 5 Configuration Jumper Settings Operation ipe ap7 wpe Jeo apa0 vous apa2 saa sua sas me a ee aaa un EETSMESENEE Internal PGA Csi pa ee RO1ANO0902EU0201 Rev 2 01 Page 16 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA For standalone mode press and hold P4 mode button during power cycle or P6 reset Then release the P4 button Now the board is in standalone mode Press P1 start stop to start or stop motor Set RV1 for motor speed and change motor rotation direction by pressing P2 forward or P3 reverse button P4 toggles different modes on the LCD Note The user needs to set speed to 2000 rpm or more to run the motor in this demo GUI mode will be explained in section 7 4 7 3 Build Project and Debug Operation with e studio To generate the firmware program for demonstration the provided zip file must be imported to project workspace using estudio IDE Integrated Development Environment revision 3 0 or higher The following steps will explain the procedure for importing the project and setting up the debugger in the e studio IDE 7 3 1 Build Project Procedure in e studio Before importing the project the user ne
36. trol 3 S Hs realize simultaneous sampling Figure 4 Structure of the RX62T ADC unit0 AN000 AN001 AN002 with PGA The amplification rate includes 2 0 2 5 3 077 3 636 4 0 4 444 5 0 5 714 6 667 10 0 or 13 333 times amplification a total of 11 steps as listed in Table 3 The gain can be selected through the ADPG PGnGAIN 3 0 bits n 000 to 002 or 100 to 102 and the operational amplifier can be selected through the ADANS PGnEN and ADANS PGnSEL bits Table 3 PGA Gain Steps x 2 000 x 4 444 x 13 333 RO1ANO0902EU0201 Rev 2 01 Page 7 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Table 4 shows characteristics of the PGA The items for which test conditions are not specifically stated in the table below have the same values under conditions to 3 Condition 1 VCC PLLVCC 2 7 to 3 6 V VSS PLLVSS AVSSO AVSS VREFLO 0 V AVCCO AVCC 3 0 to 3 6 V VREFHO 3 0 V to AVCCO VREF 3 0 V to AVCC Condition 2 VCC PLLVCC 2 7 to 3 6 V VSS PLLVSS AVSSO AVSS VREFLO 0 V AVCCO AVCC 4 0 to 5 5 V VREFHO 4 0 V to AVCCO VREF 4 0 V to AVCC Condition 3 VCC PLLVCC 4 0 to 5 5 V VSS PLLVSS AVSSO AVSS VREFLO 0 V AVCCO AVCC 4 0 to 5 5V VREFHO 4 0 V to AVCCO VREF 4 0 V to AVCC Ta 40 to 85 C Ta is the same under conditions 1 to 3 Table 4 Characteristics of the PGA Analog inp
37. ug Configuration Dialog Box 2 of 2 Step 8 Check the target board power is ON and verify the connections through the PC E1 debugger and the target board Clicking the lt Debug gt button in the Debug Configurations dialog box will download the firmware to the target board Step 9 Click the Resume icon or press the F8 Key to run the program This may require the user to press the Resume icon or F8 multiple times depending on the delay in the code The icon should turn gray when the program is running The LED DL I will blink at about a one second rate continuously while running the target board RO1ANO902EU0201 Rev 2 01 Page 23 of 29 Jul 30 2014 2tENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 7 4 GUI Operation This operation requires the demo board to be connected to the PC using the supplied Mini USB cable Step 1 Connect the Mini USB cable to J1 from the PC LED DL8 is on when the USB bus power is applied to evaluation board The PC will recognize the new hardware and will launch the driver installation screen Follow the instruction from the Message Box to install respective USB device driver Note Separate instructions for the USB device driver installation are provided in the Quick Start Guide or the driver will install automatically depending on the CD ROM installer Figure 24 shows the necessary connections and LED designati
38. undefined at the moment when power is supplied In a finished product where the reset signal is applied to the external reset pin the states of pins are not guaranteed from the moment when power is supplied until the reset process is completed In a similar way the states of pins in a product that is reset by an on chip power on reset function are not guaranteed from the moment when power is supplied until the power reaches the level at which resetting has been specified Prohibition of Access to Reserved Addresses Access to reserved addresses is prohibited The reserved addresses are provided for the possible future expansion of functions Do not access these addresses the correct operation of LSI is not guaranteed if they are accessed Clock Signals After applying a reset only release the reset line after the operating clock signal has become stable When switching the clock signal during program execution wait until the target clock signal has stabilized When the clock signal is generated with an external resonator or from an external oscillator during a reset ensure that the reset line is only released after full stabilization of the clock signal Moreover when switching to a clock signal produced with an external resonator or by an external oscillator while program execution is in progress wait until the target clock signal is stable Differences between Products Before changing from one product to another i e to
39. ut capacitance Input offset voltage ets pivot fT Input voltage Gain 2 000 range vin Gain 2 500 Gain 4 000 i Gain 4 444 F Gain 5 000 Gain x 3 714 Gain 10 000 T i Slew rate Gain error 2 Gain 2 500 Gain 4 444 Gain x 3 714 Gain 10 000 Gain x 13 333 5 PGA Related Sample Circuit Design and Gain Calculation 5 1 Difference Between External Amplifier and PGA Figure 5 just shows one of the shunt current sample and external amplifier circuits Because of the current polarity the offset should be added to shift the maximum negative current to 0 volts Rland Rs have been set in order to get Vin 2 5V at Is 0 The output of the amplifier is RO1AN0902EU0201 Rev 2 01 Page 8 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA Vout gain X Vin Voffset Set Rd and Re for the amplifier gain to make Vout 5V or less AD converter Vout Gan Vin 2 45V S5 V over current detection circu Figure 5 Motor Current Measurement with External Amplifier Figure 6 depicts one of the shunt current samples with the internal PGA Actually there is no amplifier circuit required because it is integrated with the RX62T microcontroller 12 bit ADC The outside circuit only needs two resistors Because of the current polarity the offset should be added to shift the maximum negative current above 0 volts R1 R2 an
40. ve project to release mode for building projects The target firmware mot file is generated in the workspace Release folder Spo Dee Weer Boe Don Foe To PD Debug Evakit_Rx627T SVC 3Shunt_PGA main c e2 studio Li a a a HE AR Ab oni ek Sees i ea en Se O maine eo Ewie File Name main c aj 55 Evakit_Rx62T_SVC_3Shunt_PG Version 1 00 D Indudes Device s Rx62T zl S Debug Tool chain HEW os None H W Platform YMCRPRX62T Rx62T Motor Control Evaluation Kit Description 3 Shunt SVC with internal amplifier PGA Main function Operation Limitations SPSS ESSE SEES SSE EERE SEES EES RRR RRR eee eee eee eee eee History OD MM YYYY Version Description 12 09 2011 1 00 First Release 06 15 2014 2 01 Second Release Release Note change IDE from HEW to e2Studio Ver 3 using build in e2Studio import feature Peri 1 0ev I Dev f Co F Sea n S gt MORPO7_Liwary H S Release amp 8 const _defh u e iaa k amp le ern ra rf LCD Glyph Drivers obj LCD Glyph Orivers d LCD Glyph Drivers src LOD Glyph Orivers p LCD Clean complete s 15 33 12 Build Finished took 15 345ms zi Figure 17 Target Firmware in Workspace RO1ANO902EU0201 Rev 2 01 Page 20 of 29 Jul 30 2014 RENESAS RX62T Three Shunt Sensorless Vector Control of PMSM with Internal Programmable Gain Amplifier PGA 7 3 2 Debug procedure in e studio IDE After generating the tar
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