永久磁石同期モータの120 度通電制御 - Renesas Electronics
Contents
1.2.
3. ROM
4. OA AV
5. RoHS
6. 10 11 1 3 2 1
7. ctr_ui icS_ui software_init mtr t2001 c get_vr1 uint16 ad_data A D get_sw1 SW1 uint8 tmp_port SW1 get_sw2 SW2 uint8 tmp_port SW2 led1_on LED1 led2_on LED2 led1_of LED1 led2_off LED2 R01AN2659JJ0100 Rev 1 00 Page 19 of 60 2015 03 31 XENESAS 120 RL78 G14
8. PWM RL78 G14 R01AN2659JJ0100 Rev 1 00 Page 7 of 60 2015 03 31 XENESAS 120 RL78 G14 2 4 2 4 1 2 4 RL78G14 T2001_SPM_ HALL 120 RSPM_CSP_V100 main h mtr_ common h motor_parameter h control_parameter h mtr_ctrl_t2001 h mtr_ctrl_rI78g14 h RL78G14
9. LSI
10. LED R01AN2659JJ0100 Rev 1 00 51 of 60 2015 03 31 XENESAS 120 RL78 G14 2 HW 2 asb u b NO 3 3 q T 3 tsa 7 ves No YES mD ICS
11. SW2 ON SW2 OFF 9g_u1_sw1_cnt uint8 SW1 9g_u1_sw2 uint8 SW2 9g_u1 stop_red Uint8 VR1 550 rpm 9_52 sw _userif int16 UI 0 1 g_s2_mode_system int16 0 1 2 3 9_52 enable_write Int16 ICS ICS g ul _speed_Di uint8 PI PI 3 msl 9g_u2 boot_mode uint16 BOOT 20 msl 9g_u2 stop uint16 10 msl g u
12. RESET STOP MODE MODE RUN EVENT RESET EVENT STOP EVENT whern 100ms passed ERROR MODE ERROR EVENT RESET STOP MODE RESET EVENT ERROR MODE RUN MODE RUN EVENT reference speed when openloop STOP EVENT 600rpm amp reference voltage 4V ERROR EVENT R 3 7 120 R01AN2659JJ0100 Rev 1 00 Page 17 of 60 2015 03 31 XENESAS 120 8 3 1 7 NS 3 4 RL78 G14 IEE G E 5
13. R_MTR_SetDir uint8 dir R_MTR_GetSpeed int16 g_s2_rpm R_MTR_GetDir R_MTR_GetStatus uint8 9_u1_mode_system mtr_error_check mtr_detect_zerocroSS R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 24 of 60 120 RL78 G14 3 12 3 5 mtr_interrupt c mtr_over_current_interrupt mtr_tau0_interrupt 3 ms
14. ENESAS http www renesas com 100 0004 2 6 2 2015 Renesas Electronics Corporation All rights reserved Colophon 3 0
15. rpml ACCEL_MODE0 CP_ACCEL_MODE0 16 rad s ACCEL_MODE1 CP_ACCEL_MODE1 16 rad s2 SPEED_PI_KP CP_SPEED_PI_KP 65535 PI SPEED_PI_KI CP_SPEED_PI_KI 4194304 PI SPEED_LPF_K CP_SPEED_LPF_K 16384 LPF OL_START_RPM OL_MODE1_CHANGE_RPM CP_OL_START_RPM CP_OL_ MODE1_CHANGE_RPM rpm 1 rpm OL_MODE2_CHANGE_RPM CP_OL_ MODE2_CHANGE_RPM 2 rpm OL_START_REFV CP_OL_START_REFV 128 VI OL_MODE1_RATE_RPM CP_OL_MODE1_RATE_RPM 1 rpm control period OL_MODE2_RATE_REFV MODE2_RATE_REFV 128 2 V control Deriod OL_MODE2_RATE_RPM CP_OL_MODE2_RATE_RPM 2 rpm control period OL_MODE3_RATE_REFV MODE3_RATE_REFV 128 3 V control period OL_MODE3_MAX_REFV CP_OL_ MODE3_MAX_REFVY128 3 V SW_ON 0 Low SW_OFF 1 Low CHATTERING_CNT 10
16. 0 b TAU 1 3 RD TRD PVM U C 2089 gt gt F2Z4 0 6 PWM PWM 6 PWM 50 s High PWM GQNTO Low PWM
17. 2 R01AN2659JJ0100 Rev 1 00 Page 52 of 60 2015 03 31 XENESAS 120 RL78 G14 4 1 ms 1 ms Vdc run mode BOOT BOOT BOOT 100 run mode HALL120 PI PI NO 2 YES PI R01AN2659JJ0100 Rev 1 00 Page 53 of 60 2015 03 31 XENESAS 120 5 RL78 G14 R01AN2659JJ0100 Rev 1 00 Page 54 of 60 2015 03 31 5 5
18. PI 3 ms CW CCW 600 rpm 2000 rpm 4 6 1 28 V 50 s 2 2500 rpm 50 s 3 20 ms 4 INTP0 PWM 1 4 In Circuit Scope R01AN2659JJ0100 Rev 1 00 2015 03 31 Page 11 of 60 XENESAS 120 RL78 G14 3 3 1 3 1 1 SW1 SW1
19. control_paramet CP_ SPEED_PI_KP 0 001 PI er h CP_SPEED 0 0008 PI CP_SPEED_LPF_K 0 35 LPF _ _ SPEED_RPM 2000 rpm CP_MIN_SPEED_RPM 600 rpm CP_ACCEL_MODE0 1 0 rad s2 CP_ACCEL_MODE1 1 0 rad s CP_OL START_RPM 180 rpm CP_OL_MODE1_CHANGE_RPM 200 1 rpm CP_OL MODE2_CHANGE_RPM 600 2 rpml CP_OL_START_REFV 1 8 V MODE1_RATE_RPM 5 1 rpm control period CP_OL_MODE2_RATE_REFV 0 12 2 V control period CP_OL_MODE2_RATE_RPM 20 2 rpm control period CP_OL_MODE3_RATE_REFV 0 1 3 V control period MODE3_MAX_REFV 3 0 3 VI mtr_ctrl 0178914 MTR_PWM_TIMER_FREQ 64 0f PWM MHz _t2001 h MTR_CARRIER_FREQ 20 0f kHz MTR_DEADTIME 1500 MTR_DEADTIME_SET MTR_DEADTIME MTR_PWM_TIMER_FREQ 1000 MTR_CARRIER_SET MT
20. ics_R5F104LE h ICS RL78G14 vector c ics_uar ics_R5F104LE rel ICS mtr_ctrl_t2001 c mtr_ctrl_rI7Z8g14 c mtr_ctrl_rI78g14_t2001 c RL78G14 RL78G14 amp mtr_interrupt c mtr_spm_less_120 rspm c 120 2 7 RX62T100_T2001_SPM_ LESS_120 CPM_CSP_V100 main h mtr_ common h motor_parameter h control_parameter h mtr_ctrl_t2001 h mtr_ctrl_rI78g14 h RL78G14 mtr_ctrl_rI78g14_t2001 h RL78G14 amp mtr_ spm_less_120_cpm h R5F104LE h 120 ICS RL78G14_vector c ics_uart ics_R5F104LE rel ICS
21. lt N YES ICS R01AN2659JJ0100 Rev 1 00 Page 56 of 60 2015 03 31 XENESAS 120 1 8 1 ms El RL78 G14 7 1 ms 2 120 PI PWM 1887 J 2 R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 57 of 60 120 RL78 G14 4 In Circuit Scope 4 1
22. MTR_ADCCH_VV 4 V AD MTR_ADCCH_VW 5 W R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 47 of 60 120 RL78 G14 3 36 3 5 mtr spm_less 1 MTR_TWOPI 2 3 14159265f 2 20_ MTR_RPM_RAD 6863 rpm rad s MTR_RAD_RPM 611 MTR_POLE_PAIRS rad s rpm MTR_POLE_PAIRS MP_POLE_PAIRS MTR_SPEED_LIMIT_RPM 2500 rpm MTR_SPEED_LIMIT MTR_SPEED_LIMIT_RPM rad s MTR_POLE_PAIRS MTR_TWOPI 60 16 MTR_SPEED_PI_DECIMATION 2 PI MTR_SPEED_PI_KP int16 CP_SPEED_PI_KP 65535 MTR_SPEED_PI int16 CP_SPEED_PI KI 4194304 MTR_SPEED_PI_LIMIT_V 24 128 PI V MTR_SPEED_PI LIMIT V 24 128 524288 PI VI MTR_SPEED_CALC_BASE 1534 MTR_SPEED_LPF_K int16 CP_SPEED_LPF_K 16384 LPF MTR_ACCEL_MODE0 CP_ACCEL_MODEO0 16
23. 120 RL78 G14 mm mm II mm E 3 4 60 R01AN2659JJ0100 Rev 1 00 Page 15 of 60 2015 03 31 XENESAS 120 RL78 G14 3 1 5 4 pm L RELI UV s 3 5 R01AN2659JJ0100 Rev 1 00 Page 16 of 60 2015 03 31 XENESAS 120 RL78 G14 3 1 6 3 6 3 7 120
24. AC AC PWM
25. 120 3 11 6 RL78 G14 6 ICS gt UI Board or ICS UI ICS ICS LED 4 R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 55 of 60 120 RL78 G14 7 d 3 A D
26. MTR_LESS_FOC_MODE 0 06 MTR_OVER_CURRENT_ERROR 0x01 MTR_OVER_VOLTAGE_ERROR 0 02 MTR_OVER_SPEED_ERROR 0x03 MTR_TIMEOUT_ERROR 0x04 MTR_HALL ERROR 0 05 MTR_BEMF_ERROR 0 06 BEMF MTR_UNDER_VOLTAGE_ERROR 0x07 MTR_UNKNOWN_ERROR Oxff MTR_MODE_STOP 0x00 MTR_MODE_RUN 0x01 MTR_MODE_ERROR 0x02 MTR_SIZE_STATE MTR_EVENT_STOP MTR_EVENT_RUN MTR_EVENT_ERROR MTR_EVENT_RESET MTR_SIZE_EVENT R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 35 of 60 120 RL78 G14 37 120 3 24 1 5 ICS_UI UI ICS BOARD_UI UI
27. mtr_pattern_set mtr_speed_calc mtr_start_init mtr_pi_ctrl MTR_PI_CTRL pi_ctrl PI int32 s2_ref PI mtr_set variables R_MTR_lcsInput ics_input ics R_MTR_SetSpeed int16 ref_speed ics R_MTR SetDir uint8 dir R_MTR_GetSpeed int16 s2_speed_rpm R_MTR_GetDir R_MTR_GetStatus uint8 g_u1_mode_system
28. 9g_u2 angle_shift_cnt uint16 g_s2 angle_shift_adjust int16 g ul pattern_open uint8 ics_input_buff MTR_ICS_INPUT R01AN2659JJ0100 Rev 1 00 2015 03 31 ICS XENESAS Page 30 of 60 120 RL78 G14 3 6 120 3 19 1 5 ICS_UI UI ICS BOARD_UI UI M_CW CW M_CCW CCW MAX_SPEED SPEED_RPM rpm MIN_SPEED CP_MIN_SPEED_RPM pm MARGIN_SPEED 50 rpm MARGIN_MIN_SPEED MIN_SPEED MARGIN_SPEED START_REFV
29. mtr_ctrl_rI78g14_t2001 h mtr_spm_hall_120 rspm h RL78G14 amp 120 ics_R5F104LE h ICS RL78G14_vector c ics_uart ics_R5F104LE rel ICS mtr_ctrl_t2001 c mtr_ctrl_rI78g14 c RL78G14 mtr_ctrl_rI78g14_t2001 c mtr_interrupt c RL78G14 amp mtr_spm_hall_120_ rspm c 120 2 5 RL78G14 T2001_SPM_ HALL_120 CPM_CSP_V100 main h mtr_ common h motor_parameter h control_parameter h mtr_ctrl_t2001 h mtr_ctrl_rI78g14 h mtr_ctrl_rI78g14_t2001 h RL78G14 RL78G14 amp mtr_spm_hall_120_ cpm h
30. MTR_HALL ERROR 0x05 MTR_BEMF_ERROR 0x06 BEMF MTR_UNDER_VOLTAGE_ERROR 0x07 MTR_UNKNOWN_ERROR Oxf MTR_MODE_STOP 0x00 MTR_MODE_RUN 0x01 MTR_MODE_ERROR 0x02 MTR_SIZE_STATE MTR_EVENT_STOP MTR_EVENT_RUN MTR_EVENT_ERROR MTR_EVENT_RESET MTR_SIZE_EVENT R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 50 of 60 120 RL78 G14 3 10 1 ICS gt UI ICS UI Board or ICS UI Board ICS
31. m Circuit Scope ICS ICS Circuit Scope Incircuit Scope Software Files Renesas Electronics ICS Incircuit Scope_eny File View Channels Windows Tools Help Open Project Save Project Load Variables A Clear Variables 6 Window Settings Channel Settings 2 Zoom 3 Zoom 4 Mode Edge auto Rise single O Fall Normal O Both tiv TIME DIV 2 00m TRG MODE Auto CH1 100K TRG PDS 8 00m Acquisition Length 1005 Sample 2000u lt gt lt gt Min 1 S02000E 003 Min 1 505000 003 Max 1 cn3nnnFtnna 1 aqRnnnFtnn3 4 1 In Circuit Scope 4 2
32. mtr_error_check R01AN2659JJ0100 Rev 1 00 2015 03 31 ENESAS Page 20 of 60 120 RL78 G14 mtr_interrupt c mtr_ctrl_rI7Z8g14 c 3 7 3 5 mtr_hall_interrupt mtr_over_current_interrupt mtr_tau0_interrupt BOOT 3 ms mtr_carrier_interrupt 3 8 4 5 R_MTR_InitHardware mtr_init clock mtr_init tau TAU mtr_init int
33. 1 3 0 CW 1 g_u1_direction com_s2_ rpm rpm g_s2_ref_speed com_s2 start_refv V com_s2_ref_speed com_s2 kp_speed com_s2 ki speed PI PI g_s4_kp_speed g_s4 com_s2 speed lpf k LPF g_s2 speed_lpf com_s2 accel rad s2 g_s2_accel 52 enable_write 4 2 105 com_s2_sw_userif 0 ICS 1 com_s2 0 1 3 com_s2 direction 0 CW 1 g_u1_direction com_s2 rpm com_s2 _ rpm PI 9_52 g_s4 kp_speed com_Ss2 ki speed PI
34. mtr carrier_interrupt 3 13 4 5 mtr_ctrl_rI78g14 c R_MTR_InitHardware mtr init clock mtr_init tau TAU mtr init intp INTPO0 clear_wdt WDT mtr clear_oc flag mtr clear_trd0_imfa R01AN2659JJ0100 Rev 1 00 Page 25 of 60 2015 03 31 XENESAS 120 RL78 G14 3 14 5 5 mtr_ctrl rI78g14_t2001 c mtr_init trd mtr init ad_converter init_ui
35. V MTR_UNDERVOLTAGE_LIMIT 10 128 V MTR_VDC_SCALING 3523 MTR_RECIVDC_SCALING 64 AVD MTR_TAU1_CNT TCR01 MTR_ADCCH_VR1 6 VR1 AD MTR_ADCCH_VDC 2 AD MTR_ADCCH_VU 3 U MTR_ADCCH_VV 4 V MTR_ADCCH_VW 5 W AD R01AN2659JJ0100 Rev 1 00 Page 42 of60 2015 03 31 ENESAS 120 RL78 G14 3 31 3 5 mtr_spm_less _120_rspm h MTR_TWOPI 2 3 14159265f 2 MTR_RPM_RAD 6863 rpm rad s MTR_RAD_RPM 611 MTR_POLE_PAIRS rad s rpm MTR_POLE_PAIRS MP_POLE_PAIRS MTR_SPEED_LIMIT_RPM 2500 rpm MTR_SPEED_LIMIT MTR_SPEED_LIMIT_RPM MTR_POLE_PAIRS MTR_TWOPI 60 16 rad s MTR_SPEED_PI_DECIMATION 2 PI MTR_SPEED_PI_KP int16 CP_SPEED
36. R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 37 of 60 120 RL78 G14 3 26 3 5 mtr_spm_hall _120_cpm h MTR_TWOPI 2 3 14159265f 2 MTR_RPM_RAD 6863 rpm rad s MTR_RAD_RPM 611 MTR_POLE_PAIRS rad s rpm MTR_POLE_PAIRS MP_POLE_PAIRS MTR_START_REFV int16 MP_START_REFV 128 V MTR_SPEED_LIMIT_RPM 2500 rpm MTR_SPEED_LIMIT MTR_SPEED_LIMIT_RPM MTR_POLE_PAIRS MTR_TWOPI 60 16 rad s MTR_SPEED_PI_DECIMATION 2 PI MTR_SPEED_PI_KP int16 CP_SPEED_PI_KP 65535 MTR_SPEED PI KI int16 CP_SPEED_PI_KI 4194304 MTR_SPEED_PI_LIMIT_V 24 128 PI VI MTR_SPEED_PI_I_LIMIT_V 24 128 65535 PI VI MTR_SPEED_LPF_K int16 CP_SPEED_LPF_K 16384 LPF MTR_SPEED_PI_CHANGE_RPM MP_POLE_PAIRS CP_MIN_SPEED_ RPM MTR_SPEED_CALC_BA
37. VR1_SCALING ADJUST_OFFSET 4 0x1FF POLE_PAIR MP_POLE_PAIRS 7 REQ_CLR 0 VR1 REQ_SET 1 VR1 motor_parameter h MP_POLE_PAIRS 7 7 MP_MAGNETIC_FLUX 0 006198f Wb MP_RESISTANCE 0 453f Q MP_INDUCTANCE 0 0009447f I H R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 41 of 60 120 RL78 G14 3 30 2 5 control_parameter h CP_SPEED_PI_KP 0 001 PI CP_SPEED_PI_KI 0 0008 Pl CP_SPEED_LPF_K 0 35 LPF SPEED_RPM 2000 rpm CP_MIN_ SPEED_RPM 600 rpm CP_ACCEL_MODE0 0 125 rad s9 CP_ACCEL_MODE1 0 125 rad s2 CP_OL_START_RPM 180 rpm CP_OL_MODE1_CHANGE_R
38. 4 6 1 28 V 50 s 2 2500 rpm 50 s 3 20 ms 4 INTP0 PWM iH 1 4 In Circuit Scope 2 10 120 60 SW1 P91 Low High ICS 60 PWM 20 kHz PWM
39. MTR_BEMF_120_MODE 0x04 BEMF 120 MTR_ENCD_FOC_MODE 0x05 MTR_LESS_FOC_MODE 0x06 MTR_OVER_CURRENT_ERROR 0x01 MTR_OVER_VOLTAGE_ERROR 0x02 MTR_OVER_SPEED_ERROR 0x03 MTR_TIMEOUT_ERROR 0x04 MTR_HALL_ERROR 0x05 MTR_BEMF_ERROR 0x06 BEMF MTR_UNDER_VOLTAGE_ERROR 0 07 MTR_UNKNOWN_ERROR Oxff MTR_MODE_STOP 0x00 MTR_MODE_RUN 0x01 MTR_MODE_ERROR 0x02 MTR_SIZE_STATE 3 MTR_EVENT_STOP 0x00 MTR_EVENT_RUN 0x01 MTR_EVENT_ERROR 0x02 MTR_EVENT_RESET 0x03 MTR_SIZE_EVENT 4 R01AN2659JJ0100 Rev 1 00 Page 45 of 60 2015 03 31 XENESAS 120 RL78 G14 3 9 3 ICS_UI 120
40. MTR_OL_MODE2_RATE_RPM CP_OL_MODE2_RATE_RPM R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 43 of 60 120 RL78 G14 mtr_spm_less _120_rspm h 3 32 4 5 MTR_OL_MODE3_RATE_REFV CP_OL_MODE3_RATE_REFV 12 8 V MTR_OL_MODE3_MAX_REFV CP_OL_MODE3_MAX_REFV 128 V MTR_OL_FREQ_CALC MTR_CARRIER_FREQ 60000 6 MTR_POLE_PAIRS MTR_OL_START_FREQ int16 MTR_OL_FREQ_CALC M TR_OL_START_RPM MTR_OL_MODE1_CHANGE_FREQ int16 MTR_OL_FREQ_CALC M TR_OL_MODE1_CHANGE_RPM MTR_OL_MODE2_CHANGE_FREQ int16 MTR_OL_FREQ_CALC M TR_OL_MODE2_CHANGE_RPM MTR_OL_BEMF_CHANGE_RPM MTR_OL_MODE2_CHANGE_RP M MTR_POLE_PAIRS BEMF rpm MTR_PATTERN_CW_V U MTR_PATTERN_CW_W_U MTR_PATTERN_CW_W_V MTR_PATTERN_CW_U MTR_PATTERN_CW_U_W MTR_PATTERN_CW_V_W CW MTR_PATTERN_CCW_V MTR_PATTERN_CCW_V_W MTR_PATTERN_CCW_U_W MTR_PATTE
41. P05 P05 Low High VR1 ANI6 A D 3 1 3 550 rpm 312 3 1 A D 1ICS A D VR1 3 1 0 r
42. rad s7 MTR_ACCEL_MODE1 CP_ACCEL_MODE1 16 rad s2 MTR_MAX_DRIVE_V int16 15 128 V MTR_MIN_DRIVE_V int16 2 0 128 V MTR_TIMEOUT_CNT 400 ms 50 s MTR_SHIFT_ADJUST 2 MTR_STOP_BEMF 48 MTR_OL_CTRL_PERIOD 20 MTR_CARRIER_FREQ MTR_OL START_RPM CP_OL_START_RPM rpm MTR_OL MODE1_CHANGE_RPM CP_OL MODE1_CHANGE_RPM rpm MTR_OL MODE2_CHANGE_RPM CP_OL MODE2_CHANGE_RPM rpm MTR_OL START_REFV CP_OL START_REFV 128 V MTR_OL MODE1_RATE_RPM CP_OL MODE1_RATE_RPM rpm MTR_OL MODE2_RATE_REFV CP_OL MODE2_RATE_REFV 128 V MTR_OL MODE2_RATE_RPM CP_OL MODE2_RATE_RPM rpm MTR_OL MODE3_RATE_REFV CP_OL MODE3_RATE_REFV 128 V MTR_OL_MODE3_MAX_REFV MAX_REFV 128 V MTR_OL_FREQ_CALC MTR_CARRIER_FREQ 60000 76 MTR_POLE_PAIRS MTR_OL_START_FREQ MTR_OL_MODE1_C
43. MTR_UNKNOWN_ERROR Oxff MTR_MODE_STOP 0x00 MTR_MODE_RUN 0x01 MTR_MODE_ERROR 0x02 MTR_SIZE_STATE MTR_EVENT_STOP MTR_EVENT_RUN MTR_EVENT_ERROR MTR_EVENT_RESET MTR_SIZE_EVENT R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 40 of 60 120 RL78 G14 3 8 120 3 29 1 5 ICS_UI UI ICS BOARD_UI UI M_CW CW M_CCW 0 1 0 1 CCW MAX_SPEED CP_MAX_ SPEED_RPM rpm MIN_SPEED CP_MIN_SPEED_RPM rpm MARGIN_SPEED 50 rpm MARGIN_MIN_SPEED MIN_SPEED MARGIN_SPEED
44. RL78 G14 3 1 4 PWM PWM PWM 3 2 Torr 100 TorF gt t 3 2 PWM m m V PWM E 60 60 3 3 3 4 E 3 3 60 Page 14 of 60 R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS
45. 2z rad LPF HU P30 INTP3 I P31 INTP4 HW P140 INTP6 I I I I I HV I I TCRO1 V V lt gt rpm 2 7 X ER 3 1 PI PI K v K 0 0 5 Vv K PI K PI lo lb PI SS R01AN2659JJ0100 Rev 1 00 Page 13 of 60 2015 03 31 XENESAS 120
46. RL78 G14 3 22 4 5 mtr_spm_hall_120 rspm h MTR_PATTERN_ERROR MTR_UP_PWM_VN_ON MTR_UP_ PWM MTR_VP_PWM_UN_ON MTR_VP_PWM_WN_ON MTR_WP_PWM_UN_ON MTR_WP_PWM_VN_ON MTR_UP_ON_VN_PWM MTR_UP_ON_ WN_PWM MTR_VP_ON_UN_PWM N O N O MTR_VP_ON_WN_PWM MTR_WP_ON_UN_PWM MTR_WP_ON_VN_PWM MTR_CW CW MTR_CCW CCW MTR_FLG_CLR MTR_FLG_SET MTR_STOP_WAIT_CNT MTR_ICS_DECIMATION ms ICS R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 34 of 60 120 RL78 G14 3 23 5 5 mtr_spm_hall_120 rspm h MTR_BOOT_MODE 0 00 MTR_OPENLOOP_MODE 0x01 MTR_START_MODE 0x02 MTR_HALL 120 0x03 120 MTR_BEMF_120_MODE 0x04 BEMF 120 MTR_ENCD_FOC_MODE 0x05
47. motor_parameter h control_parameter h MP_POLE_PAIRS 7 7 MP_MAGNETIC_FLUX 0 006198f Wb MP_RESISTANCE 0 453f 9 MP_INDUCTANCE CP_START_REFV 0 0009447f H V CP_SPEED_PI_KP PI CP_SPEED_PI_KI PI CP_SPEED_LPF_K CP_MAX_SPEED_RPM LPF rpm CP_MIN_SPEED_RPM rpm CP_ACCEL_MODE0 rad s CP_ACCEL_MODE1 rad s2 R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 36 of 60 120 RL78 G14 3 25 2 5 mtr_ctrl 178914 12001 MTR_PWM_TIMER_FREQ 64 0f PWM MHz MTR_CARRIER_FREQ 20 0f kHz MTR_DEADTIME 1500 MTR_DEADTIME_SET MTR_DEADTIME MTR_PWM_TIMER_FREQ 1000 MTR_CARRIER_SET MTR_PWM_TIMER_FREQ 1000 MTR_CARRIER_FREQ 2 MTR_DEADTIME_SET 2
48. uint8 u1_state uint8 u1_state uint8 u1_state uint8 u1_state mtr_act reset uint8 u1_state uint8 u1_state mtr_act uint8 u1_state uint8 u1_state mtr_pattern_set mtr_speed_calc mtr_start_init mtr_pi_ctrl pi_ctr PI int32 s2_ref PI PI mtr_set variables R_MTR_lcsInput ics_input ics ics R_MTR_SetSpeed int16 ref_speed
49. mtr_ctrl_start mtr_ctrl_stop mtr change_pattern uint8 pattern mtr_get_adc A D AD uint8 u2_temp R01AN2659JJ0100 Rev 1 00 Page 26 of 60 2015 03 31 XENESAS 120 3 4 9_52 max speed H 120 3 15 1 2 RL78 G14 T E rpm 9_52 min_speed rpm 9_52 mardgin_min_speed rpm 9_52 ref_speed rpm g ul_rot dir CW CCW g_u1_motor_status g ul_reset_req uint8
50. mtr_spm_hall_120 rspm c 3 6 275 R_MTR_InitSequence mtr_spm_hall_120_ cpm c R_MTR_ExecEvent uint8 u1_event mtr_act_run uint8 u1_state uint8 u1_state mtr_act stop uint8 u1_state uint8 u1_state _ uint8 u1_state uint8 u1_state mtr_act reset uint8 u1_state uint8 u1_state mtr_act error uint8 u1_state uint8 u1_state
51. P52 LED1 P53 LED2 P30 INTP3 HU P31 INTP4 HV P140 INTP7 HW 23 ANI3 U P24 ANI4 25 ANI5 W P15 TRDIOB0 PORT or PWM U P13 TRDIOA1 PORT or PWM V P12 TRDIOB1 P14 TRDIODO PORT or PWM n P11 7 TRDIOC1 PORT or PWM W U PORT or PWM V P10 TRDIOD1 PORT or PWM W P137 INTP0 PWM RESET R01AN2659JJ0100 Rev 1 00 2015 03 31 Page 6 of60 XENESAS 120 RL78 G14 2 3 2 2 3 2 3 RD PWM PWM 6
52. RL78G14_T2001_SPM_HALL_120_ CPM_CSP_V100 RL78G14 RSF104LEA T2001 120 PWM RL78G14_T2001_SPM_LESS_120_RSPM_CSP_V100 RL78G14 RSF104LEA T2001 120 PWM RL78G14_T2001_SPM_LESS_120_CPM_CSP_V100 RL78G14 RSF104LEA T2001 120 PWM RL78G14 RO1UHO186JJO100 120 2657 0100 In Circuit Scope ICS CS http www desktoplab co jp download html Trial series T2001 50 60VA Low Voltage Inverter Unit User s Manual R01AN2659JJ0100 Rev 1 00 Page 1 of60 2015 03 31 ENESA AS 120 RL78 G14 OO 3 2 KTTNKNK TNI NN NKKINN NIKKITOTTIKOINNT
53. mtr_ctrl_t2001 c mtr_ctrl_rI7Z8g14 c RL78G14 0178914 12001 RL78G14 amp mtr_interrupt C mtr_ spm_less_120_cpm c 120 R01AN2659JJ0100 Rev 1 00 2015 03 31 Page 9 of60 XENESAS 120 2 4 2 RL78 G14 2 3 2 8 H W 223 2 8 mtr_spm_hall_120 rspm c mtr_ spm_hall_120_cpm c mtr_spm_less_120_rspm c mtr_ spm_less_120_cpm c H W mtr ctrl_rI78g14 c mtr_ ctrl t2001 c mtr ctrl_rI78g14 2
54. 5 5 120 RO1AN2659JJ0100 v 1 00 RL78 G14 ES RL78G14 120 Circuit Scope RL78G14 RSF104LEA RL78G14_T2001_SPM_HALL_120_ RSPM_CSP_V100 RL78G14 RSF104LEA T2001 120 PWM
55. 11 MTR_WP_ON_V_PWM MTR_CW CW MTR_CCW CCW MTR_FLG_CLR MTR_FLG_SET MTR_STOP_WAIT_CNT 200 ms ICS MTR_ICS_DECIMATION R01AN2659JJ0100 Rev 1 00 2015 03 31 39 of 60 XENESAS 120 RL78 G14 3 28 5 5 mtr_spm_hall_120 cpm h MTR_BOOT_MODE Ox00 MTR_OPENLOOP_MODE 0x01 MTR_START_MODE 0x02 MTR_HALL 120 0x03 120 MTR_BEMF_120_MODE 0x04 BEMF 120 MTR_ENCD_FOC_MODE 0x05 MTR_LESS_FOC_MODE 0 06 MTR_OVER_CURRENT_ERROR 0x01 MTR_OVER_VOLTAGE_ERROR 0x02 MTR_OVER_SPEED_ERROR 0 03 MTR_TIMEOUT_ERROR 0x04 MTR_HALL ERROR 0 05 MTR_BEMF_ERROR 0 06 BEMF MTR_UNDER_VOLTAGE_ERROR 0x07
56. E 2 2 R01AN2659JJ0100 Rev 1 00 Page 5 of 60 2015 03 31 XENESAS 120 2 3 2 3 1 2 1 RL78 G14 2 1 VR1 START STOP SW1 ERROR RESET SW2 LED1 LED LED2 LED RESET RESET1 RL78G14 2 2 2 2 R5F104LEA P27 ANI7 P26 ANI6 P05 START STOP P06 ERROR RESET
57. rpm control Deriod OL_MODE2_RATE_REFV CP_OL_ MODE2_RATE_REFV 128 2 V control Deriod OL_MODE2_RATE_RPM CP_OL_MODE2_RATE_RPM 2 rpm control Deriod OL_MODE3_RATE_REFV CP_OL_ MODE3_RATE_REFV 128 3 V control Deriod OL_MODE3_MAX_REFV SW_ON CP_OL_ MODE3_MAX_REFVY 128 0 3 V Low SW_OFF 1 Low CHATTERING_CNT 10 VR1_SCALING ADJUST_OFFSET 4 Ox1FF POLE_PAIR MP_POLE_PAIRS 7 REQ_CLR 0 VR1 REQ_SET 1 VR1 motor_parameter h MP_POLE_PAIRS 7 7 MP_MAGNETIC_FLUX 0 006198f Wb MP_RESISTANCE 0 453f Q MP_INDUCTANCE 0 0009447f H R01AN2659JJ0100 Rev 1 00 2015 03 31 ENESAS Page 46 of 60 120 RL78 G14 3 35 2 5
58. g_s4 _52_ LPF g_s2_speed_lpf com_s2 accel rad s g_s2_accel com_s2 ol _start_rpm g_s2_ol start rpm _52 ol mode1_change_rpm 1 9_52 ol mode1_change_rpm _52 ol mode2 change_rpm 2 g_s2 ol mode2 change_rpm com _s2 ol start_refv g_s2 ol start refv _52 ol mode1_rate_ rpm 1 g_s2_ol_mode1_rate_rpm com_s2 ol mode2 rate_refv 2 g_s2_ol mode2_rate_refv _52 ol mode2 rate_rpm 2 g_s2_ol mode2 rate_rpm com_s2 ol mode3_rate_refv 3 g_s2_ol mode3_rate_refv _52 ol mode3_max_refv 3 g_s2 ol mode3_max_refv 52 enable_write RO1AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 59 of 60 120 RL78 G14 http 7japan renesas comm
59. 1 T2001 m Circuit Scope 2 Qircuit Scope http www desktoplab co jp 3 FH6S20E X81 http www nidec servo comyjp R01AN2659JJ0100 Rev 1 00 Page 3 of 60 2015 03 31 XENESAS 120 RL78 G14 2 2 1 RL78G14 A D Va P27 ANI7 86 VU_AIN DC24V p23 ANI3 P24 SN9 25 5 KLAN 7 VR1 VR2 26 6 gt v YY SW
60. MTR_HALF_CARRIER_SET MTR_CARRIER_SET 2 1 2 MTR_NDT_CARRIER_SET MTR_CARRIER_SET MTR_DEADTIME_SET MTR_PORT_HALL_U P3 0 U MTR_PORT_HALL V MTR_PORT_HALL W P3 1 V W MTR_PORT_UP U MTR_PORT_UN U MTR_PORT_VP V MTR_PORT_VN V MTR_PORT_WP W MTR_PORT_WN W MTR_PORT_SW1 SW1 MTR_PORT_SW2 SW2 MTR_PORT_LED1 LED1 MTR_PORT_LED2 LED2 MTR_LED_ON 0 MTR_LED_OFF 1 Low MTR_OVERVOLTAGE_LIMIT 28 128 MTR_UNDERVOLTAGE_LIMIT 10 128 MTR_VDC_SCALING 3523 MTR_RECIVDC_SCALING 7 MTR_TAU1_CNT MTR_ADCCH_VR1 VR1 AD MTR_ADCCH_VDC AD
61. U V W 3 4 A VI us V us rpml us R01AN2659JJ0100 Rev 1 00 2015 03 31 ms 18 of 60 XENESAS 120 RL78 G14 3 2 120 3 5 1 5
62. http 7japan renesas com contac R01AN2659JJ0100 Rev 1 00 Page 60 of 60 2015 03 31 XENESAS Rev 1 00 205 03 31 A 1 CMOS LSI LSI
63. 1 2 rpm 9g_S2 min_speed rpm 9g_S2 margin_min_speed rpm 9_52 ref_speed rpm 9g_u1_rot_dir CW CCW g_u1_motor_status g ul_reset_req 0 1 0 1 2 0 SW2 ON 1 SW2 OFF 9g_u1_sw1 cnt SW1 g ul_sw2 9g_u1 stop_red SW2 VR1 550 rpm g_s2_sw_userif UI 0 1 9_52 mode_system 9_52 enable_write Int16 ICS 0 1 2 3 MTR_ICS_INPUT ICS g ul cnt_ speed _ pi uint8 PI PI 3 ms g
64. 120 9g_S2 ol rpm 3 18 2 2 int16 RL78 G14 g u2 ol_pattern_set uint16 g_u2 cnt ol ctrl uint16 9g_u2 ol mode uint16 9 ics uint8 ICS 9 2 run_mode uint16 9g_u1_error_status uint8 1 4 1 2 3 4 6 Oxff 9g_u1 _mode_system 0 2 1 9_52 ol start rpm 9_52 ol mode1_change_rpm 9 52 ol 2 change_rpm F 1 2 9_52 ol start_refv 9_52 ol mode1_rate_rpm mode2 rate_refv 1 2 rpm control period V control period mode2 rate_rpm 2 rpm control
65. 272 9_U2 run_mode uint16 BOOT g_u1_error_status uint8 9g_u1 mode_system g_u1 signal uint8 3 g_u1_v pattern uint8 g_u2 timeout uint16 0 1 CW CCW 9g_u2 hall timer_cnt uint16 TCR01 g u2 pre_hall timer_cnt uint16 9_54 timer_cnt_ave int32 2 g_u2 timer_cnt_buf uint16 9 2 timer_cnt_ uint16 ics_input_buff MTR_ICS_INPUT ICS g_u1 direction uint8 R01AN2659JJ0100 Rev 1 00 Page 28 of 60 2015 03 31 XENESAS 120 RL78 G14 3 5 120 g_s2 max_speed 3 17
66. ICS ICS 1ICS fdef endif 1CS mtr common h define ICS_USB R01AN2659JJ0100 Rev 1 00 Page 58 of 60 2015 03 31 XENESAS 120 RL78 G14 43 165 ICS 4 1 g_s2_enable write 3 com_s2_enable_write 3 E E com_s2_enable_write 4 1 ICS 52 sw_userif 0 ICS 1 com_s2 com_s2_direction 0
67. M_CW CW M_CCW 0 1 0 1 CCW MAX_SPEED CP_MAX_ SPEED_RPM rpm MIN_SPEED CP_MIN_SPEED_RPM rpm MARGIN_SPEED 50 rpm MARGIN_MIN_SPEED MIN_SPEED MARGIN_SPEED rpm START_REFV CP_START_REFV 128 V ACCEL_MODE0 CP_ACCEL_ MODE0 16 rad s ACCEL_MODE1 CP_ACCEL_MODE1 16 rad s2 SPEED_PI_KP CP_SPEED_PI_KP 65535 PI SPEED PI KI CP_SPEED_PI_KI 4194304 PI SPEED_LPF_K SW_ON CP_SPEED_LPF_K 16384 LPF Low SW_OFF Low CHATTERING_CNT VR1_SCALING ADJUST_OFFSET 0x1FF POLE_PAIR MP_POLE_PAIRS 7 REQ_CLR 0 VR1 REQ_SET 1 VR1
68. CP_MIN_SPEED_RPM rpm CP_ACCEL_MODE0 rad s CP_ACCEL_MODE1 rad s R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 31 of 60 120 RL78 G14 mtr_ctrl 0178914 12001 3 20 2 5 MTR_PWM TIMER_FREQ 64 0f PWM MHz MTR_CARRIER_FREQ 20 0f kHz MTR_CARRIER_SET 1000 7 MTR_CARRIER_FREQ MTR_PWM_TIMER_FREQ 1 _ P3 0 U MTR_PORT_HALL V P3 1 V MTR_PORT_HALL W P14 0 W MTR_PORT_UP P1 5 U MTR_PORT_UN P1 4 MTR_PORT_VP P1 3 U V MTR_PORT_VN P1 1 V MTR_PORT_WP P1 2 W MTR_PORT_WN P1 0 W MTR_PORT_SW1 P0 5 SW1 MTR_PORT_SW2 P0 6
69. 120 ics_R5F104LE h ICS RL78G14 vector c R5F104LE rel uart ICS main c mtr_ctrl_t2001 c mtr_ctrl_rI78g14 c RL78G14 mtr_ctrl_rI78g14_t2001 c RLZ78G14 amp mtr_interrupt C mtr_spm_hall_120_cpm c 120 R01AN2659JJ0100 Rev 1 00 2015 03 31 Page 8 of 60 XENESAS 120 RL78 G14 2 6 RL78G14 T2001_SPM_ LESS 120 RSPM CSP_V100 main h mtr_ common h motor_parameter h control_parameter h mtr_ctrl_t2001 h mtr_ctrl_rI78g14 h RL78G14 mtr_ctrl_rI78g14_t2001 h RL78G14 amp mtr_spm_less_120 rspm h 120
70. uint16 ad_data get_sw1 SW1 uint8 tmp_port SW1 get_sw2 SW2 uint8 tmp_port SW2 led1_on LED1 led2 on LED2 led1_off LED1 led2 off LED2 R01AN2659JJ0100 Rev 1 00 Page 23 of 60 2015 03 31 XENESAS 120 mtr_spm_less_120_rspm c mtr_spm_less 120_cpm c 3 11 275 R_MTR_InitSequence RL78 G14 R_MTR_ExecEvent uint8 u1_event mtr_act_run uint8 u1_state uint8 u1_state mtr_act stop
71. CP_START_REFV 128 V ACCEL_MODE0 CP_ACCEL_MODE0 16 rad s ACCEL_MODE1 CP_ACCEL_MODE1 16 rad s SPEED_PI_KP CP_SPEED_PI_KP 65535 Pl SPEED PI KI CP_SPEED_PI_KI 4194304 PI SPEED_LPF_K SW_ON CP_SPEED_LPF_K 16384 LPF Low SW_OFF Low CHATTERING_CNT VR1_SCALING ADJUST_OFFSET 0x1FF POLE_PAIR MP_POLE_PAIRS 7 REQ_CLR 0 VR1 REQ_SET 1 VR1 motor_parameter h control_parameter h MP_POLE_PAIRS 7 7 MP_MAGNETIC_FLUX 0 006198f Wb MP_RESISTANCE 0 453f Q MP_INDUCTANCE CP_START_REFV 0 0009447f H CP_SPEED_PI_KP PI CP_SPEED_PI_KI PI CP_SPEED_LPF_K CP_MAX_SPEED_RPM LPF rpm
72. SW2 MTR_PORT_LED1 P5 2 LED1 MTR_PORT_LED2 P5 3 LED2 MTR_LED_ON 0 MTR_LED_OFF MTR_OVERVOLTAGE_LIMIT 1 28 128 Low MTR_UNDERVOLTAGE_LIMIT 10 128 MTR_VDC_SCALING 3523 MTR_RECIVDC_SCALING MTR_TAU1_CNT 64 MTR_ADCCH_VR1 VR1 AD MTR_ADCCH_VDC AD R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 32 of 60 120 RL78 G14 mtr_spm_hall_120_rspm h MTR_TWOPI MTR_RPM_RAD 3 21 3 5 2 3 14159265f 6863 2 rpm rad s MTR_RAD_RPM 611 MTR_POLE_PAIRS rad s rpm MTR_POLE_PAIRS MP_POLE_PAIRS MTR_START_REFV MTR_SPEED_LIMIT_RPM int16 MP_START_REF V 128 2500 V MTR_SPEED_LIMIT MTR_SPEED_LIMIT_RP M MTR_POLE_PAIRS MTR_TWOPI 60 16 MTR_SPEED_PI_DECIMATION 2 PI MTR_SPEED_PI_KP int16 CP_SPEED_P
73. i 1 ms U V W PWM PNM PWM 6 _ PMM PWM 6 DA D Va AD 7 7 TAU 1 ms 1 ms TAU
74. ul flg_wait_stop uint8 10 ms g_ul1_enable write ICS 9_52 ref PI V g_s2_vdc_ad 1 9_52 9_52 pwm_duty RD 9_52 ref_speed_rad rad s 9_52 ref rad s 9_52 speed 9_52 rad s 9_52 ki speed PI g_s2 lim PI 9_S2 ilm_v 9_52 lpf k int16 LPF g_s2_accel int16 rad s2 speed MTR_PI_CTRL PI g_u2_vu_ad uint16 U AD 0_ 2 uint16 V AVD 9 2 uint16 W AD g u2 vn uint16 3 AD 9_52 ol freq int16 R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 29 of 60
75. 001 mtr_ctrl_rI78g14 c mtr_ ctrl 12001 c mtr ctrl_rI78g14_t2001 c mtr_ctrl_ rl78g14 c ctrl t2001 c mtr_ctrl_rI78g14_t2001 c mtr_ctrl_rI78g14 c mtr_ ctrl 2001 c mtr_ ctrl_rI78g14_t2001 c R01AN2659JJ0100 Rev 1 00 2015 03 31 5 5 10 of 60 120 RL78 G14 2 5 120 120 2 9 120 60 SW1 P91 Low High ICS 60 PWM 20 kHz PI 3 ms CW CCW 600 rpm 2000 rpm
76. 1 Sw2 PO5 LED p52 P53 TRD P15 TRDIOB0 U u P13 TRDIOA1 Vp _ v 7 P12 TRDIOB1 w 1 P14 TRDIOD0 U J u P11 TRDIOC1 V L v P10 TRDIOD1 W w lt VU _AIN VWAIN ESE p137 Nrpo or P30 INTP3 HU P31 INTP4 HV P140 INTP7 a 18151815 gt 6 6618 gt 1 2 PMSM 2 1 R01AN2659JJ0100 Rev 1 00 Page 4 of 60 2015 03 31 EINES S 120 RL78 G14 22 _ T2001 600 P30 P31 P140 i P30 P31 P140 5 _
77. 34 1 5 UI ICS BOARD_UI UI M_CW CW M_CCW CCW MAX_SPEED CP_MAX_ SPEED_RPM rpm MIN_SPEED CP_MIN_SPEED_RPM rpm MARGIN_SPEED 50 rpm MARGIN_MIN_SPEED MIN_SPEED MARGIN_SPEED ACCEL_MODE0 CP_ACCEL_MODE0 16 rad s2 ACCEL_MODE1 CP_ACCEL_MODE1 16 rad s2 SPEED_PI_KP CP_SPEED_PI_KP 65535 PI SPEED_PI_KI CP_SPEED_PI_KI 4194304 PI SPEED_LPF_K CP_SPEED_LPF_K 16384 LPF OL_START_RPM OL_MODE1_CHANGE_RPM CP_OL_START_RPM MODE1_CHANGE_R rpm 1 rpm OL_MODE2_CHANGE_RPM CP_OL MODE2_CHANGE_R PM 2 rpm OL_START_REFV CP_OL_START_REFV 128 V OL_MODE1_RATE_RPM CP_OL_MODE1_RATE_RPM 1
78. ESAS 120 RL78 G14 33 120 3 10 175 3 ics_ui software_init mtr ctrl t2001 c get_Vr1
79. HANGE_FREQ int16 MTR_OL_FREQ_CALC MTR_OL_START_RPM int16 MTR_OL_FREQ_CALC MTR_OL_MODE1_CHANGE_RPM MTR_OL_MODE2_CHANGE_FREQ int16 MTR_OL_FREQ_CALC MTR_OL_MODE2_CHANGE_RPM MTR_OL_BEMF_CHANGE_RPM MTR_OL_MODE2_CHANGE_RPM MTR_POLE_PAIRS BEMF rpm R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 48 of 60 120 RL78 G14 3 37 4 5 mtr_spm_less_120_cpm h MTR_PATTERN_CW_V_U MTR_PATTERN_CW_W_U MTR_PATTERN_CW_W_V MTR_PATTERN_CW_U V MTR_PATTERN_CW_U W MTR_PATTERN_CW_V_W CW MTR_PATTERN_CCW_V_U MTR_PATTERN_CCW_V_W MTR_PATTERN_CCW_U_W MTR_PATTERN_CCW_U_V MTR_PATTERN_CCW_W_V MTR_PATTERN_CCW_W_U CCW MTR_PATTERN_ERROR MTR_U_PWM_VN_ON _ MTR_V_PWM_WN_ON MTR_W_PWM_UN_ON MTR_W_PWM_VN_ON MTR_UP_ON_V_PWM MTR_UP_ON MTR_VP_ON_U_PWM MTR_VP_ON_W_PWM O N O IO O IN MTR_W
80. I_K P 65535 MTR_SPEED_PI_KI int16 CP_SPEED_PI_KI 4194304 MTR_SPEED_PI_LIMIT_V 24 128 V MTR_SPEED_PI_I_LIMIT_V 24 128 524288 PI V MTR_SPEED_LPF_K MTR_SPEED_PI_CHANGE_RPM int16 CP_SPEED_LPF_ K 16384 MP_POLE_PAIRS CP_MI N_SPEED_RPM LPF MTR_SPEED_CALC_BASE 1534 MTR_ACCEL_MODE0 CP_ACCEL_MODE0 16 rad s MTR_ACCEL_MODE1 MTR_MAX_DRIVE_V CP_ACCEL_MODE1 16 int16 15 128 MTR_MIN_DRIVE_V int16 3 8 128 MTR_TIMEOUT_CNT 50 s1 MTR_START_CNT BOOT ms MTR_PATTERN_CW_V_U MTR_PATTERN_CW_W_U MTR_PATTERN_CW_W_V MTR_PATTERN_CW_U V MTR_PATTERN_CW_U_ MTR_PATTERN_CW_V_W CW MTR_PATTERN_CCW_V 0 MTR_PATTERN_CCW_V_W MTR_PATTERN_CCW_U_W MTR_PATTERN_CCW_U_V MTR_PATTERN_CCW_W_V MTR_PATTERN_CCW_W_U CCW R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 33 of 60 120
81. PM 200 1 rpm CP_OL_MODE2_CHANGE_RPM 600 2 rpm CP_OL_START_REFV 1 8 V CP_OL_MODE1_RATE_RPM 5 1 rpm control period CP_OL_MODE2_RATE_REFV 0 12 2 V control period CP_OL_MODE2_RATE_RPM 20 2 rpm control period CP_OL_MODE3_RATE_REFV 0 1 3 V control period CP_OL_MODE3_MAX_REFV 3 0 3 V mtr_ctrl 1178914 t2001 h MTR_PWM_TIMER_FREQ 64 0f PWM MHz MTR_CARRIER_FREQ 20 0f kHz MTR_CARRIER_SET 1000 MTR_CARRIER_FREQ MTR_PWM_TIMER_FREQ MTR_PORT_UP P1 5 U MTR_PORT_UN P1 4 U MTR_PORT_VP P1 3 V MTR_PORT_VN P1 1 V MTR_PORT_WP P1 2 W MTR_PORT_WN P1 0 W MTR_PORT_SW1 P0 5 SW1 MTR_PORT_SW2 P0 6 SW2 MTR_PORT_LED1 P5 2 LED1 MTR_PORT_LED2 P5 3 LED2 MTR_LED_ON 0 Low MTR_LED_OFF 1 MTR_OVERVOLTAGE_LIMIT 28 128
82. P_ON_U_PWM MTR_WP_ON_V_PWM _ MTR_CW MTR_CCW CW CCW MTR_FLG_CLR MTR_FLG_SET MTR_OL_MODE1 MTR_OL_MODE2 1 2 MTR_OL_MODE3 3 MTR_ICS_DECIMATION Io ICS R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 49 of 60 120 RL78 G14 3 38 5 5 mtr_spm_less_120_cpm h MTR_BOOT_MODE 0 00 MTR_OPENLOOP_MODE 0x01 MTR_START_MODE 0x02 MTR_HALL 120 MODE 0x03 120 MTR_BEMF_120_MODE 0x04 BEMF 120 MTR_ENCD_FOC_MODE 0x05 MTR_LESS_FOC_MODE 0x06 MTR_OVER_CURRENT_ERROR 0x01 MTR_OVER_VOLTAGE_ERROR 0 02 MTR_OVER_SPEED_ERROR 0x03 MTR_TIMEOUT_ERROR 0x04
83. RN_CCW_U_V MTR_PATTERN_CCW_W_V MTR_PATTERN_CCW_W_U CCW MTR_PATTERN_ERROR MTR_UP_PWM_VN_ON MTR_UP_PWM_WN_ON MTR_VP_PWM_UN_ON MTR_VP_PWM_WN_ON MTR_WP_PWM_UN_ON MTR_WP_PWM_VN_ON MTR_UP_ON_VN_PWM MTR_UP_ON_ WN_PWM MTR_VP_ON_UN_PWM N O N IO O NPFN OO O MTR_VP_ON_WN_PWM MTR_WP_ON_UN_PWM k MTR_WP_ON_VN_PWM IO MTR_CW CW MTR_CCW MTR_FLG_CLR CCW MTR_FLG_SET MTR_OL_MODE1 1 MTR_OL_MODE2 2 MTR_OL_MODE3 3 MTR_ICS_DECIMATION ICS R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 44 of 60 120 RL78 G14 3 33 5 5 mtr_ spm_less 120 rspm h MTR_BOOT_MODE 0x00 MTR_OPENLOOP_MODE 0x01 MTR_START_MODE 0x02 MTR_HALL_ 120_MODE 0x03 120
84. R_PWM_TIMER_FREQ 1000 MTR_CARRIER_FREQ 2 MTR_DEADTIME_SET 2 MTR_HALF_CARRIER_SET MTR_NDT_CARRIER_SET MTR_CARRIER_SET 2 MTR_CARRIER_SET MTR_DEADTIME_SET 1 2 MTR_PORT_UP P1 5 U MTR_PORT_UN P1 4 U MTR_PORT_VP P1 3 V MTR_PORT_VN P1 1 V MTR_PORT WP P1 2 W MTR_PORT_WN P1 0 W MTR_PORT_SW1 P0 5 SW1 MTR_PORT_SW2 P0 6 SW2 MTR_PORT LED1 P5 2 LED1 MTR_PORT LED2 P5 3 LED2 MTR_LED_ON 0 Low MTR_LED_OFF 1 MTR_OVERVOLTAGE_LIMIT 28 128 V MTR_UNDERVOLTAGE_LIMIT 10 128 V MTR_VDC_SCALING 3523 MTR_RECIVDC_SCALING 64 A D MTR_TAU1_CNT TCR01 MTR_ADCCH_VR1 6 VR1 AD MTR_ADCCH_VDC 2 A D MTR_ADCCH_VU 3 U
85. SE 1534 MTR_ACCEL_MODE0 CP_ACCEL_MODE0 16 rad s2 MTR_ACCEL_MODE1 CP_ACCEL_MODE1 16 MTR_MAX_DRIVE_V MTR_MIN_DRIVE_V int16 15 128 int16 2 0 128 MTR_TIMEOUT_CNT 400 50 s1 MTR_START_CNT BOOT ms MTR_PATTERN_CW_V _U MTR_PATTERN_CW_W_U MTR_PATTERN_CW_W_V MTR_PATTERN_CW_U MTR_PATTERN_CW_U_W MTR_PATTERN_CW_V_W CW MTR_PATTERN_CCW_V_U MTR_PATTERN_CCW_V_W MTR_PATTERN_CCW_U_W MTR_PATTERN_CCW_U_V MTR_PATTERN_CCW_W_V MTR_PATTERN_CCW_W_U O N OO N O O CCW R01AN2659JJ0100 Rev 1 00 2015 03 31 XENESAS Page 38 of 60 120 RL78 G14 3 27 4 5 mtr_spm_hall_120_ cpm h MTR_PATTERN_ERROR MTR_U_PWM_VN_ON MTR_U_ PWM MTR_V_PWM_UN_ON MTR_V_PWM_WN_ON MTR_W_PWM_UN_ON MTR_W_PWM_VN_ON MTR_UP_ON_V_PWM MTR_UP_ON_W_PWM MTR_VP_ON_U_PWM MTR_VP_ON_W_PWM
86. _PI_KP 65535 MTR_SPEED_PI_KI int16 CP_SPEED_PI_KI 4194304 MTR_SPEED_PI_LIMIT_V 24 128 VI MTR_SPEED_PI_I_LIMIT_V 24 128 524288 PI V MTR_SPEED_CALC_BASE 1534 MTR_SPEED_LPF_K int16 CP_SPEED_LPF_K 16384 LPF MTR_ACCEL_MODE0 MTR_ACCEL_MODE1 CP_ACCEL_ MODE0 16 CP_ACCEL_MODE1 16 rad s2 rad s2 MTR_MAX_DRIVE_V int16 15 128 MTR_MIN_DRIVE_V int16 3 8 128 MTR_TIMEOUT_CNT 400 50 s MTR_SHIFT_ADJUST MTR_STOP_BEMF 48 MTR_OL_CTRL_PERIOD 20 MTR_CARRIER_FREQ MTR_OL_START_RPM CP_OL_START_RPM rpm MTR_OL_MODE1_CHANGE_RPM CP_OL_MODE1_CHANGE_RPM MTR_OL_MODE2_CHANGE_RPM CP_OL_MODE2_CHANGE_RPM MTR_OL_START_REFV CP_OL_START_REFV 128 MTR_OL_MODE1_RATE_RPM CP_OL_MODE1_RATE_RPM MTR_OL_MODE2_RATE_REFV CP_OL_MODE2_RATE_REFV 128
87. l flg wait stop 10 ms 9_52 ref PI V g_s2_vdc_ad 9_52 9_52 start_refv V g_s2_pwm_duty RD 9_52 ref_speed_rad rad s 9_52 ref_speed_rad_Dpi rad s 9_52 speed rad s 9_52 kp_speed PI 9_52 ki speed PI g_s2 PI g_s4_ilim PI 9_52 lpf k g_s2_accel int16 LPF speed MTR_PI_CTRL PI 9 ics uint8 R01AN2659JJ0100 Rev 1 00 2015 03 31 ICS ENESAS Page 27 of 60 120 RL78 G14 3 16
88. ljlnlanlunlnlclcrcnc 4 3 12 4 In Circuit ua nasa 58 R01AN2659JJ0100 Rev 1 00 Page 2 of 60 2015 03 31 XENESAS 120 RL78 G14 1 RL78G14 PMSM Circuit Scope 120 1 1 1 1 1 1 2 020320 RsFto4LEA T2001 FH6S20E X81 3 V3 00 00 T2001
89. p INTP clear_wdt WDT mtr_clear_oc_flad mtr_clear_trdO0_imfa R01AN2659JJ0100 Rev 1 00 2015 03 31 RENESAS Page 21 of 60 120 RL78 G14 3 9 5 5 mtr_ctrl 1178914 _12001 mtr_init_trd TRD mtr_init ad converter init_ui mtr ctrl start mtr_ctrl_stop mtr_ change_pattern uint8 pattern mtr_get_adc AD uint8 s2_temp R01AN2659JJ0100 Rev 1 00 Page 22 of 60 2015 03 31 XEN
90. period mode3 rate_refv 3 V control period mode3 max_refv start_freq 3 mode1_change_freq 1 mode2 change_freq 2 bemf_change_rpm g ul _ bemf_signal g ul pre_bemf signal g ul open_signal 9g_u1_v pattern 9 2 timeout uint16 9g_u1_direction uint8 9g_u2 bemf_timer_cnt 9_u2 pre_bemf_timer_cnt uint16 uint16 g_s4 timer_cnt_ave int32 9g_u2 timer_cnt_Duf uint16 9g_u2 timer_cnt_num gul pattern_num uint16 Uint8 9 2 cnt carrier uint16 g u2 pre_cnt_carrier uint16
91. pm 2048 rpm 0200H 03FFH ANI6 CCW 0 rpm 2048 rpm 01FFH 0000H eE _ sJ 95 a 3 80 PWM 3 2 0 VM 111 V 0000H lt 03FFH ANI7 V W U YV W T 3 3 U V W U V W AD U V W 0 VM 111 V 0000H 03FFH R01AN2659JJ0100 Rev 1 00 Page 12 of 60 2015 03 31 XENESAS 120 RL78 G14 3 1 3 1
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