Renesas RA6T2 Application Note page 44

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-16 Configuration Options for Position control module [1/2]
Configuration Options (rm_motor_position.h)
Options
Position dead band
Initial: 1U
Position band limit
Initial: 3U
Speed feedforward ratio
Initial: 0.8F
Encoder counts per one rotation
Initial: 4000.0F
Position omega
Initial: 10.0F
Period of speed control (sec)
Initial: 0.0005F
Position Profiling | Interval time
Initial: 400U
Position Profiling | Accel time
Initial: 0.3F
Position Profiling | Maximum accel time
Initial: 11077.904F
Position Profiling | Accelaration maximu
speed
Initial: 4000.0F
Position Profiling | Update step of timer
Initial: 0.0005F
Motor Parameter | Pole pairs
Initial: 4U
Motor Parameter | Resistance (ohm)
Initial: 0.84F
Motor Parameter | Inductance of d-axis
(H)
Initial: 0.0011F
Motor Parameter | Inductance of q-axis
(H)
Initial: 0.0011F
Motor Parameter | Permanent magnetic
flux (Wb)
Initial: 0.00623F
Motor Parameter | Rotor inertia (kgm^2)
Initial: 0.0000041F
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Description
Position dead band
Zero position error range
Speed feedforward ratio
Encoder count per revolution
Position control omega parameter [Hz].
Speed control execution cycle
Position response steady-state waiting time
Acceleration time
Maximum acceleration time calculation parameter
Position profile maximum rotation speed
Position profile update cycle
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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