Software Specifications - Renesas RA6T2 Application Note

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder

2.4 Software specifications

Table 2-5 shows basic software specification of this system. For details of the vector control with encoder,
refer to the application note 'Vector control with encoder for permanent magnet synchronous motor
(Algorithm)' (R01AN3789).
Table 2-5 Basic Specifications of Vector Control with encoder Software
Item
Control method
Position detection
method
Motor rotation start/stop
Input voltage
Main clock frequency
Carrier frequency
(PWM)
Dead time
Control period
Rotation speed control
range
Position control range
Dead band of position*
Natural frequency
of each control system
Optimization setting
of compiler
Processing stop for
protection
* Dead band is provided to avoid hunting at the detection of target position.
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Content
Vector control
Incremental encoder (A-B Phase)
SW1 input or input from 'Renesas Motor Workbench'
DC 24 [V]
120 [MHz]
20 [kHz] (Carrier period: 50 [μs])
2 [μs]
Current control: 50 [μs] (the carrier period)
Speed control: 500 [μs]
CW: 0 [rpm] to 4000 [rpm]
CCW: 0 [rpm] to 4000 [rpm]
At board_ui Position command generation: Voltage input divided by VR
(input range) -180° to 180°
At ics_ui Position command generation: Position profile of
trapezoidal curve for speed command value
(input range) -32768° to 32767°
(Max speed) CW / CCW: 4000[rpm]
Encoder count ±1 [cpr] (±0.09degree)
Current control system : 300 [Hz]
Speed control system : 30 [Hz]
Position estimation system : 5 [Hz]
Optimization level
Disables the motor control signal output (six outputs), under any of the following conditions.
1. Instantaneous value of current of any phase exceeds 3.82(=1.8*sqrt (2)*1.5) [A] (monitored
every 50 [μs])
2. Inverter bus voltage exceeds 60 [V] (monitored every 50 [μs])
3. Inverter bus voltage is less than 8 [V] (monitored every 50 [μs])
4. Rotation speed exceeds 4500 [rpm] (monitored every 50 [μs])
When an external over current signal is detected (when a low level of the GTETRGD port is
detected), the PWM output ports are set to high impedance state.
Optimize more(-O2) (default setting)
Page 20 of 71