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Motor Control Evaluation System for RA Family - RA6T1 Group Vector control for Dual PMSM and PMSM with Encoder

TakeoMimura
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In this article, I introduce two motor control applications using the RA6T1 Motor Control RSSK (Renesas Solution Starter Kit) (211-0566) .

For basic information on how to use the RA6T1 Motor Control RSSK, please refer to the following article.

Out-of-the-Box: The New RA6T1 Motor Control Starter Kit

 

First, let’s take a look at the procedure for dual motor control using RA6T1.

To build this environment, you will need two kits: the RA6T1 Motor Control RSSK and an additional Inverter board that includes a BLDC motor which is sold as Renesas Evaluation System for BLDC Motor (Renesas Evaluation System for BLDC Motor).

RA6T1 Motor Control RSSK and Renesas Evaluation System for BLDC Motor) Kits

By preparing these two kits, two motors can be controlled by using one RA6T1 CPU card.

The next step is to make some modifications, such as mounting pin headers on each board so that the second inverter board can be controlled. There are basically two ways to modify it, please refer to the application note below for details.

RA6T1 Sensorless vector control for dual permanent magnetic synchronous motor Rev.1.00 - Sample Code (Note: you will need to create an account on Renesas to access this code)

Two options to modify kits

Once the modifications are complete, the dual motor control is ready to be evaluated.

Next, download the sample code for the RA6T1 dual motor control from the Renesas web site and write the program. Now you can control the two motors with only one RA6T1!

In addition, by using the motor control development support tool “Renesas Motor Workbench”, you can easily evaluate the motor control by changing the motor control parameters with the GUI on your PC.

[Video link] https://players.brightcove.net/5260471205001/default_default/index.html?videoId=6269407542001

Renesas Motor Workbench

 

Second, I will show you the procedure for controlling a PMSM with encoder using the RA6T1.

controlling a PMSM with encoder using the RA6T1

The motor with encoder is made by Nidec Servo Corporation, and there are three steps to follow.

1) Extract the motor parameters with the Tuner function of the Renesas Motor Workbench.Write the extraction program included in Renesas Motor Workbench 2.0 distribution to the RA6T1 using Segger’s J-Flash Lite.

Extract the motor parameters

Write the extraction program

Next, start up the Tuner function of the Renesas Motor Workbench. When the window shows up, enter the Rated Current and Pole Pairs. This time, I entered Rated Current=1.8A and Pole Pairs=7.

This parameter is different for each motor, so please enter the information for the motor you are using.

enter the information for the motor you are using

After entering the parameters, press the Start button and wait for a while to complete the extraction of the

motor parameters. Next, click the "Output Header File" button on the right window to generate the following

file to be reflected in the sample code.

  • r_mtr_control_parameter.h
  • r_mtr_motor_parameter.h

Then, overwrite and save the two generated motor parameter files.

save the two generated motor parameter files

2) Set the number of encoder counts per motor shaft revolution in the configurator of the FSP.

For the motor used in this example, I set it to “1200”. This parameter is different for each motor, so please enter the information for the motor you are using.

  • rm_motor_sense_encoder : Cunts per Rotation = 1200
  • rm_motor_position : Encoder Cunts per one rotation : 1200.0F

Set the number of encoder counts per motor shaft revolution in the configurator

3) Build and write the sample project.

RA6T1 Vector control for permanent magnet synchronous motor with encoder (Implementation) - Sample Code

The following controls can be performed in the sample code.

  • Driving or Stop the motor in position control mode
  • Driving or Stop the motor in speed control mode
  • Change position and speed

This concludes the introduction of the two RSSK-based motor control applications. In addition, we plan to release the following sample code and application notes as a solution for RA6T1 in the near future, so please stay tuned.

  • Sensorless vector control for permanent magnetic synchronous motor (1-shunt current detection)
  • Block Commutation Control (Hall sensor, Sensorless)

 

For information to help you with your motor control design using an RA6T1 MCU, please visit:

RA6T1 motor RSSK product page: https://www.renesas.com/ra/rssk-ra6t1

RA6T1 product page: https://www.renesas.com/ra/ra6t1

RA6T1 motor RSSK introduction video: https://www.renesas.com/support/videos/ra6t1-motor-control-rssk-intro.html

RA6T1 motor RSSK setup video: https://www.renesas.com/support/videos/ra6t1-motor-control-rssk-setup.html

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