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Renesas RA6T2 Application Note

Renesas RA6T2 Application Note

Sensorless 120-degree conducting control of permanent magnetic synchronous motor
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Sensorless 120-degree conducting control of
permanent magnetic synchronous motor
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 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)
・ RA8T1 (R7FA8T1AHECBD)
Target software
The following shows the target software for this application:
・ RA6T2_MCILV1_SPM_LESS_120_E2S_V110
・ RA6T3_MCILV1_SPM_LESS_120_E2S_V100
・ RA4T1_MCILV1_SPM_LESS_120_E2S_V100
・ RA8T1_MCILV1_SPM_LESS_120_E2S_V100
R01AN6844EJ0110 Rev.1.10
Jan 23, 2024
APPLICATION NOTE
Page 1 of 79

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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

    Overcurrent interrupt handling ......................64 Evaluation environment explanation ..................65 Project import ............................65 Build and debug............................. 66 Quick start ............................. 67 Motor Control Development Support Tool, ‘Renesas Motor Workbench’ ..........68 4.4.1 Overview .............................. 68 4.4.2 Easy function operation example ......................69 4.4.3...
  • Page 3 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Reference document ....................... 78 R01AN6844EJ0110 Rev.1.10 Page 3 of 79 Jan 23, 2024...

  • Page 4: Overview

    Table 2-2 Software development environment studio version FSP version Toolchain version GCC ARM Embedded : studio：2023-10 10.3.1.20210824(RA6T2,RA6T3,RA4T1) V5.1.0 13.2.1.arm-13-7 (RA8T1) For purchase and technical support contact, Sales representatives and dealers of Renesas Electronics Corporation. R01AN6844EJ0110 Rev.1.10 Page 4 of 79 Jan 23, 2024...

  • Page 5: Hardware Specifications

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 Phase Iv_AIN current _AIN _AIN Vv_AIN Phase LED1 LED2...

  • Page 6: Board User Interface

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 2.2.2 Board user interface Table 2-3 is lists of user interfaces of this system. Table 2-3 Board user interface Item Interface component Function Rotation speed...

  • Page 7: Peripheral Functions

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 RA4T1 RA6T3...
  • Page 8 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-2 Overall FSP Stacks diagram Figure 2-3 FSP configuration of ADC driver [1/4] R01AN6844EJ0110 Rev.1.10 Page 8 of 79 Jan 23, 2024...
  • Page 9 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-4 FSP configuration of ADC driver [2/4] R01AN6844EJ0110 Rev.1.10 Page 9 of 79 Jan 23, 2024...
  • Page 10 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-5 FSP configuration of ADC driver [3/4] R01AN6844EJ0110 Rev.1.10 Page 10 of 79 Jan 23, 2024...
  • Page 11 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-6 FSP configuration of ADC driver [4/4] R01AN6844EJ0110 Rev.1.10 Page 11 of 79 Jan 23, 2024...
  • Page 12 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-7 FSP configuration of AGT driver Figure 2-8 FSP configuration of GPT driver(complementary PWM output) R01AN6844EJ0110 Rev.1.10 Page 12 of 79 Jan 23, 2024...
  • Page 13 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-9 FSP configuration of GPT driver (free run timer for speed measurement) Figure 2-10 FSP configuration of POEG driver R01AN6844EJ0110 Rev.1.10 Page 13 of 79...
  • Page 14 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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, U-phase voltage(Vu), V-phase voltage(Vv) W-phase voltage(Vw), and inverter bus voltage(Vdc) are measured by using the ’12-bit A/D converter’.
  • Page 15 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-12 FSP configuration of ADC driver [1/2] R01AN6844EJ0110 Rev.1.10 Page 15 of 79 Jan 23, 2024...
  • Page 16 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-13 FSP configuration of ADC driver [2/2] R01AN6844EJ0110 Rev.1.10 Page 16 of 79 Jan 23, 2024...
  • Page 17 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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) R01AN6844EJ0110 Rev.1.10 Page 17 of 79...
  • Page 18 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-16 FSP Configuration of GPT Driver Figure 2-17 FSP configuration of POEG driver R01AN6844EJ0110 Rev.1.10 Page 18 of 79 Jan 23, 2024...
  • Page 19 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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, U-phase voltage(Vu), V phase voltage(Vv) W phase voltage(Vw), and inverter bus voltage(Vdc) are measured by using the ’12-bit A/D converter’.
  • Page 20 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-19 FSP configuration of ADC driver [1/2] R01AN6844EJ0110 Rev.1.10 Page 20 of 79 Jan 23, 2024...
  • Page 21 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-20 FSP configuration of ADC driver [2/2] R01AN6844EJ0110 Rev.1.10 Page 21 of 79 Jan 23, 2024...
  • Page 22 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-21 FSP configuration of AGT driver Figure 2-22 FSP Configuration of AGT Driver (free run timer for speed measurement) R01AN6844EJ0110 Rev.1.10 Page 22 of 79...
  • Page 23 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-23 FSP Configuration of GPT Driver Figure 2-24 FSP configuration of POEG driver R01AN6844EJ0110 Rev.1.10 Page 23 of 79 Jan 23, 2024...
  • Page 24 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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, U-phase voltage(Vu), V phase voltage(Vv) W phase voltage(Vw), and inverter bus voltage(Vdc) are measured by using the ’12-bit A/D converter’.
  • Page 25 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-26 FSP configuration of ADC driver [1/4] Figure 2-27 FSP configuration of ADC driver [2/4] R01AN6844EJ0110 Rev.1.10 Page 25 of 79 Jan 23, 2024...
  • Page 26 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-28 FSP configuration of ADC driver [3/4] Figure 2-29 FSP configuration of ADC driver [4/4] R01AN6844EJ0110 Rev.1.10 Page 26 of 79 Jan 23, 2024...
  • Page 27 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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) R01AN6844EJ0110 Rev.1.10 Page 27 of 79 Jan 23, 2024...
  • Page 28 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 R01AN6844EJ0110 Rev.1.10 Page 28 of 79...

  • Page 29: Software Structure

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 30 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 31: Module Configuration

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 2.3.2 Module configuration Figure 2-34 show module configuration of software. Application Layer (User Application) Main User Interface Module mtr_main.c r_mtr_ics.c Set User Command to Buffer...

  • Page 32: Software Specifications

    120-degree conducting control Rotor magnetic pole position Position detection by inductive voltage (by 60 degrees) detection Motor rotation start/stop SW1 input or input from ‘Renesas Motor Workbench’ Input voltage DC 24V Main clock frequency RA6T2: 240 [MHz] RA6T3: 200 [MHz]...

  • Page 33: Interrupt Priority

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 2.5 Interrupt priority The interrupts and priorities used in this system are shown below. Table 2-9 Interrupt priority Interrupt level Priority function AGT0 INT Speed control Interrupt...
  • Page 34 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 2-37 RA8T1 FSP Interrupts Configuration R01AN6844EJ0110 Rev.1.10 Page 34 of 79 Jan 23, 2024...

  • Page 35: Descriptions Of The Control Software

    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 36: Speed Control

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 3.1.3 Speed control In this system, the motor rotation speed is calculated from a difference between the current timer value and the timer value 2π [rad] before. The timer values are obtained from free run timer at every zero cross occurs.

  • Page 37: Voltage Control By Pwm

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 38 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Figure 3-4 Complimentary first 60-degree Chopping R01AN6844EJ0110 Rev.1.10 Page 38 of 79 Jan 23, 2024...

  • Page 39: State Transition

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 40: Start-Up Method In Sensorless Control

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 3.1.6 Start-up method in sensorless control Sensorless 120-degree conducting control, to estimate the position of the magnetic poles of every 60 degrees in the induced voltage due to the change in the magnetic flux of the permanent magnet (rotor).

  • Page 41: System Protection Function

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 3-6 for settings.

  • Page 42: Ad Triggers

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 ADC trigger...

  • Page 43: Function Specifications Of 120-Degree Conducting Control Software

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 3.2 Function specifications of 120-degree conducting control software Multiple control functions are used in this control program. Table 3-7 List of Functions “mtr_main.c” [1/2] File name...
  • Page 44 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-8 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 45 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-9 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 Initialization of variables used...
  • Page 46 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-10 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 47 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-11 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 48 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-12 List of Functions “rm_motor_120_degree.c” [3/3] Function name File name Process overview rm_motor_check_over_current_error Overcurrent error detection Input : (float) f4_iu / U phase current [A]...
  • Page 49 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-13 List of Functions “rm_motor_120_control_sensorless.c” [1/4] File name Function name Process overview RM_MOTOR_120_CONTROL_SENSORLESS_Open Sensorless control start Input : (motor_120_control_ctrl_t * const) p_ctrl / Instance parameter...
  • Page 50 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-14 List of Functions “rm_motor_120_control_sensorless.c” [2/4] File name Function name Process overview RM_MOTOR_120_CONTROL_SENSORLESS_PatternErrorFlagGet Virtual Hall sensor pattern Input : (motor_120_control_ctrl_t * const) p_ctrl / Instance parameter...
  • Page 51 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-15 List of Functions “rm_motor_120_control_sensorless.c” [3/4] File name Function name Process overview Calculation of phase shift rm_motor_120_control_sensorless_set_angle_shift amount Input : (motor_120_control_sensorless_instance_ctrl_t *) p_ctrl /...
  • Page 52 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-16 List of Functions “rm_motor_120_control_sensorless.c” [4/4] File name Function name Process overview rm_motor_120_control_sensorless_lpff LPF process Input : (float) f4_lpf_input / LPF input value (float) f4_pre_lpf_output / Previous LPF output value...
  • Page 53 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-17 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 54 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-18 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 55: Contents Of Control

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 3.3 Contents of control 3.3.1 Configuration Options The configuration options for the sensorless 120-degree control module for the motor can be configured using the RA Configurator. The changed options are automatically reflected in hal_data.c when the code is generated.
  • Page 56 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-21 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 57 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-23 Configuration Options Configuration Options (rm_motor_120_control_sensorless.h) Option name Contents General | Stop BEMF Value of stop motor BEMF General | Maximum voltage for BOOT (V)
  • Page 58 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-25 Configuration Options [1/2] 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 59 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-26 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 Disabled Enabled...
  • Page 60 Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series Table 3-27 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 Pin Level Low...

  • Page 61: Control Flows (Flow Charts)

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 3.4 Control flows (flow charts) 3.4.1 Main process Figure 3-7 Main Process Flowchart R01AN6844EJ0110 Rev.1.10 Page 61 of 79 Jan 23, 2024...

  • Page 62: Current Control Periodic Interrupt (Carrier Periodic Interrupt) Handling

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 detection Get Vdc voltage...

  • Page 63: Speed Control Periodic Interrupt Handling

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor For Renesas Flexible Motor Control Series 3.4.3 Speed Control periodic interrupt handling 1 ms interupt [INACTIVE] SYSTEM MODE [ACTIVE] [INIT MODE] [DRIVE MODE] RUN MODE [BOOT MODE] [Not openloop] Reference speed...

  • Page 64: Overcurrent Interrupt Handling

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 65: Evaluation Environment Explanation

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 66: Build And Debug

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 67: Quick Start

    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 68: Motor Control Development Support Tool, 'Renesas Motor Workbench

    ’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 69: 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 4-1 Procedure for changing to use Renesas Motor Workbench Change the user interface to use Renesas Motor Workbench (1) Press the “Run” button...
  • Page 70 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 R01AN6844EJ0110 Rev.1.10 Page 70 of 79...

  • Page 71: List Of Variables For Analyzer Function

    Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 72: Operation Example For Analyzer

    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 73 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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” Figure 4-7 Procedure – Error cancel operation R01AN6844EJ0110 Rev.1.10...

  • Page 74: 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 rate is 10 Mbps) (1) Change the value of ICS_BRR in r_mtr_ics.h to 1.

  • Page 75: How To Use The Built-In Communication Library

    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 76 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 R01AN6844EJ0110 Rev.1.10 Page 76 of 79...
  • Page 77 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. (2) Select the COM port of the connected kit in the COM of Connection.
  • Page 78 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 79 Sensorless 120-degree conducting control of permanent magnetic synchronous motor 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 R01AN6844EJ0110 Rev.1.10...
  • Page 80 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 81 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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