Renesas RA6T2 Application Note page 46

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-17 Configuration Options for Encoder sensing module
Configuration Options (rm_motor_position.h)
Options
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
Control type
Initial: Speed
Period of current control (kHz)
Initial: 20.0F
Period of speed control (sec)
Initial: 0.0005F
PWM carrier frequency (kHz)
Initial: 20.0F
Decimation of interrupt
Initial: 0U
Counts per rotation
Initial: 4000
Counts for angle adjust
Initial: 512U
Zero speed counts
Initial: 20000000U
Occupancy time
Initial: 0.4F
Carrier time
Initial: 0.00002F
Process time
Initial: 0.000002F
High speed change margin (rpm)
Initial: 150U
LPF parameter for high speed filter
Initial: 0.1F
Counts to change speed
Initial: 8U
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Description
Pole pairs of target motor.
Resistance of motor [ohm].
D-axis inductance [H].
Q-axis inductance [H].
Magnetic flux [Wb].
Rotor inertia [kgm^2].
Selection of speed or position control
Period of current control [kHz]
Period of speed control [sec]
PWM carrier frequency [kHz]
Decimation counts of interrupt
Encoder counts per one rotation
Counts for adjustment of angle initialization
Encoder counts to judge zero speed
Current control occupancy time
Current control time
Encoder count capture processing time
Margin rotational speed to change high
speed mode [rpm]
LPF parameter for high speed filter
Speed calculation mode change count
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