Renesas YROTATE-IT-RX23T Bedienungsanleitung

USER MANUAL

UM-YROTATE-IT-RX23T Rev. 1.0 Page 1 of 83

October 6, 2015

YROTATE-IT-RX23T

Rotate it! – Motor Control RX23T

Introduction

The Renesas Motor Control Kit called YROTATE-IT-RX23T, is based on the RX23T device fro the powerful 32-bit RX

icrocontrollers fa ily running at 40MHz and delivering up to 80DMIPs.

The kit enables engineers to easily test and evaluate the perfor ance of the RX23T in a laboratory environ ent when

driving any 3-phase Per anent Magnet Synchronous Motor (e.g. AC Brushless Motor) using an advanced sensorless Field

Oriented Control algorith . Typical applications for this type of solution are co pressors, air conditioning, fans, air

extractors, pu ps, ho e appliances inverters and industrial drives.

The phase current easure ent is done via three shunts which offers a low cost solution, avoiding the need for an

expensive current sensor or hall sensor. A single shunt current reading ethod is also available to ensure an even ore

co pacter bill of aterial.

The powerful user-friendly PC Graphical User Interface (GUI) gives real ti e access to key otor perfor ance para eters

and provides a unique otor auto-tuning facility. Further ore, it beco es also possible to select the best switching

frequency and control frequency (e.g. control loop) to adapt the control dyna ics suitable to the application

require ents.

The hardware is designed for easy access to key syste test points and for the ability to hook up to an RX23T debugger

known as E1. Although the board is nor ally powered directly fro the USB port of a Host PC, connectors are provided

to utilise external power supplies where required.

The YROTATE-IT-RX23T is an ideal tool to check out all the key perfor ance para eters of your selected otor, before

e barking on a final end application syste design.

Target Device:

RX23T Microcontrollers Family

UM-YROTATE-IT-

RX23T

Rev. 1.0

October 6, 2015

RX23T YROTATE-IT-RX23T Motor Control Kit

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October 6, 2015

Contents

1. Specifications & Hardware overview ....................................................................................................... 3

2. Connectors description ............................................................................................................................. 7

3. Power supply selection ............................................................................................................................. 8

4. L Ds functions description ...................................................................................................................... 10

5. Test points for debugging ...................................................................................................................... 11

6. Internal power stage description ........................................................................................................... 12

7. Current reading methods selection ........................................................................................................ 14

8. Interface to an external power stage ..................................................................................................... 16

9. Single shunt current reading .................................................................................................................. 20

10. Current reading timing in three shunts and single shunt configurations ............................................. 21

11. Website material: www.renesas.eu/motorcontrol .............................................................................. 24

12. Microcontroller RX23T short overview ................................................................................................. 25

13. Permanent Magnets Brushless Motor model ....................................................................................... 27

14. Sensorless Field Oriented Control algorithm ........................................................................................ 32

15. Software Tools used ............................................................................................................................. 33

16. Software description and Resources used ............................................................................................ 37

17. Start-up procedure – mbedded software ........................................................................................... 44

18. Reference system transformations in details ....................................................................................... 46

19. Rotor position estimation..................................................................................................................... 47

20. PC Graphical User Interface in details .................................................................................................. 50

21. PROM parameters: detailed description .......................................................................................... 56

22. Motor Auto-calibration using the PC GUI ............................................................................................. 57

23. Updating the RX23T Flash memory using the Renesas Programming Flash Tool ................................. 68

24. Integration of user code to the motor control algorithm ..................................................................... 73

25. Communication Protocol between the MCU and the PC GUI ............................................................... 74

RX23T YROTATE-IT-RX23T Motor Control Kit

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1. Specifications & Hardware overview

ITEM

SPECIFICATIONS

TYPE OF MOTORS S PPORTED

3-phase Per anent Magnet Synchronous (PMSM, PMAC, BLAC)

3-phase Brushless DC (BLDC)

KIT MOTOR PARTNAME NANOTEC

DB42S03, 24V

, 4000 RPM

KIT MAX INP T RANGE External power supply fro : 20V

to 48V

DC,

peak

TRANSISTOR SED Renesas Mosfets: RJK0654DPB, 60V, 30A

POWER S PPLY OPTION Either USB connection or external supply: up to 48V

C RRENT DETECTION One or three shunts configuration (10 Ω)

SB IC SED ON THE BOARD FT232R - USB UART IC fro FDTI, 76.6KBd co unication speed

MICROCONTROLLER RX23T (R5F523T5ADFM), 64-pin LFQFP, 40MHz, 64KB Flash, 10KB RAM

MC PERFORMANCE 40MHz, 80DMIPs, 166 CoreMark

KEY FEAT RES Floating Point Unit, 3-phase inverter Ti er

12-bit A/D Converter, fast on-chip Co parators, Port Output Enable

MC EMBEDDED FIRMWARE Sensorless vector control algorith (Field Oriented Control)

SWITCHING FREQ ENCY 4KHz to 64KHz, 16KHz by default (PWM frequency)

CONTROL LOOP FREQ ENCY

(SAMPLING FREQ ENCY) 4KHz to 16KHz, 8KHz by default

CONTROL LOOP TIMING 50µs including debug features and auto-tuning/self-identification

40µs including only the sensorless vector control algorith

CODE SIZE IN FLASH / RAM 24KB / 3KB

TOOL SED, VERSION e²studio 4.0.2.008. , CS+ , RXC Toolchain, CC RX version v2.03.00

COMPILER OPTIMIZATION LEVEL Maxi u , opti ize for speed, little-endian data, RX V2 Core enable

ENVIRONMENT STANDARDS RoHS co pliant including China regulations

WEEE, RoHS

RX23T YROTATE-IT-RX23T Motor Control Kit

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The inverter kit YROTATE-IT-RX23T is a single board inverter, based on the 32-bit RX series icrocontroller RX23T and

includes a low-voltage MOSFETs power stage and a co unication stage. The PCB is a four layers board and ensure

the anage ent of Per anent Magnet Motors up to 48V

and up to 6A

Please find below the content of the YROTATE-IT-RX23T kit:

To obtain the axi u flexibility, the inverter reference kit includes:

•A co plete 3-phase inverter on-board with a low voltage otor, so it beco es easy to test the powerful

sensorless algorith running on the Renesas 32-bit RX23T icrocontroller (e.g. MCU).

•An insulated USB co unication with the PC offering co unication speed up to 76.6KBd.

•Connectors for hall sensors and encoder connections. Both encoder and hall sensors are not anaged in the

sensorless software but they can be supported under request.

•Co patibility with the existing Motor Control Reference Platfor external power stages, the first delivering

up to 1.5KW at 230V

and the second up to 60V

, 60A

•USB power supply possibility to avoid external power supplies where galvanic insulation is lost.

RX23T YROTATE-IT-RX23T Motor Control Kit

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To achieve these ai s, three different DC-DC converters are used:

1. A step-up DC-DC converter to increase the voltage fro the USB standard (5V) up to 13.5V

2. A step-down converter and a low dropout linear converter, fro the DC bus first to 15V and then to the CPU

supply voltage: 5V, please find below the PCB overview.

The full sche atics and CAD design files (e.g. Gerber) of the inverter kit are available on the website:

www.renesas.eu/ otorcontrol , in the section related to the YROTATE-IT-RX23T develop ent kit.

In the YROTATE-IT-RX23T kit, the RX23T in a 64-pin package was selected to ensure the anage ent of inverter,

external co unications, three shunts, the EEPROM co unication, the E1 debugger, three voltages phases, the

over-current detection, the Bus voltage onitoring, etc.

The picture below is showing the detailed I/O pins assign ent of the RX23T to anage the co plete kit.

ZIGBEE/MCU progra ing or G I

communication selection

COMMUNICATION

STEP

DOWN

STEP_UP

EXTERNAL POWER

STAGE INTERFACE

LOW VOLTAGE

POWER STAGE

CONTROL

STAGE

HALL, ENCODER,

ANALOG INPUT

INSULATION

SUPPLY INPUT

OPTIONAL ZIGBEE

MODULE

LINEAR REGULATOR FOR 5V SUPPLY

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October 6, 2015

RX23T YROTATE-IT-RX23T Motor Control Kit

UM-YROTATE-IT-RX23T Rev. 1.0 Page 7 of 83

October 6, 2015

EXTERNAL POWER SUPPLY

CONNECTORS

USB CONNECTOR

EXTERNAL POWER

STAGE CONNECTOR

MOTOR CONNECTOR

HALL

CONNECTOR

E1 CONNECTOR

ENCODER CONNECTOR

ANALOG INPUT CONNECTOR

PMODE

CONNECTOR

CONNECTOR FOR

ICS OSCILLOSCOPE

2. Connectors description

As in the following figure, you can find the position and the description of the connectors present on the board. Please

refer to the board sche atics for the full description of the connectors.

The E1 connector is used for the progra ing and the debugging of the software running on the RX23T. It can be

connected either to the E2studio and the CS+ develop ent environ ents.

The external power stage connector is co patible with the power stages, designed for Renesas inverter kits, which

are able, the first one to drive 230V

otor up to 1.5KW, and the second one up to 60V

, 60A

. The sche atics and

Gerber file of the power stage are available on the website: www.renesas.eu/ otorcontrol

RX23T YROTATE-IT-RX23T Motor Control Kit

UM-YROTATE-IT-RX23T Rev. 1.0 Page 8 of 83

October 6, 2015

3. Power supply selection

As stated before, there are two ways to supply power to the board.

1. The first possibility is to use directly the PC USB supply. In this case the current you can give to the otor is

li ited by the USB current capabilities.

2. The second possibility is to use an external voltage DC source to supply the board.

The reco ended power supply voltage is between 20V

to 48V

. In this case the co unication stage is insulated

fro the inverter. The selection between the two possibilities is ade through two ju pers: JP1 and JP2. Please find

below the description:

JP2

PC SB S PPLY SELECTION

JP2

EXTERNAL S PPLY SELECTION

JP1, JP2

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UM-YROTATE-IT-RX23T Rev. 1.0 Page 9 of 83

October 6, 2015

1) The first ju per configuration connects the USB ground to the inverter ground and the output of the step-up

converter to the inverter DC link.

Please notice that in this case there is no galvanic insulation between the device connected to the USB and

the board.

2) The second ju per configuration connects the external power supply ground to the inverter ground and the

external + V

to the inverter DC link.

Please find below the configuration of the RX23T kit using the internal MOSFETs power stage.

Please find below the configuration of the RX23T kit connected to the external 1.5KW, 230V

power stage.

Power stage ju per JP1: correct

position

Microcontroller board + external power stage board:

Power supply +24V

fro J4 or J5 of the power stage

RX23T YROTATE-IT-RX23T Motor Control Kit

UM-YROTATE-IT-RX23T Rev. 1.0 Page 10 of 83

October 6, 2015

4. LEDs functions description

So e of the LEDs available on the board are directly connected to the hardware and allow the user to understand the

status of the board. Please refer to the LED ap for the following indications:

•DL4 is connected to the output of the 15V step-down DC-DC converter and indicates the presence of the

switches drive supply;

•DL5 is connected to the output of the 5V linear converter and indicates the presence of the 5V logic power

supply.

Other LEDs in the board are driven via software, in particular:

•DL1 is the USB co unication indicator and blinks when there are data exchanges between the PC and the

board.

•DL2 is blinking slowly if the control section of the RX23T icrocontroller is running nor ally. In case of

hardware or software alar s, the LED DL3 is blinking quickly.

•DL3 is free for the user and in the default software it is ON when the ain control interrupt is active. It give to

the user a quick and si ple way to easure the ti ing of the control loop of the algorith .

DL5

DL1

DL3

DL4

DL2

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