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Renesas RA6T2 Application Note
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Renesas RA6T2 Application Note

Renesas RA6T2 Application Note

120-degree conducting control of permanent magnetic synchronous motor using hall sensors
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120-degree conducting control of permanent magnetic
synchronous motor using hall sensors
For Renesas Flexible Motor Control Series
Abstract
This application note describes the sample program for a permanent magnetic synchronous motor drive with
120- degree conducting method using hall sensors 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 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)
・ RA8T1 (R7FA8T1AHECBD)
Target software
The following shows the target software for this application:
・ RA6T2_MCILV1_SPM_HALL_120_E2S_V110
・ RA6T3_MCILV1_SPM_HALL_120_E2S_V100
・ RA4T1_MCILV1_SPM_HALL_120_E2S_V100
・ RA8T1_MCILV1_SPM_HALL_120_E2S_V100
R01AN6843EJ0110 Rev.1.10
Jan 23, 2024
APPLICATION NOTE
Page 1 of 83

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Summary of Contents for Renesas RA6T2

  • Page 1 ’Renesas Motor Workbench’. The targeted software for this application 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 Overcurrent interrupt handling ......................68 Evaluation environment explanation ..................69 Project import ............................69 Build and debug............................. 70 Quick start ............................. 71 Motor Control Development Support Tool, ‘Renesas Motor Workbench’ ..........72 4.4.1 Overview .............................. 72 4.4.2 Easy function operation example ......................73 4.4.3...
  • Page 3 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Reference document ....................... 82 R01AN6843EJ0110 Rev.1.10 Page 3 of 83 Jan 23, 2024...
  • Page 4 (PMSM) using hall sensors based on the RA series microcontroller and how to use the motor control development support tool, ’Renesas Motor Workbench’. Note that these sample programs use the algorithm described in the application note ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’.
  • Page 5 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.2 Hardware specifications 2.2.1 Hardware configuration diagram A/D converter input Bus voltage Power supply circuit _AIN Iv_AIN Phase current _AIN LED1 LED2 Rotation speed command...
  • Page 6 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.2.2 User interface Table 2-3 is lists of user interfaces of this system. Table 2-3 user interface Item Interface component Function Rotation speed...
  • Page 7 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series List of port interfaces of the sensor. Table 2-1 Port Interfaces Function MCI-LV-1 CN6 1pin CN6 2pin Hall sensor input (HU) CN6 3pin...
  • Page 8 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.2.3 Peripheral functions Table 2-5 is a list of peripheral functions used in this system. Table 2-5 Peripheral Functions List Peripheral Purpose RA6T2...
  • Page 9 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series • detection of rotor position rotation speed measurement • • conduction pattern change Figure 2-2 Overall FSP Stacks diagram Figure 2-3 FSP configuration of ADC driver [1/3] R01AN6843EJ0110 Rev.1.10...
  • Page 10 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-4 FSP configuration of ADC driver [2/3] R01AN6843EJ0110 Rev.1.10 Page 10 of 83 Jan 23, 2024...
  • Page 11 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-5 FSP configuration of ADC driver [3/3] R01AN6843EJ0110 Rev.1.10 Page 11 of 83 Jan 23, 2024...
  • Page 12 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-6 FSP configuration of AGT driver R01AN6843EJ0110 Rev.1.10 Page 12 of 83 Jan 23, 2024...
  • Page 13 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-7 FSP configuration of GPT driver(complementary PWM output) R01AN6843EJ0110 Rev.1.10 Page 13 of 83 Jan 23, 2024...
  • Page 14 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-8 FSP configuration of GPT driver (free run timer for speed measurement) R01AN6843EJ0110 Rev.1.10 Page 14 of 83 Jan 23, 2024...
  • Page 15 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-9 FSP configuration of POEG driver Figure 2-10 FSP configuration of IRQ driver R01AN6843EJ0110 Rev.1.10 Page 15 of 83 Jan 23, 2024...
  • Page 16 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.2.3.2 RA4T1 (1). 12-bit A/D converter (ADC12) U-phase current (Iu), V-phase current (Iv), W-phase current (Iw), the rotation speed command value input, inverter bus voltage (Vdc) are measured by using the ’12-bit A/D converter’.
  • Page 17 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-12 FSP Configuration of ADC Driver [1/2] R01AN6843EJ0110 Rev.1.10 Page 17 of 83 Jan 23, 2024...
  • Page 18 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-13 FSP Configuration of ADC Driver [2/2] R01AN6843EJ0110 Rev.1.10 Page 18 of 83 Jan 23, 2024...
  • Page 19 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-14 FSP Configuration of AGT Driver Figure 2-15 FSP Configuration of AGT Driver (free run timer for speed measurement) R01AN6843EJ0110 Rev.1.10 Page 19 of 83...
  • Page 20 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-16 FSP Configuration of GPT Driver Figure 2-17 FSP Configuration of POEG Driver R01AN6843EJ0110 Rev.1.10 Page 20 of 83 Jan 23, 2024...
  • Page 21 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-18 FSP configuration of IRQ driver R01AN6843EJ0110 Rev.1.10 Page 21 of 83 Jan 23, 2024...
  • Page 22 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.2.3.3 RA6T3 (1). 12-bit A/D converter (ADC12) U-phase current (Iu), V-phase current (Iv), W-phase current (Iw), the rotation speed command value input, inverter bus voltage (Vdc) are measured by using the ’12-bit A/D converter’.
  • Page 23 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-20 FSP Configuration of ADC Driver [1/2] R01AN6843EJ0110 Rev.1.10 Page 23 of 83 Jan 23, 2024...
  • Page 24 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-21 FSP Configuration of ADC Driver [2/2] R01AN6843EJ0110 Rev.1.10 Page 24 of 83 Jan 23, 2024...
  • Page 25 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-22 FSP Configuration of AGT Driver Figure 2-23 FSP Configuration of AGT Driver (free run timer for speed measurement) R01AN6843EJ0110 Rev.1.10 Page 25 of 83...
  • Page 26 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-24 FSP Configuration of GPT Driver Figure 2-25 FSP Configuration of POEG Driver R01AN6843EJ0110 Rev.1.10 Page 26 of 83 Jan 23, 2024...
  • Page 27 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-26 FSP configuration of IRQ driver R01AN6843EJ0110 Rev.1.10 Page 27 of 83 Jan 23, 2024...
  • Page 28 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.2.3.4 RA8T1 (1). 12-bit A/D converter (ADC12) U-phase current (Iu), V-phase current (Iv), W-phase current (Iw), the rotation speed command value input, inverter bus voltage (Vdc) are measured by using the ’12-bit A/D converter’.
  • Page 29 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-28 FSP configuration of ADC driver [1/2] R01AN6843EJ0110 Rev.1.10 Page 29 of 83 Jan 23, 2024...
  • Page 30 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-29 FSP configuration of ADC driver [2/2] R01AN6843EJ0110 Rev.1.10 Page 30 of 83 Jan 23, 2024...
  • Page 31 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-30 FSP configuration of AGT driver Figure 2-31 FSP configuration of GPT driver(complementary PWM output) R01AN6843EJ0110 Rev.1.10 Page 31 of 83 Jan 23, 2024...
  • Page 32 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-32 FSP configuration of GPT driver (free run timer for speed measurement) Figure 2-33 FSP configuration of POEG driver R01AN6843EJ0110 Rev.1.10 Page 32 of 83...
  • Page 33 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-34 FSP configuration of IRQ driver R01AN6843EJ0110 Rev.1.10 Page 33 of 83 Jan 23, 2024...
  • Page 34 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.3 Software structure 2.3.1 Software file structure The folder and file configurations of the sample programs are given below. Table 2-6 File and folder configuration[1/2]...
  • Page 35 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 2-7 File and folder configuration[2/2] Folder Subfolder File Remarks fsp/src BSP driver r_adc_b/r_adc_b.c(RA6T2) AD driver r_adc/r_adc.c(RA4T1,RA6T3 and RA8T1) r_agt/r_agt.c AGT driver r_elc/r_elc.c(Only RA4T1,RA6T3 and RA8T1) ELC driver r_gpt/r_gpt.c...
  • Page 36 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 2.3.2 Module configuration Figure 2-35 Module Configuration show module configuration of software. Application Layer (User Application) User Interface Module Main mtr_main.c r_mtr_ics.c Set User Command to Buffer...
  • Page 37 120-degree conducting control Rotor magnetic pole position Position detection by signals of hall sensors (by each 60 degrees) detection Motor rotation start/stop SW1 input or input from ‘Renesas Motor Workbench’ Input voltage DC 24V Main clock frequency RA6T2: 240MHz] RA6T3: 200 [MHz]...
  • Page 38 ADC0 ADI0(RA6T2) ADC0 SCAN END(RA4T1,RA6T3 and RA8T1) A/D conversion complete interrupt ICU IRQ11 , ICU IRQ10 , ICU IRQ1 (RA6T2) ICU IRQ12 , ICU IRQ11 , ICU IRQ13 (RA4T1, RA6T3) ICU IRQ10 , ICU IRQ8 , ICU IRQ9 (RA8T1) Hall sensor interrupt...
  • Page 39 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 2-38 RA8T1 FSP configuration of interrupt R01AN6843EJ0110 Rev.1.10 Page 39 of 83 Jan 23, 2024...
  • Page 40 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. "High" level ...
  • Page 41 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.1.3 Speed control In this system, the motor rotation speed is calculated from a difference of the current timer value and the timer value 2π [rad] before. The timer values are obtained from compare match value of free running timer at every external interrupt due to hall sensor signals.
  • Page 42 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.1.4 Voltage control by PWM PWM control is used for controlling output voltage. The PWM control is a control method that continuously adjusts the average voltage by varying the duty of pulse, as shown in Figure 3-2.
  • Page 43 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Figure 3-4 Complimentary first 60-degree Chopping R01AN6843EJ0110 Rev.1.10 Page 43 of 83 Jan 23, 2024...
  • Page 44 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.1.5 State transition Figure 3-5 show state transition diagrams of 120-degree conducting control software. In this application note target software, the status is managed by "SYSTEM MODE".
  • Page 45 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.1.6 Start-up method In the case of 120-degree conducting control using hall sensors, the rotor position can be determined by hall sensors’ signals. Therefore, the conduction pattern at start-up is also determined.
  • Page 46 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.1.7 System protection function This system has the following six types of error status and enables emergency stop functions in case of occurrence of respective error. Refer to Table 3-5 for settings.
  • Page 47 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.1.8 AD triggers Shows the timing of AD triggers and scan groups. Timer start 50us Carrier cycle ADC trigger ADC trigger ADC trigger...
  • Page 48 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.2 Function specifications of 120-degree conducting control software using hall sensors software Multiple control functions are used in this control program. Table 3-6 List of Functions “mtr_main.c” [1/2]...
  • Page 49 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-7 List of Functions “mtr_main.c” [2/2] File name Function name Process overview Get the status of SW1 get_sw1 Input : None Output : None...
  • Page 50 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-8 List of Functions “r_mtr_ics.c” File name Function name Process overview Set value from GUI tool mtr_set_com_variables Input : None Output : None...
  • Page 51 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-9 List of Functions “rm_motor_120_degree.c” [1/3] File name Function name Process overview 120-degree control start RM_MOTOR_120_DEGREE_Open process Input : (motor_ctrl_t * const) p_ctrl / Instance parameter...
  • Page 52 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-10 List of Functions “rm_motor_120_degree.c” [2/3] File name Function name Process overview Motor rotation start process rm_motor_120_degree_active Input : (motor_120_degree_instance_ctrl_t *) p_ctrl / Instance...
  • Page 53 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-11 List of Functions “rm_motor_120_degree.c” [3/3] File name Function name Process overview rm_motor_check_over_current_error Overcurrent error detection Input : (float) f4_iu / U phase current [A]...
  • Page 54 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-12 List of Functions “rm_motor_120_control_hall.c” [1/3] File name Function name Process overview RM_MOTOR_120_CONTROL_HALL_Open Hall sensor control start Input : (motor_120_control_ctrl_t * const) p_ctrl / Instance parameter...
  • Page 55 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-13 List of Functions “rm_motor_120_control_hall.c” [2/3] File name Function name Process overview RM_MOTOR_120_CONTROL_HALL_PatternErrorFlagGet Hall sensor pattern error Input : (motor_120_control_ctrl_t * const) p_ctrl / Instance parameter...
  • Page 56 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-14 List of Functions “rm_motor_120_control_hall.c” [3/3] File name Function name Process overview rm_motor_120_control_hall_pattern_first60 Non-complementary first 60 Input : (motor_120_control_hall_instance_ctrl_t *) p_ctrl / Instance...
  • Page 57 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-15 List of Functions “rm_motor_120_driver.c” [1/2] File name Function name Process overview RM_MOTOR_120_DRIVER_Open Driver starts processing for Input : (motor_120_driver_ctrl_t * const) p_ctrl / Instance parameter...
  • Page 58 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-16 List of Functions “rm_motor_120_driver.c” [2/2] File name Function name Process overview RM_MOTOR_120_DRIVER_ParameterUpdate Parameter update process Input : (motor_120_driver_ctrl_t * const) p_ctrl / Instance parameter...
  • Page 59 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.3 Contents of control 3.3.1 Configuration Options The configuration options for the 120-degree control module for the motor can be configured using the RA Configurator.
  • Page 60 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-19 Configuration Options Configuration Options (rm_motor_120_control_api.h) Option name Contents Switching of first 60 degree chopping control General | Conduction type General | Timeout counts (msec)
  • Page 61 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-21 Configuration Options Configuration Options (rm_motor_120_control_hall.h) Option name Contents Reference voltage for start-up [V] General | Start reference voltage (V) General | Hall wait counts...
  • Page 62 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-23 Configuration Options Configuration Options (rm_motor_120_driver.h) Option name Contents ADC_B module support Common | ADC_B support Common | Shared ADC support Shared ADC module support...
  • Page 63 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-24 Configuration Options Initial Value(rm_motor_120_driver.h) [1/2] Options RA6T2 RA4T1 RA6T3 RA8T1 ADC_B support Enabled Disabled Disabled Disabled Shared ADC support Disabled Disabled...
  • Page 64 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Table 3-25 Configuration Options Initial Value(rm_motor_120_driver.h) [2/2] Options RA6T2 RA4T1 RA6T3 RA8T1 GTIOCA stop level Pin Level Low Pin Level Low Pin Level Low...
  • Page 65 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.4 Control flows (flow charts) 3.4.1 Main process Main process Initialization of FSP module Initialization of main variables User interface initialization Initialization of communication...
  • Page 66 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.4.2 Current Control Periodic interrupt (carrier periodic interrupt) handling Carrier cycle interrupt Three-phase current A/D conversion value acquisition Three-phase current offset removal Get inverter bus voltage value...
  • Page 67 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.4.3 Speed Control periodic interrupt handling 1msec cyclic interrupt [ INACTIVE ] system mode [ ACTIVE ] [INIT] [ DRIVE ] Run mode...
  • Page 68 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3.4.4 Overcurrent interrupt handling 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 69 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 4. Evaluation environment explanation This application note describes the target software. 4.1 Project import The sample software can be imported into e2 studio by following the steps below.
  • Page 70 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 3. Select a project file. Click the Finish button to import the project. Figure 4-3 Project Import 4.2 Build and debug Please refer to “e2 studio User’s Manual Starting Guide (R20UT4204)”.
  • Page 71 For Renesas Flexible Motor Control Series 4.3 Quick start To operate the sample code without using the motor control development support tool "Renesas Motor Workbench", execute the quick start sample project according to the following procedure. (1) After the regulated power is turned on or reset, all LEDs 1 and 2 on the inverter board are off and the motor is stopped.
  • Page 72 ’Renesas Motor Workbench’ can be used. Please refer to ‘Renesas Motor Workbench User’s Manual’ for usage and more details. You can find ’Renesas Motor Workbench’ on Renesas Electronics Corporation website.
  • Page 73 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 4-1 Procedure for changing to use Renesas Motor Workbench Change the user interface to use Renesas Motor Workbench (1) Press the “Run” button...
  • Page 74 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Processing when it stops (error) (1) Turn on "Reset" button. (2) Turn off “Reset” button Figure 4-4 Error clearing procedure R01AN6843EJ0110 Rev.1.10 Page 74 of 83...
  • Page 75 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 4.4.3 List of variables for Analyzer function Table 4-1 shows a list of input variables when using the Analyzer user interface. The input values to these variables will be reflected in the corresponding variables when the same values as g_u1_enable_write are written to com_u1_enable_write.
  • Page 76 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 use Analyzer Make sure that "check"...
  • Page 77 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series • Error cancel operation Enter “3” in the [Write] box of “com_u1_mode_system”. ① Click the “Write” button. ② ②Click “Write” button ①Write “3”...
  • Page 78 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 rate is 10 Mbps) (1) Change the value of ICS_BRR in r_mtr_ics.h to 1.
  • Page 79 For Renesas Flexible Motor Control Series 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 80 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series (2) Register ICS2_RA6T2_Built_in.o Figure 4-8 Register ICS2_RA6T2.o (3) Change the value of USE_BUILT_IN in r_mtr_ics.h to 1. Figure 4-9 Modification of r_mtr_ics.h R01AN6843EJ0110 Rev.1.10...
  • Page 81 For Renesas Flexible Motor Control Series 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 82 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series 5. Reference document RA6T2 Group User’s Manual: Hardware (R01UH0951) RA4T1 Group User’s Manual: Hardware (R01UH0998) RA6T3 Group User’s Manual: Hardware (R01UH0999) RA8T1 Group User’s Manual: Hardware (R01UH1016)
  • Page 83 120-degree conducting control of permanent magnetic synchronous motor using hall sensors For Renesas Flexible Motor Control Series Revision History Descriptions Rev. Data of issue Page Summary 1.00 May 23, 2023 First edition issued. 1.10 Jan 23, 2024 Added description related to RA8T1 R01AN6843EJ0110 Rev.1.10...
  • Page 84 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 85 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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