Renesas RA6T2 Application Note page 40

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-13 Configuration Options for Current Control
Configuration Options (rm_motor_current.h)
Options
Shunt type
Initial: 2shunt
Input voltage (V)
Initial: 24.0f
Voltage error compensation
Initial: Enable
Design Parameter | Current PI loop omega
Initial: 300.0F
Design Parameter | Current PI loop zeta
Initial: 1.0F
Motor Parameter | Pole pairs
Initial: 4
Motor Parameter | Resistance (ohm)
Initial: 0.84F
Motor Parameter | Inductance of d-axis (H)
Initial: 0.0011F
Motor Parameter | Inductance of d-axis (H)
Initial: 0.0011F
Motor Parameter | Permanent magnetic flux (Wb)
Initial: 0.00623F
Motor Parameter | Rotor inertia (kgm^2)
Initial: 0.0000041F
Figure 3-12 FSP Configuration of Motor Current Controller (FSP 3.5.0)
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Description
Selects how many shunt resistances to use current
detection. Please set to "1shunt".
Input voltage [V]
Selects whether to "enable" or "disable"
voltage error compensation.
Current PI control omega parameter [Hz].
Current PI control zeta parameter.
Pole pairs of target motor.
Resistance of motor [ohm].
D-axis inductance [H].
Q-axis inductance [H].
Magnetic flux [Wb].
Rotor inertia [kgm^2].
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