Renesas RTK7F124FGS00000BJ User manual

User's Manual
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Renesas Solution Starter Kit 12 V Motor Control Evaluation
System for RL78/F24
User's Manual
For Your Safety
Do not fail to read this manual before using the Renesas Solution Starter Kit 12 V Motor Control Evaluation
System for RL78/F24 (RTK7F124FGS00000BJ).
Follow the indications in this manual when using the product.
Keep this manual near the product so you can refer to it whenever necessary.
Transfer or sale of the product to third parties is prohibited without written approval.
The purchaser or importer of the product is responsible for ensuring compliance with local regulations. In
addition, the customer is responsible for ensuring that the product is handled correctly and safely, in
accordance with the laws of the customer’s country (region).
All information contained in this manual represents information on products at the time of publication of
this manual. Please note that the product data, specification, sales offices, contents of website, address,
etc., are subject to change by Renesas Electronics Corporation without notice due to product
improvements or other reasons. Please confirm the latest information on Renesas Electronics website.
The manual for the product, and specification (the documents) are the tool that was developed for the
function and performance evaluation of Renesas Electronics semiconductor device (Renesas Electronics
device) mounted on the product, and not guarantee the same quality, function and performance.
By purchasing the product or downloading the documents from Renesas Electronics website, the support
services provided from Renesas Electronics is not guaranteed.
In this manual item related to the safe use of the product are indicated as described below.
The degree of injury to persons or damage to property that could result if the designated content in this manual
is not followed is indicated as follows.
Danger
Indicates content that, if not followed, could result in death or serious
injuryNote 1 to the user, and which is highly urgent.
Warning
Indicates content that, if not followed, could result in death or serious injury
to the user.
Caution
Indicates content that, if not followed, could result in injuryNote 2 to persons
or physical damageNote 3.
Notes 1. Serious injury refers to conditions resulting in persistent after-effects and for which treatment would
necessitate hospitalization or regular hospital visits, such as loss or impairment of eyesight, burns
(high- or low-temperature), electric shock, bone fracture, or poisoning.
2. Injury refers to conditions for which treatment would necessitate hospitalization or regular hospital
visits.
3. Physical damage refers to damage affecting the wider surroundings, such as the user’s home or
property.
R20UT5165EJ0100
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Meaning of Notations

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Requirements related to the handling of the product are classified into the following categories.
•Marks indicating that an action is prohibited.
General Prohibition
The indicated action is prohibited.
Example: Do Not Touch!
Touching the specified location could
result in injury.
•Marks indicating that an action is prohibited.
General Caution
Indicates a general need for caution that
is not specified.
Example: Caution –Hot!
Indicates the possibility of injury due to
high temperature.
•Marks directing that the specified action is required.
General Instruction
The specified action is required.
Example: Turn Off (Disconnect) Power
Supply!
Instructs the user to turn off (disconnect)
the power supply to the product.
Danger
The product should be used only by persons (users) having a thorough knowledge of electrical
and mechanical components and systems, a full knowledge of the risks associated with
handling them, and training in inverter motor control and handling motors, or equivalent skills.
Users should be limited to persons who have carefully read the Caution Items contained in this
manual.
Unlike typical equipment, the product has no protective case to ensure safety, and it contains
moving parts and high-temperature components that could be dangerous. Do not touch the
evaluation board or cables while power is being supplied.
Carefully check to make sure that there are no pieces of conductive materials or dust adhering
to the board, connectors, and cables.
There are moving parts, driven by a motor. Do not touch the motor while power is being
supplied.
Ensure that the motor is insulated and placed in a stable location before supplying power.
Do Not Connect Load to Motor!
This could cause fire, burns, or injury.
Warnings Regarding Use of the Product
Danger Items

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Warning
Caution –Rotating Parts!
The system includes a motor. Touching the rotating shaft could cause high-temperature burns
or injury.
Always insert plugs, connectors, and cables securely, and confirm that they are fully inserted.
Incomplete connections could cause fire, burns, electric shock, or injury.
Use the power supply apparatus specified in the manual.
Failure to do so could cause fire, burns, electric shock, injury, or malfunction.
Disconnect the power supply and unplug all cables when the system will not be used for a period
of time or when moving the system.
Failure to do so could cause fire, burns, electric shock, or malfunction.
This will protect the system against damage due to lightning.
Use a mechanism (switch, outlet, etc.) located within reach to turn off (disconnect) the power
supply.
In case of emergency, it may be necessary to cut off the power supply quickly.
Turn off the power supply immediately if you notice abnormal odor, smoke, abnormal sound, or
overheating.
Continuing to use the system in an abnormal condition could cause fire, burns, or electric
shock.
Do Not Disassemble, Modify, or Repair!
Doing so could cause fire, burns, electric shock, injury, or malfunction.
Do not use the product for any purpose other than initial evaluation of motor control in a testing
room or lab. Do not integrate the product or any part of it into other equipment. Do not insert or
remove cables or connectors when the product is powered on.
The product has no safety case.
Failure to observe the above could cause fire, electric shock, burns, or malfunction.
The product may not perform as expected if used for other than its intended purpose.
Caution
Caution –Hot!
The motor gets hot. Touching it could cause high-temperature burns.
Follow the procedure specified in the manual when powering the system on or off.
Failure to do so could cause overheating or malfunction.
Caution –Static Electricity
Use the antistatic band. Failure to do so could cause malfunction or unstable motion.
Use the ferrite core “near this product”on cable between the power supply and this product.
Failure to do so could cause inhibition of motion to other equipment.
Warning Items
Caution Items

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Introduction
The product is a brushless DC motor control evaluation kit designed for use in a 12 V automotive power supply
environment. The product includes a inverter board with 125 °C compatible automotive grade parts, sample
software that runs on the inverter board, and various evaluation data for the system. It is intended to assist
customers in the development of brushless DC motor.
For this product, please prepare regulated power supply and E2/E2 Lite emulator by the customer.
This User’s Manual describes about the operation method and the specification.
Target Device
RL78/F24 (R7F124FGJ)
Related Documents
Circuit Diagram : R20UT5166EJ0100
Parts List : R20UT5167EJ0100
PWB Pattern Diagram : R20UT5168EJ0100
Application Note
- Sensorless Trapezoidal Control of BLDC Motor by MCU : R01AN6308EJ0100
- Three-Shunt Sensorless Vector Control for PMSM by MCU : R01AN6309EJ0100
- Single-Shunt Sensorless Vector Control for PMSM by MCU : R01AN6310EJ0100
Included Items
Refer to the sheet “Included Items (R20UT5169XJ0100)”, which is included in the product package.
Abbreviations and Acronyms
Abbr. / Acronym
Standard Nomenclature
Note
A/D, AD
Analog to Digital
–
CAN, CANFD
Controller Area Network, CAN with Flexible Data
rate
One of the serial communication
protocols
CPU
Central Processing Unit
–
DC
Direct Current
–
ECU
Electronic Control Unit
–
MCU
Micro-Controller Unit
–
MOSFET
Metal-Oxide-Semiconductor Field Effect Transistor
–
NC
Non-Connection
–
OCD
On-chip Debugging System
Refers to E2/E2 Lite emulator in
this system
PMSM
Permanent Magnet Synchronous Motor
–
PWM
Pulse Width Modulation
–
UART
Universal Asynchronous Receiver/Transmitter
One of the serial communication
protocols

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Contents
For Your Safety...............................................................................................................................1
Introduction.....................................................................................................................................4
1. Features..................................................................................................................................7
2. Specification Outline................................................................................................................8
2.1 Specification............................................................................................................................................8
2.2 Rules and Regulations ............................................................................................................................9
2.2.1European Union Regulatory Notices.....................................................................................................9
3. Block Diagram.......................................................................................................................10
4. Layout....................................................................................................................................11
5. Usage....................................................................................................................................13
5.1 Quick Start.............................................................................................................................................13
5.1.1 Connecting the Motor and the Inverter Board Using the Included Motor Cable .................................14
5.1.2 Connecting the Regulated Power Supply and the Inverter Board ......................................................15
5.1.3 Supplying Power..................................................................................................................................15
5.1.4 Checking the Change in Motor Rotation Speed..................................................................................15
5.1.5 Finish the Operation Check.................................................................................................................15
5.2 Software Specification...........................................................................................................................16
5.3 Dealing with Errors................................................................................................................................17
5.3.1 Operation when an Error Occurs.........................................................................................................17
5.3.2 Measures for the Unusual Odor, Smoke, Unusual Noise, Overheating, etc.......................................17
5.4 Program Writing.....................................................................................................................................17
5.4.1 Connecting the Regulated Power Supply and the Inverter Board ......................................................17
5.4.2 Connecting the Inverter Board and the OCD Conversion Board ........................................................17
5.4.3 Connecting the E2/E2 Lite Emulator...................................................................................................17
5.4.4 Supplying Power..................................................................................................................................17
5.4.5 Launching the RFP..............................................................................................................................17
5.4.6 Create the RFP Project .......................................................................................................................18
5.4.7 Executing the Program Writing............................................................................................................18
5.4.8 Checking the Result for the Program Writing......................................................................................18
5.5 How to Control the Default Software Using PWM Interface..................................................................18
5.5.1 Checking the Result for the Program Writing......................................................................................18
5.5.2 Software Specification of the PWM Operation Mode..........................................................................20
5.5.3 Notes on the PWM Operation Mode ...................................................................................................20
6. Board Specification................................................................................................................21
6.1 Inverter Board........................................................................................................................................21
6.1.1 Hardware Setting for Single-shunt Current Method............................................................................21

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6.1.2 Voltage Generator Circuit....................................................................................................................22
6.1.3 Connecting the E2/E2 Lite Emulator...................................................................................................22
6.1.4 Inverter Control Circuit Block...............................................................................................................23
6.1.5 Current Detection Circuit.....................................................................................................................24
6.1.6 Overcurrent Detection Circuit..............................................................................................................24
6.1.7 Bus Voltage Detection Circuit..............................................................................................................25
6.1.8 Board Temperature Detection Circuit..................................................................................................25
6.1.9 Motor Coil-end Temperature Detection Circuit....................................................................................26
6.1.10 CAN/CANFD Communication Circuit..................................................................................................26
6.1.11 PWM Rotation Speed Command Input Circuit....................................................................................26
6.2 OCD Conversion Board.........................................................................................................................27
6.2.1 E2/E2 Lite Emulator Connection.........................................................................................................27
6.2.2 ICS++ Connection (Option).................................................................................................................27
7. Usage Notes..........................................................................................................................28
Appendix.......................................................................................................................................29
Revision History............................................................................................................................31

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1. Features
The typical features of this product are shown below.
(1) Supports the RL78/F24 microcontroller with the motor control function.
(2) Supports permanent magnetic synchronous motors.
(3) Supports FOC control method (three-shunt and single-shunt).
(4) Supports trapezoidal control method.
(5) Space-saving board layout 60mm × 56mm (dia. 60).
(6) Equipped with overcurrent detection circuit.
(7) Equipped with PCB temperature detection circuit.
(8) Equipped with an external thermistor connection circuit designed for using motor coil-end temperature
detection (optional).
(9) Equipped with a CAN/CANFD transceiver and a PWM circuit as a communication interface for external
ECU.
(10) Equipped with a E2/E2 Lite emulator connector as a debug interface.
(11) Supports ICS++Note 1 using UART communication (option).
(12) Includes design data and various evaluation data Note 2 of the product.
Notes 1. ICS++ (In Circuit Scope Plus) is a real-time RAM monitor is manufactured by Desk Top
Laboratories Inc. http://www.desktoplab.co.jp/
2. Refer to the sheet “Included Items”which is included in the product package.

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2. Specification Outline
2.1 Specification
Table 2-1 12 V Motor Control Evaluation System for RL78/F24 Specifications (1/3)
Item
Specification
Series
Renesas Solution Starter Kit 12V Motor Control Evaluation System for RL78/F24
Kit Type
RTK7F124FGS00000BJ
Kit Contents
Inverter Board with RL78/F24 (RTK7F124FGS00000BJ)
OCD Conversion Board
Permanent Magnet Synchronous Motor
Type : TG-55N-KA
Rated voltage : 12 [V]
Rated current : 0.51 [A]
Operating Temperature
At normal temperature
Operating Humidity
No condensation
Table 2-1 12 V Motor Control Evaluation System for RL78/F24 Specifications (2/3)
Item
Specification
Inverter Board with RL78/F24
MCU
Product Name
RL78/F24 (R7F124FGJ)
CPU Maximum
Operating Frequency
40 MHz
Package
48 pins LQFP
ROM
256 KB
RAM
24 KB
Data Flash
16 KB
Operating Temperature
-40 °C to 125 °C
MCU Input Clock
Crystal resonator 16 MHz
Supported Emulators
E2/E2 Lite emulator
Connection Terminals
DC 12 V input terminal (VBAT / GND)
Motor 3-phase output (U/ V/ W)
Connector
OCD conversion board connector
Through-holes as Connector
External thermistor (Motor coil-end temperature measurement)
(optional)
CAN/CANFD communication interface
PWM command input interface
Operating Input Voltage
Rated DC 12 V (Operating voltage range: 8 V to 19 V）
Max. Input Power
120 W
Rated Output Capacity
42.4 VA
Rated Output Current
5 Arms
Switching Frequency
20 kHz
Dead-time
1.0 µs and more
Current Detection Method
Three-shunt / Single-shunt method
Shunt Resistor
5 mΩ
PWM Logic
Positive logic with upper and lower arms
DC Bus Voltage Detection
Detection by resistance division (5.5 V to 25 V)
Three-phase Current Detection
Voltage detection using shunt resistor (-25 A to +25 A)
Overcurrent Detection Function
Detect by comparing shunt voltage with a comparator built into the
RL78/F24 microcontroller
PCB Temperature Detection
Temperature measurement using a thermistor (-40 °C to 150 °C)

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Table 2-1 12 V Motor Control Evaluation System for RL78/F24 Specifications (3/3)
Item
Specification
OCD Conversion Board
Connectors
For E2/E2 Lite emulator connection
For ICS++ connection (optional)
For inverter board connection
2.2 Rules and Regulations
2.2.1 European Union Regulatory Notices
This product complies with the following EU directives. (These directives are only valid in the European Union.)
CE Certifications:
Electromagnetic Compatibility (EMC) directive 2014/30/EU
EN61326-1: 2013 Class A
WARNING: This is a Class A product. This equipment can cause radio frequency noise when used in the
residential area. In such cases, the user/operator of the equipment may be required to take
appropriate countermeasures under his responsibility.
Information for Traceability:
Authorised representative
Name: Renesas Electronics Corporation
Address: Toyosu Foresia, 3-2-24, Toyosu, Koto-ku, Tokyo 135-0061, Japan
Manufacture
Name: Renesas Electronics Corporation
Address: Toyosu Foresia, 3-2-24, Toyosu, Koto-ku, Tokyo 135-0061, Japan
Person responsible for placing on the market
Name: Renesas Electronics Corporation
Address: Toyosu Foresia, 3-2-24, Toyosu, Koto-ku, Tokyo 135-0061, Japan
Trademark and Type name
Trademark: Renesas
Product name: 12V Motor Control Evaluation System for RL78/F24
Type name: RTK7F124FGS00000BJ
Environmental Compliance and Certifications:
Waste Electrical and Electronic Equipment (WEEE) directive (2012/19/EU)

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3. Block Diagram
Figure 3-1 shows a block diagram of inverter board with RL78/F24.
12V Input
Connector
12V
Regurator
Attenuator
5V
Regurator
Inverter Circuit
RL78/F24 Gate
Driver
Port
output
PWM
output
A/D input
Coil-end temperature
VDD
VBAT
+12V
VBAT/5
+5V
Crystal
(16 MHz) X1/
X2
OCD
Connector TOOL0
PWM
through-hole
CAN
through-hole CAN/CANFD
transceiver CTXD0,
CRXD0
PWM
input
Rotation speed command
Motor
Connector
VU, VV, VW
EN
3-phase
PWM
Current
sense circuit
IU, IV, IW
3-shunt: IU, IV, IW
Single-shunt: ISS
Overcurrent
detection
A/D input
CMP input
Voltage
sense circuit
120-deg: VU, VV, VW
Coil-end
temperature
through-hole
Thermistor
Thermistor
PCB temperature
A/D input
A/D input
A/D input
Figure 3-1 Block Diagram of Inverter Board with RL78/F24

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4. Layout
Inverter Board:
Surface
Back
Motor Connection Terminal
(TB9, TB10, TB11)
OCD Connector
(To OCD Conversion Board)

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OCD Conversion Board:
OCD Connector
(To E2/ E2-Lite Emulator)
ICS++ Connector
(Optional)
Reset switch
OCD Board Connection Terminal
(To Inverter Board)

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5. Usage
This chapter describes how to use the 12 V Inverter Board with RL78/F24.
5.1 Quick Start
This section describes the quick start procedure for the product. Perform steps (1) to (5) in this order.
The product includes a TG-55N-KA permanent magnet synchronous motor manufactured by Tsukasa Electric
Co., Ltd (https://www.tsukasa-d.co.jp/). Use the supplied motor when performing the steps described in this
section.
Please use anti-static wristbands for the use of this product. Touching this product while static charged may
cause equipment failure or unstable operation.
Preparation for Quick Start
Please prepare the following:
Regulated Power Supply: Output voltage is DC 12 [V], Output current limit is 3 [A]
Quick Start Procedure
Step
Item
(1)
(2)
(3)
(4)
(5)
Connect the motor and the inverter board using the included motor cable
Connect the regulated power supply and the inverter board
Supply power (and start the motor)
Check the change in motor rotation speed
Finish the operation check
If Any Errors Occur
The motor stops rotating. The default software does not perform automatic recovery processing. To recover,
stop the power supply, wait 5 seconds or more, and then resupply power.

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5.1.1 Connecting the Motor and the Inverter Board Using the Included Motor Cable
Connect the motor and the motor cable included the product package. Then connect the motor 3-phase wire
terminals U, V, and W to the inverter board.
Motor Cable
Connection
⓵
12 pin Connector
Motor
⓶
Yellow Cable
The yellow cable connected to the TB11 terminal on the inverter board
⓷
Green Cable
The green cable connected to the TB10 terminal on the inverter board
⓸
Blue Cable
The blue cable connected to the TB9 terminal on the inverter board
Motor Cable
Connect Motor and Motor Connection Terminal
Connect Motor Cable and
Motor Connection Terminal
(TB9, TB10, TB11)
⓵
⓶to ⓸

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5.1.2 Connecting the Regulated Power Supply and the Inverter Board
The product uses ‘Faston terminals’as connectors for supplying power to the inverter board.
Connect the regulated power supply prepared in advance and the power supply cables.
The inverter board of the product does not support reverse connection protection circuit.
Please note that a large current may flow through the board and damage the inverter board, if the
power supply connector connection is reversed.
5.1.3 Supplying Power
Using the prepared regulated power supply, set the output voltage to DC 12 [V] and the limit current to 3 [A],
and then turn it on. If the voltage drops even momentarily, the drop in the microcontroller (RL78/F24) power
supply will cause a reset to be generated, and program execution becomes undefined.
5.1.4 Checking the Change in Motor Rotation Speed
When power is supplied from the regulated power supply, the program starts the motor rotation control.
The default software controls motor action with elapsed time from hardware initialization for MCU.
The operation after turning on the power is as shown in Table 5-1.
Table 5-1 Default Software Operation
Elapsed Time after the
Initialization Processing
Operation
(1)
3 [s]
Start the motor at a rotation speed of 1000 [rpm]
(2)
After 10 [s] have passed from (1)
Accelerate the motor to 2000 [rpm]
(3)
After 10 [s] have passed from (2)
Accelerate the motor to 3000 [rpm]
(4)
After 10 [s] have passed from (3)
Stop the motor
(5)
After 1 [s] have passed from (4)
Repeat the operation from (1)
5.1.5 Finish the Operation Check
The default software cannot stop by external operation.
When finishing the operation check, make sure that the rotation of motor has stopped and turn off the output
of the regulated power supply.

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5.2 Software Specification
As for the state of the product after unpacking, 180-degree energization method three-shunt sensorless vector
control software has been written into RL78/F24 microcontroller. The factory-written software specifications
are as follows.
Table 5-2 Default Software Specification
Item
Specification
Control method
Sensorless vector control (Using three-shunt current method)
Motor rotation start/stop
Operates by selecting one of the following two condition.
After MCU reset released, the control rotation state is changed at the
following timing.
−After 3 [s], starts operation targeted on 1000 [rpm] as speed command
value.
−After 10 [s] from above condition, speed command changes to 2000 [rpm].
−After 10 [s] from above condition, speed command changes to 3000 [rpm].
−After 10 [s] from above condition, stops the motor rotation.
−After 1 [s] from above condition, resume operation from the reset state.
After MCU reset released, controls rotation speed command value by PWM
signal input.
−Applicable PWM signal input range is from 10 [Hz] to 1000 [Hz].
−If duty ratio is 100%, rotation speed command value is 3000 [rpm],
−If duty ration is 0%, rotation speed command value is 0 [rpm].
Rotor pole position
detection method
Sensorless control based on current estimation error method
Carrier frequency (PWM)
20 [kHz]
Dead-time
1 [μs]
Control cycle
100 [μs] (50 [µs] × 2 for decimation once)
Rotating speed control
range
Bothe CW/CCW are supported from 500 [rpm] to 3000 [rpm].
Protection procedure
Deactivates the motor control signal outputs (6 ch), if any of the following
conditions are met.
−In case of exceeding +/- 16.97 [A] (10Arms + 20%) in any one of the
three-phase current values. (Monitored in every 100 [µs].)
−In case of the inverter power supply voltage (Vdc) exceeds 28.0 [V].
(Monitored in every 100 [µs].)
−In case of the inverter power supply voltage is lower than 8.0 [V].
(Monitored in every 100 [µs].)
−In case of the rotation speed exceed 5000 [rpm].
(Monitored in every 1 [ms].)
−When low level signal input to INTP0. (Signal stop operation is real time.
Error detection is monitored in every 100 [µs].)
−In case of the PCB temperature exceeds 120 [°C].
(Monitored in every 1 [ms].)
−In case of the motor coil-end temperature exceeds 180 [°C].
(Monitored in every 1 [ms].)

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5.3 Dealing with Errors
5.3.1 Operation when an Error Occurs
The default software stops the rotation when an overcurrent, power failure or any abnormality is detected.
The software does not automatically recover. To recover, stop the power supply and forcibly reset system.
Refer to the application note for detectable errors in the default software.
5.3.2 Measures for the Unusual Odor, Smoke, Unusual Noise, Overheating, etc.
If any abnormality (e.g., unusual odor, smoke, unusual noise, overheating, etc.) occurs, please turn off the
power supply unit immediately.
5.4 Program Writing
This section describes the procedure for rewriting the program of the RL78/F24 mounted on the inverter board.
As an example in this section, that describes the procedure for writing the default software.
If the default program is modified, please build using software development environment.
Preparation for Program Writing
Please prepare the following:
Connect inverter board and OCD conversion board with the attached cable.
Regulated Power Supply: Output voltage is DC 12 [V], Output current limit is 0.5 [A].
PC (with RFP (Renesas Flash Programmer) installed)
Connect E2/E2 Lite emulator and OCD conversion board.
For details on the functions of E2/E2 Lite emulator and RFP, refer to the target manual.
Program Writing Procedure
Step
Item
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
Connect the regulated power supply and the inverter board
Connect the inverter board and the OCD conversion board
Connect E2/E2 Lite emulator to OCD conversion board and PC
Supply power
Launch the RFP
(First time only) Create an RFP project
Select a writing file and execute program writing
Check the result for the program writing
5.4.1 Connecting the Regulated Power Supply and the Inverter Board
The product uses ‘Faston terminals’as connectors for supplying power to the inverter board.
Connect the regulated power supply prepared in advance and the power supply cables.
The inverter board of the product does not support reverse connection protection circuit.
Please note that a large current may flow through the board and damage the inverter board, if the
power supply connector connection is reversed.
5.4.2 Connecting the Inverter Board and the OCD Conversion Board
Connect the inverter board and the OCD conversion board with the attached cable.
5.4.3 Connecting the E2/E2 Lite Emulator
Connect the E2/E2 Lite emulator to the OCD conversion board and the prepared PC.
5.4.4 Supplying Power
Using the prepared regulated power supply, set the output voltage to DC 12 [V] and the limit current to 0.5 [A],
and then turn it on. If the voltage drops even momentarily, the drop in the microcontroller (RL78/F24) power
supply will cause a reset to be generated, and program execution becomes undefined.
5.4.5 Launching the RFP
Launch the RFP on the prepared PC.

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5.4.6 Create the RFP Project
Select “New project…” in the “File”menu of the RFP. Then set the microcontroller to “RL78/F24”. In this
procedure, set the power to “None”. Specify the project name and the project folder. Click "Connect" when the
settings are complete.
This step is required only once at the first time in the environment. The next launch will load the already created
project.
5.4.7 Executing the Program Writing
Specify the file path to write to the program file on the “Operation”tab.
In this example, select the “RL78F24_SSL_FOC180.mot”.
Then click to “Start”. If “Operation completed.”is displayed in the message window at the bottom, the program
writing is completed.
5.4.8 Checking the Result for the Program Writing
Check the operation according to the procedure shown in “5.1 Quick Start”.
5.5 How to Control the Default Software Using PWM Interface
The sample operation of the default software includes a function that can change the command rotational
speed value by inputting PWM.
This section describes the how to edit the source code, and the software specifications.
5.5.1 Checking the Result for the Program Writing
The PWM operation mode is disabled in the default software. To enable the function, edit the source code for
the software according to (1) and (2) below.
After editing the software, run the build using the development environment.
(1) Disabling the counter operation
File Name : user_control.c (for three-shunt control)
Function Name : userControlTimer ( )
Edit “#if 1” to “#if 0”.

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(2) Enabling the PWM Operation
Edit the following two places to enabling the PWM operation.
File Name : user_control.c (for three-shunt control)
Function Name : userControlTimer ( )
File Name : user_control.c (for three-shunt control)
Function Name : userControlTimer ( )
PWM operation can also be enabled for single-shunt method and trapezoidal control by making the changes
shown in the table below.
Table 5-3 Enable Setting of PWM Operation
Control Method
File Name
Line
Contents
Three-shunt method
user_control.c
154
172
213
Edit “#if 0” to “#if 1”.
Edit “#if 1” to “#if 0”.
Edit “#elif 0” to “#elif 1”.
Single-shunt method
user_control.c
154
172
213
Edit “#if 0” to “#if 1”.
Edit “#if 1” to “#if 0”.
Edit “#elif 0” to “#elif 1”.
Trapezoidal control
method
r_mtr_user_control_cfg.h
103
Removed definition of
“#define USER_CFG_TIME_CONTROL”.
Edit “#if 0” to “#if 1”.
Edit “#elif 0” to “#elif 1”.

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5.5.2 Software Specification of the PWM Operation Mode
The default software specifications of the PWM operation mode (three-shunt) are as follows.
Table 5-4 Default Software Specification of the PWM Operation Mode
Item
Specification
Control method
Sensorless vector control (Using three-shunt current method)
Motor rotation start/stop
Monitor the TI05 input and start/stop under the following conditions.
Duty<100%, Start operation if low level is detected.
−Duty=100% : 0 [rpm] (Stopping)
−Duty= 50% : 1500 [rpm]
−Duty= 0% : 3000 [rpm]
The motor operates by calculating the rotation speed command value from
the input PWM Duty.
Duty=100% (High level is 100 [ms] or more), Stop operation if 100% duty
is detected.
Input PWM frequency
10 to 1,000 [Hz]
Detectable PWM duty ratio
0 to 100 [%] (Negative logic)
Rotor pole position
detection method
Sensorless control based on current estimation error method
Carrier frequency (PWM)
20 [kHz]
Dead-time
1 [μs]
Control cycle
100 [μs] (50 [µs] × 2 for decimation once)
Rotating speed control
range
Bothe CW/CCW are supported from 500 [rpm] to 3000 [rpm].
Protection procedure
Deactivates the motor control signal outputs (6 ch), if any of the following
conditions are met.
−In case of exceeding +/- 16.97 [A] (10Arms + 20%) in any one of the
three-phase current values. (Monitored in every 100 [µs].)
−In case of the inverter power supply voltage (Vdc) exceeds 28.0 [V].
(Monitored in every 100 [µs].)
−In case of the inverter power supply voltage is lower than 8.0 [V].
(Monitored in every 100 [µs].)
−In case of the rotation speed exceed 5000 [rpm].
(Monitored in every 1 [ms].)
−When low level signal input to INTP0. (Signal stop operation is real
time. Error detection is monitored in every 100 [µs].)
−In case of the PCB temperature exceeds 120 [°C].
(Monitored in every 1 [ms].)
−In case of the motor coil-end temperature exceeds 180 [°C].
(Monitored in every 1 [ms].)
5.5.3 Notes on the PWM Operation Mode
The input voltage to the PWM signal is 0 to 5 V with reference to GND. The PWM signal input to the
microcontroller (RL78/F24) should not exceed 5 V.
If the PWM input frequency exceeds the range, the expected system operation will not be achieved.