永久磁石同期モータのベクトル制御(RX62T 実装編)
Contents
1.2.
3. RoHS
4. 11
5. 1 2 1 E ENESAS http www renesas com 100 0004 2 6 2
6. ROM 10
7. CMOS LSI LSI LSI
8. PI PWM PWM 6 3 R01AN2155JJ0100 Rev 1 00 2014 9 26 ENESAS 3 7 100 s Page 38 of 43 RX62T 3 6 3 1 ms C 1 ms PI PI m 0 3 8 1 ms R01AN2155JJ0100 Rev 1 00 Page 39 of 43 2014 9 26 XENESAS RX62T 3 6 4 3 9 R01AN2155JJ0100 Rev 1 00 Page 40 of 43 2014 9 26 RENESAS RX62T
9. com_s2_enable_write 4 1 ICS ICS com_s2_sw_userif 0 ICS g_s2 sw_userif 1 com_s2 mode_system 0 1 g_s2 mode_system 3 com_s2 direction int16 0 CW g_u1 direction 1 CCW pm Pl i 9 P q P com f4 speed lpf k float32 LPF g_f4 speed lpf k PF com f4 mtr m float32 Wb com_s2 ol iq up_speed_rpm q rpm gd_S2 ol iq up_ speed _rad d A g_f4 ol ref id d ms g_f4 olid_up_step d ms 9_4 id_down_step
10. RX62T100_T2001_SPM_LESS_FOC_CSP_V100 RX62T RSFS62TAADFP T2001 RX62T100_T1102_SPM_LESS_FOC CSP_V100 RX62T RSFS62TAADFP T1102 RX62T RO1UH0034JJ0200 In Circuit Scope ICS CubeSuite http www desktoplab co jp download html Trial series T1102 3kW 4kVA Inverter Unit User s Manual Trial series T2001 50W 60VA Low Voltage InVerter Unit User s Manual Trial series T5201 RX62T 100pin CPU card User s Manual R01AN2155JJ0100 Rev 1 00 Page 1 of43 2014 9 26 XENESAS RX62T 3 2 4
11. 2 3 2 6 main c main c mtr_ spm_less_foc c mtr_spm_less_foc c mtr_ ctrl rx62t100_t2001 c mtr ctrl rx62t100_t1102 c H W mtr_ ctrl rx62t100 c mtr ctrl rx62t100 c mtr_ ctrl 2001 c mtr ctrl t1102 c R01AN2155JJ0100 Rev 1 00 Page 9 of43 2014 9 26 XENESAS RX62T 2 4 2 7 SW1 P91 Low High ICS DC 24V PWM 20 kHz 100 s 2
12. mtr_ common h mtr_ctrl t1102 h mtr ctrl_rx62t100 h RX62T mtr_ spm_less_foc h control_parameter h motor_parameter h mtr_ctr_rx62t100 t1102 h amp RX62T angle_speed_R5F562TAAxFP obj ICS_RX62T obj ICS ICS_RX62T h ICS main c mtr_ctrl t1102 c mtr ctrl_rx62t100 c RX62T mtr_interrupt c mtr spm_less_foc c mtr_ctrl_rx62t100_t1102 c amp RX62T R01AN2155JJ0100 Rev 1 00 2014 9 26 ENESAS Page 8 of 43 RX62T 2 3 2 2 3 2 6 H W
13. RX62T A D P43 AN003 AC240V p40 ANooo _ P41 AN001 kk VAIN gt p42 AN002 AN P60 ANO LED1 LED2 LED PA2 PA3 MTU3 P71 MTIOC3B U P72 MTIOC4A V V 1 P73 MTIOC4B W Ww P74 MTIOC3D U U P75 MTIOC4C V v P76 MTIOC4D W Wi 0 vy ys P70 PoE oc PW gt PMSM 2 2 RSFS62TAADFP T1102 R01AN2155JJ0100 Rev 1 00 Page 5 of 43 2014 9 26 ENESAS RX62T 2 2 2 2 1 2 1 2 1 VR1 START STOP SW1 ERROR RESET
14. R_MTR_ExecEvent uint8 u1_event mtr_act_run uint8 u1_state uint8 u1_state mtr_act _stop uint8 u1_state uint8 u1_state mtr_act_none uint8 u1_state uint8 u1_state mtr_act_reset uint8 u1_state uint8 u1_state mtr_act_error uint8 u1_state uint8 u1_state mtr_start_init mtr_angle_speed mtr_pi_ctrl MTR_PI_CTRL
15. http japan renesas com contact 2014 Renesas Electronics Corporation All rights reserved Colophon 3 0
16. R01AN2155JJ0100 Rev 1 00 Page 26 of 43 2014 9 26 XENESAS RX62T 3 5 1H 3 16 ICS BOARD_UI Board MAX_SPEED CP_MAX_SPEED_RPM rpm OL_TO_LESS_SPEED_RPM ID PI KP CP_OL TO_LESS_SPEED_RPM CP_ID_PI_KP rpm d PI ID_PI KI IQ_PI_KP CP_ID_PI KI CP_IQ_PI_KP d PI q PI IQ PI KI CP_IQ PI KI q PI SPEED_PI_KP SPEED_PI KI CP_SPEED_PI_KP CP_SPEED_PI KI PI PI EMF_EST K CP_EMF_EST K THETA EST_K CP_THETA_EST K SPEED_LPF_K CURRENT_LPF_K CP_SPEED_LPF_K CP_CURRENT_LPF_K LPF
17. 3 1 2 A D 3 IPM 1 VR1 A D 1ICS A D VR1 3 1 AD 0 0 rpm 2000 rpm 0200H 03FFH AN2 0 rpm 2000 rpm 01FFH 0000H PWM 3 2 AD
18. RX62T100_T2001 SPM LESS _FOC_CSP V100 RX62T100_T1102_SPM LESS _FOC_CSP V100 main h 2 4 mtr common h mtr_ctrl t2001 h mtr ctrl_rx62t100 h RX62T mtr spm_less_foc h control_parameter h motor_parameter h mtr_ctrl_rx62t100_t2001 h amp RX62T angle_speed_R5F562TAAxFP obj ICS_RX62T obj ICS ICS_RX62T h main c ICS mtr_ctrl_t2001 c mtr_ctrl_rx62t100 c RX62T mtr_interrupt c mtr spm_less_foc c mtr_ctrl_rx62t100_t2001 c main h amp RX62T 2 5
19. unit8 tmp_port SW1 get_sw2 unit8 tmp_por SW2 led1_on led2_on led1_off led2 of R01AN2155JJ0100 Rev 1 00 2014 9 26 ICS ON VR1 SW1 SW2 LED1 LED2 LED1 LED2 Page 18 of 43 RENESAS RX62T R_MTR _InitHardware mtr_ init
20. MTR_CW MTR_CCW MTR_FLG_CLR MTR_FLG_SET MTR_ID_UP d MTR_ID_CONST d MTR_ID_DOWN d MTR_ID_ZERO_CTRL d 0 MTR_IQ_ZERO q 0 MTR_IQ_SPEED_PI_OUTPUT PI MTR_IQ_UP q MTR_IQ_DOWN q MTR_SPEED_ZERO 0 MTR_OL_SPEED_CHANGE _L ow 1 1 MTR_OL SPEED_CHANGE_H IGH MTR_SPEED_CONST MTR_SPEED_CHANGE MTR_BOOT_MODE MTR_START_MODE MTR_CTRL_MODE MTR_ZERO_PEC_MODE 0 MTR_OPENLOOP_MODE MTR_HALL 120 MODE 120 MTR_LESS_120_MODE MTR_ENCD_FOC_MODE BEMF 120 MTR_LESS_FOC_MODE MTR_OVER_CURRENT_ERR OR MTR_OVER_VOLTAGE_ERR OR
21. RX62T 3 4 3 15 I EE ET CE Er MTR_PLCTRL 4er foat2 kp foat32 MR foat32 4 imit foat32 fMreh foat32 PI PI MTR_PARAMETER Imrtl foa2 amram 6 6 656 MTR_ICS_INPUT s2 direction int16 a 0 CW CCW eee less ELE SE 9 P 9 P 9 P N ki i float32 q PI asta speed pf k foat32 PF LPF f4 offset Ipf k foat32 LPF 9 d I ms 9 mal mal foat32 q I q
22. xs VI xs V xs rpm xs IPM R01AN2155JJ0100 Rev 1 00 2014 9 26 xs Page 17 of 43 ENESAS RX62T 3 2 3 6 mtr ctrl 12001 c mtr ctrl t1102 c ctrl_ui software_init R_MTR _ChargeCapacitor ic gate_on get_vr1 unit16 ad_data A D get_sw1
23. 3 5 R01AN2155JJ0100 Rev 1 00 Page 36 of 43 2014 9 26 XENESAS RX62T ICS com_s2_mode_system LED 3 6 R01AN2155JJ0100 Rev 1 00 2014 9 26 RENESA AS Page 37 of 43 3 6 2 100 u s RX62T 6 100 s U W A D U V W
24. rad s CP_ACCEL_MODE1 rad s CP_FLUCTUATION_LIMIT rad s CP_OL IQ_ DOWN_TIME q ms CP_OL REF_IQ q A CP_OL_IQ_UP TIME q ms CP_OFFSET_CALC_TIME ms R01AN2155JJ0100 Rev 1 00 2014 9 26 RENESAS Page 35 of 43 RX62T 3 6 3 6 1 mk ICS Ul ICS UI Board or ICS UI Board SWw 2 com_s2_mode_system ER LED
25. ad a q ms g_f4 ol iq_ down_step q g_4 oref_iq gf4 ol iq up_step lms com _s2 enable write intnie _ 6Q8S6KS5S86 R01AN2155JJ0100 Rev 1 00 Page 42 of 43 2014 9 26 XENESAS RX62T http japan renesas comm http 7japan renesas com contac R01AN2155JJ0100 Rev 1 00 Page 43 of 43 2014 9 26 RENESAS Rev 1 00 2014 9 26 1
26. LED PA2 LED1 LED2 PA3 MTU3 P71 MTIOC3B U P72 MTIOC4A V2 Up P73 MTIOC4B W Ve P74 MTIOC3D U W P75 MTIOC4C V P76 MTIOC4D W P70 POEO Vw Vv Vu P32 MTCLKBA oc 0 P33 MTCLKAA _ Vcc GND ENC_A a ENC_B ENC_Z Ve GND W V U PMSM R01AN2155JJ0100 Rev 1 00 2014 9 26 ENESAS 2 1 RSFS62TAADFP T2001 Page 4 of 43 RX62T
27. kHz MTR_DEADTIME 2 3 sj MTR_DEADTIME_SET uint16 MTR_DEADTIME MTR_PWM_TIMER_FREQ MTR_AD_FREQ 48 0f AD MHz MTR_AD_SAMPLING_ CYCLE 26 0f AVD MTR_AD_SAMPLING_T IME MTR_AD_SAMPLING_CYCLE MTR_AD_ FREQ AD us MTR_AD_TIME_SET uint16 MTR_PWM_TIMER_FREQ MTR_AD_SAMPLING_TIME AD MTR_CARRIER_SET uint16 MTR_PWM_TIMER_FREQ 1000 MTR_CARRIER_FREQ 2 MTR_DEADTIME_SET MTR_HALF_CARRIER_ SET R01AN2155JJ0100 Rev 1 00 2014 9 26 uint16 MTR_CARRIER_SET 2 ENESAS Page 29 of 43 RX62T mtr ctrl_rx62t100_t2001 h mtr ctrl_rx62t100_t1102 h 3 20 MTR_PORT_UP PORT7 DR BIT B1 U MTR_PORT_UN PORT7 DR BIT B4 U MTR_PORT_VP PORT7 DR BIT B2 V MTR_PORT_VN MTR_PORT_WP PORT7 DR BIT B5 PORT7 DR BIT B3 V W
28. 11 4 In Circuit Scope kk 41 R01AN2155JJ0100 Rev 1 00 Page 2 of43 2014 9 26 RENESAS RX62T 1 RX62T PMSM m Circuit Scope ICS 1 1 1 1 1 1 R5F562TAADFP T2001 FH6S20E X81 lt V2 02 00 R5F562TAADFP T1102 BXM6200 A 3 V2 02 00 T2001 T1102 1
29. OA AV
30. T2001 T1102 Im Circuit Scope http www desktoplab co jp 2 FH6S20E X81 http www nidec servo com jp 3 BXM6200 A http www orientalmotor co jp R01AN2155JJ0100 Rev 1 00 Page 3 of 43 2014 9 26 XENESAS 2 2 1 7T o RX62T RX62T AD P43 AN003 P40 AN000 P41 AN001 P42 AN002 P62 AN2 IU AIN IVAIN WAIN VR1 P91 _ gt Va DC24V GND er P92
31. g_u1 flag_offset_calc unit8 0 1 gu2 cnt speed const uinti6 WW 51 1 1t g_u1 flag_speed ref 0 4 9 gkemf foat32 gf4tdspeed lpf foat32 9 gf4 ol iq up_ speed rad float32 q g_f4 ol iq up step float32 q EE M mg G 2 2 mar wesmeurlcunWt WET mm 9g_f4 ipm_temperature_ad float32 IPM M g_u1 cnt ics uint8 ICS g_s2 mode system g_s2 enable_write R01AN2155JJ0100 Rev 1 00 Page 25 of 43 2014 9 26 XENESAS
32. 4 In Circuit Scope 4 1 Tn Circuit Scopg ICS Tn Circuit Scope ICS CubeSuite Incircuit Scope Software C Proeram Files Renesas Electronics ICS Incircuit Scope_eny File View Channels Windows Hools Help Open Project save Project Load yarisbles Clear variables coMe TET zoom1 Zoom2 Zoom3 zoom4 KOReady GPU 1 Status annel Settings Main Scope Window Mode Edge Varieble Dats Variable List Voisble Nome Data Type FR Reg Wr e ls TIME DIV2 00m Auto Rise PO TRG POS 00m Single Fal Narmal Both TRG MODE Auto CH1 A 1 00K Acquisition Length Sample 2000u Time Div 20000u
33. PWM U V W G ER AC IPM IPM IPM 3 5 TPM
34. PWM 1 3 MN Bl U wt V wt U V U V Wt 3 1 R01AN2155JJ0100 Rev 1 00 Page 13 of 43 2014 9 26 XENESAS RX62T 3 2 x 100 Ton TorF 3 2
35. Color Dispk vena ws Hes n 1 502000E 003 Mav 1 cnannnFtnna r hare n 1 505000E 003 1 1 S300eEetd 3s Mar 1 4qRnnnFtnn3 Ean 4 1 In Circuit Scope 4 2 ICS ICS fdef endif ICS ICS ICS mtr_ common h define ICS_USE Page 41 of 43 R01AN2155JJ0100 Rev 1 00 2014 9 26 RENESAS RX62T 4 3 ICS ICS 4 1 1ICS com_s2_enable_write g_s2_enable_write
36. m Vv m E n V E PWM H Y 3 k R01AN2155JJ0100 Rev 1 00 Page 14 of43 2014 9 26 RENESAS RX62T 3 1 4 3 3 RESET RESET EVENT ERROR MODE ERROR EVENT STOP MODE RUN EVENT STOP EVENT RUN MODE N when offset current detection finish LESS FOC MODE LESS FOC MODE OPENLOOP MODE OPENLOOP MODE L REF id 3 3 R01AN2155JJ0100 Rev 1 00 Page 15 of43 2014 9 26 RENESAS RX62T 3 4 d q MTR_CTRL MO
37. mtr_clear_ mtu4 flag mtr_inv set_uvw foat32 modu U float32 f4_modv float32 modw W PWM mtr_init register R01AN2155JJ0100 Rev 1 00 2014 9 26 Page 22 of 43 ENESAS RX62T 3 3 3 12 gu1 motor status un 2 g_u1 reset_req i 0Q MM Me g_s2 sw _userif ICS 1 9g_u1 mode_system 9g_u2 run mode unit16 g_u2
38. CW 0 rpm 2000 rpm CCW 0 rpm 2000 rpm 4 6 1 4 8 A 100 s 2 28 V 100 s 3 0 VI 100 gs 4 4000 rpm 100 s POE0 PWM 2 8 ICS AC 240V PFC PWM 20 kHz 100 s 2 CW 0 rpm 3000 rpm CCW 0 rpm 3000 rpm 5 6 1 4 8 A 100
39. LPF MAGNETIC_FLUX MP_MAGNETIC_FLUX Wb RESISTANCE MP_RESISTANCE 9 INDUCTANCE MP_INDUCTANCE H OFFSET_LPF_K CP_OFFSET_LPF_K LPF OL_IQ_UP SPEED CP_OL IQ_UP SPEED_RPM q rpm LESS TO_OL SPEED CP_LESS TO_OL SPEED_RPM Irpm OL_REF_ID OL_ID_UP TIME CP_OL REF_ID CP_OL ID_UP TIME d A d ms ID DOWN_TIME CP_ID_ DOWN_TIME d ms REF_SPEED_CONST_TIME CP_REF_SPEED_CONST_TIME ms ACCEL_MODE0 ACCEL_MODE1 CP_ACCEL_MODE0 CP_ACCEL_MODE1 rad s rad s R01AN2155JJ0100 Rev 1 00 2014 9 26 ENESAS Page 27 of 43 RX62T FLUCTUATION_LIMIT 3 17 CP_FLUCTUATION_LIMIT rad s OL_IQ_DOWN_TIME CP_OL IQ DOWN_TIME q ms OL_REF_IQ
40. R01AN2155JJ0100 Rev 1 00 2014 9 26 ENESAS Page 30 of 43 mtr spm_less_foc h 3 21 MTR_INT_DECIMATION 1 RX62T MTR_CTRL_PERIOD MTR_CONTROL_FREQ MTR_INT_DECIMATION 1 MTR_CARRIER_FREQ 1000 MTR_CARRIER_FREQ 1000 MTR_INT_DECIMATI ON 1 s Hz MTR_M MP_MAGNETIC_FLUX Wb MTR_R MP_RESISTANCE 2 MTR_L MP_INDUCTANCE H MTR_T L MTR_CTRL_PERIOD MTR_L TL s H MTR_T_M MTR_CTRL_PERIOD MTR_M T M s Wb MTR_POLE_PAIRS MP_POLE_PAIRS MTR_TWOPFI MTR_TWOPI_3 2 3 14159265f MTR_TWOPI 3 27 27x 3 MTR_SQRT 2 1 41421356f 2 MTR_SQRT 3 1 7320508f 3 MTR_SQRT 2 3 MTR_RPM_RAD 0 81649658f MTR_TWOPIU60 Y 273 27x 60 MTR_SPEED_LIMIT_RPM 4000 6000 rpm MTR_SPEED_LIMIT_RAD MTR_ID_PI_KP MTR_SPEED_LIMIT_RPM MTR_R PM_RAD MTR_POLE_PAIRS CP_ID_PI_KP rad s d PI MTR_ID_PI_KI CP_ID_PI KI d PI MTR_IQ_PI_KP CP_IQ_PI_KP d PI
41. SW2 LED1 LED LED LED2 LED LED RESET RESET1 RESET1 2 2 R5F562TAADFP 2 2 P43 AN003 P43 AN003 P62 AN2 P91 START STOP P92 PA2 ERROR RESET LED1 PA3 LED2 P40 AN000 P40 AN000 U P41 7 AN001 P42 AN002 P41 AN001 P42 AN002 V W P60 ANO IPM P71 MTIOC3B P71 MTIOC3B PWM U P72 MTIOC4A P73 MTIOC4B P72 MTIOC4A P73 MTIOC4B PWM V PWM W P74 MTIOC3D P74 MTIOC3D PWM U P75 MTIOC4C P75 MTIOC4C PWM V P76 MTIOC4D P33
42. 0 IM 111 MV 0000H OFFFH AN003 0 M 686 5 V 0000H 0FFFH 3 U W U W 3 3U W U W AVD U W 10 A 10 A 0000H OFFFH Iu AN000 50 A 50 A 0000H OFFFH iw AN002 R01AN2155JJ0100 Rev 1 00 Page 11 of 43 2014 9 26 XENESAS RX62T IPM TIPM IPM IPM PM 3 4 IPM IPM AD IP 0 M gt 5 M 0000H 03FFH R01AN2155JJ0100 Rev 1 00 Page 12 of 43 2014 9 26 RENESAS RX62T 3 1 3 PWM
43. MTCLKAA P76 MTIOC4D PWM W A P32 MTCLKBA B P70 POEO R01AN2155JJ0100 Rev 1 00 2014 9 26 P70 POEO PWM Page 6 of 43 ENESAS RX62T 2 2 2 2 3 2 3 12bit A D 10bit AD U V W 1 ms PWM PWM PWM PWM 1 12bitA D U 1 V 1 W 1 V 12bitA D amp 1 10bitA D IPM
44. MTR_OVER_SPEED_ERROR MTR_TIMEOUT_ERROR MTR_UNDER_VOLTAGE_ER ROR MTR_OVER_IPMTEMPERATU RE_ERROR MTR_UNKNOWN_ERROR R01AN2155JJ0100 Rev 1 00 2014 9 26 RENESAS IPM Page 33 of 43 mtr_ spm_less_foc h control_parameter h MTR_MODE_STOP 3 24 RX62T MTR_MODE_RUN MTR_MODE_ERROR MTR_SIZE_STATE MTR_EVENT_STOP MTR_EVENT_RUN MTR_EVENT_ERROR MTR_EVENT_RESET MTR_SIZE_EVENT CP_ID_PI_KP 10 8227f 3 25 d PI CP_ID_PI KI 0 002 0 1f d PI CP_IQ_PI_KP 3 0 10 8227f q PI CP_IQ_PI_KI 0 004 0 08f q PI CP_SPEED_PI_KP 0 001 0 01f PI CP_SPEED PI KI 0 0005 0 00
45. float32 f4_vv V float32 f4_vw WV float32 f4_vdc R01AN2155JJ0100 Rev 1 00 2014 9 26 Page 21 of 43 RENESAS mtr_ctrl_rx62t100_t2001 c mtr_ctrl_rx62t100_t1102 c mtr_init mtu RX62T 3 11 MTU3 mtr_ init io_ port mtr_init ad converter IO AD init ui UI mtr_ctrl start mtr_ctrl stop mtr_get_vr1 unit16 u2_temp WR1A D mtr_get_iuiwvdc float32 f4 iu_ad U AVD float32 f4_iw_ad W AVD loat32 f4 vVdc_ad Vdc AVD VR1AD U W AVD mtr get ipm_temperature int16 s2_temp IPM IPM AVD
46. MTR_PORT_WN PORT7 DR BIT B6 W MTR_PORT_SW1 MTR_PORT_SW2 PORT9 PORT BIT B1 PORT9 PORT BIT B2 SW1 SW2 MTR_PORT LED1 PORTA DR BIT B2 LED1 MTR_PORT LED2 PORTA DR BIT B3 LED2 MTR_LED_ON MTR_LED_OFF MTR_INPUT_V 24 240 1 41421356 MTR_IC_GATE_ON V int32 MTR_INPUT VX 0 8 80 VI MTR_HALF_VDC MTR_INPUT_V 2 0f 2 V MTR_ADC_SCALING 0x7FF AD MTR_CURRENT_SCALI NG 20 0f 4095 0f 100 0f4095 0f AVD MTR_VDC_SCALING 111 0f4095 0f 686 8f4095 0f D MTR_IPMTEMPERATU RE_SCALING 5 0f 1023 GOIS GIS G IPM AD BE MTR_OVERCURRENT_ LIMIT Co Al MTR_OVERVOLTAGE_ LIMIT 28 400 M MTR_UNDERVOLTAGE _LIMIT 0 100 IM MTR_OVERIPMTEMPE RATURE_LIMIT 3 IPM V MTR_PORT_IC_GATE PORTB DR BIT B3 MTR_IC_GATE_ON OO OO OC
47. cmt mtr_init poe3 init wdt clear_wdt mtr_clear_oc fladg mtr clear_ cmtO_flag mtr_interrupt c mtr_over_current_interrupt 3 3 8 3 7 mtr ctrl_rx62t100 c 1 1 mtr mtu4_interrupt 100 s PI mtr cmtO_interrupt 1 ms PI R01AN2155JJ0100 Rev 1 00 2014 9 26 Page 19 of 43 ENESAS mtr_ spm_less_foc c RX62T 3 9 R_MTR _InitSequence
48. ctrl mode unit16 g_u1 error status 8 IPM OxFF d PI V q PI V W W gfMkpid foat32 d Pl d P R01AN2155JJ0100 Rev 1 00 Page 23 of 43 2014 9 26 XENESAS RX62T 3 13 9 9 P d PI 9 Pl gkp_speed foat32 PI 9 PI q P PI 9 d PI A lrad s lrad s V W gf4 speedipfk m
49. 003f PI CP_EMF_EST_K 0 2 1 935f CP_THETA_EST K CP_SPEED_LPF K 0 2 0 0948f 0 04 0 0136f LPF CP_CURRENT_LPF_K 1 0 0 8f SGOI SGI S GI OI GI GI S GI S I S I LPF CP_OFFSET_LPF_K 0 1 LPF CP_MAX_SPEED_RPM 2000 3000 0f Irpm R01AN2155JJ0100 Rev 1 00 2014 9 26 CP_OL TO LESS SPEED_RPM 600 0f ENESAS lrpml Page 34 of 43 RX62T control_parameter h 3 26 CP_OL IQ_UP SPEED_RPM 500 0f d rpml CP_LESS TO_OL SPEED_RPM 350 0f 300 0f rpml CP_OL REF_ID 1 0f 1 25f d A CP_OL ID UP TIME 128 0f 64 0f d ms CP_ID_ DOWN_TIME oolsole gls gle g 512 0f 1024 0f d ms CP_REF_SPEED_CONST_TIME ms CP_ACCEL_MODE0
50. A MTR_REF_SPEED_CONST_T CP_REF_SPEED_CONST_TIME IME ms MTR_ACCEL_MODE0 CP_ACCEL_MODE0 rad s MTR_ACCEL_MODE1 CP_ACCEL_MODE1 rad s4 MTR_FLUCTUATION_LIMIT CP_FLUCTUATION_LIMIT rad s MTR_OL_ IQ_DOWN_TIME CP_OL IQ_ DOWN_TIME q ms MTR_OL_ IQ_ DOWN_STEP 1 MTR_OL_IQ_ DOWN_TIME q MTR_OL REF_IQ CP_OL REF_IQ q MTR_OL_IQ_UP TIME CP_OL_IQ_UP TIME q ms R01AN2155JJ0100 Rev 1 00 2014 9 26 ENESAS Page 32 of 43 mtr_ spm_less_foc h MTR_OL_IQ_UP STEP 3 23 MTR_OL REF_IQ MTR_OL_IQ_UP TIME RX62T q A MTR_OFFSET_CALC_TIME CP_OFFSET_CALC_TIME ms MTR_EVERY_TIME 0 MTR_ONE_TIME
51. CP_OL REF_IQ q OL_IQ_UP TIME CP_OL IQ_UP TIME q ms OFFSET_CALC_TIME CP_OFFSET_CALC_TIME ms SW_ON 0 SW_OFF 1 Low CHATTERING_CNT VR1_SCALING ADJUST_OFFSET 0x1FF Selsele els else POLE_PAIRS MP_POLE_PAIRS M_CW M_ CCW ICS_INT LEVEL ICS R01AN2155JJ0100 Rev 1 00 2014 9 26 RENESAS Page 28 of 43 3 18 RX62T motor_parameter h mtr ctr_rx62t100_t2001 h mtr ctr_rx62t100_t1102 h MP_POLE_PAIRS MP_MAGNETIC_FLUX 0 006198f 0 091f Wb MP_RESISTANCE 0 453f 1 69235f 9 MP_INDUCTANCE MTR_PWM_TIMER_FR EQ 0 0009477f 0 00889f 9 9 S 9I 9 4 NN H PWM MHz MTR_CARRIER_FREQ 20 0f
52. DE MTR_SPEED_CHANGE Loumorr speed reference by input value speed Pl output MTR_LESS_FOC_MODE MTR_SPEED_CONST MTR_START_MODE _CHANGE_LOW MTR_IQ_ZERO 0 MTR_OL MTR_OPENLOOP_MODE la reference 1 reference A speed reference rpm CFP OL REE IDB o 1 1 a 1 a a a el a LL 8 8 EE GO 2 2e 2 8B 8 8 SS 2 E 5 5 O OO oe 0 o 8 10 5 5 a a S S S a 2 8 3 4 R01AN2155JJ0100 Rev 1 00 Page 16 of43 2014 9 26 XENESAS RX62T 3 1 5 NII 3
53. MTR_IQ_PI_KI MTR_SPEED_PI_KP CP_IQ_PI_KI CP_SPEED_PI_KP d PI PI MTR_SPEED PI KI CP_SPEED PI KI PI MTR_EMF_EST_K CP_EMF_EST_K MTR_THETA_EST_K CP_THETA_EST K MTR_SPEED_LPF_K CP_SPEED_LPF_K LPF MTR_CURRENT_LPF_K CP_CURRENT_LPF_K LPF MTR_OFFSET _LPF_K CP_OFFSET_LPF_K LDPF MTR_LIMIT_IQ 4 5 PI A MTR_ILIMIT_IQ 4 5 PI A MTR_LIMIT_VD R01AN2155JJ0100 Rev 1 00 2014 9 26 12 120 1 41421356 ENESAS d Pl IM Page 31 of 43 RX62T mtr spm_less_foc h MTR_LIMIT_VQ 3 22 120 1 41421356 q Pl IM MTR_I LIMIT_VD 12 120 1 41421356 d PI IM MTR_ILIMIT_VQ 12 120 1 41421356 q Pl IM MTR_MAX_SPEED_RPM CP_MAX_SPEED_RPM
54. RENESAS 0 R01AN2155JJ0100 Rev 1 00 RX62T 92096 RX62T m Circuit Scopg RX62T RSFS62TAADFP
55. V 10bitAID 3 CMT 0 1 ms 3 MTU3 3 4 PWM CHigh 35 3 POE3 POBO PWM PWM PWM R01AN2155JJ0100 Rev 1 00 Page 7 of43 2014 9 26 XENESAS RX62T 2 3 2 3 1
56. oat32 LPF SV V 66 6 ge cumentlpfk foat32 PF 0 6 LPF jd MTR PICTRL d 9 P speed MTR PICTRL mtrtp MTR PARAMETER g_u1 direction unit8 0 CW 1 CCW g_u1 dir buf unit8 0 CW 1 CCW g_u1_enable_write ICS U MTR_ICS_INPUT ICS UI g_u2 cnt adjust unit16 g_u1 fag_id ref unit8 d d d d d 0 g_u1 flag_iq ref unit8 q d 0 PI d q g_f4 temp_speed rad float32 g_f4 temp_ref_speed_rad float32 g_u1 flag_down_to_ol R01AN2155JJ0100 Rev 1 00 Page 24 of 43 2014 9 26 XENESAS RX62T 3 14
57. pi_ctrl PI foat32 f4_ref PI mtr_set variables R_MTR _lcsInput MTR_ICS_INPUT ics_input ICS R_MTR_SetSpeed int16 ref_speed R_MTR SetDir uint8 dir R_MTR_GetSpeed int16 s2_speed rpm R_MTR_GetDir uint8 g_u1_direction R_MTR_GetStatus uint8 g_u1_mode_system R01AN2155JJ0100 Rev 1 00 2014 9 26 Page 20 of 43 RENESAS RX62T mtr_ spm_less_foc c mtr_error_check 3 10 mtr_set speed_ref mtr_set iq_ref mtr_set id ref mtr calc_ mod float32 4 vu U
58. rpm MTR_MAX_SPEED_RAD MTR_OL TO_LESS_SPEED_ RPM MTR_MAX_SPEED_RPM MTR_POLE_PAIRS MTR_TWOPI 60 CP_OL TO LESS_ SPEED_RPM rad s rpml MTR_OL TO_LESS_SPEED_ RAD MTR_OL TO_LESS_ SPEED_RPM MTR_POLE_PAIRS MTR_TWOPI 60 rad s MTR_OL IQ_UP SPEED_RP M CP_OL IQ_UP SPEED_RPM q cu MTR_OL IQ_UP SPEED_RA D MTR_LESS_TO_OL SPEED_ RPM MTR_OL IQ_UP SPEED_RPM M TR_POLE_PAIRS MTR_TWOPU60 CP_LESS TO_OL SPEED_RPM q SE rpm MTR_LESS_TO_OL SPEED_ RAD MTR_LESS TO_OL SPEED_RPM MTR_POLE_PAIRS MTR_TWOPI 60 rad s MTR_OL REF_ID CP_OL REF_ID d A MTR_OL ID_UP TIME CP_OL ID UP TIME d ms MTR_OL ID_UP STEP MTR_OL REF_ID MTR_OL ID_UP TIME d A MTR_ID_DOWN_TIME CP_ID_DOWN_TIME d ms MTR_ID_ DOWN_STEP MTR_OL REF_ID MTR_ID_DOWN_TIME d
59. s 2 400 M 100 3 100 VM 100 s 4 6000 rpm 100 s 5 IPM 3 V 60 10 C 100 us POE0 PWM 1 4 m Circuit Scope R01AN2155JJ0100 Rev 1 00 Page 10 of 43 2014 9 26 XENESAS RX62T 3 3 1 3 1 1 SW1 ICS SW1 P91 P91 Low High
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