永久磁石同期モータのベクトル制御 - Renesas Electronics
Contents
1.2. OA
3. RoHS
4. 10 11
5. RX23T A D P43 AN003 DC24V IUAIN 7 P40 AN000 P41 AN001 gt 0 P42 AN002 LAN VR1 P10 AN017 LED1 LED2 LED3 Y SW1 2 sw2 1 P91 1 LED P31 MTU3 P71 MTIOC3B Uy P72 MTIOC4A V P73 MTIOC4B W P74 MTIOC3D U P75 MTIOC4C vV P76 MTIOC4D 2 a Vw P70 1 amp 51215 15121212 gt 121 gt 5 2 1 R01AN2955JJ0100 Rev 1 00 Page 4 of 39 2015 9 25 RENESAS
6. ICS board_ui software_init 3 6 ctrl_rx23t c mtr_ctrl_rx23t c R_MTR_InitHardware mtr init clock init WDT mtr_init CMT mtr init poe3 3 POE3
7. 1 2 1 lt http www renesas com 135 0061 3 2 24 http japan renesas com contact 2015 Renesas Electronics Corporation All rights reserved Colophon 4 0
8. RX23T 7 3 4 V 28 100 V 14 100 R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 15 of 39 RX23T 3 2 _ 3 5 main C main
9. 1 1 1 1 1 3 7 1 1 CS RX23T 24V 1 R5F523T5ADFM TG 55L 24V 2 V3 01 00 1 RX23T 24V RTKOEM0005S01001BJ 2 TG 55L http www tsukasa d co jp R01AN2955JJ0100 Rev 1 00 Page 3 of 39 2015 9 25 RX23T 2 2 1 3
10. ROM RX23T
11. 2 6 SW1 P91 Low High ICS 1 DC 24V PWM 20 kHz 100 hs 2 CW 0 rpm 2650 rpm CCW 0 rpm 2650 rpm 4 6 1 1 0 A 100 s 2 28 V 100 s 3 14 V 100 s 4 3000 rpm 100 s POE0 PWM 1 4
12. Error Error PWM mtr_carrier_interrupt 100 ps PI mtr_1ms interrupt 1 ms PI R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 17 of 39 RX23T 3 9 mtr_spm_less_foc c mtr_spm_less_foc c R_MTR_InitSequence uint8 u1_event mtr_act_active PWM uint8 u1_state uint8 u1_state mtr_act_inactive
13. R01AN2955JJ0100 Rev 1 00 Page 14 of 39 2015 9 25 RENESAS 3 1 6 57 7 4 3 3 4 U V W PWM 5 G
14. 3 1 53 CW 0 rpm 2700 rpm 0800H lt 0FFFH 2 ML CCW 0 rpm 2700 rpm 07 0000 PWM 3 2 AD 01 111 0000 AN003 U W U W 3 51 U W AD U W 10 A 10 0000H 0FFFH 21 000 AN002 5 1 AD RX23T R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESASs 10 of 39
15. mtr_spm_less_foch MTR SPEED_ RPM SPEED_RPM rpm SPEED_RAD MTR_MAX SPEED_RPM rad s MTR_RPM_RAD MTR_ID_ DOWN_SPEED_RPM CP_ID_DOWN_SPEED_RPM d rpm MTR_ID_ DOWN_SPEED_RAD MTR_ID_DOWN_SPEED_RPM MTR_RPM_RAD d rad s MTR_ID_UP SPEED_RPM CP_ID_UP_SPEED_RPM d rpm MTR_ID_UP_SPEED_RAD MTR_ID_UP SPEED_RPM MTR_RPM_RAD d rad s MTR_REF_ID CP_REF_ID d A MTR_ID_UP TIME CP_ID_UP_TIME d 10 STEP MTR_REF_ID MTR_ID_UP d A MTR_ID_DOWN_TIME CP_ID_DOWN_TIME d MTR_ID_DOWN_STEP MTR_REF_ID d A MTR_ID_DOWN_TIME MTR_LIMIT_SPEED_CHANGE_MODE0 CP_LIMIT_SPEED_CHANGE_MODE 0 0 rad s MTR_LIMIT_SPEED_CHANGE_MODE1 CP_LIMIT_SPEED_CHANGE_MODE 1 0 rad
16. 3 20 RX23T MTR_PI CTRL f4 er float32 f4 kp float32 PI f4 ki float32 PI f4 float32 PI f4 ilimit float32 MTR_PARAMETER 14 mtrr float32 0 4 mtr ld float32 d f4 14 float32 q mtr_m float32 Wb f4 mtr t float32 mtr t ld float32 f4 mtr 1 14 mtr_ld s H mtr tlIq float32 f4 mtr 1 14 s H float32 f4 mtr 1 14 s Wb MTR_ICS_INPUT 52 int16 rpm s2_direction int16 0 CW 1 f4 kp_speed float32 f4 ki_speed float32 4 float32 d f4 ki id float32 d 4 float32 q PI 4 float32 d PI 4 k emf float32 4
17. RX23T NS U W AD U V W U V W 8 PWM ICS 2 gt R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS 3 6 100 s Page 34 of 39 RX23T 3 6 3 1 ms 1 ms 22 INACTIVE ES System 7 NTT 52 DRIVE Run EE BOOT d q ee
18. inc main h common h mtr_ctrl rssk2lv h mtr rx23th RX23T mtr_spm_less_foc h control_parameter h motor_parameter h mtr_ctrl rx23t rssk2lv h amp RX23T mtr_feedback h mtr fiter h mtr_gmc h mtr_driver_access h lib angle_speed_R5F523T5AxFM obj ics ICS_RX23T obj ICS ICS_RX23T h ICS src main c mtr_ctrl_rssk2lv c mtr_ctrl_rx23t c RX23T mtr_interrupt c mtr_ spm_less_foc c mtr_ctrl_rx23t_rssk2lv c amp RX23T mtr_feedback c mtr_filter c mtr_ gmc c mtr_drive
19. SW_ON 0 Low SW_OFF 1 CHATTERING_CNT 10 VR1_SCALING MAX_SPEED 50 2048 0f ADJUST_OFFSET 0x7FF POLE_PAIRS MP_POLE_PAIRS 0 M_CCW 1 ICS_INT_LEVEL 6 ICS ICS_BRR 4 ICS 5 1 ICS R01AN2955JJ0100 Rev 1 00 28 of 39 2015 9 25 RENESAS RX23T 3 24 mtr_ctrl_rx23t_rssk2lv h mtr ctrl rx23t rssk2lv h PWM TIMER_FREQ 40 0f PWM MHz MTR_CARRIER_FREQ 20 0f kHz MTR_DEADTIME 2 ps MTR_DEADTIME_SET uint16 MTR_DEADTIME MTR_PWM MTR_AD_FREQ 40 04 AD MHz MTR_AD_SAMPLING_CYCLE 47 0f AD MTR_AD_SAMPLING_TIME MTR_AD_SAMPLING_CYCLE AD ps MTR_AD_FREQ MTR_AD_TIME_SET uint16 MTR_PWM_TIMER_FREQ MTR_AD_SAMPLING_TIME AD MTR_CARRIER_SET uint16 MTR_P
20. CMOS LSI LSI LSI
21. RX23T 0 0520 10100 R01AN2154JJ0100 Circuit Scope http www desktoplab co jp download html RX23T 24V R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESAs Page 1 of 39 RX23T 3 2 4 10 4 In Circuit Scope 36 R01AN2955JJ0100 Rev 1 00 Page 2 of 39 2015 9 25 ENESAS RX23T 1 RX23T PMSM m Circuit Scope 1 ICS
22. RX23T 3 1 3 PWM 1 4 U Ot 4 V Ot U V U V OU 3 1 R01AN2955JJ0100 Rev 1 00 11 of 39 2
23. P40 AN000 U P41 AN001 V P42 AN002 W 71 MTIOC3B PWM Up P72 MTIOC4A PWM Vp P73 MTIOC4B PWM Wp P74 MTIOC3D PWM Un P75 MTIOC4C PWM Vn P76 MTIOC4D PWM Wn P70 POEO PWM R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 5 of 39 RX23T 2 2 2 2 3 2 3 12bit AD CMT MTU3 POE3 4 1 Is PU 12bitA D U 1 V W Va amp 1
24. g_f4 float32 014 float32 M 2 adjust unit16 g_u1 flag id ref unit8 d d 1 d 2 d 3 d 0 g_u1 ref unit8 d 0 q 0 1 Pl 1 uint8 0 0 1 g_f4 temp_speed float32 rad s g_f4 id up speed float32 d rad s 014 offset calc_ time float32 x 100uls g_f4 limit speed change float32 rad s g_f4 modu float32 U 14 float32 V g_f4 modw float32 W g_f4 overcurrent_limit float32 9 14 overvoltage_limit float32 A 9g_f4 undervoltage_limit float32 0 14 speed_limit rad float32 rad s 0 14 pre_offset_iu float32 U 9 14 float32 W 9 14
25. rpm CP_REF_ID 0 2f d A CP_ID_UP TIME 128 0f d ms CP_ID_ DOWN_TIME 128 0f d ms CP_LIMIT_SPEED_CHANGE_MODE0 0 2f 0 rad s CP_LIMIT_SPEED_CHANGE_MODE1 0 2f 1 rad s CP_FLUCTUATION_LIMIT 100 0f rad s CP_OFFSET_CALC_TIME 256 0f ms R01AN2955JJ0100 Rev 1 00 27 of 39 2015 9 25 5 5 3 23 main h RX23T main h ICS UI 0 ICS BOARD_UI 1 MAX_SPEED CP_MAX_SPEED_RPM rpm MIN_SPEED CP_ID_ DOWN_SPEED_RPM rpm ID 10 d d PI LT CP_IQ_PLKP PI SPEED_PI_KP CP
26. rad s g_f4 fluctuation_limit 14 offset_calc_time float32 ms g_f4 offset calc_time 52 enable_write int16 R01AN2955JJ0100 Rev 1 00 Page 37 of 39 2015 9 25 EN RX23T 4 3 ICS 3 4 1 Control Window Control Window Circuit Scope 52 52 com_s2_enable_write W com_s2_ref_speed_rpm Write 9 Write Read com_s2_ref_speed_rpm g_s2_enable_write Read 0 com_s2_enable_write
27. 52 max speed int16 rpm 0 52 int16 rpm 9g_u1_motor_status uint8 g_u1 reset_red unit8 0 1 g_u1 unit8 SW1 g_u1_sw2 cnt unit8 SW2 0 52 sw_userif int16 0 ICS 1 g_s2 mode_system int16 g_s2 enable_write int16 st_ics_input MTR_ICS_INPUT ICS 9 _mode_system unit8 0x00 Inactive 0x01 Active 0x02 Error 9 2 run_mode unit16 0x00 Int 0x01 Boot 0x02 Drive 0x03 Analysis 0x04 Tune 9 2 ctrl Unit16 0x01 0x02 0x04 0x08 0x10 9 2 sensor_conf unit16 0x01 0x
28. NT d q Run Boot lt d Run DRIVE 8 3 7 1 ms 3 6 4 3 8 R01AN2955JJ0100 Rev 1 00 Page 35 of 39 2015 9 25 RENESAS RX23T 4 In Circuit Scope 4 1 m Circuit Scope ICS Tn Circuit Scope ICS CubeSuite Main Window Imcircuit Scope Software C Program Files Renesas Electronics ICS Imcircuit
29. 3 15 mtr_driver_access c mtr_driver access c R_MTR_SetSpeed int16 ref_speed R_MTR_SetDir uint8 dir R_MTR_GetSpeed int16 52 R_MTR_GetDir uint8 g_u1_direction R_MTR_GetStatus uint8 g_u1_mode_system 3 16 angle_speed_R5F523T5ADFM obj angle_speed_R5F523T5ADFM ob mtr_angle_speed R01AN2955JJ0100 Rev 1 00 22 of 39 2015 9 25 RENESASs 33 1 3 17 1 3 RX23T E
30. 9 14 iv float32 9 14 ad float32 W AVD 014 float32 W g_f4 offset_iu float32 U 014 offset_iw float32 W 914 float32 d A g fiq float32 0 14 float32 d 014 float32 q g 4 kp id float32 d PI 9 14 ki id float32 d PI float32 d 914 ki iq float32 PI 014 kp_speed float32 PI g_f4 ki_speed float32 PI g_f4 float32 d PI g 14 float32 q PI 0 14 lim_iq float32 PI 914 iq float32 PI 914 id float32 d g 14 ref float32 d A g_f4 speed_rad float32 rad s g_f4 speed_rad_ctrl float32 PI
31. com_s2_enable_write E 1ICS 4 1 1CS ICS 62 sw _userif int16 0 ICS g_s2 sw _userif 1 52 mode_system int16 0 1 g_s2 mode_system 3 com_s2 direction int16 0 CW g_u1 dir 1 52 int16 rpm g_s2 ref com_f4 kp_speed float32 Pl 9_f4 kp_speed 14 ki_speed float32 Pl g_f4 14 float32 d PI g _f4_kp_id 14 id float32 PI 914 ki id com_f4_kp_iq float32 q PI g_
32. AV
33. clear_wdt WDT mtr clear_oc_flag R01AN2955JJ0100 Rev 1 00 Page 16 of 39 2015 9 25 RENESAS RX23T 3 7 mtr_ctrl_rssk2lv c rssk2lv c R_MTR_ChargeCapacitor get_vr1 VR1 unit16 ad_data get_sw1 SW1 8 SW1 get_sw2 SW2 8 SW2 led1_on LED1 led2_on LED2 led3_on LED3 led1_off LED1 led2_off LED2 led3_off LED3 3 8 mtr_interrupt c mtr_interrupt c current_interrupt
34. 1 RX23T RX23T R01AN2955JJ0100 Rev 1 00 2015 9 25 Circuit Scope RX23T RSFS23TSADFM RX23T_RSSK2LV_SPM_LESS_FOC_CSP_V100 RX23T 24V RX23T 4
35. 2 2 2 2 1 2 1 2 1 RX23T VR1 START STOP SW1 ERROR RESET SW2 LED1 LED LED2 LED LED3 LED RESET RESET1 2 2 2 2 R5F523T5ADFM P43 AN003 P10 AN017 91 START STOP 92 ERROR RESET P00 LED1 LED2 P31 LED3
36. mtr_get_vdc_adc float32 14 vVdc_ad AD AVD R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 19 of 39 3 11 mtr_feedback c RX23T mtr_feedback c mtr_pi_ctrl MTR_PI_CTRL float32 f4_ref PI 3 12 mtr filter c mtr_filter c _Lpff float32 float32 float32 float32 4 lpf_input LPF 4 pre_lpf_output LPF jpf k LPF 4 temp LPF LPF float32 R_MTR_Lpf int16 s2_lpf_input LPF int16 s2_pre_lpf_output LPF int16 s2 lpf k LPF int16 s2_temp LPF LPF int16 R_MTR_Limitf float32 14 float32 float32 4 float32 14 float32 temp R_MTR_Limit int16
37. Tn Circuit Scope R01AN2955JJ0100 Rev 1 00 Page 9 of 39 2015 9 25 amENESAS 3 RX23T 3 1 3 1 1 ICS SW1 SW1 Low High 3 1 2 AD 3 1 ICS VR1 A D VR1
38. MTR_ERROR_BEMF_PATTERN 0x40 MTR_ERROR_UNDER_VOLTAGE 0x80 MTR_ERROR_UNKNOWN Oxff R01AN2955JJ0100 Rev 1 00 32 of 39 2015 9 25 RENESAS 3 6 3 6 1 RX23T 6 2 ICS ICS Board com_s2 mode_system LED SW LED R01AN2955JJ0100 2015 9 25 Rev 1 00 3 5 RENESA AS Page 33 of 39 3 6 2
39. float32 U 14 iv lpf float32 V 0 14 float32 W 14 lpf float32 U 0 14 float32 W ul flag_offset calc unit8 0 1 g 14 float32 Y 9 4 1 delta float32 5 A gf4 digamma float32 14 di_delta float32 6 g 14 k float32 g_f4 k theta float32 9 14 delta_speed_lpf float32 9 14 float32 rad s 0 14 id down_speed_rad float32 d rad s 9 14 id up step float32 g 14 down_step float32 d 0 14 fluctuation_limit float32 rad s 9 4 ref id float32 d R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS 25 of 39 3 4
40. volatile float32 14 volatile float32 14 UVW dq mtr_transform_dq_uvw_abs float32 f4_d d float32 f4_q q float32 f4_angle_rad volatile float32 f4_u u volatile float32 4 volatile foat32 14 w 28 is dq UVW mtr_decoupling_control float32 f4_id d float32 f4_iq float32 f4_speed_rad volatile MTR_PARAMETER mtr_para volatile float32 14 volatile float32 14 R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 21 of 39 RX23T 3 14 mtr_gmc c 2 2 2 mtr_calc_mod float32 f4 vu u float32 f4_vv float32 f4_vw w float32 f4_vdc volatile float32 14 volatile float32 f4_modv v volatile float32 f4_modw w 1
41. 52 mode_system INT16 060 1 Write 3 44 R01AN2955JJ0100 Rev 1 00 2015 9 25 38 of 39 NESA AS RX23T http japan renesas com http japan renesas com contact R01AN2955JJ0100 Rev 1 00 Page 39 of 39 2015 9 25 RENESAS RX23T Rev 1 00 2015 09 25 A 1 RX23T FT 1
42. E 1 2 CMT 0 1 msl 1 3 3 MTU3 3 4 PWM CHigh 3 POE3 POEO PWM H H R01AN2955JJ0100 Rev 1 00 6 of 39 2015 9 25 RX23T 2 3 2 3 1 2 4 RX23T_RSSK2LV_SPM_LESS _FOC_CSP_V100
43. mtr_error_check R01AN2955JJ0100 Rev 1 00 Page 18 of 39 2015 9 25 RENESAS 3 10 mtr_ctrl_rx23t rssk2lv c RX23T mtr_ctrl_rx23t_rssk2lv c mtr_init mtu MTU3 mtr init ad converter AD init ui mtr_ctrl_start mtr_ctrl_stop mtr_get_vr1_adc unit16 u2_temp VR1A D VR1A D mtr_inv_set_uvw float32 f4 modu U float32 f4_modv float32 f4_ modw W PWM mtr_ init register mtr_get_current_adc float32 f4_ iu_ad U float32 14 W A D U W AD
44. MTR_EVENT_INACTIVE 0 00 0x01 MTR_EVENT_ERROR 0x02 0x03 MTR_SIZE_EVENT 4 MTR_MODE_INIT 0 00 MTR_MODE_BOOT 0x01 MTR_MODE_DRIVE 0 02 MTR_MODE_ANALYSIS 0x03 MTR_MODE_TUNE 0x04 MTR_SENSOR_LESS 0x01 MTR_SENSOR_HALL 0x02 MTR_SENSOR_ENCD 0x04 MTR_SENSOR_RESO 0 08 MTR_METHOD_FOC 0 00 180 0 01 180 MTR_METHOD_WIDE 0x02 120 0x03 120 MTR_CONTROL_CURRENT 0 01 MTR_CONTROL_SPEED 0x02 MTR_CONTROL_POSITION 0x04 MTR_CONTROL_TORQUE 0 08 MTR_CONTROL_VOLTAGE 0x10 MTR_ERROR_NONE 0 00 MTR_ERROR_OVER_CURRENT 0x01 MTR_ERROR_OVER_VOLTAGE 0x02 MTR_ERROR_OVER_SPEED 0x04 MTR_ERROR_HALL_TIMEOUT 0 08 MTR_ERROR_BEMF_TIMEOUT 0x10 MTR_ERROR_HALL_PATTERN 0x20
45. theta float32 14 speed_lpf_k float32 LPF 4 current_lpf_k float32 LPF mtrr float32 0 4 mtr ld float32 d 8 float32 q HI float32 Wb 14 offset lpf_k float32 LPF 52 max speed int16 rpm 52 id down_speed rpm int16 d rpm 52 id speed rpm int16 rpm f4 float32 d 4 float32 id down_time float32 d ms 4 limit speed float32 rad s 4 fluctuation_limit float32 rad s f4 offset_calc_time float32 x lt 100u s R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 26 of 39 3 5 7 77 RX23T 3 21 motor_parame
46. 14 VI R01AN2955JJ0100 Rev 1 00 Page 29 of 39 2015 9 25 RENESAS RX23T 3 25 mtr_spm_less_foc h 1 3 mtr_spm_less_foc h MTR_INT_DECIMATION 1 MTR_CTRL_PERIOD MTR_INT_DECIMATION 1 MTR_CARRIER_FREQ 1000 s MTR_CONTROL_FREQ MTR_CARRIER_FREQ 1000 MTR_INT_DECIMATI 1 Hz MTR_M MP_MAGNETIC_FLUX Wb MTR_R MP_RESISTANCE Q MTR_LD MP_D_INDUCTANCE d MTR_LQ MP_Q_INDUCTANCE q MTR_T_LD MTR_CTRL_PERIOD MTR_LD d s H MTR_T_LQ MTR_CTRL_PERIOD MTR_LQ q s H MTR_T_M MTR_CTRL_PERIOD MTR_M s Wb MTR_POLE_PAIRS MP_POLE_PAIRS MTR_TWOPFI 2 3 14159265f 2T MTR_PI 2 3 14159265 2 2 MTR_TWOPI 3 MTR_TWOPI 3 21 3 MTR_SQRT_2 1 41421356f Y2 5 3 1 7320508f 3 MTR_SQRT_2 3 0 81649658f 302 3 MTR_RPM_RAD MTR_POLE_PAIRS pole pairs 2 60 MTR_TWOPI 60 MTR_SPEED_LIMIT_RPM 3000 rpm MTR_SPEED_LIMIT_RAD MTR_S
47. rad s g_f4 ref float32 rad s g_f4 angle_rad float32 rad 0 14 max speed_rad float32 rad s 9 4 refu float32 U 0 14 refv float32 V 9 4 refw float32 W 0 14 inv limit float32 M g_f4 speed_lpf float32 LPF g f4 current_lpf float32 LPF g_f4 offset float32 LPF st MTR_PI_ CTRL d PI st MTR_PI_ CTRL q PI 51 speed MTR_PI_CTRL rad s st_ motor MTR_PARAMETER g_u1_direction unit8 0 CW 1 g_u1 dir buff unit8 0 CW 1 g_u1 enable_write unit8 ICS R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 24 of 39 3 19 3 3 RX23T st_ ics_input_buff MTR_ICS_INPUT ICS
48. PWM uint8 u1_state uint8 u1_state uint8 u1_state uint8 u1_state mtr_act_ reset uint8 u1_state uint8 u1_state mtr_act_error uint8 u1_state uint8 u1_state mtr_start_init mtr_set_variables lcsInput ICS MTR_ICS_INPUT ics_input ICS set ref float32 f4_speed rad_ref_buff set iq ref d float32 f4_iq_ref_buff q mtr_set id d float32 f4 id ref_buff d
49. Scope_eny File yiew ChannelsWindows Tools Help Open Project Save Project Load Variables Clear Varisbles 6 KGReady CPU Status Control Window Channel Settings Control Window Reaa write Auto Reag 100 msec Variable Data Variable List Main Scope Window Veriable Data Re Read Mode Edge auto Rise TIME DIV2 00m TRG MODE Auto A 100 TRG POS 8 00m Acquisition Length 100 2 Sample 2000u 45 Time Div 20000 kj Color Display Fiuref 48231 Liyref 482 31 iu ad 2 81 Liv ad 4A 2 31 Liw_ad4A 2 81 Lid ad 4A 2 31 1 502000 003 1 cnannnFtnna 4 1 In Circuit Scope R01AN2955JJ0100 Rev 1 00 Page 36 of 39 2015 9 25 RX23T 4 2 ICS ICS 4 1 com_s2_enable_write g _s2_enable_write
50. s MTR_FLUCTUATION_LIMIT CP_FLUCTUATION_LIMIT rad S MTR_OFFSET_CALC_TIME CP_OFFSET_CALC_TIME MTR_EVERY_TIME 0 MTR_ONE_TIME 1 1 MTR_CW 0 MTR_CCW 1 MTR_FLG_CLR 0 MTR_FLG_SET 1 R01AN2955JJ0100 Rev 1 00 Page 31 of 39 2015 9 25 maRENESAS RX23T 3 27 mtr_spm_less_foc h 3 3 mir_spm_less_foc h MTR_ICS_DECIMATION 3 ICS MTR_ID_UP 0 MTR_ID_CONST 1 MTR_ID_DOWN 2 MTR_ID_ ZERO_CONST 3 d 0 MTR_IQ_ZERO_CONST 0 0 MTR_IQ_SPEED_PI_OUTPUT 1 PI MTR_SPEED_ZERO_CONST 0 0 MTR_SPEED_CHANGE 1 MTR_MODE_INACTIVE 0 00 MTR_MODE_ACTIVE 0x01 MTR_MODE_ERROR 0x02 MTR_SIZE_STATE 3
51. 015 9 25 XENESA AS RX23T H 3 2 ToFF 100 3 2 m m V E PWM ff R01AN2955JJ0100 Rev 1 00 12 of 39 2015 9 25 RENESAS RX23T 314 3 3 System Mode POWER ON RESET f4_offset_calc_time gu2 cnt_adjust 2 5 Current Speed Position Torque Voltage Less CONST ul ref Encoder Resolver MODE INACTIVE ACTIVE ERROR INACTIVE INACTIVE INACTIVE ERROR EVENT ACTIVE ACTI
52. 02 0x04 0x08 9 2 method_conf unit16 0x00 FOC Fields Oriented Control 0x01 180 0x02 0x03 120 g_U2_error_status unit8 0x00 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80 0xFF 9 uint8 ICS g_f4 float32 R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 23 of 39 RX23T 3 18 2 3 g_f4 float32 d PI V 0 14 float32 q PI V g fiu ad float32 U 9 14 float32 U
53. PEED_LIMIT_RPM MTR_ RPM_RAD rad s MTR_ID_PI_KP 10 d PI 10 d PI MTR_IQ_PI_KP CP_IQ q PI MTR_IQ_PI_KI CP_IQ_PI_KI q PI MTR_SPEED_PI_KP CP_SPEED_PI_KP PI MTR_SPEED_PI_KI CP_SPEED_PI_KI PI MTR_EMF_EST_K CP_EMF_EST_K MTR_THETA_EST_K CP_THETA_EST_K MTR_SPEED_LPF_K CP_SPEED_LPF_K LPF MTR_CURRENT_LPF_K CP_CURRENT_LPF_K LPF MTR_OFFSET_LPF_K CP_OFFSET_LPF_K LPF MTR_LIMIT IQ 0 71 PI A MTR_I LIMIT_IQ 0 7f Pl A MTR_I_LIMIT_VD 12 04 d PI V LIMIT_VQ 12 0f q V R01AN2955JJ0100 Rev 1 00 Page 30 of 39 2015 9 25 RENESAS 3 26 mtr_spm_less_foc h 2 3 RX23T
54. VE ACTIVE ERROR ERROR ERROR ERROR ERROR RESET INACTIVE ERROR INACTIVE Less Encoder Resolver Current Speed Position Torque Voltage 3 3 R01AN2955JJ0100 Rev 1 00 Page 13 of 39 2015 9 25 RENESAS RX23T 3 1 5 3 4 d q RUN MODE MTR_MODE_DRIVE Id reference statu MTRID_CONST 1 reference statl Speed reference status CP_REF ID 1 reference A 1 0 control speed PI output lu reference A 0 Speedref CPID_DOWN_SPEED_RPM 579 3 4
55. WM_TIMER_FREQ 1000 MTR_CARRIER_FREQ 2 MTR_DEADTIME_SET MTR_HALF_CARRIER_SET uint16 MTR_CARRIER_SET 2 MTR_PORT_UP PORT7 PODR BIT B1 U MTR_PORT_UN PORT7 PODR BIT B4 U MTR_PORT_VP PORT7 PODR BIT B2 V MTR_PORT_VN PORT7 PODR BIT B5 V MTR_PORT_WP PORT7 PODR BIT B3 W MTR_PORT_WN PORT7 PODR BIT B6 W MTR_PORT_SW1 PORT9 PIDR BIT B1 SW1 MTR_PORT_SW2 PORT9 PIDR BIT B2 SW2 MTR_PORT LED1 PORT0 PODR BIT BO LED1 MTR_PORT_LED2 PORT0 PODR BIT B1 LED2 MTR_PORT _LED3 PORT3 PODR BIT B1 LED3 MTR_LED_ON 0 Low MTR_LED_OFF 1 MTR_INPUT_V 24 V MTR_MCU_ON MTR_INPUT_V 0 8f VI MTR_HALF_VDC MTR_INPUT_V 2 0f 2 V MTR_ADC_OFFSET 0x7FF AD MTR_CURRENT_SCALING 20 0f4095 0f A D MTR_VDC_SCALING 111 0f 4095 0f MTR_OVERCURRENT_LIMIT 1 0f A MTR_OVERVOLTAGE_LIMIT 28 VI MTR_UNDERVOLTAGE_LIMIT
56. _SPEED_PI_KP SPEED_PI CP_SPEED_PI PI EMF_EST_K CP_EMF_EST_K THETA_EST_K CP_THETA_EST_K SPEED_LPF_K CP_SPEED_LPF_K LPF CURRENT_LPF_K CP_CURRENT_LPF_K LPF MAGNETIC_FLUX MP_MAGNETIC_FLUX Wb RESISTANCE MP_RESISTANCE Q D_INDUCTANCE MP_D_INDUCTANCE d Q_INDUCTANCE MP_Q_INDUCTANCE q OFFSET_LPF_K CP_OFFSET_LPF_K LPF ID_UP_SPEED_RPM CP_ID_UP SPEED_RPM d rpm REF_ID CP_REF_ID d A ID_UP_TIME CP_ID_UP_TIME d ms ID_DOWN_TIME CP_ID_DOWN_TIME d ms LIMIT_SPEED_CHANGE_MODE0 CP_LIMIT_SPEED_CHANGE_MODE0 0 rad s LIMIT_SPEED_CHANGE_MODE1 CP_LIMIT_SPEED_CHANGE_MODE1 1 rad s FLUCTUATION_LIMIT CP_FLUCTUATION_LIMIT rad s OFFSET_CALC_TIME CP_OFFSET_CALC_TIME ms
57. f4 14 float32 q PI iq 14 float32 k emf 14 theta float32 g_f4 k theta 14 speed float32 LPF 9 14 speed 14 float32 LPF 9 14 current_lpf_k 14 mtrr float32 Q st motor f4 mtr ld float32 d H st motor f4 mtr_Iq float32 q H st motor com_f4 float32 Wb st_motor 14 offset_lpf_k float32 LDPF g_f4 offset lpf_k 52 speed int16 rpm 0 52 max speed 52 id down_speed_rpm int16 d rpm 0 52 id down_speed_rpm com_s2 id speed rpm int16 d rpm 0 52 id up speed rpm 14 ref_id float32 d A g_f4 ref id 14 id time float32 d ms g_f4 id up step com_f4_ id down_time float32 d ms 014 id_down_step 14 limit_ speed change float32 rad s g_f4 limit speed change com_f4 fluctuation_limit float32
58. g_s2_enable_write 6 com_s2_mode_system Write 1 0 Write Click Read button DClick Write button N trol Window Write Auto Read 500 msec Variable Data Variable List CDcheck Variable Name Data Type Scale Read W com_s2_mode_system INT16 Q0 i Write 4 com_s2 ref_speed gt INT15 Ql com_s2 enable_write gt INT16 Q0 gt g_S2 enable write INT16 60 Write 0 or 1 Write reference speed 4 2 com_s2_mode_system Write 0 Write Click Write button Control Window Read Write Auto Read 500 msec Variable Data wariable List Variable Data Type Scale Read W7 Write com_s2 made_system INT16 007 10 7 1 lt Write 0 4 3 com_s2_mode_system Write 3 0 Write Cclick Write button Window Read write Auto Read 500 msec Variable Data lvarable tetl WO Variable Name Data Type Scale Read W Write
59. r_acceSsS C R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 7 of 39 RX23T 2 3 2 2 2 2 5 H W 2 2 2 5 mtr_spm_less_foc c mtr_feedback c mtr_gmc c mtr filter c mtr_driver_acceSsS C mtr_interrupt c 1 mtr_ctrl_rx23t_rssk2lv c mtr_ctrl_rx23t c mtr_ctrl rssk2lv c mtr_interrupt c 1 1 mtr_interruptc H W R01AN2955JJ0100 Rev 1 00 8 of 39 2015 9 25 RENESAS RX23T 2 4
60. s2_value int16 s2_max int16 s2_min int16 s2_temp int16 R_MTR_Limitf_h float32 f4_value float32 4 float32 temp float32 R_MTR_Limit_h int16 s2_value int16 s2_max int16 s2_temp int16 R_MTR_Limitf 1 float32 f4_value float32 14 float32 temp float32 R_MTR_Limit 1 int16 s2_value int16 s2_min int16 s2_temp int16 R_MTR_Limitf_abs float32 f4_value loat32 f4_limit_value float32 f4_ temp float32 R_MTR_Limit_abs int16 s2_value int16 s2_limit int16 s2_temp int16 R01AN2955JJ0100 Rev 1 00 2015 9 25 RENESA AS Page 20 of 39 RX23T 3 13 mtr_gmc c 1 2 m
61. ter h motor_parameter h MP_POLE_PAIRS 2 MP_MAGNETIC_FLUX 0 02159f Wb MP_RESISTANCE 6 447f Q MP_D_INDUCTANCE 0 0045f d MP_Q_INDUCTANCE 0 0045f q 3 22 control_parameter h control_parameter h CP_ID_PI_KP 2 0f d 1 0 4f d PI 2 0f q PI 0 4f q PI CP_SPEED_PI_KP 0 002f PI 0 0002f CP_EMF_EST_K 1 0f 5 0 1f CP_SPEED_LPF_K 0 0314f LPF CP_CURRENT_LPF_K 1 0f LPF CP_OFFSET_LPF_K 0 1f LPF CP_MAX_SPEED_RPM 2650 rpm CP_ID_ DOWN_SPEED_RPM 600 d rpm CP_ID_UP SPEED_RPM 350 d
62. tr_get_vdc float32 f4_temp_vdc mtr_check_ current_error float32 f4_iu u float32 f4_iv float32 f4_iw float32 f4_overcurrent_limit uint16 u2_temp0 mtr_ check_over_voltage_error float32 f4_vdc float32 f4_overvoltage_limit uint16 u2_temp0 mtr check_under_voltage_error float32 f4_vdc float32 f4_undervoltage_limit uint16 u2_temp0 mtr_check_over_speed_error float32 f4 float32 14 speed limit_ rad uint16 u2_temp0 mtr_get_current_iuiw volatile float32 14 volatile float32 f4_iw_ad AD mtr_transform_uvw_dq_abs float32 f4_u U float32 f4_v V float32 14 W float32 f4_angle_rad
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