Renesas rl78/g1g User manual

APPLICATION NOTE
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RL78/G1G
Sensorless Speed control of 120-degree conducting controlled permanent
magnetic synchronous motor (Implementation)
Summary
This application note aims at explains sample programs driving a permanent magnetic synchronous motor in the 120-
degree conducting method using the RL78/G1G microcontroller.
These control programs are only to be used as reference and Renesas Electronics Corporation does not guarantee the
operations. Please use them after carrying out a thorough evaluation in a suitable environment.
Operation checking device
Operations of the control programs have been checked by using the following device.
RL78/G1G (R5F11EBAAFP)
Target control programs
The target control programs of this application note are as follows.
RL78G1G_MRSSK_SPM_LESS_120_CSP_CA_V100 (IDE：CS+ for CA,CX)
RL78G1G_MRSSK_SPM_LESS_120_CSP_CC_V100 (IDE：CS+ for CC)
RL78G1G_MRSSK_SPM_LESS_120_E2S_CC_V100 (IDE：e2studio)
RL78/G1G Sensorless 120-degree conducting control program for
24V Motor Control Evaluation System and RL78/G1G CPU CARD
Reference
RL78/G1G Group User’s Manual: Hardware (R01UH0499EJ0130)
Application note: ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’
(R01AN2657EJ0120)
Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T User’s Manual
(R20UT3697EJ0100)
R01AN3582EJ0100
Rev.1.00
Jan 13, 2017

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)
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Contents
1. Overview ...........................................................................................................................................3
2. System overview...............................................................................................................................7
3. Descriptions of the control program ................................................................................................14

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1. Overview
This application note explains how to implement the 120-degree conducting control programs of permanent magnetic
synchronous motor (PMSM) using the RL78/G1G microcontroller. Note that this control programs use the algorithm
described in the application note ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’.
1.1 Development environment
Table 1-1 and Table 1-2 show development environment of the control programs explained in this application note.
Table 1-1 Development Environment (H/W)
Microcontroller
Evaluation board
Motor
RL78/G1G
(R5F11EBAAFP)
24V inverter board(Note 1)
and RL78/G1G CPU Card (Note 2)
TSUKASA (Note 3)
TG-55L-KA-24V
Table 1-2 Development Environment (S/W)
CS+ version
Tool chain version
V3.03.00
CA78K0R V5.00.00.03
V4.01.00
CC-RL V1.03.00.00
e2studio version
Tool chain version
5.2.1.016
CC-RL V1.03.00.00
For purchase and technical support contact, Sales representatives and dealers of Renesas Electronics Corporation.
Notes: 1. 24V inverter board (RTK0EM0006S01212BJ) is a product of Renesas Electronics Corporation.
2. RL78/G1G CPU Card (T5104) is a product of Desk Top Laboratories Inc.
Desk Top Laboratories Inc. (http://desktoplab.co.jp/)
3. TG-55L-KA-24V is a product of TSUKASA ELECTRIC.
TSUKASA ELECTRIC. (https://www.tsukasa-d.co.jp/en/)

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1.2 Modifying the Evaluation Board
To support the control programs in this application note, the 24V Inverter Board and RL78/G1G CPU Card should be
modified per below explanations.
1.2.1 Modification of the VR1 input port
(1) Remove R8, R15, C9.
(2) Connect CPU side of R7 and CPU side of R8.
Figure 1-1 Modification of the CPU Card
Figure 1-2 Modification example on the CPU card.
R8 (1) Remove
100/0.1W (2) Connnect
R7
R15 (1) Remove
100/0.1W 0/1A
(1) Remove
C9 C8
100pF /50V/J
100pF /50V/J
29
30
CNB5(IU)
CNB15 (VR1)
R8 ①削除
100/0.1W
②接続
R7
R15 ①削除
100/0.1W 0/1A
①削除
C9 C8
100pF /50V/J
100pF /50V/J
29
30
CNB5(IU)
CNB15 (VR1)
(2) Connect
(1) Remove

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1.2.2 Modification when overcurrent detection method is changed
When the overcurrent detection method is changed to "PGA+CMP0, CMP1" from default (INTP0), the 24V Inverter
Board and RL78/G1G CPU Card should be modified per below explanations.
(1) Modification of the 24V Inverter Board
Change 3-Shunt to 1-Shunt.
(1) Connect TH1, TH2 and TH3.
(2) Remove R72 and R97.
TH１
Q2
TH2
Q4
TH3
Q6
R50 R72
R97
Figure 1-3 Change 3-shunt to 1-shunt
Figure 1-4 Modification example on the 24V Inverter Board
(2) Remove
(1) Connect
(1) Connect
(2) Remove

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(2) Modification of the RL78/G1G CPU Card
Modification for the filter circuit of comparator input
(1) Mount 0 Ohms on R16.
(2) Change resister R10 from 100 Ohms to 1k Ohms
(3) Change capacitor C11 from 100pF to 470pF.
Figure 1-5 Modification of the CPU Card
Figure 1-6 Modification example on the CPU card.
R8
100/0.1W
R7
R15
100/0.1W 0/1A
R10 (2) Change R16
100/0.1W
NC →0/1A
→1k/0.1W (1) Mount
C9 C8 C11
(3) Change
100pF/50V/J
→470pF/50V/J
29
30
CNB5(IU)
CNB15 (VR1)
CNB7(IW)
100pF/50V/J
100pF /50V/J
(3) Change
(1) Mount
(2) Change

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2. System overview
Overview of this system is explained below.
2.1 Hardware configuration
The hardware configuration is shown below.
Figure 2-1 Hardware Configuration Diagram
Note: the VR1 signal is input to port 20 by modification on the CPU card. (See 1.2.1)
not used in this system.
LED output
P60
P61
Vdc
VR1
GND
LED1
LED2
Inverter circuit
DC 24Vinput
Up
Vp
Wp
Un
Vn
Wn
TRD output
P15 / TRDIOB0 (Up)
P13 / TRDIOA1 (Vp)
P12 / TRDIOB1 (Wp)
P14 / TRDIOD0 (Un)
P11 / TRDIOC1 (Vn)
P10 / TRDIOD1 (Wn)
Vu
Vv
Vw
Over current
detection input
P01 / PGAI
HV port
HW port
GND port
Vcc port
HU port
ENC_Z port
ENC_B port
ENC_A port
GND port
Vcc port
U port
V port
W port
PSPM
A/D converter input
P23 / ANI3
P00 / ANI17
P147/ ANI18
P120/ ANI19
P20 / ANI0
Bus voltage
VU_AIN
VV_AIN
Speedreference
(Note)
Phasevoltage
(filtering)
VW_AIN
SW1
SW2
Switch input
P70
P17
Motor start / stop
Error status reset
Phasevoltage
(filtering)
VU_AIN
VV_AIN
VW_AIN
RL78/G1G
P137 / INTP0
OC
Over current detection
(by Hardware)
Over current detection
(by PGA+CMP0, CMP1)
Iu
Iv
Iw
Power supply circuit

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2.2 Hardware specifications
2.2.1 User interface
Table 2-1 is a list of user interfaces of this system.
Table 2-1 User Interface
Item
Interface component
Function
Rotational speed
Variable resistance (VR1)
Rotational speed command value input (analog values)
START / STOP
Toggle switch (SW1)
Motor rotation start / stop command
ERROR RESET
Toggle switch (SW2)
Command of recovery from error status
LED1
Yellow green LED
- At the time of Motor rotation: ON
- At the time of stop: OFF
LED2
Yellow green LED
- At the time of error detection: ON
- At the time of normal operation: OFF
RESET
Push switch (RESET1)
System reset
Table 2-2 is a list of port interfaces of RL78/G1G microcontroller of this system.
Table 2-2 Port Interface
R5F11EBAAFP Port name
Function
P23 / ANI3
Inverter bus voltage measurement
P01 / PGAI
Shunt current input for over-current detection (use PGA+CMP0, CMP1)
(Note1)
P20 / ANI0
For inputting rotational speed command values (analog values) (Note2)
P70
START / STOP toggle switch
P17
ERROR RESET toggle switch
P60
LED1 ON / OFF control
P61
LED2 ON / OFF control
P00 / ANI17
U Phase voltage measurement (A/D)
P147 / ANI18
V Phase voltage measurement (A/D)
P120 / ANI19
W Phase voltage measurement (A/D)
P10 / TRDIOD1
PORT output / PWM output (Wn)
P11 / TRDIOC1
PORT output / PWM output (Vn)
P12 / TRDIOB1
PORT output / PWM output (Wp)
P13 / TRDIOA1
PORT output / PWM output (Vp)
P14 / TRDIOD0
PORT output / PWM output (Un)
P15 / TRDIOB0
PORT output / PWM output (Up)
P137 / INTP0
PWM emergency stop input at the time of overcurrent detection (use an
external circuit) (Note1)
Note: 1. Selection of the external circuit or “PGA+CMP1, CMP0” for the detection of overcurrent is set by
compile option.
2. For details on input port, see "1.2 Modifying the Evaluation Board".

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2.2.2 Peripheral functions
Table 2-3 is a list of peripheral functions used in this system.
Table 2-3 List of Peripheral Functions
Peripheral Function
Purpose
10bit A/D converter
- Rotational speed command value input
- Inverter bus voltage measurement
- Voltage of each phase U, V, and W measurement
Timer Array Unit (TAU)
- 1 [ms] interval timer
- Free-running timer for rotational speed measurement
Timer RD (TRD)
Complementary PWM output
Comparator0 (CMP0)
Overcurrent detection (Note)
Comparator1 (CMP1)
Overcurrent detection (Note)
Programmable Gain Amp (PGA)
Overcurrent detection (Note)
External Interrupt (INTP0)
Overcurrent detection (Note)
Note: INTP0 and “PGA+CMP0, CMP1” are used exclusive. (These are selectable by compile option.)
(1) 10-bit A/D converter
The rotational 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 ‘10-bit A/D converter’.
The operation mode is set as below.
The channel selection mode: the select-mode.
The conversion operation mode: the one-shot conversion mode.
And software trigger is used.
(2) Timer Array Unit (TAU)
a. 1 [ms] interval timer
The channel 0 of Timer Array Unit (TAU) is used as 1 millisecond interval timer.
b. Free-running timer for measuring speed
The channel 1 of Timer Array Unit (TAU) is used as free-running timer for speed measurement.
Note that interrupt is not used.
(3) Timer RD (TRD)
Three-phase PWM output of chopping at the first 60 degrees with dead time (complementary) or without dead time
(non-complementary) is performed using the Complementary PWM Mode. When detecting an overcurrent, the PWM
output ports are set to high impedance output using the pulse output forced cutoff function.
(4) Comparator0 (CMP0)
CMP0 is used to detect overcurrent with PGA (detect falling edge) (when selected).
(5) Comparator1 (CMP1)
CMP1 is used to detect overcurrent with PGA (detect rising edge) (when selected).

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(6) Programmable Gain Amp (PGA)
PGA is used to detect overcurrent with CMP0, CMP1 (when selected).
(7) External interrupt (INTP0)
An overcurrent is detected by an external circuit. (when selected).