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Renesas RA6T2 Application Note

Renesas RA6T2 Application Note

Sensorless vector control for permanent magnetic synchronous motor - 1shunt current detection
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Sensorless vector control for permanent magnetic
synchronous motor - 1shunt current detection
For Renesas Flexible Motor Control Series
Abstract
This application note describes the sample program for a permanent magnetic synchronous motor drive with
sensorless vector control based on Renesas microcontroller. This application note also describes how to use
the motor control development support tool, 'Renesas Motor Workbench'.
The targeted software for this application note is only to be used as reference purposes only and Renesas
Electronics Corporation does not guarantee the operations. Please use this after carrying out a thorough
evaluation in a suitable environment.
Operation checking device
Operations of the target software of this application note are checked by using the following device.
・ RA6T2 (R7FA6T2BD3CFP)
・ RA6T3 (R7FA6T3BB3CFM)
・ RA4T1 (R7FA4T1BB3CFM)
Target software
The following shows the target software for this application:
・ RA6T2_MCILV1_SPM_LESS_FOC_1SHUNT_E2S_V110
・ RA6T3_MCILV1_SPM_LESS_FOC_1SHUNT_E2S_V100
・ RA4T1_MCILV1_SPM_LESS_FOC_1SHUNT_E2S_V100
R01AN6840EJ0100 Rev.1.00
May 23, 2023
APPLICATION NOTE
Page 1 of 73

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Summary of Contents for Renesas RA6T2

  • Page 1 ’Renesas Motor Workbench’. The targeted software for this application note is only to be used as reference purposes only and Renesas Electronics Corporation does not guarantee the operations. Please use this after carrying out a thorough evaluation in a suitable environment.

  • Page 2: Table Of Contents

    Importing the Demo Project ........................59 Building and Debugging ........................60 Motor Demonstration Project Overview....................61 4.3.1 Quick Start ............................61 Motor Control Development Support Tool ‘Renesas Motor Workbench’ ..........62 R01AN6840EJ0100 Rev.1.00 Page 2 of 73 May 23, 2023...
  • Page 3 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 4.4.1 Overview .............................. 62 4.4.2 Easy function operation example ......................63 4.4.3 List of variables for Analyzer function ....................65 4.4.4 Operation Example for Analyzer ......................66 4.4.5...

  • Page 4: Overview

    Table 2-2 Software Development Environment studio version FSP version Toolchain version GCC ARM Embedded : studio：2023-04 V4.4.0 V10.3.1.20210824 For purchase and technical support, contact Sales representatives and dealers of Renesas Electronics Corporation. R01AN6840EJ0100 Rev.1.00 Page 4 of 73 May 23, 2023...

  • Page 5: Hardware Configuration

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 2.2 Hardware configuration 2.2.1 Hardware configuration diagram A/D converter input Bus voltage Power supply circuit I_AIN Phase current LED1 LED2 Rotation speed command...

  • Page 6: Hardware Modification Details

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 2.2.2 Hardware modification details Jumper pins need to be changed to use this system. Please change the MCI-LV-1 connection of a jumper (JP8 and JP11) to connect 2-3 pins from 1-2 pins.

  • Page 7: Board User Interface

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 2.2.3 Board User interface Table 2-3 is lists of user interfaces of this system. Table 2-3 Board user interface Item Interface component...

  • Page 8: Peripheral Functions

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 2.2.4 Peripheral functions List of the peripheral functions used in this system is given in Table 2-5. Table 2-5 List of the Peripheral Functions...
  • Page 9 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-4 FSP Configuration of ADC Driver [1/3] R01AN6840EJ0100 Rev.1.00 Page 9 of 73 May 23, 2023...
  • Page 10 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-5 FSP Configuration of ADC Driver [2/3] R01AN6840EJ0100 Rev.1.00 Page 10 of 73 May 23, 2023...
  • Page 11 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-6 FSP Configuration of ADC Driver [3/3] R01AN6840EJ0100 Rev.1.00 Page 11 of 73 May 23, 2023...
  • Page 12 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-7 FSP Configuration of AGT Driver R01AN6840EJ0100 Rev.1.00 Page 12 of 73 May 23, 2023...
  • Page 13 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-8 FSP Configuration of GPT Driver R01AN6840EJ0100 Rev.1.00 Page 13 of 73 May 23, 2023...
  • Page 14 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-9 FSP Configuration of POEG Driver 2.2.4.2 RA4T1 (1). 12-bit A/D Converter (12ADC) Phase current (with an 1shunt resistance), inverter bus voltage (Vdc) and rotation speed command (VR1) are measured in "Single scan mode"...
  • Page 15 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-11 FSP Configuration of ADC Driver [1/4] R01AN6840EJ0100 Rev.1.00 Page 15 of 73 May 23, 2023...
  • Page 16 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-12 FSP Configuration of ADC Driver [2/4] R01AN6840EJ0100 Rev.1.00 Page 16 of 73 May 23, 2023...
  • Page 17 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-13 FSP Configuration of ADC Driver [3/4] R01AN6840EJ0100 Rev.1.00 Page 17 of 73 May 23, 2023...
  • Page 18 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-14 FSP Configuration of ADC Driver [4/4] R01AN6840EJ0100 Rev.1.00 Page 18 of 73 May 23, 2023...
  • Page 19 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-15 FSP Configuration of AGT Driver R01AN6840EJ0100 Rev.1.00 Page 19 of 73 May 23, 2023...
  • Page 20 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-16 FSP Configuration of GPT Driver R01AN6840EJ0100 Rev.1.00 Page 20 of 73 May 23, 2023...
  • Page 21 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-17 FSP Configuration of POEG Driver 2.2.4.3 RA6T3 (1). 12-bit A/D Converter (12ADC) Phase current (with an 1shunt resistance), inverter bus voltage (Vdc) and rotation speed command (VR1) are measured in "Single scan mode"...
  • Page 22 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-18 Overall FSP Stacks diagram Figure 2-19 FSP Configuration of ADC Driver [1/4] R01AN6840EJ0100 Rev.1.00 Page 22 of 73 May 23, 2023...
  • Page 23 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-20 FSP Configuration of ADC Driver [2/4] R01AN6840EJ0100 Rev.1.00 Page 23 of 73 May 23, 2023...
  • Page 24 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-21 FSP Configuration of ADC Driver [3/4] R01AN6840EJ0100 Rev.1.00 Page 24 of 73 May 23, 2023...
  • Page 25 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-22 FSP Configuration of ADC Driver [4/4] R01AN6840EJ0100 Rev.1.00 Page 25 of 73 May 23, 2023...
  • Page 26 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-23 FSP Configuration of AGT Driver R01AN6840EJ0100 Rev.1.00 Page 26 of 73 May 23, 2023...
  • Page 27 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-24 FSP Configuration of GPT Driver R01AN6840EJ0100 Rev.1.00 Page 27 of 73 May 23, 2023...

  • Page 28: Software Configuration

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 2-25 FSP Configuration of POEG Driver 2.3 Software configuration 2.3.1 Software file configuration Folder and file configuration of the software is given below.
  • Page 29 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 2-7 File and folder configuration[2/2] Folder Subfolder File Remarks fsp/inc/instances r_elc.h(Only RA4T1 and RA6T3) Function definition for r_gpt_three_phase.h Function definition for 3 Phase PWM r_gpt.h...

  • Page 30: Module Configuration

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 2.3.2 Module configuration Module configuration of the software is described below. Application Layer (User Application) User Interface Module Main mtr_main.c r_mtr_ics.c Set User Command to Buffer...

  • Page 31: Software Specifications

    Item Content Control method Vector control Position detection method Sensorless Motor rotation start/stop SW1 input or input from ‘Renesas Motor Workbench’ Input voltage DC 24 [V] Main clock frequency RA6T2: 240 [MHz] RA6T3: 200 [MHz] RA4T1: 100 [MHz] Carrier frequency (PWM) 10 [kHz] (Carrier period: 100 [μs])

  • Page 32: Interrupt Priority

    Speed control Interrupt ADC0 ADI0(RA6T2) ADC0 SCAN END(RA4T1,RA6T3) A/D conversion complete interrupt POEG3 EVENT(RA6T2) POEG1 EVENT(RA4T1,RA6T3) Over current error interrupt Figure 2-27 RA6T2 FSP Interrupts Configuration Figure 2-28 RA4T1/RA6T3 FSP Interrupts Configuration R01AN6840EJ0100 Rev.1.00 Page 32 of 73 May 23, 2023...

  • Page 33: Descriptions Of The Control Program

    3.1 Contents of control 3.1.1 Motor start/stop Starting and stopping of the motor are controlled by input from ‘Renesas Motor Workbench’ or SW1. A general-purpose port is assigned to SW1 and based upon its level the motor operation is controlled.

  • Page 34: Modulation (Current Control Module)

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.1.3 Modulation (current control module) A modulated voltage can be output to improve the efficiency of voltage usage. The modulation operation is set from the API of the current control module.

  • Page 35: State Transition

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.1.4 State transition Figure 3-1 is a state transition diagram of the sensorless vector control software. In the target software of this application note, the software state is managed by “SYSTEM MODE”. Motor 1 and 2 are controlled in the same method.

  • Page 36: Start-Up Method

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.1.5 Start-up method Figure 3-2 shows startup control of sensorless vector control software. Each mode is controlled by flags managing each reference of the d-axis current, q-axis current, and speed.

  • Page 37: System Protection Function

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.1.6 System protection function This control software has the following error status and executes emergency stop functions in case of occurrence of respective errors. Table 3-5 shows each software threshold for the system protection function.

  • Page 38: The Method To Measure Phase Currents With An 1Shunt Resistance

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.1.7 The method to measure phase currents with an 1shunt resistance In the chapter, the method to measure phase currents using in this software is explained.
  • Page 39 A / D converter according to the PWM duty setting. In the sample software, this is realized by GTADTRA of RA6T2 GPT module and A / D conversion start request function by compare match of GTADTRB register and GTCNT counter.
  • Page 40 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.1.7.3 Duty adjustment If the timing as shown in 3.1.7.1 can be secured, the current can be detected by one shunt resistor, but sufficient time for A / D conversion cannot be secured depending on the PWM duty setting conditions during operation.

  • Page 41: Ad Triggers

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.1.8 AD triggers Shows the timing of AD triggers and scan groups. Timer start 100us 50us GTADTRB GTADTRB GTADTRB GTADTRA GTADTRA GTADTRA...

  • Page 42: Function Specifications Of Sensorless Vector Control Software

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.2 Function specifications of sensorless vector control software The block diagram of sensorless vector control is shown below. Speed control Process Carrier Interrupt Process...
  • Page 43 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-7 List of Functions Executed in Current Control Period Interrupt (1/4) File name Function name Process overview Sensorless control mtr_callback_event callback function Input : (motor_callback_args_t *) p_args mtr_main.c...
  • Page 44 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-8 List of Functions Executed in Current Control Period Interrupt (2/4) File name Function name Process overview Perform PWM rm_motor_driver_1shunt_modulation Input : (motor_driver_instance_ctrl_t *) p_ctrl / The pointer to the motor...
  • Page 45 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-9 List of Functions Executed in Current Control Period Interrupt (3/4) File name Function name Process overview Angle/Speed Process in motor_current_angle_cyclic...
  • Page 46 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-10 List of Functions Executed in Current Control Period Interrupt (4/4) File name Function name Process overview motor_current_transform_dq_uvw_abs Coordinate transform Input : (const float) f_angle / Rotor angle...
  • Page 47 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-11 List of Functions Executed in Speed Control Interrupt(1/2) File name Function name Process overview mtr_callback_event Sensorless control Input : (motor_callback_args_t *) p_args...
  • Page 48 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-12 List of Functions Executed in Speed Control Interrupt(2/2) File name Function name Process overview rm_motor_speed_first_order_lpf First Order LPF Input : (motor_speed_lpf_t *) p_lpf / First order LPF structure...

  • Page 49: Contents Of Control

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.3 Contents of control 3.3.1 Configuration Options The configuration options of the sensorless vector control module for motor can be configured using the RA Configurator.
  • Page 50 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-15 Configuration Options for Current Control Configuration Options (rm_motor_current.h) Options Description Selects how many shunt resistances to use Shunt type current detection. Please set to “1shunt”.
  • Page 51 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-17 Configuration Options for Speed Control [1/2] Configuration Options (rm_motor_speed.h) Options Description Speed control period (sec) The period of speed control process [sec].
  • Page 52 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-19 Configuration Options for Speed Control [2/2] Configuration Options (rm_motor_speed.h) Options Description The d-axis current reference ramping up rate Open-Loop | Step of d-axis current climbing [A/msec].
  • Page 53 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-21 Configuration Options for Angle and Speed Estimation Configuration Options (rm_motor_estimate.h) Options Description Motor Parameter | Pole pairs Pole pairs of target motor.
  • Page 54 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Table 3-23 Configuration Options for Driver Access Configuration Options (rm_motor_driver.h) Options Description Shunt type Selects how many shunt resistances to use current detection.

  • Page 55: Control Flowcharts

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.4 Control flowcharts 3.4.1 Main process Main process Initialization of FSP module Initialization of main variables User interface initialization Initialization of communication...

  • Page 56: Current Control Period Interrupt (Carrier Synchronized Interrupt) Process

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.4.2 Current Control Period Interrupt (Carrier synchronized Interrupt) Process 100[us] period interrupt (carrier interrupt) process Get 1shunt phase current Get inverter bus voltage...

  • Page 57: Speed Control Period Interrupt Process

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.4.3 Speed Control Period Interrupt Process Figure 3-11 Speed Control Period Interrupt Process Flowchart R01AN6840EJ0100 Rev.1.00 Page 57 of 73 May 23, 2023...

  • Page 58: Over Current Detection Interrupt Process

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 3.4.4 Over Current Detection Interrupt Process The overcurrent detection interrupt is an interrupt that occurs when an external overcurrent detection signal is input. The PWM output terminal are put in the high impedance state. Therefore, at the start of execution of this interrupt processing, the PWM output terminal is already in the high impedance state and the output to the motor had been stopped.

  • Page 59: Evaluation Environment Explanation

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 4. Evaluation environment explanation 4.1 Importing the Demo Project The sample application provided with this document may be imported into e studio using the steps in this section.

  • Page 60: Building And Debugging

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 2. Select “Existing Projects into Workspace”. Figure 4-2 Import Wizard Selection 3. Click “Browse…” button and select the demo project. Click Finish button and the demo project is imported.

  • Page 61: Motor Demonstration Project Overview

    4.3 Motor Demonstration Project Overview 4.3.1 Quick Start When executing the sample code only in the evaluation environment without using “Renesas Motor Workbench”, the Quick Start Sample Project can be executed with the following procedure. (1) After turning on stabilized power supply or executing reset, LED1 and LED2 on the inverter board are both off and the motor stops.

  • Page 62: Motor Control Development Support Tool 'Renesas Motor Workbench

    4.4 Motor Control Development Support Tool ‘Renesas Motor Workbench’ 4.4.1 Overview In the target software of this application note, the motor control development support tool “Renesas Motor Workbench” is used as a user interface (rotating/stop motor, set rotation speed reference, etc). Please refer to ‘Renesas Motor Workbench User’s Manual’...

  • Page 63: Easy Function Operation Example

    The following is an example of operating the motor using the Easy function. Change the user interface to use Renesas Motor Workbench (1) Turn on "RMW UI". Figure 4-5 Procedure for changing to use Renesas Motor Workbench Change the user interface to use Renesas Motor Workbench (1) Press the “Run” button...
  • Page 64 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Processing when it stops (error) (1) Turn on "Reset" button. (2) Turn off “Reset” button Figure 4-8 Error clearing procedure R01AN6840EJ0100 Rev.1.00...

  • Page 65: List Of Variables For Analyzer Function

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 4.4.3 List of variables for Analyzer function Table 4-1 is a list of variables for Analyzer. These variables are reflected to the corresponding variables when the same values as g_u1_enable_write are written to com_u1_enable_write.

  • Page 66: Operation Example For Analyzer

    4.4.4 Operation Example for Analyzer Following example shows motor driving operation using Analyzer. Operation is using “Control Window” as shown in Figure 4-4. Regarding specification of “Control Window”, refer to ‘Renesas Motor Workbench User’s Manual’. - Change the user interface to Analyzer (1) Confirm the check-boxes of column [W?] for ‘com_u1_sw_userif’...

  • Page 67: Example Of Changing Communication Speed

    The procedure for changing the communication speed of Renesas Motor Workbench with the sample software is shown below. See the Renesas Motor Workbench User's Manual for the values to change. Change the communication speed setting of the sample software (when the required communication...
  • Page 68 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Figure 4-13 Clock frequency setting If the connection fails, repeat the procedure for reconnecting after resetting the communication board. R01AN6840EJ0100 Rev.1.00 Page 68 of 73...

  • Page 69: How To Use The Built-In Communication Library

    - 1shunt current detection 4.4.6 How to use the built-in communication library The procedure for connecting to Renesas Motor Workbench using the built-in communication library without using the communication board with the sample software is shown below. Connection between PC and CPU board (1) Connect the CPU board and PC via a USB / serial conversion board, etc.
  • Page 70 Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection (2) Register ICS2_RA6T2_Built_in.o Figure 4-15 Register ICS2_RA6T2.o (3) Change the value of USE_BUILT_IN in r_mtr_ics.h to 1. Figure 4-16 Modification of r_mtr_ics.h R01AN6840EJ0100 Rev.1.00...
  • Page 71 For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Change the communication baud rate setting of Renesas Motor Workbench to connect (1) Change the value to 921,600 with Baud rate Dialog from the Option menu of the Main Window.

  • Page 72: Reference Documents

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection 5. Reference Documents RA6T2 Group User’s Manual: Hardware (R01UH0951) RA4T1 Group User’s Manual: Hardware (R01UH0998) RA6T3 Group User’s Manual: Hardware (R01UH0999) RA Flexible Software Package Documentation Application note: ‘Sensorless vector control for permanent magnet synchronous motor (Algorithm)’...

  • Page 73: Revision History

    Sensorless vector control for permanent magnetic For Renesas Flexible Motor Control Series synchronous motor - 1shunt current detection Revision History Description Rev. Date Page Summary 1.00 May 23, 2023 First edition issued R01AN6840EJ0100 Rev.1.00 Page 73 of 73 May 23, 2023...
  • Page 74 Unit Products The following usage notes are applicable to all Microprocessing unit and Microcontroller unit products from Renesas. For detailed usage notes on the products covered by this document, refer to the relevant sections of the document as well as any technical updates that have been issued for the products.
  • Page 75 Renesas Electronics disclaims any and all liability for any damages or losses incurred by you or any third parties arising from the use of any Renesas Electronics product that is inconsistent with any Renesas Electronics data sheet, user’s manual or other Renesas Electronics document.

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