User’s Manual RX62T Motor Control Evaluation Kit User Manual: Hardware RX Family / RX600 Series / RX62T Group All information contained in these materials, including products and product specifications, represents information on the product at the time of publication and is subject to change by Renesas Electronics Corp. without notice. Please review the latest information published by Renesas Electronics Corp. through various means, including the Renesas Technology Corp. website (http://www.renesas.com). .
General Precautions in the Handling of MPU/MCU Products
The following usage notes are applicable to all MPU/MCU products from Renesas. For detailed usage notes on the products covered by this manual, refer to the relevant sections of the manual. If the descriptions under General Precautions in the Handling of MPU/MCU Products and in the body of the manual differ from each other, the description in the body of the manual takes precedence. 1.
How to Use This Manual 1. Purpose and Target Readers This manual is designed to provide the user with an understanding of the hardware functions and electrical characteristics of the MCU. It is intended for users designing application systems incorporating the MCU. A basic knowledge of electric circuits, logical circuits, and MCUs is necessary in order to use this manual.
Notation of Numbers and Symbols Register Notation List of Abbreviations and Acronyms Abbreviation Full Form ACIA Asynchronous Communication Interface Adapter bps bits per second CRC Cyclic Redundancy Check DMA Direct Memory Access DMAC Direct Memory Access Controller GSM Global System for Mobile Communications Hi-Z High Impedance IEBus Inter Equipment Bus I/O Input/Output IrDA Infrared Data Association LSB Least Significant Bit MSB Most Significant Bit NC Non-Connect PLL Phase
Table of Contents Table of Contents .................................................................................................................................................... 6 Table of Figures ...................................................................................................................................................... 7 1. Overview...............................................................................................................................................
Table of Figures Figure 1 Reverse polarity protection ............................................................................................................. 15 Figure 2 Board functional layout .................................................................................................................. 16 Figure 3 BLDC motor BLY171D-24V-4000-1000SI-05............................................................................... 19 Figure 4 H-Bridge ........................................
1. Overview 1.1. Purpose This manual describes the technical details of the kit hardware. The Quick Start Guide provides details on the software installation and debugging environment. 1.2.
Table 1.1 Specifications (1) Item CPU Memory Function Central processing unit ROM, RAM, data flash Reset sources Voltage detection Voltage detection circuit Watchdog timer Independent Watchdog timer (IWDT) Clock Power control Clock generation circuits Specification Rx600 CPU core • Number of fundamental instructions: 73 • Minimum instruction execution time: 10 ns (f(XIN) = 100 MHz, VCC = 2.7 V to 5.
Interrupts I/O ports • Peripheral function interrupts: 101 sources • External interrupts: 9 (NMI and IRQ0 to IRQ7 pins) • Non-maskable interrupts: 3 (the NMI pin, oscillation stop detection interrupt, and voltage-monitoring interrupt) • 16 levels specifiable for the order of priority Programmable I/O ports I/O port pins for devices in the 112-pin LQFP/100-pin LQFP/80-pin LQFP/64-pin LQFP • I/O: 61/55/44/37 • Input only: 21/21/13/9 • Open-drain outputs: 2/2/2/2 (I2C bus interface pins) • La
Timer Multi-function • 16 bits x 8 channels timer • Up to 24 pulse inputs/outputs and three pulse inputs • Select from among six to eight counter-input clock signals for each pulse unit 3 (MTU3) channel (ICLK/1, ICLK/4, ICLK/16, ICLK/64, ICLK/256, ICLK/1024, MTCLKA, MTCLKB, MTCLKC, MTCLKD) other than channel 5, for which only four signals are available.
• Control of the high-impedance state of the MTU3 and GPT’s waveform output pins • 5 pins for input from signal sources: POE0, POE4, POE8, POE10, POE11 • Initiation on detection of short-circuited outputs (detection of simultaneous switching of large-current pins to the active level) • Initiation by comparator-detection of analog level input to the 12-bit A/D converter • Initiation by oscillation-stoppage detection • Initiation by software • Selection of which output pins should be placed in th
Communications Serial communications interface (SCIB) • 3 channels Serial communications modes: • Asynchronous, clock synchronous, and smart-card interface • Multiprocessor communications • On-chip baud rate generator allows selection of the desired bit rate • Choice of LSB-first or MSB-first transfer Noise cancellation (only available in asynchronous mode) I2C bus interface (RIIC) • 1 channel Communications formats: • I2C bus format/SMBus format • Master/slave selectable CAN module • 1
2. Power Supply 2.1. Requirements The main power source for the kit is a 24V DC external power supply that can be connected to J3 2.5 mm barrel type connector. An additional power connector J4 is provided for use with a bench type power supply. From this main power source multiple voltages are derived and are shown in Table 1 below. When the board is connected to a personal computer, a secondary isolated 3.3VDC is derived from the USB bus voltage.
Figure 1 Reverse polarity protection
3. Board Layout 3.1. Functional Description The board layout with the main functional features is shown in Figure 2. Several connectors are provided for the power supply, motor, sensors, external power module, debugging tools, personal computer GUI and user SPI port. Push buttons and potentiometer are provided for standalone operation control. A 96x64 dot graphic LCD is J6 JA J2 JP2 JC JP1 used to display motor parameter data such as RPM, Current, Voltage, etc.
3.2. Board Configuration The Rx62T has special peripherals built in to support various motor control algorithms and the evaluation board hardware has to be reconfigured to match the algorithm present in the flash memory. The board hardware supports both 180˚ sinusoidal and 120˚ trapezoidal drive topologies in sensor-less and sensor modes.
3.2.2. 120˚ Trapezoidal Drive Support The hardware supports both sensor and sensor-less 120˚ trapezoidal mode operation, but there is no sample code supplied with the kit. However the motor included in the kit is fitted with Hall sensors and connector J9 is provided for interfacing. For sensor-less trapezoidal control the hardware supports BEMF detection by ADC and internal comparators. The jumper configurations are shown in Table 3.
4. RX62T Peripheral Resources 4.1. Resources for Motor 1 Support 4.1.1. Motor 1 The on-board hardware is capable of driving a BLDC motor with a 24VDC and up to 5A external power supply. The Rx62T timers used are MTU3_6 and MTU3_7. The motor supplied with the kit is an Anaheim Automation , 3-Phase BLDC motor, PN# BLY171D-24V-4000-1000SI-05 or equivalent equipped with hall sensors and a 1000 line per revolution quadratic encoder with index. Figure 3 shows the BLY171D-24V-4000-1000SI-05.
ENCODER1 Z ICU IRQ0-B 1 AN003 88 AN002 89 AN001 90 AN000 91 Ch-0 AN0 77 Ch-1 AN1 76 Ch-3 AN3 74 Ch-4 AN4 70 P1 (START / STOP) P53 80 P4 (FORWARD) P52 81 P3 (REVERSE) P51 82 P2 (MODE) P50 83 POE4# (Over-current) POE#4 43 P30 58 DL2 (LED) P31 59 DL3 (LED) P32 61 DL4 (LED) P33 63 LCD - /RS PE3 9 LCD-/RESET PA0 41 MOSI-B 35 RSPCK-B 37 VB1 IU1 IV1 S12ADA S12ADA0 IW1 VREF 4.
Figure 4 H-Bridge 4.1.3. Current and Voltage Sensing For sensor-less control, the motor phase currents IU1, IV1, IW1 and DC bus voltage VB1 are sampled and measured simultaneously by the 4 inputs of the 12-Bit analog to digital converter unit S12ADA. 4.1.4. Hall Sensor Interfacing For hall sensor support three input capture pins MTIOC0A, MTIOC0B and MTOIC0C of timer channel MTU3-0 are used and the interface connector J9 shown in Figure 5 below.
4.1.5. Encoder Interfacing To interface the three wire encoder of Motor 1, signals A and B are connected to the external clock inputs MTCLKA and MTCLKB of timer channel MTU3-1are used. Signal Z is connected to external interrupt pin IRQ0-B. Connector J10 shown in Figure 6 below is provided for the encoder interfacing. Figure 6 Encoder connector 4.1.6.
Figure 8 Over-current, under-current protection The comparator output signal is connected to POE4# pin of the RX62T. When this pin is triggered, the PWM outputs to the motor drive will be placed in high-impedance mode. 4.2.
Table 5 Motor 2 resources Figure 9 shows the external power stage connector JP2. Figure 9 External power stage connector This connector provides an interface to an external power module to drive a second 3-phase motor. 4.3. Miscellanies functions 4.3.1. Communication The Rx62 resources to support various communication needs are shown in Table 6.
4.3.2. E1 Debugger Table 7 shows the Rx62T pins reserved for the E1 debugger and the corresponding J5 connector pins. E1 Debugger I/O Function J5 MDE 4 2 EMLE 6 4 TCK 1 21 TRST 3 18 TDO 5 22 MDI 7 6 TMS 9 19 TDI 11 20 RESET 13 10 MDO 10 7 Table 7 4.3.3. Rx62T Pin# E1 Debugger interface Debug Support The board has various built in functionality to support firmware debugging. 4.3.3.1.
Figure 10 Debug PWM outputs Peripheral Function I/O Function GPT2, GPT3 Debug PWM Outputs MTU3-1, MTU3-2 Table 8 Rx62T Pin# GTIOC2B 23 GTIOC3A 24 GTIOC3B 25 MTIOC1A 36 MTIOC2A 38 MTIOC2B 39 Debug PWM output support 4.3.3.2. Unused Pins Table 9 shows all the unused pins of the Rx62T MCU. These pins can be configured by the user for their various I/O peripheral needs.
4.3.4. Rx62T Pin Probing Connectors To allow easy access to the Rx62T pins, probing connectors JA, JB, JC, JD are provided as shown in Figure 11. Note that the connectors are not mounted.
5. PC GUI Support To support the GUI operation an H8S/2212 Renesas microcontroller is used. The communication with the PC is through the USB interface with the Rx62T UART and a galvanic isolator is provided as shown in Figure 12. The isolation IC is a barrier between the high voltages present on the motor power stages and the PC. Figure 12 Galvanic Isolation Barrier 6.
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