Motor Encoder Vector Control (rm_motor_encoder)

Functions
fsp_err_t	RM_MOTOR_ENCODER_Open (motor_ctrl_t *const p_ctrl, motor_cfg_t const *const p_cfg)
fsp_err_t	RM_MOTOR_ENCODER_Close (motor_ctrl_t *const p_ctrl)
	Disables specified Motor Encoder Control block. Implements motor_api_t::close. More...
fsp_err_t	RM_MOTOR_ENCODER_Reset (motor_ctrl_t *const p_ctrl)
	Reset Motor Encoder Control block. Implements motor_api_t::reset. More...
fsp_err_t	RM_MOTOR_ENCODER_Run (motor_ctrl_t *const p_ctrl)
	Run Motor (Start motor rotation). Implements motor_api_t::run. More...
fsp_err_t	RM_MOTOR_ENCODER_Stop (motor_ctrl_t *const p_ctrl)
	Stop Motor (Stop motor rotation). Implements motor_api_t::stop. More...
fsp_err_t	RM_MOTOR_ENCODER_ErrorSet (motor_ctrl_t *const p_ctrl, motor_error_t const error)
	Set error information. Implements motor_api_t::errorSet. More...
fsp_err_t	RM_MOTOR_ENCODER_SpeedSet (motor_ctrl_t *const p_ctrl, float const speed_rpm)
	Set speed reference[rpm]. Implements motor_api_t::speedSet. More...
fsp_err_t	RM_MOTOR_ENCODER_PositionSet (motor_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position)
	Set position reference[degree]. Implements motor_api_t::positionSet. More...
fsp_err_t	RM_MOTOR_ENCODER_StatusGet (motor_ctrl_t *const p_ctrl, uint8_t *const p_status)
	Get current control status. Implements motor_api_t::statusGet. More...
fsp_err_t	RM_MOTOR_ENCODER_AngleGet (motor_ctrl_t *const p_ctrl, float *const p_angle_rad)
	Get current rotor angle. Implements motor_api_t::angleGet. More...
fsp_err_t	RM_MOTOR_ENCODER_SpeedGet (motor_ctrl_t *const p_ctrl, float *const p_speed_rpm)
	Get rotational speed. Implements motor_api_t::speedGet. More...
fsp_err_t	RM_MOTOR_ENCODER_ErrorCheck (motor_ctrl_t *const p_ctrl, uint16_t *const p_error)
	Check the occurunce of Error. Implements motor_api_t::errorCheck. More...
fsp_err_t	RM_MOTOR_ENCODER_WaitStopFlagGet (motor_ctrl_t *const p_ctrl, motor_wait_stop_flag_t *const p_flag)
	Get wait stop flag. Implements motor_api_t::waitStopFlagGet. More...
fsp_err_t	RM_MOTOR_ENCODER_FunctionSelect (motor_ctrl_t *const p_ctrl, motor_function_select_t const function)
	Select using function. Implements motor_api_t::functionSelect. More...
fsp_err_t	RM_MOTOR_ENCODER_InertiaEstimateStart (motor_ctrl_t *const p_ctrl)
	Start inertia estimation function. More...
fsp_err_t	RM_MOTOR_ENCODER_InertiaEstimateStop (motor_ctrl_t *const p_ctrl)
	Stop(Cancel) inertia estimation function. More...
fsp_err_t	RM_MOTOR_ENCODER_ReturnOriginStart (motor_ctrl_t *const p_ctrl)
	Start return origin function. More...
fsp_err_t	RM_MOTOR_ENCODER_ReturnOriginStop (motor_ctrl_t *const p_ctrl)
	Stop(Cancel) return origin function. More...

Detailed Description

Control a SPM motor on RA MCUs. This module implements the Motor Encoder Vector Control (rm_motor_encoder).

Overview

The motor encoder vector control is used to control motor rotation in an application. This module is meant to be used with Surface Permanent Magnet (SPM) motors and allows applications to start or stop motor rotation easily.

Features

The motor encoder module has below features.

• Start/stop motor rotation
• Error detection (over current, over speed, over voltage, low voltage)

Target Hardware

The below figure shows an example of target hardware of this Motor Encoder Module.

Example of target hardware of motor encoder module

Block Diagram

The below figure shows block diaram of encoder vector motor control.

Block diagram of encoder vector control (PI feedback loop)

Modulation

• Sine wave modulation The modulation factor "m" is defined as follows.

Modulation factor

• Space vector modulation In vector control of a permanent magnet synchronous motor, generally, the desired voltage command value of each phase is generated sinusoidally. However, if the generated value is used as-is for the modulation wave for PWM generation, voltage utilization as applied to the motor (in terms of line voltage) is limited to a maximum of 86.7 percents with respect to inverter bus voltage. As such, as shown in the following expression, the average of the maximum and minimum values is calculated for the voltage command value of each phase, and the value obtained by subtracting the average from the voltage command value of each phase is used as the modulation wave. As a result, the maximum amplitude of the modulation wave is multiplied by (square root 3)/2, while voltage utilization becomes 100 percents and line voltage is unchanged.

Space vector modulation

State transition

The below figure shows a state transition diagram. Internal state is managed by "SYSTEM MODE".

State transition diagram

(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) EVENT When "EVENT" occurs in each "SYSTEM MODE", "SYSTEM MODE" changes as shown the table in above figure, according to that "EVENT". The occurrence factors of each event are shown below.

EVENT name	Occurrence factor
STOP	by user operation
RUN	by user operation
ERROR	when the system detects an error
RESET	by user operation

Flowchart

The below figures show flowcharts of motor encoder module.

Main process

Current control process

Speed control process

Encoder interrupt process

Over current detection interrupt process

Configuration

Build Time Configurations for rm_motor_encoder

The following build time configurations are defined in fsp_cfg/rm_motor_encoder_cfg.h:

Configuration	Options	Default	Description
Parameter Checking	Default (BSP) Enabled Disabled	Default (BSP)	If selected code for parameter checking is included in the build.

Configurations for Motor > Motor Encoder Vector Control (rm_motor_encoder)

This module can be added to the Stacks tab via New Stack > Motor > Motor Encoder Vector Control (rm_motor_encoder).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_encoder0	Module name.
Limit of over current (A)	Must be a valid value	2.0F	Limit of over current.(Detection threshold)
Limit of over voltage (V)	Must be a valid value	28.0F	Limit of over voltage.(Detection threshold)
Limit of over speed (rpm)	Must be a valid value	2100.0F	Limit of over speed.(Detection threshold)
Limit of low voltage (V)	Must be a valid value	18.0F	Limit of low voltage.(Detection threshold)
Interrupts
Callback	Name must be a valid C symbol	NULL	A user callback function. If this callback function is provided, it is called at speed control cyclic interrupt.

Clock Configuration

This module doesn't depend on clock setting, because this module is a simple status transition process.

Pin Configuration

This module does not use I/O pins. Please set used pins on configuration of each hardware modules.

Usage Notes

Limitations

Examples

Basic Example

This is a basic example of minimal use of the motor encoder module in an application.

void motor_encoder_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;


    /* Initializes the module. */
    err = RM_MOTOR_ENCODER_Open(g_motor_encoder0.p_ctrl, g_motor_encoder0.p_cfg);


    handle_error(err);


    /* Set speed reference before motor run */
    (void) RM_MOTOR_ENCODER_SpeedSet(g_motor_encoder0.p_ctrl, RM_MOTOR_ENCODER_TEST_OVER_SPEED_LIMIT);



    /* Set position reference before motor run */
    (void) RM_MOTOR_ENCODER_PositionSet(g_motor_encoder0.p_ctrl, &g_posref_sample1);



    /* Start motor rotation */
    (void) RM_MOTOR_ENCODER_Run(g_motor_encoder0.p_ctrl);



    /* Get current status */
    (void) RM_MOTOR_ENCODER_StatusGet(g_motor_encoder0.p_ctrl, &smpl_status);



    /* Get current rotor angle */
    (void) RM_MOTOR_ENCODER_AngleGet(g_motor_encoder0.p_ctrl, &smpl_angle);



    /* Get current motor speed */
    (void) RM_MOTOR_ENCODER_SpeedGet(g_motor_encoder0.p_ctrl, &smpl_speed);



    /* Check error */
    (void) RM_MOTOR_ENCODER_ErrorCheck(g_motor_encoder0.p_ctrl, &smpl_error);



    /* Stop motor rotation */
    (void) RM_MOTOR_ENCODER_Stop(g_motor_encoder0.p_ctrl);



    /* Stop motor rotation */
    (void) RM_MOTOR_ENCODER_ErrorSet(g_motor_encoder0.p_ctrl, MOTOR_ERROR_OVER_CURRENT_HW);



    /* Reset Speed Control */
    (void) RM_MOTOR_ENCODER_Reset(g_motor_encoder0.p_ctrl);



    /* Close Speed Control */
    (void) RM_MOTOR_ENCODER_Close(g_motor_encoder0.p_ctrl);

}

Enumerations
enum	motor_encoder_ctrl_t
enum	motor_encoder_ctrl_event_t

Enumeration Type Documentation

motor_encoder_ctrl_t

enum motor_encoder_ctrl_t

Enumerator
MOTOR_ENCODER_CTRL_STOP	Stop mode.
MOTOR_ENCODER_CTRL_RUN	Run mode.
MOTOR_ENCODER_CTRL_ERROR	Error mode.

motor_encoder_ctrl_event_t

enum motor_encoder_ctrl_event_t

Enumerator
MOTOR_ENCODER_CTRL_EVENT_STOP	Stop event.
MOTOR_ENCODER_CTRL_EVENT_RUN	Run event.
MOTOR_ENCODER_CTRL_EVENT_ERROR	Error event.
MOTOR_ENCODER_CTRL_EVENT_RESET	Reset event.

Function Documentation

RM_MOTOR_ENCODER_Open()

fsp_err_t RM_MOTOR_ENCODER_Open	(	motor_ctrl_t *const	p_ctrl,
		motor_cfg_t const *const	p_cfg
	)

Configure the MOTOR in register start mode. Implements motor_api_t::open.

This function should only be called once as MOTOR configuration registers can only be written to once so subsequent calls will have no effect.

Example:

    /* Initializes the module. */
    err = RM_MOTOR_ENCODER_Open(g_motor_encoder0.p_ctrl, g_motor_encoder0.p_cfg);

Return values

FSP_SUCCESS	MOTOR successfully configured.
FSP_ERR_ASSERTION	Null pointer, or one or more configuration options is invalid.
FSP_ERR_ALREADY_OPEN	Module is already open. This module can only be opened once.
FSP_ERR_INVALID_ARGUMENT	Configuration parameter error.

Note

RM_MOTOR_ENCODER_Close()

fsp_err_t RM_MOTOR_ENCODER_Close

(

motor_ctrl_t *const

p_ctrl

)

Disables specified Motor Encoder Control block. Implements motor_api_t::close.

Example:

    /* Close Speed Control */
    (void) RM_MOTOR_ENCODER_Close(g_motor_encoder0.p_ctrl);

Return values

FSP_SUCCESS	Successfully closed.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

Note

RM_MOTOR_ENCODER_Reset()

fsp_err_t RM_MOTOR_ENCODER_Reset

(

motor_ctrl_t *const

p_ctrl

)

Reset Motor Encoder Control block. Implements motor_api_t::reset.

Example:

    /* Reset Speed Control */
    (void) RM_MOTOR_ENCODER_Reset(g_motor_encoder0.p_ctrl);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

Note

RM_MOTOR_ENCODER_Run()

fsp_err_t RM_MOTOR_ENCODER_Run

(

motor_ctrl_t *const

p_ctrl

)

Run Motor (Start motor rotation). Implements motor_api_t::run.

Example:

    /* Start motor rotation */
    (void) RM_MOTOR_ENCODER_Run(g_motor_encoder0.p_ctrl);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

Note

RM_MOTOR_ENCODER_Stop()

fsp_err_t RM_MOTOR_ENCODER_Stop

(

motor_ctrl_t *const

p_ctrl

)

Stop Motor (Stop motor rotation). Implements motor_api_t::stop.

Example:

    /* Stop motor rotation */
    (void) RM_MOTOR_ENCODER_Stop(g_motor_encoder0.p_ctrl);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

Note

RM_MOTOR_ENCODER_ErrorSet()

fsp_err_t RM_MOTOR_ENCODER_ErrorSet	(	motor_ctrl_t *const	p_ctrl,
		motor_error_t const	error
	)

Set error information. Implements motor_api_t::errorSet.

Example:

    /* Stop motor rotation */
    (void) RM_MOTOR_ENCODER_ErrorSet(g_motor_encoder0.p_ctrl, MOTOR_ERROR_OVER_CURRENT_HW);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

Note

RM_MOTOR_ENCODER_SpeedSet()

fsp_err_t RM_MOTOR_ENCODER_SpeedSet	(	motor_ctrl_t *const	p_ctrl,
		float const	speed_rpm
	)

Set speed reference[rpm]. Implements motor_api_t::speedSet.

Example:

    /* Set speed reference before motor run */
    (void) RM_MOTOR_ENCODER_SpeedSet(g_motor_encoder0.p_ctrl, RM_MOTOR_ENCODER_TEST_OVER_SPEED_LIMIT);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

Note

RM_MOTOR_ENCODER_PositionSet()

fsp_err_t RM_MOTOR_ENCODER_PositionSet	(	motor_ctrl_t *const	p_ctrl,
		motor_speed_position_data_t const *const	p_position
	)

Set position reference[degree]. Implements motor_api_t::positionSet.

Example:

    /* Set position reference before motor run */
    (void) RM_MOTOR_ENCODER_PositionSet(g_motor_encoder0.p_ctrl, &g_posref_sample1);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data set pointer is invalid..

Note

RM_MOTOR_ENCODER_StatusGet()

fsp_err_t RM_MOTOR_ENCODER_StatusGet	(	motor_ctrl_t *const	p_ctrl,
		uint8_t *const	p_status
	)

Get current control status. Implements motor_api_t::statusGet.

Example:

    /* Get current status */
    (void) RM_MOTOR_ENCODER_StatusGet(g_motor_encoder0.p_ctrl, &smpl_status);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

RM_MOTOR_ENCODER_AngleGet()

fsp_err_t RM_MOTOR_ENCODER_AngleGet	(	motor_ctrl_t *const	p_ctrl,
		float *const	p_angle_rad
	)

Get current rotor angle. Implements motor_api_t::angleGet.

Example:

    /* Get current rotor angle */
    (void) RM_MOTOR_ENCODER_AngleGet(g_motor_encoder0.p_ctrl, &smpl_angle);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

RM_MOTOR_ENCODER_SpeedGet()

fsp_err_t RM_MOTOR_ENCODER_SpeedGet	(	motor_ctrl_t *const	p_ctrl,
		float *const	p_speed_rpm
	)

Get rotational speed. Implements motor_api_t::speedGet.

Example:

    /* Get current motor speed */
    (void) RM_MOTOR_ENCODER_SpeedGet(g_motor_encoder0.p_ctrl, &smpl_speed);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

RM_MOTOR_ENCODER_ErrorCheck()

fsp_err_t RM_MOTOR_ENCODER_ErrorCheck	(	motor_ctrl_t *const	p_ctrl,
		uint16_t *const	p_error
	)

Check the occurunce of Error. Implements motor_api_t::errorCheck.

Example:

    /* Check error */
    (void) RM_MOTOR_ENCODER_ErrorCheck(g_motor_encoder0.p_ctrl, &smpl_error);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

RM_MOTOR_ENCODER_WaitStopFlagGet()

fsp_err_t RM_MOTOR_ENCODER_WaitStopFlagGet	(	motor_ctrl_t *const	p_ctrl,
		motor_wait_stop_flag_t *const	p_flag
	)

Get wait stop flag. Implements motor_api_t::waitStopFlagGet.

Example:

Return values

FSP_ERR_UNSUPPORTED

Unsupported.

Note

RM_MOTOR_ENCODER_FunctionSelect()

fsp_err_t RM_MOTOR_ENCODER_FunctionSelect	(	motor_ctrl_t *const	p_ctrl,
		motor_function_select_t const	function
	)

Select using function. Implements motor_api_t::functionSelect.

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_MODE	Mode unmatch

Note

RM_MOTOR_ENCODER_InertiaEstimateStart()

fsp_err_t RM_MOTOR_ENCODER_InertiaEstimateStart

(

motor_ctrl_t *const

p_ctrl

)

Start inertia estimation function.

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_MODE	Mode unmatch

Note

RM_MOTOR_ENCODER_InertiaEstimateStop()

fsp_err_t RM_MOTOR_ENCODER_InertiaEstimateStop

(

motor_ctrl_t *const

p_ctrl

)

Stop(Cancel) inertia estimation function.

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_MODE	Mode unmatch

Note

RM_MOTOR_ENCODER_ReturnOriginStart()

fsp_err_t RM_MOTOR_ENCODER_ReturnOriginStart

(

motor_ctrl_t *const

p_ctrl

)

Start return origin function.

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_MODE	Mode unmatch

Note

RM_MOTOR_ENCODER_ReturnOriginStop()

fsp_err_t RM_MOTOR_ENCODER_ReturnOriginStop

(

motor_ctrl_t *const

p_ctrl

)

Stop(Cancel) return origin function.

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_MODE	Mode unmatch

Note