Functions
fsp_err_t	RM_MOTOR_POSITION_Open (motor_position_ctrl_t const p_ctrl, motor_position_cfg_t const const p_cfg)
	Opens and configures the Motor Position Module. Implements motor_position_api_t::open. More...

fsp_err_t	RM_MOTOR_POSITION_Close (motor_position_ctrl_t *const p_ctrl)
	Disables specified Motor Position Module. Implements motor_position_api_t::close. More...

fsp_err_t	RM_MOTOR_POSITION_Reset (motor_position_ctrl_t *const p_ctrl)
	Reset the variables of Motor Position Module. Implements motor_position_api_t::reset. More...

fsp_err_t	RM_MOTOR_POSITION_PositionGet (motor_position_ctrl_t const p_ctrl, int16_t const p_position)
	Get Rotor Position Data [degree]. Implements motor_position_api_t::positionGet. More...

fsp_err_t	RM_MOTOR_POSITION_PositionSet (motor_position_ctrl_t *const p_ctrl, float const position_rad)
	Set Position Data from Encoder [radian]. Implements motor_position_api_t::positionSet. More...

fsp_err_t	RM_MOTOR_POSITION_PositionReferenceSet (motor_position_ctrl_t *const p_ctrl, int16_t const position_reference_deg)
	Set Position Reference Data [degree]. Implements motor_position_api_t::positionReferenceSet. More...

fsp_err_t	RM_MOTOR_POSITION_ControlModeSet (motor_position_ctrl_t *const p_ctrl, motor_position_ctrl_mode_t const mode)
	Set Position Control Mode. Implements motor_position_api_t::controlModeSet. More...

fsp_err_t	RM_MOTOR_POSITION_PositionControl (motor_position_ctrl_t *const p_ctrl)
	Calculates internal position reference.(Main process of Position Control) Implements motor_position_api_t::positionControl. More...

fsp_err_t	RM_MOTOR_POSITION_IpdSpeedPControl (motor_position_ctrl_t const p_ctrl, float const ref_speed_rad, float const speed_rad, float const p_iq_ref)
	Calculates the q-axis current reference by P control. Implements motor_position_api_t::ipdSpeedPControl. More...

fsp_err_t	RM_MOTOR_POSITION_SpeedReferencePControlGet (motor_position_ctrl_t const p_ctrl, float const p_speed_ref)
	Get Speed Reference by P Control. Implements motor_position_api_t::speedReferencePControlGet. More...

fsp_err_t	RM_MOTOR_POSITION_SpeedReferenceIpdControlGet (motor_position_ctrl_t const p_ctrl, float const max_speed_rad, float const p_speed_ref)
	Get Speed Reference by IPD Control. Implements motor_position_api_t::speedReferenceIpdControlGet. More...

fsp_err_t	RM_MOTOR_POSITION_SpeedReferenceFeedforwardGet (motor_position_ctrl_t const p_ctrl, float const p_speed_ref)
	Get Speed Reference by Feedforward. Implements motor_position_api_t::speedReferenceFeedforwardGet. More...

fsp_err_t	RM_MOTOR_POSITION_InfoGet (motor_position_ctrl_t const p_ctrl, motor_position_info_t const p_info)
	Get position information. More...

fsp_err_t	RM_MOTOR_POSITION_ParameterUpdate (motor_position_ctrl_t const p_ctrl, motor_position_cfg_t const const p_cfg)
	Update the parameters of Position Control Calculation. Implements motor_position_api_t::parameterUpdate. More...

Detailed Description

Calculation process for the motor control on RA MCUs. This module implements the Motor position Interface.

Overview

The motor position is used to control the position of motor rotor in an appication. This module should be called cyclically in an application (e.g. in cyclic timer interrupt). This module calculates speed reference with inputted position reference and current rotational speed.

Features

The Motor Position Module has below features.

Calculate speed reference.

Configuration

Build Time Configurations for rm_motor_position

The following build time configurations are defined in fsp_cfg/rm_motor_position_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 Position Controller (rm_motor_position)

This module can be added to the Stacks tab via New Stack > Motor > Motor Position Controller (rm_motor_position).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_position0	Module name.
Position dead band	Manual Entry	1U	Ignored area of position control.
Position band limit	Manual Entry	3U	Ignored area of position control.
Speed feedforward ratio	Must be a valid value	0.8F	Speed feedforward ratio.
Encoder counts per one rotation	Must be a valid value	1200.0F	Encoder counts per one rotation.
Position omega	Must be a valid value	10.0F	Position control omega.
Period of speed control (sec)	Must be a valid value	0.0005F	Period of speed control.
IPD
IPD LPF	Disable Enable	Disable	IPD LPF process enable or disable
Position Kp ratio	Must be a valid value	0.3F	Position Kp ratio.
Position feedforward ratio	Must be a valid value	0.0F	Position feedforward ratio.
Speed K ratio	Must be a valid value	2.0F	Speed K ratio
Error Limit #1	Must be a valid value	10.0F	Error limitation #1
Error limit #2	Must be a valid value	0.2F	Error limitation #2
LPF omega	Must be a valid value	500.0F	LPF omega.
LPF zeta	Must be a valid value	1.0F	LPF zeta.
Position Profiling
Interval time	Manual Entry	400U	Interval time.
Accel time	Must be a valid value	0.3F	Accel time.
Maximum accel time (sec)	Must be a valid value	8117.96F	Maximum accelaration time (sec)
Accelaration maximum speed	Must be a valid value	2000.0F	Accelaration maximum speed.
Update step of timer	Must be a valid value	0.0005F	Update step of timer.
Motor Parameter
Pole pair	Manual Entry	7	Pole pair
Resistance (ohm)	Must be a valid value	0.453F	Resistance
Inductance of d-axis (H)	Must be a valid value	0.0009447F	Inductance of d-axis
Inductance of q-axis (H)	Must be a valid value	0.0009447F	Inductance of q-axis
Permanent magnetic flux (Wb)	Must be a valid value	0.006198F	Permanent magnetic flux
Motor Parameter > Motor inertia (kgm^2)	Must be a valid value	0.00000962F	Motor inertia

Clock Configuration

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

Pin Configuration

This module does not use I/O pins.

Usage Notes

Limitations

Set the period of speed control with non-negative value.
Set the limit of speed change step with non-negative value.
Set the maximum speed with non-negative value.

Examples

Basic Example

This is a basic example of using the Motor Position module in an application.

void motor_position_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_POSITION_Open(g_motor_position0.p_ctrl, g_motor_position0.p_cfg);
    handle_error(err);
    /* Set working mode */
    RM_MOTOR_POSITION_ModeSet(g_motor_position0.p_ctrl, MOTOR_POSITION_CTRL_MODE_STEP);
    /* Set position reference */
    RM_MOTOR_POSITION_PositionReferenceSet(g_motor_position0.p_ctrl, 180U);
    /* Basically run this module at cyclic interrupt (e.g. AGT timer).
     * This implementation is an example. */
    // while (true)
    {
        /* Application work here. */
        /* Perform Position Control Process */
        RM_MOTOR_POSITION_PositionControl(g_motor_position0.p_ctrl);
        /* Perform Speed IPD Control Process */
        RM_MOTOR_POSITION_IpdSpeedPControl(g_motor_position0.p_ctrl, 0.0F, 0.0F, &temp_iq_ref);
        /* Get Position */
        RM_MOTOR_POSITION_PositionGet(g_motor_position0.p_ctrl, &temp_position);
        /* Update parameters */
        RM_MOTOR_POSITION_ParameterUpdate(g_motor_position0.p_ctrl, &g_motor_position0.p_cfg);
    }
    /* Reset Speed Control */
    RM_MOTOR_POSITION_Reset(g_motor_position0.p_ctrl);
    /* Close Speed Control */
    RM_MOTOR_POSITION_Close(g_motor_position0.p_ctrl);
}

Enumerations
enum	motor_position_ipd_lpf_t

Enumeration Type Documentation

◆ motor_position_ipd_lpf_t

enum motor_position_ipd_lpf_t

Enumerator
MOTOR_POSITION_IPD_LPF_DISABLE	ipd control is disabled
MOTOR_POSITION_IPD_LPF_ENABLE	ipd control is enabled

Function Documentation

◆ RM_MOTOR_POSITION_Open()

fsp_err_t RM_MOTOR_POSITION_Open	(	motor_position_ctrl_t *const	p_ctrl,
		motor_position_cfg_t const *const	p_cfg
	)

Opens and configures the Motor Position Module. Implements motor_position_api_t::open.

Return values

FSP_SUCCESS	Motor Position Module 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	Set parameter is invalid.

◆ RM_MOTOR_POSITION_Close()

fsp_err_t RM_MOTOR_POSITION_Close ( motor_position_ctrl_t *const p_ctrl )

Disables specified Motor Position Module. Implements motor_position_api_t::close.

Return values

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

◆ RM_MOTOR_POSITION_Reset()

fsp_err_t RM_MOTOR_POSITION_Reset ( motor_position_ctrl_t *const p_ctrl )

Reset the variables of Motor Position Module. Implements motor_position_api_t::reset.

Return values

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

◆ RM_MOTOR_POSITION_PositionGet()

fsp_err_t RM_MOTOR_POSITION_PositionGet	(	motor_position_ctrl_t *const	p_ctrl,
		int16_t *const	p_position
	)

Get Rotor Position Data [degree]. Implements motor_position_api_t::positionGet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

◆ RM_MOTOR_POSITION_PositionSet()

fsp_err_t RM_MOTOR_POSITION_PositionSet	(	motor_position_ctrl_t *const	p_ctrl,
		float const	position_rad
	)

Set Position Data from Encoder [radian]. Implements motor_position_api_t::positionSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_POSITION_PositionReferenceSet()

fsp_err_t RM_MOTOR_POSITION_PositionReferenceSet	(	motor_position_ctrl_t *const	p_ctrl,
		int16_t const	position_reference_deg
	)

Set Position Reference Data [degree]. Implements motor_position_api_t::positionReferenceSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_POSITION_ControlModeSet()

fsp_err_t RM_MOTOR_POSITION_ControlModeSet	(	motor_position_ctrl_t *const	p_ctrl,
		motor_position_ctrl_mode_t const	mode
	)

Set Position Control Mode. Implements motor_position_api_t::controlModeSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_POSITION_PositionControl()

fsp_err_t RM_MOTOR_POSITION_PositionControl ( motor_position_ctrl_t *const p_ctrl )

Calculates internal position reference.(Main process of Position Control) Implements motor_position_api_t::positionControl.

Return values

FSP_SUCCESS	Successful data calculation.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_POSITION_IpdSpeedPControl()

fsp_err_t RM_MOTOR_POSITION_IpdSpeedPControl	(	motor_position_ctrl_t *const	p_ctrl,
		float const	ref_speed_rad,
		float const	speed_rad,
		float *const	p_iq_ref
	)

Calculates the q-axis current reference by P control. Implements motor_position_api_t::ipdSpeedPControl.

Return values

FSP_SUCCESS	Successful data calculation.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

◆ RM_MOTOR_POSITION_SpeedReferencePControlGet()

fsp_err_t RM_MOTOR_POSITION_SpeedReferencePControlGet	(	motor_position_ctrl_t *const	p_ctrl,
		float *const	p_speed_ref
	)

Get Speed Reference by P Control. Implements motor_position_api_t::speedReferencePControlGet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

◆ RM_MOTOR_POSITION_SpeedReferenceIpdControlGet()

fsp_err_t RM_MOTOR_POSITION_SpeedReferenceIpdControlGet	(	motor_position_ctrl_t *const	p_ctrl,
		float const	max_speed_rad,
		float *const	p_speed_ref
	)

Get Speed Reference by IPD Control. Implements motor_position_api_t::speedReferenceIpdControlGet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

◆ RM_MOTOR_POSITION_SpeedReferenceFeedforwardGet()

fsp_err_t RM_MOTOR_POSITION_SpeedReferenceFeedforwardGet	(	motor_position_ctrl_t *const	p_ctrl,
		float *const	p_speed_ref
	)

Get Speed Reference by Feedforward. Implements motor_position_api_t::speedReferenceFeedforwardGet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

◆ RM_MOTOR_POSITION_InfoGet()

fsp_err_t RM_MOTOR_POSITION_InfoGet	(	motor_position_ctrl_t *const	p_ctrl,
		motor_position_info_t *const	p_info
	)

Get position information.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is NULL.

◆ RM_MOTOR_POSITION_ParameterUpdate()

fsp_err_t RM_MOTOR_POSITION_ParameterUpdate	(	motor_position_ctrl_t *const	p_ctrl,
		motor_position_cfg_t const *const	p_cfg
	)

Update the parameters of Position Control Calculation. Implements motor_position_api_t::parameterUpdate.

Return values

FSP_SUCCESS	Successfully data was updated.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Configuration parameter error.

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_position

Configurations for Motor > Motor Position Controller (rm_motor_position)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Enumerations

Enumeration Type Documentation

◆ motor_position_ipd_lpf_t

Function Documentation

◆ RM_MOTOR_POSITION_Open()

◆ RM_MOTOR_POSITION_Close()

◆ RM_MOTOR_POSITION_Reset()

◆ RM_MOTOR_POSITION_PositionGet()

◆ RM_MOTOR_POSITION_PositionSet()

◆ RM_MOTOR_POSITION_PositionReferenceSet()

◆ RM_MOTOR_POSITION_ControlModeSet()

◆ RM_MOTOR_POSITION_PositionControl()

◆ RM_MOTOR_POSITION_IpdSpeedPControl()

◆ RM_MOTOR_POSITION_SpeedReferencePControlGet()

◆ RM_MOTOR_POSITION_SpeedReferenceIpdControlGet()

◆ RM_MOTOR_POSITION_SpeedReferenceFeedforwardGet()

◆ RM_MOTOR_POSITION_InfoGet()

◆ RM_MOTOR_POSITION_ParameterUpdate()