Renesas M16C/Tiny Series User manual

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RSBJEUM0001-0101 Rev. 1.01
1
M16C/Tiny Sensor-less PMSM Driving Platform
by 120-Degree Trapezoidal ave Commutation
M16C/Tiny
User’s Manual
RSBJ
Published by: Renesas Syste Solutions (Beijing) Co., Ltd. Beijing Technical Center.
Date: March 2008 Version 1.01
Docu ent Nu ber: RSBJEUM0001-0101
Copyright(C): Renesas Syste Solutions (Beijing) Co., Ltd. Beijing Technical Center. All rights
reserved.
Trademarks
a) General
All brand or product na es used in this anual are trade arks or registered trade arks of their respective co panies
or organizations.
b) Specific
Microsoft Windows is registered trade arks of Microsoft Corporation.
Pentiu is a registered trade ark of Intel.

RSBJEUM0001-0101 Rev. 1.01
2
IMPORTANT INFORMATION
 READ his user’s manual before using his pla form board.
 KEEP he user’s manual handy for fu ure reference.
Do no a emp o use he pla form board un il you fully unders and i s layou concep .
MCU:
Throughout this docu ent, the ter “Platfor ” shall be defined as the Renesas M16C/Tiny Sensor-less
PMSM Driving Platfor by 120-Degree Trapezoidal Wave Co utation, which is for washing achine
de o and prototype design reference.
Improvemen Policy:
Renesas Syste Solutions (Beijing) Co., Ltd. Beijing Technical Center (hereafter collectively referred to
as Renesas) pursues a policy of continuing i prove ent in design, perfor ance, and safety of this
evaluation board. Renesas reserves the right to change, wholly or partially, the specifications, design,
user’s anual, and other docu entation at any ti e without notice.
Targe User of he Produc :
Those who have carefully read and thoroughly understood the infor ation as well as restrictions
contained in the user’s anual should only use this product. Do not atte pt to use the product until you
fully understand its echanis .
Suppor :
Regarding support for the product, no services will be provided.

RSBJEUM0001-0101 Rev. 1.01
3
LIMITED WARRANTY
Renesas warrants its products to be anufactured in accordance with published specifications and free
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isapplication, addition or odification or by the use with other hardware or software, as the case ay be,
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WRITTEN, EXCEPT AS PROVIDED HEREIN, INCLUDING WITHOUT LIMITATION.
THEREOF, WARRANTIES AS TO MARKETABILITY, MECRCHANTABILITY, FITNESS
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EXCEPT AS EXPRESSLY STATED OTHERWISE IN THIS WARRANTY, THIS PRODUCT
IS
SOLD “AS IS”. AND YOU MUST ASSUME ALL RISK FOR THE USE AND RESULTS
OBTAINED FROM THE PRODUCT.

RSBJEUM0001-0101 Rev. 1.01
4
All Righ Reserved:
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user’s anual, all or part, any be reproduced or duplicated in any for , in hardcopy or achine-readable
for , by any eans available without Renesas‘s prior written consent.
O her Impor an Things o Keep in Mind:
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intellectual property clai s or other proble s that ay result fro applications based on the exa ples
described herein.
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Renesas.
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Limi ed An icipa ion of Danger:
Renesas cannot anticipate every possible circu stance that ight involve a potential hazard. The
warnings in this user’s anual and on the product are therefore not all inclusive. Therefore, you ust use
the product safely at your own risk.

RSBJEUM0001-0101 Rev. 1.01
5
PREFACE
Abou his manual
This user’s anual discusses how to use three-phase otor control ti er function, and a sa ple
application of how to i ple ent position-sensor-less driving of an SPMSM by 120-degree
trapezoidal wave co utation, which is a ethod that akes use of the induced voltage of the
otor.
This exa ple applies to MCUs in the MC16C/TinyGroup
Sec ion 1 Abou his pla form
Gives specification on hardware and software
Sec ion 2 Descrip ion of Sof ware
Describes software for otor control
Sec ion 3 Fini e S a e Machine of Mo or Con rol
Describes state transition for otor control
Sec ion 4 Con rol flow
Gives progra flowchart.

RSBJEUM0001-0101 Rev. 1.01
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Contents
1. About This Platfor ..................................................................................................................................7
1.1 The hardware block diagra ...........................................................................................................7
1.2 The hardware resource assign ent table.........................................................................................7
1.3 software specifications ....................................................................................................................8
2 Description of Software..............................................................................................................................9
2.1 Output Pattern Switching ................................................................................................................9
2.2 Detection of Induced Voltages.......................................................................................................11
2.3 Calculation of Actual Rotation Speed ...........................................................................................12
2.4 Calculation of Target Rotation Speed............................................................................................12
2.5 Calculation of PWM Duty Cycle ..................................................................................................13
2.6 List of function odules................................................................................................................14
2.7 List of vrialbles..............................................................................................................................15
2.8 List of Macro definition ................................................................................................................16
2.9 List of constant variable ................................................................................................................16
3 Finite State Machine of Motor Control ....................................................................................................17
3.1 State Discription............................................................................................................................17
3.2 Condition Description ...................................................................................................................18
4 Control flow .............................................................................................................................................19
4.1 Main processing for sensor-less driving of an SPMSM by 120-degree trapezoidal wave
co utation........................................................................................................................................19
4.2 Initialization Processing ................................................................................................................20
4.3 Turn-off Processing .......................................................................................................................21
4.4 PWM Interrupt Processing ............................................................................................................22
4.5 Bootstrap Processing .....................................................................................................................23
4.6Turn-on Processing.........................................................................................................................24
4.7 TB1 Interrupt Processing...............................................................................................................26
4.8 Stop Check Processing ..................................................................................................................26
4.9 Run Processing..............................................................................................................................27
4.10 PWM Run Calculation Processing ..............................................................................................28
4.11 PWM Duty Calculation Processing.............................................................................................32
4.12 Calculate Rotation Speed Co and Processing.........................................................................34

RSBJEUM0001-0101 Rev. 1.01
7
1. Abou This Pla form
1.1 The hardware block diagram
1.2 The hardware resource assignment table
Used SFR Function Description Used I/O Port Function Description
TA1 U phase PWM wave P15/3
INT /ID phase induced voltage detection
TA2 phase PWM wave P16/ 4
INT /IDW W phase induced voltage detection
TA4 W phase PWM wave P17/5
INT /IDU U phase induced voltage detection
TB1 50us cycle inquiry P01/AN01 Rotation Speed Command
TB2 Carrier wave cycle control P102/AN2 Bus current sample
P103/AN3 Bus voltage sample
P72/ phase voltage
P73/V V phase voltage
P74/W W phase voltage
P75/W W phase voltage
P80/U U phase voltage
P81/U Uphase voltage
Comparator
in Uin Win
P10 2 /AN
2
(I BUS )
( BUS )
P1 5 /INT3
P1 6 /INT4
P1 7 /INT5
( BEMF )
(W BEMF )
(U BEMF )
P8 5 /nNMI/nSD
(SD)
P7 2 /TA1 OUT /
P7 4 /TA2 OUT /W
P7 5 /TA2 IN //W
P8 1 /TA4 IN //U
P8 0 /TA4 OUT /U
( P )
( N )
(W N )
(W P )
(U N )
(U P )
Three-phase motor control
A/D Conversion
Induce voltage detect
P10 3 /AN 3
P7 3 /TA1 IN //
M16C/Tiny
IPM
circuit
U W
F O
BUS
_IN
BUS
OUT
220 AC
( P )
( N )
(W N )
(W P )
(U N )
(U P )
bus
Sample Circuit
L
N
L
N
3
6
P cc
P cc
Motor
U
W
PO ER
circuit
ACCT
IBus
P0 1 /AN0 1
Speed Command
Potentionmeter

RSBJEUM0001-0101 Rev. 1.01
8
1.3 software specifications
Motor type permanent magnet synchronous motor(PMSM)
Numbers of pole pairs 2
Control method 120-degree commutation using trapezoidal waves
Motor Position Detection Detected by three phase induced voltage of motor
Carrier Frequency 5kHz
Range of Rotation
Speed Command
Single Direction
1000rpm to 7200 rpm
Error detection The Fo signal (forced shut-down signal) of the IPM is input
to the NMI pin of the MCU. Thus, if the Fo signal goes low,
the three-phase output is forcibly stopped and the
three-phase output pins are placed in the high-impedance
state.

RSBJEUM0001-0101 Rev. 1.01
9
2 Descrip ion of Sof ware
2.1 Output Pattern Switching
Figure 3.1.1 Time Charting
Pattern 5 Pattern 0 Pattern 1 Pattern 2 Pattern 3 Pattern 4 Pattern 5
Zero-crossing
Switch the output pattern 30
degree after the zero-crossing
of the induced voltage
0
1
3
2
4
5
Calcultation the actual rotation speed
from intervals between zero-crossings
of the induced voltages
U-BEMF
-BEMF
W-BEMF
Up
Un
p
n
Wp
Wn

RSBJEUM0001-0101 Rev. 1.01
10
Figure 3.1.2 Three-phase IGBT inverter circuit
In the 120 degree trapezoidal communication mode, three phase IGBT circuit turn-on sequence
is UpWn→Wn p→ pUn→UnWp→Wp n→ nUp, two IGBT are conducted every 60 electrical
degrees. Accordingly, PWM wave have 6 output pattern switching. It is shown as the figure 3.1.1
and figure 3.1.2
Output pattern is switched when motor rotor angles 60 electrical degree every time.
Zero-crossings of the induced voltages is at the mid of each output pattern (30 electrical degree).
In this program, the function of output pattern switching is carried out by PFCR register of
M16C62A. It can control each bit in the PFCi (i=0 to 5) to enable each one of three-phase PWM
output pins. When setting the PFCi (i=0 to 5) to “0”, three-phase PWM output pin functions act as
I/O port and can output “H” level state and “L” level state.
In order to outputting PWM wave when motor rotor angles 360 electrical degrees, PFCR register
should be set based the following table.
Table 3.1.1 PFCR correspond to different output pattern
The three-phase PWM output pins have three states, PWM wave, “H” and “L”, the output states
depend on PFCR register, Pi register and PDi register. The output states table is shown on Table
3.1.2.
Wn Wp n p Un Up
X X PFC5 PFC4 PFC3 PFC2 PFC1 PFC0
Pattern 0 0 0 0 0 0 0 0 1
Pattern 1 0 0 1 0 0 0 0 0
Pattern 2 0 0 0 0 0 1 0 0
Pattern 3 0 0 0 0 0 0 1 0
Pattern 4 0 0 0 1 0 0 0 0
Pattern 5 0 0 0 0 1 0 0 0
Up
Un
VCC
GND
Vp Wp
Vn Wn

RSBJEUM0001-0101 Rev. 1.01
11
PFCi PDi Pi Output
0 1 0 “L”
0 1 1 “H”
1 X X PWM
Table 3.1.2 three states of output pin
2.2 Detection of Induced Voltages
Figure 3.1.3 Detection of zero-crossing of induced voltage and comparator output
The output pattern of the MCU depends on position information of induced voltages. The
voltages output by the inverter are compared with half the bus voltage, and the results are fed to
the MCU. The following table shows the connection between MCU pins and induced voltage
signals.
Input pin BEMF signal
3INT/P15 _BEMF
4INT/P16 W_BEMF
5INT/P17 U_BEMF
Table 3.1.3 the connection of input pin and induce voltage
Induced voltage
Co parator
Output Signal
U
W
U
W
Vbus/2
Vbus/2
Vbus/2
30 dgr 30 dgr
Switching output pattern
Zero-crossing of induced
voltage

RSBJEUM0001-0101 Rev. 1.01
12
In our program, when motor mode changes into turnon mode, TB1 interrupt is enabled, after the
next carrier wave cycle interrupt, motor woke mode become run mode. Every 50us, TB1
interrupts. If the TB1 interrupt request bit is set to 1, after another 50us, the TB1 interrupt request
bit is still set to 1, the zero-crossing of induced voltages is detected, and it is at the mid-point (30
electrical degrees) of each output pattern. Switching of the output pattern is delayed by 30
electrical degrees from zero-crossing detected. The process avoid occurring wrong pulses to be
mistaken the detection of zero-crossing of induced voltages because of motor demagnetization
at the point of output pattern switching. The U phase processing is shown as figure 3.1.2
When motor work mode changes into stop mode, tb1s is set to “0”, TB1 interrupt stops but
interrupt enable is still open. The detection of induced voltage is shown as figure 3.1.1
2.3 Calculation of Actual Rotation Speed
The actual rotation speed is calculated by interval between two zero-crossings of induced
voltages. The interval comprises certain carrier wave cycle pulses. In the PWM mode, 6 intervals
are passed every 360 electrical degree. So if counting the carrier wave pulses every a rotate, the
actual rotation speed can be calculated by the following formula.
Actual rotation speed= 6interval crossingZero
5kHz2π
×−
×
(3.3.1)
In the actual programming, the method of lookup table can be used. Given an array of
zero-crossing interval pulses, the corresponding actual rotation speed can be calculated based
the above formula. A zero-crossing interval pulses is subtracted 13, the corresponding actual
rotation speed can be looked up using the sequence number of array.
2.4 Calculation of Target Rotation Speed
The target rotation speed is brought towards the current rotation speed command at a rate of 0.5
rad/s every certain interval until target rotation speed is approach to the rotation speed command.
If knowing current target rotation speed, the carrier wave cycle pulses between intervals of
zero-crossings can be calculated using the above formula.

RSBJEUM0001-0101 Rev. 1.01
13
2.5 Calculation of P M Duty Cycle
Figure 3.1.4 Relationship between PWM Duty Cycle and Rotation Speed Command
PWM duty cycle depends on counting values of TAi. The actual rotation speed is proportion to
PWM duty cycle, the bigger is PWM duty cycle, the faster is the actual rotation speed. In the
course of approaching rotation speed command, the carrier wave cycle pulses can be acquired
by target rotation speed every time. Every result is saved a 1dimension array including 12 data
units. Then 12 elements are added to calculate average value, a current carrier wave pulses
between zero-crossings can be gotten.
According to formula 3.3.1, the current actual rotation speed will be gotten. Consequently, the
PWM duty cycle is changed according to the conditions given below.
Condition Amount of change
Target rotation speed > Actual rotation speed +
∆
duty
Target rotation speed > Actual rotation speed -
∆
duty
TB2
TAi
Sawtooth Wave
odulation
Output
Slow
Fast

RSBJEUM0001-0101 Rev. 1.01
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2.6 List of function modules
Module name Label name Input Output Description
Motor control main
processing
Main_PWM_120slc20_PFCR( ) —— Main processing
Initialization
processing
PWMInitial( ) —— Set initial values for AD
conversion, zero-crossing
detection ,and three phase
PWM
PWM interrupt
processing
PWMInt( ) —— Call the turnoff, bootstrap,
turnon and run processing
Turn off processing TurnoffPWM( ) —— Turns off the three pahse
PWM outputs and checks
whether to proceed to startup
operation
Turn on Processing TurnonPWM( ) —— Performs startup operation
and check run mode switch
Bootstrap processing BootstrapPWM ( ) —— Charging for 3-phase IGBT
circuit
TB1 int processing TB1Int ( ) —— Performs 50us timer inquiry
and detect induced voltage
Run
Processing
RunPWM ( ) —— Normal PWM operation
processing
Run calculation
processing
Cal PwmRun ( ) —— Performs sensor-less control
and Output pattern switching
PWM duty calculation
processing
CalPWMDuty ( ) —— Calculates actual rotation
speed and PWM duty
Stop check processing StopCheck( ) UNIT_16
Stop
check
result
Check whether the
processing is stopped by a
rotation speed command or
an error
Calculate Rotation
Speed Command
CalSpeedCnd( ) UINT_16 UNIT_16
Ad rotation
Input speed
alue command
Convert AD value to rotation
speed command

RSBJEUM0001-0101 Rev. 1.01
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2.7 List of vrialbles
Item Label Data Type Resolution
Description
Stop state s_StopMode UINT_16 2^0
Output state g_OutputMode UINT_8 2^0 Operation mode
Output angle g_MotTheta UINT_16 2^11
Startup control
counter
s_StartCnt UINT_16 2^0
Target rotation
speed calculation
counter
s_TargetCnt UINT_16 2^0 Counter used to provide the period
(2ms) of target rotation speed
calculation.
Rotation speed
command
g_SpeedCnd UINT_16 2^1 ADC input
rpm = SpeedCnd /2^1/(2p)/ number of
pole pairs×60
Target rotation
speed
g_SpeedTgt UINT_16 2^1 The value changed toward the rotation
speed command value at a rate of 0.5
rad per 2 ms.
Actual rotation
speed
g_SpeedAct UINT_16 2^1 Detect from the zero-crossing
interval of the induced voltages
Zero-crossings
interval counter
s_DltCnt UINT_16 2^0 Counter that measures the interval
between zero-crossings (60°).
Counter clock period is the carrier
period.
Delay time counter
for switching to the
next output pattern
s_ReloadCnt UINT_16 2^0 Counter used to provide a time period
from a pattern switching until detection
of induced voltage zero-crossings is
enabled. Counter clock period is the
carrier period
output pattern g_Stage UINT_16 2^0 Current output pattern
Next output
Pattern
s_ReloadStg UINT_16 2^0 Next pattern that is determined based
on the induced-voltage zero-crossing
detection.
PWM duty clcye g_PwmDuty UINT_16 2^13
Bootstrap charge
delay counter
s_BootstpCnt UINT_16 2^0 A period delay for charging for every
IGBT
Bootstrap charge
Step counter
s_BootstpStep UINT_8 2^0 Three-phase IGBT circuit bootstrap
Current
zero-crossings
interval counter
g_DltCntRef UINT_16 2^0
Former
zero-crossings
interval counter
g_PreDltCnt UINT_16 2^0
Zero-crossing
interval array
g_DltCntArray[
12]
UINT_16 2^0 Save 12 times zero-crossing interval
pulses
Average
zero-crossing
interval pulse
g_AvrDltCnt UINT_16 2^0
External Interrupt
counter
s_IntCnt UINT_16 2^0 Detect two INTi interrupts for induced
voltage
AD rotation speed
command
s_ADSpeed UINT_16 2^12 Change AD value into rotation speed
AD rotation speed
sum
s_ADSum UINT_32 2^12 16 times AD value sum
zero-crossing
interval array po
inter
s_CalCnt UINT_8 2^0 Calculate average zero-crossing

RSBJEUM0001-0101 Rev. 1.01
16
interval pulse
AD sample interval
g_swtime UINT_16 2^0 Sample once every 16 carrier wave
interrupt
Induced voltage
detection disable
time counter
g_ChkOnCnt UINT_16 2^0 Counter used to provide a time delay
for detect a induced voltage
zero-crossing.
2.8 List of Macro definition
Macro name Macro value Resolution Description
M_CTRL_TS 6711 2^25 Control cycle 0.0002* 2^25
M_K_SPEED_AD_REF 6032 2^12 A-D conversion ratio (240*2*pi/1024)* 2^12
M_Sft_SPEED_AD_RE 11
M_Start_Hz 419 2^1 Carrier wave cycle 5k, startup rotation speed
M_Sft_TURNON_MODE 15 2^0
M_TURNON_MODE_TIM
E
1500 2^0 Start up time
M_THETA_60DEG 2145 2^11 Pi/3* 2^11
M_THETA_360DEG 12868 2^11 2*Pi*2^11
M_CARR_CNT 4000 2^0 Carrier wave cycle is 5k
M_TURNOFF 0 2^0 Turnoff work mode
M_BOOTSTRAP 1 2^0 Bootstrap work mode
M_TURNON 2 2^0 Turnon work mode
M_RUN 3 2^0 Run work mode
M_INI_DUTY_120 1600 2^15 Initial PWM duty (0.08*2^15)
M_MIN_DUTY_120 328 2^15 Min PWM duty ( 0.01*2^15 )
M_MAX_DUTY_120 29488 2^15 Max PWM duty ( 0.9*2^15 )
M_BOOT_DUTY_120 3276 2^15 Bootstrap PWM duty ( 0.1*2^15 )
M_Sft_DUTY_120_TIME 15 2^0
M_BOOTSTRAPSTEP 3 Bootstrap mode step
2.9 List of constant variable
Item Label Data Type
Description
Output pattern switching
table
PFCRTbl[ ] UINT_8 Comprise 6 output pattern PWM wave
Zero-crossing interval
counter table
Tgt_Dlt_Conv[ ] UINT_8 Convert target rotation speed to
zero-crossing interval pulse
Actual rotation speed
table
Dlt_Act _Conv[ ] UINT_8 Convert zero-crossing interval pulse to
actual
rotation speed
PFCR output table for
bootstrap mode
PFCRTblBoot[ ] UINT_8 Include three elements for three phase IGBT
circuit charging

RSBJEUM0001-0101 Rev. 1.01
17
3 Fini e S a e Machine of Mo or Con rol
The state of motor control can be shown by finite state machine (FSM). The following figure is the
FSM of BLDC in this software. It concludes four states, the states can be switched to other states
under the certain conditions.
3.1 State Discription
1. Turnoff mode expresses that the rotation speed command from A/D converts is 0, and MCU
will not output PWM wave. Under this mode, if rotation speed command from A/D converts is
not equal to zero, motor work mode changes into bootstrap mode, the target rotation speed and
actual rotation are set to the minimum rotation speed, 1000rpm.
2. Bootstrap mode indicate that under the condition of single power supply for IPM module,
bootstrap circuit finish the function of charging for upper arm IGBT of 3 phase IGBT circuit. This
method is implemented by MCU outputting bootstrap-duty PWM wave. In order to prove to
enough charging time of upper arm IGBT, the bootstrap mode last certain time. When three
phase IGBT circuit bootstrap mode is finished, the motor work mode changes into turnon mode,
otherwise the bootstrap mode is continue.
When no rotation speed command is detected or three phase motor output control timer is
disabled, the motor work mode come back turnoff mode.
3. Turnon mode points motor starts to run while MCU outputs initial-duty PWM wave. Output
pattern switching is forcibly implemented by controlling PWM duty changing amount to calculate
motor rotation angle. Passing 1500 carrier wave cycle interrupt, motor work mode changes into
Run mode, or it will continue turnon mode.
When no rotation speed command is detected or three phase motor output control timer is
disabled, the motor work mode come back turnoff mode.
4. Run mode indicates that motor works normally while MCU outputs PWM wave by inputting
certain rotation speed command. And the rotation speed command is synchronous to rotate
magnetic field frequency, so zero-crossing of induced voltage can be detected accurately to
decide to output pattern stwiching by 50us timer interrupt.
When no rotation speed command is detected or three phase motor output control timer is
Trunoff
Mode
Bootstrap
Mode
Trunon
Mode
Run
Mode
12 3
4
7
6
58
9 10 11

RSBJEUM0001-0101 Rev. 1.01
18
disabled, the motor work mode come back turnoff mode.
No intervals of zero-crossing of induced voltages are detected when counter of zero-crossing
interval exceeds certain values, the motor work mode change into turnon mode.
3.2 Condition Description
Condition number Description
① Rotation speed command is not equal to zero
② The three phase IGBT charging process is over
③ Motor rotation speed is synchronous to rotate magnetic field frequency after passing
some carrier wave cycle interrupts
④ No rotation speed command
⑤
⑥
⑦
Rotation speed command is equal to zero or three phase motor output control timer
disable
⑧ No intervals of zero-crossing of induced voltages are detected
⑨ The three phase IGBT charging process is not over
⑩ Don’t satisfied condition No.3 and No.6
Always acquire accurate motor position information
11