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

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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).

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2.3 Software structure
2.3.1 Software file structure
The folder and file configurations of the control programs are given below.
Table 2-4 Folder and File Configuration
Project
Folder
File
Content
RL78G1G_MRSSK_
SPM_LESS_120_C
SP_CA_V100
RL78G1G_MRSSK_
SPM_LESS_120_C
SP_CC_V100
RL78G1G_MRSSK_
SPM_LESS_120_E
2S_CC_V100
inc
main.h
Main function, user interface control header
mtr_common.h
Common definition header
mtr_ctrl_mrssk.h
Board dependent processing part header
mtr_ctrl_rl78g1g.h
RL78/G1G dependent processing part header
mtr_spm_less_120.h
Sensorless 120-degree conducting control dependent part header
control_parameter.h
Control characteristic dependent processing part header
motor_parameter.h
Motor characteristic dependent processing part header
mtr_ctrl_rl78g1g_mrssk.h
RL78/G1G and board dependent processing part header
mtr_feedback.h
Feedback control processing part header
mtr_gmc.h
General motor control function part header
mtr_driver_access.h
Driver access function on part header
mtr_filter.h
Filters processing part header (not used)
lib
R_dsp_rl78_CA.lib
Digital signal controller library for CA tool-chain (Note)
R_dsp_rl78_CC.lib
Digital signal controller library for CC-RL tool-chain (Note)
src
main.c
Main function, user interface control
mtr_ctrl_mrssk.c
Board dependent processing part
mtr_ctrl_rl78g1g.c
RL78/G1G dependent processing part
mtr_interrupt.c
Interrupt handler
mtr_spm_less_120.c
Sensorless 120-degree conducting control dependent part
mtr_ctrl_rl78g1g_mrssk.c
RL78/G1G and board dependent processing part
mtr_feedback.c
Feedback control processing
mtr_gmc.c
General motor control function
mtr_driver_access.c
Driver access function
mtr_filter.c
Filters processing (not used)
Notes: R_dsp_rl78_CA.lib is included only in RL78G1G_MRSSK_SPM_LESS_120_CSP_CA_V100.
R_dsp_rl78_CC.lib is included in RL78G1G_MRSSK_SPM_LESS_120_CSP_CC_V100 and
RL78G1G_MRSSK_SPM_LESS_120_E2S_CC_V100.

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2.3.2 Module configuration
Figure 2-2 and Table 2-5 show module configuration of the control programs.
Figure 2-2 Module Configuration
Table 2-5 Module Configuration
Layers
File name
Application layer
main.c
Motor control layer
mtr_spm_less_120.c
mtr_feedback.c
mtr_gmc.c
mtr_filter.c
mtr_driver_access.c
mtr_interrupt.c (Note)
H/W control layer
mtr_ctrl_rl78g1g_mrssk.c
mtr_ctrl_rl78g1g.c
mtr_ctrl_mrssk.c
mtr_interrupt.c (Note)
Note: “mtr_interrupt.c” is belong to the motor control layer and H/W control layer.
Application layer
User application
H/W control layer
Microcontroller dependent processing part,
Inverter board dependent processing part
H/W
Inverter board, microcontroller
Motor control layer
Motor-control-processing-part

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2.4 Software specifications
Table 2-6 shows the basic software specification of this system. For details of 120-degree conducting control, refer to
the application note ‘120-degree conducting control of permanent magnetic synchronous motor: algorithm’.
Table 2-6 Basic Specifications of Software
Item
Content
Control method
120-degree conducting method (chopping at the first 60 degrees)
(Complementary / Non-Complementary)
Motor rotation start / stop
Determined depending on the level of SW1 (P70)
(”Low”: rotation start “High”: stop)
Position detection of rotor
magnetic pole
Position detection by induced voltage with A/D converters. (by 60 degrees)
Input voltage
DC24[V]
Main clock frequency
CPU clock: fCLK 24[MHz]
TRD clock: fHOCO 48[MHz]
Carrier frequency (PWM)
20 [kHz]
Dead time
2 [μs]
Control cycle
Speed PI control: every 1 [ms]
Rotational speed control
range
1200 [rpm] to 2650 [rpm]
Both CW and CCW are supported
Optimization
Default
Processing stop for
protection
- Disables the motor control signal output (six outputs), under any of the
following conditions.
1. Inverter bus voltage exceeds 28 V (monitored per 1 [ms])
2. Inverter bus voltage is less than 15 V (monitored per 1 [ms])
3. Rotational speed exceeds 3500 rpm (monitored per 1 [ms])
4. At the time of sensorless drive, zero-crossing is not detected for 50 [ms].
5. Fault detection of virtual Hall sensor pattern (position information)
- The ports executing PWM output are set to high impedance state when an
overcurrent is detected by external circuit (low level edge input occurs in
INTP0 port) or by internal PGA+CMP0, CMP1.

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3. Descriptions of the control program
The target control programs of this application note are explained here.
3.1 Contents of control
3.1.1 Motor start/stop
Starting and stopping of the motor are controlled by input from SW1 & VR1.
A general-purpose port is assigned to SW1. The port is read within the main loop. When the port is at a “Low” level,
it is determined that the start switch is being pressed. Conversely, when the level is switched to “High”, the program
determines that the motor should be stopped.
Also, an analog input port is assigned to VR1. The input is A/D converted within the main loop to generate a
rotational speed command value. When the command value is less than 1200 [rpm], the program determines that the
motor should be stopped.
3.1.2 A/D Converter
(1) Motor rotational speed command value
The motor rotational speed command value can be set by A/D conversion of the VR1 output value (analog value).
The A/D converted VR1 value is used as rotational speed command value, as shown below.
The maximum of the command value is set as the value from which maximum rotational speed is generated by the
resolution of the A/D converter.
Table 3-1 Conversion Ratio of the Rotational Speed Command Value
Item
Conversion ratio
(Command value: A/D conversion value)
Channel
Rotational speed
command value
CW
0 rpm to 3072 rpm: 0200H to 03FFH
ANI0(Note)
CCW
-3072 rpm to 0 rpm: 0000H to 01FFH
Note: The input channel is ANI0 because the CPU card which is modified as a VR1 signal is input to port 20.
(2) Inverter bus voltage
Inverter bus voltage is measured as given in Table 3-2. It is used for modulation factor calculation and over/under
voltage detection. (When an abnormality is detected, PWM is stopped).
Table 3-2 Inverter Bus Voltage Conversion Ratio
Item
Conversion ratio
(Inverter bus voltage: A/D conversion value)
Channel
Inverter bus voltage
0 V to 111 V: 0000H to 03FFH
ANI3
(3) U phase, V phase, and W phase voltage
The U, V, and W phase voltages are measured as shown in Table 3-3 and used for determining zero-crossing.
Table 3-3 Conversion Ratio of U, V, and W Phase Voltage
Item
Conversion ratio
(U, V, and W phase voltage: A/D conversion value)
Channel
U, V, W phase voltage
0 V to 111 V: 0000H to 03FFH
ANI17, ANI18, ANI19
For more details of A/D conversion characteristics, refer to RL78/G1G User’s Manual: Hardware.

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3.1.3 Speed control
In this system, the motor rotational speed is calculated from a difference of the current timer value and the timer value
2π[rad] before. The timer values are obtained when patterns are switched after zero-crossing detection, while having
the timer of Timer Array Unit (TAU) channel 1 performed free running.
Pattern created from
U phase induced voltage
2p
Timer counter
Check Check Check Check Check Check Check
Counter value difference
Motor rotational speed [rad/s] = (2π× frequency of timer) / (difference of timer counts)
Pattern created from
V phase induced voltage
Pattern created from
W phase induced voltage
2p2p
Figure 3-1 Method of Calculation for Rotational Speed
The control program uses PI control for speed control. A voltage command value is calculated by the following
formula of speed PI control.
 󰇛 
󰇜󰇛 󰇜
: Voltage command value : Speed command value : Rotational speed
: Speed PI proportional gain : Speed PI integral gain : Laplace operator
For more details of PI control, please refer to specialized books.

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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.
Average
voltage
t
VTON TOFF
TON + TOFF
TON
Duty = × 100 [%]
Figure 3-2 PWM Control
Modulation factor m is defined as follows.
E
V
m
This modulation factor is reflected in the setting value of the register that determines the PWM duty.
In the target control program, first-60-degree chopping is used to control the output voltage and speed. Figure 3-3 shows
an example of motor control signal output waveforms at Non-complimentary first-60-degree chopping. Figure 3-4 shows an
example of motor control signal output waveforms at Complimentary first-60-degree chopping.
U+
V+
W+
U-
V-
W-
Figure 3-3 Non-complimentary first-60-degree Chopping
m: Modulation factor V: Command value voltage E: Inverter bus voltage

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U+
V+
W+
U-
V-
W-
Figure 3-4 Complimentary first-60-degree Chopping

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3.1.5 State transition
Figure 3-5 shows state transition diagrams of sensorless 120-degree conducting control software.
SYSTEM MODE
INACTIVE
ERROR
POWER ON/
RESET
[RESET EVENT]
[ACTIVE EVENT]
[INACTIVE EVENT]
[ERROR EVENT]
RUN MODE
INIT
BOOT Configuration
Control
Cur re nt
Spe ed
Po sitio n
T or q ue
Vol tage
Method
FO C
18 0
WI DE
12 0
Sensor
Less
Hall
En co d e r
Re s ol ve r
Configuration
Control
Cur re nt
Spe ed
Po sit io n
T or q ue
Voltage
Method Sensor
Less
Hall
En co d e r
Re s ol ver
DRIVE
ACTIVE
[MTR_DRAW_IN_FINISH ==
g_u1_state_draw_in]
[MTR_VOFF_SET_STATUS_FINISH ==
g_u1_state_v_offset]
[ERROR EVENT]
[RESET EVENT]
FO C
18 0
WI DE
12 0
INACTIVE
ACTIVE
ERROR
RESET
SYSTEM MODE
INACTIVE ACTIVE ERROR
INACTIVE
INACTIVE INACTIVE
ACTIVE
ERROR ERROR
ERROR
ERROR
ERROR
INACTIVE
ACTIVE
ERROR
[MTR_V_PI_OUTPUT
== g_u2_state_voltage_ref]
EVENT
Figure 3-5 State Transition Diagram of Sensorless 120-degree Conducting Control Software
(1) SYSTEM MODE
“SYSTEM MODE” indicates the operating states of the system. The state transits on occurrence of each event
(EVENT). “SYSTEM MODE” has 3 states that are motor drive stop (INACTIVE), motor drive (ACTIVE), and
abnormal condition (ERROR).
(2) RUN MODE
“RUN MODE” indicates the condition of the motor control. “RUN MODE” transits sequentially as shown in Figure
3-5 when “SYSTEM MODE” is “ACTIVE”.
(3) EVENT
When “EVENT” occurs in each “SYSTEM MODE”, “SYSTEM MODE” changes as shown table in Figure 3-5, per
that “EVENT”.
Table 3-4 List of EVENT
EVENT name
Occurrence factor
INACTIVE
by user operation
ACTIVE
by user operation
ERROR
when the system detects an error
RESET
by user operation

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)
R01AN3582EJ0100 Rev.1.00 Page
19
of 46
Jan 13, 2017
3.1.6 Start-up method
In Sensorless 120-degree conducting control, the position of the magnetic poles (the rotor) is estimated every 60
degrees per the induced voltage which is generated the change of magnetic flux due to the rotation of the permanent
magnet (rotor). However, the induced voltage is not generated when the rotor doesn’t move. Therefore, it is impossible
to estimate the position of the rotor at start-up, and enough rotational speed is necessary to estimate the position of the
rotor (because the induced voltage cannot be caught without enough speed).
Therefore, as a start-up method, there is a method to lead the synchronous speed by generating a rotating magnetic
field by forcibly switching conduction patterns regardless of position of the permanent magnet.
Figure 3-6 shows the start-up method in the control program. In “MTR_MODE_BOOT”, the rotor is drawn in and the
overcurrent at start-up is prevented.
MTR_V_OPENLOOP
(3)
Voltage
[V]
RUN MODE
0
0
Voltage reference status
Speed reference status MTR_SPEED_OPENLOOP_1
(1)
Speed
[rad/s]
MTR_MODE_DRIVE
MTR_OL_MODE1_CHANGE_RPM
MTR_SPEEDOPEN_LOOP_2
(2)
MTR_SPEED_OPENLOOP3
(3)
MTR_SPEED_CHANGE
(4)
MTR_V_PI_OUTPUT
(4)
MTR_OL_START_REFV
MTR_OL_MODE2_CHANGE_RPM
g_u2_ref_speed_rad
Openloop Speed PI control
MTR_OL_MODE3_MAX_REFV
MTR_BOOT_REF_V
MTR_V_UP
(1)
MTR_V_UP
(1)
MTR_V_CONST
(2)
MTR_V_CONST
(2)
MTR_V_ZERO_CONST
(0)
MTR_SPEED_ZERO_CONST
(0)
MTR_MODE_BOOTMTR_MODE_INIT
Figure 3-6 Start-up Method (Example)

RL78/G1G Sensorless Speed control of 120-degree conducting controlled permanent magnetic synchronous motor (Implementation)
R01AN3582EJ0100 Rev.1.00 Page
20
of 46
Jan 13, 2017
3.1.7 System protection function
This system has the following types of error status and enables emergency stop functions in case of occurrence of
respective error. Refer to Table 3-5, Table 3-6 for settings.
- Overcurrent error
The overcurrent is detected with the method using the external circuit or the method using the internal PGA+CMP0,
CMP1. Using method is selectable by a compile option.
a. External hardware
High impedance output is made to the PWM output port in response to an emergency stop signal (overcurrent
detection) from the hardware.
b. Internal PGA+CMP0, CMP1
High impedance output is made to the PWM output port in response to an emergency stop signal (overcurrent
detection) from the internal PGA+CMP0, CMP1 detection.
The setting of PGA+CMP0, CMP1 are given below.
Table 3-5 Setting for overcurrent detection
Threshold value
Comparator internal
reference setting
Channel
PGA Gain
CMP1: 2 [A]
CMP1: 120
PGA out
× 4 is selected
CMP0: -2 [A]
CMP0: 83
- Overvoltage error
The inverter bus voltage is monitored at the overvoltage monitoring cycle. When an over voltage is detected (when
the voltage exceeds the limit), CPU performs an emergency stop. The threshold value of the overvoltage is set in
consideration of the error of resistance value of the detection circuit.
- Low voltage error
The inverter bus voltage is monitored at the under voltage monitoring cycle. When an under voltage is detected
(when the voltage lowers the limit), CPU performs an emergency stop. The threshold value of the low voltage is set in
consideration of the error of resistance value of the detection circuit.
- Rotational speed error
The rotational speed is monitored at the rotational speed monitoring cycle. When the speed exceeds the limit, CPU
performs an emergency stop.
- Timeout error of zero-cross detection
When no pattern switching is happened by zero-crossing during timeout period, CPU performs an emergency stop.
- Virtual Hall sensor pattern (position information) error
When an error is detected in virtual Hall sensor patterns (position information) generated from each of U, V, and W
phase voltage, CPU performs an emergency stop.