Renesas Rl78/g1g User manual

APPLICATION NOTE

R01AN3582EJ0100 Rev.1.00 Page

of 46

Jan 13, 2017

RL78/G1G

Sensorless Speed control of 120-degree conducting controlled permanent

magnetic synchronous motor (Implementation)

Summary

This application note aims at explains sample programs driving a permanent magnetic synchronous motor in the 120-

degree conducting method using the RL78/G1G microcontroller.

These control programs are only to be used as reference and Renesas Electronics Corporation does not guarantee the

operations. Please use them after carrying out a thorough evaluation in a suitable environment.

Operation checking device

Operations of the control programs have been checked by using the following device.

RL78/G1G (R5F11EBAAFP)

Target control programs

The target control programs of this application note are as follows.

RL78G1G_MRSSK_SPM_LESS_120_CSP_CA_V100 (IDE：CS+ for CA,CX)

RL78G1G_MRSSK_SPM_LESS_120_CSP_CC_V100 (IDE：CS+ for CC)

RL78G1G_MRSSK_SPM_LESS_120_E2S_CC_V100 (IDE：e2studio)

RL78/G1G Sensorless 120-degree conducting control program for

24V Motor Control Evaluation System and RL78/G1G CPU CARD

Reference

RL78/G1G Group User’s Manual: Hardware (R01UH0499EJ0130)

Application note: ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’

(R01AN2657EJ0120)

Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T User’s Manual

(R20UT3697EJ0100)

R01AN3582EJ0100

Rev.1.00

Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R01AN3582EJ0100 Rev.1.00 Page

of 46

Jan 13, 2017

Contents

1. Overview ...........................................................................................................................................3

2. System overview...............................................................................................................................7

3. Descriptions of the control program ................................................................................................14

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R01AN3582EJ0100 Rev.1.00 Page

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Jan 13, 2017

1. Overview

This application note explains how to implement the 120-degree conducting control programs of permanent magnetic

synchronous motor (PMSM) using the RL78/G1G microcontroller. Note that this control programs use the algorithm

described in the application note ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’.

1.1 Development environment

Table 1-1 and Table 1-2 show development environment of the control programs explained in this application note.

Table 1-1 Development Environment (H/W)

Microcontroller

Evaluation board

Motor

RL78/G1G

(R5F11EBAAFP)

24V inverter board(Note 1)

and RL78/G1G CPU Card (Note 2)

TSUKASA (Note 3)

TG-55L-KA-24V

Table 1-2 Development Environment (S/W)

CS+ version

Tool chain version

V3.03.00

CA78K0R V5.00.00.03

V4.01.00

CC-RL V1.03.00.00

e2studio version

Tool chain version

5.2.1.016

CC-RL V1.03.00.00

For purchase and technical support contact, Sales representatives and dealers of Renesas Electronics Corporation.

Notes: 1. 24V inverter board (RTK0EM0006S01212BJ) is a product of Renesas Electronics Corporation.

2. RL78/G1G CPU Card (T5104) is a product of Desk Top Laboratories Inc.

Desk Top Laboratories Inc. (http://desktoplab.co.jp/)

3. TG-55L-KA-24V is a product of TSUKASA ELECTRIC.

TSUKASA ELECTRIC. (https://www.tsukasa-d.co.jp/en/)

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R01AN3582EJ0100 Rev.1.00 Page

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Jan 13, 2017

1.2 Modifying the Evaluation Board

To support the control programs in this application note, the 24V Inverter Board and RL78/G1G CPU Card should be

modified per below explanations.

1.2.1 Modification of the VR1 input port

(1) Remove R8, R15, C9.

(2) Connect CPU side of R7 and CPU side of R8.

Figure 1-1 Modification of the CPU Card

Figure 1-2 Modification example on the CPU card.

R8　(1) Remove

100/0.1W (2) Connnect

R15　(1) Remove

100/0.1W 0/1A

(1) Remove

C9 C8

100pF /50V/J

CNB5(IU)

CNB15 (VR1)

R8　①削除

100/0.1W

②接続

R15　①削除

100/0.1W 0/1A

①削除

C9 C8

100pF /50V/J

CNB5(IU)

CNB15 (VR1)

(2) Connect

(1) Remove

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R01AN3582EJ0100 Rev.1.00 Page

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Jan 13, 2017

1.2.2 Modification when overcurrent detection method is changed

When the overcurrent detection method is changed to "PGA+CMP0, CMP1" from default (INTP0), the 24V Inverter

Board and RL78/G1G CPU Card should be modified per below explanations.

(1) Modification of the 24V Inverter Board

Change 3-Shunt to 1-Shunt.

(1) Connect TH1, TH2 and TH3.

(2) Remove R72 and R97.

TH１

TH2

TH3

R50

R72

R97

Figure 1-3 Change 3-shunt to 1-shunt

Figure 1-4 Modification example on the 24V Inverter Board

(2) Remove

(1) Connect

(2) Remove

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

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Jan 13, 2017

(2) Modification of the RL78/G1G CPU Card

Modification for the filter circuit of comparator input

(1) Mount 0 Ohms on R16.

(2) Change resister R10 from 100 Ohms to 1k Ohms

(3) Change capacitor C11 from 100pF to 470pF.

Figure 1-5 Modification of the CPU Card

Figure 1-6 Modification example on the CPU card.

100/0.1W

R15

100/0.1W 0/1A

R10　(2) Change R16

100/0.1W

NC →0/1A

→1k/0.1W (1) Mount

C9 C8 C11

(3) Change

100pF/50V/J

→470pF/50V/J

CNB5(IU)

CNB15 (VR1)

CNB7(IW)

100pF/50V/J

100pF /50V/J

(3) Change

(1) Mount

(2) Change

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R01AN3582EJ0100 Rev.1.00 Page

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Jan 13, 2017

2. System overview

Overview of this system is explained below.

2.1 Hardware configuration

The hardware configuration is shown below.

Figure 2-1 Hardware Configuration Diagram

Note: the VR1 signal is input to port 20 by modification on the CPU card. (See 1.2.1)

not used in this system.

LED output

P60

P61

Vdc

VR1

GND

LED1

LED2

Inverter circuit

DC 24Vinput

TRD output

P15 / TRDIOB0 (Up)

P13 / TRDIOA1 (Vp)

P12 / TRDIOB1 (Wp)

P14 / TRDIOD0 (Un)

P11 / TRDIOC1 (Vn)

P10 / TRDIOD1 (Wn)

Over current

detection input

P01 / PGAI

HV port

HW port

GND port

Vcc port

HU port

ENC_Z port

ENC_B port

ENC_A port

GND port

Vcc port

U port

V port

W port

PSPM

A/D converter input

P23 / ANI3

P00 / ANI17

P147/ ANI18

P120/ ANI19

P20 / ANI0

Bus voltage

VU_AIN

VV_AIN

Speedreference

(Note)

Phasevoltage

(filtering)

VW_AIN

SW1

SW2

Switch input

P70

P17

Motor start / stop

Error status reset

Phasevoltage

(filtering)

VU_AIN

VV_AIN

VW_AIN

RL78/G1G

P137 / INTP0

Over current detection

(by Hardware)

Over current detection

(by PGA+CMP0, CMP1)

Power supply circuit

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

R01AN3582EJ0100 Rev.1.00 Page

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Jan 13, 2017

2.2 Hardware specifications

2.2.1 User interface

Table 2-1 is a list of user interfaces of this system.

Table 2-1 User Interface

Item

Interface component

Function

Rotational speed

Variable resistance (VR1)

Rotational speed command value input (analog values)

START / STOP

Toggle switch (SW1)

Motor rotation start / stop command

ERROR RESET

Toggle switch (SW2)

Command of recovery from error status

LED1

Yellow green LED

- At the time of Motor rotation: ON

- At the time of stop: OFF

LED2

Yellow green LED

- At the time of error detection: ON

- At the time of normal operation: OFF

RESET

Push switch (RESET1)

System reset

Table 2-2 is a list of port interfaces of RL78/G1G microcontroller of this system.

Table 2-2 Port Interface

R5F11EBAAFP Port name

Function

P23 / ANI3

Inverter bus voltage measurement

P01 / PGAI

Shunt current input for over-current detection (use PGA+CMP0, CMP1)

(Note1)

P20 / ANI0

For inputting rotational speed command values (analog values) (Note2)

P70

START / STOP toggle switch

P17

ERROR RESET toggle switch

P60

LED1 ON / OFF control

P61

LED2 ON / OFF control

P00 / ANI17

U Phase voltage measurement (A/D)

P147 / ANI18

V Phase voltage measurement (A/D)

P120 / ANI19

W Phase voltage measurement (A/D)

P10 / TRDIOD1

PORT output / PWM output (Wn)

P11 / TRDIOC1

PORT output / PWM output (Vn)

P12 / TRDIOB1

PORT output / PWM output (Wp)

P13 / TRDIOA1

PORT output / PWM output (Vp)

P14 / TRDIOD0

PORT output / PWM output (Un)

P15 / TRDIOB0

PORT output / PWM output (Up)

P137 / INTP0

PWM emergency stop input at the time of overcurrent detection (use an

external circuit) (Note1)

Note: 1. Selection of the external circuit or “PGA+CMP1, CMP0” for the detection of overcurrent is set by

compile option.

2. For details on input port, see "1.2 Modifying the Evaluation Board".

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

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2.2.2 Peripheral functions

Table 2-3 is a list of peripheral functions used in this system.

Table 2-3 List of Peripheral Functions

Peripheral Function

Purpose

10bit A/D converter

- Rotational speed command value input

- Inverter bus voltage measurement

- Voltage of each phase U, V, and W measurement

Timer Array Unit (TAU)

- 1 [ms] interval timer

- Free-running timer for rotational speed measurement

Timer RD (TRD)

Complementary PWM output

Comparator0 (CMP0)

Overcurrent detection (Note)

Comparator1 (CMP1)

Overcurrent detection (Note)

Programmable Gain Amp (PGA)

Overcurrent detection (Note)

External Interrupt (INTP0)

Overcurrent detection (Note)

Note: INTP0 and “PGA+CMP0, CMP1” are used exclusive. (These are selectable by compile option.)

(1) 10-bit A/D converter

The rotational speed command value input, U phase voltage (Vu), V phase voltage (Vv), W phase voltage (Vw),

and inverter bus voltage (Vdc) are measured by using the ‘10-bit A/D converter’.

The operation mode is set as below.

The channel selection mode: the select-mode.

The conversion operation mode: the one-shot conversion mode.

And software trigger is used.

(2) Timer Array Unit (TAU)

a. 1 [ms] interval timer

The channel 0 of Timer Array Unit (TAU) is used as 1 millisecond interval timer.

b. Free-running timer for measuring speed

The channel 1 of Timer Array Unit (TAU) is used as free-running timer for speed measurement.

Note that interrupt is not used.

(3) Timer RD (TRD)

Three-phase PWM output of chopping at the first 60 degrees with dead time (complementary) or without dead time

(non-complementary) is performed using the Complementary PWM Mode. When detecting an overcurrent, the PWM

output ports are set to high impedance output using the pulse output forced cutoff function.

(4) Comparator0 (CMP0)

CMP0 is used to detect overcurrent with PGA (detect falling edge) (when selected).

(5) Comparator1 (CMP1)

CMP1 is used to detect overcurrent with PGA (detect rising edge) (when selected).

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)

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Jan 13, 2017

(6) Programmable Gain Amp (PGA)

PGA is used to detect overcurrent with CMP0, CMP1 (when selected).

(7) External interrupt (INTP0)

An overcurrent is detected by an external circuit. (when selected).

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