This document describes a motor control reference kit from Renesas Electronics that uses sensorless vector control to drive 3-phase brushless motors. The kit includes hardware with an RX23T microcontroller and inverter, as well as embedded software. It supports permanent magnet synchronous and brushless DC motors with options for sensorless or sensed control. The kit provides scalable power stages up to 300V/20A or 60V/100A. The embedded software implements a full vector control algorithm and auto-tuning to automatically identify motor parameters and calibrate PI coefficients. Schematics, bills of materials, manuals and source code are included to allow developers to prototype sensorless motor control applications.

1. © 2016 Renesas Electronics Corporation. All rights reserved.
YROTATE-IT-RX23T REFERENCE KIT
Page 1
RX23T INVERTER KIT
DEEP DIVE

2. © 2016 Renesas Electronics Corporation. All rights reserved. Page 2
YROTATE-IT-RX23T KIT CONTENT

3. © 2016 Renesas Electronics Corporation. All rights reserved. Page 3
YROTATE-IT-RX23T KIT: 3-PH. BRUSHLESS MOTOR SPECS

4. © 2016 Renesas Electronics Corporation. All rights reserved. Page 4
3-PHASE MOTORS & DRIVING METHODS SUPPORTED
Permanent Magnet Synchronous Motors
Vector controlled
Sensorless control 
 1 or 3 shunts
Sensored control 
 Hall, encoder
180°
STEP1 STEP2 STEP3 STEP4 STEP5 STEP6 STEP1 STEP2 STEP3
U
V
W
Brushless DC Motors
Block commutation
120°
Sensorless control 
 3 Back EMF
Sensored control 
 Hall, encoder

5. © 2016 Renesas Electronics Corporation. All rights reserved. Page 5
AUTO-TUNING & AUTO IDENTIFICATION ENABLE
Vector control Algorithm
in Floating Point arithmetic
3-phase
Permanent
Magnet AC motors
Sensorless
Control
Closed loop
1 or 3
shunts
150W
@ 48VDC
Renesas
MOSFETs
inverter
External. stage
1.5KW @ 300VDC
Or 3.6KW @ 60VDC
Hall & Encoder
connectors
USB
powered E1 Programing/debug
connector

6. © 2016 Renesas Electronics Corporation. All rights reserved. Page 6
RX23T INVERTER DETAILS
USB connection
Fully isolatedExternal power
Stage connection
RX23T
64-pin, 5V
E1 connector
Debug/prog.
Up to 48VDC
Up to 6A
Six MOSFETS
RJK0654DPB (60V/30A)
Encoder, hall sensor connection
User optional
buttons
3-phase motor connector

7. © 2016 Renesas Electronics Corporation. All rights reserved.
48VDC
6APeak
300VDC
20APeak
60VDC
100APeak
Page 7
THREE POWER STAGES AVAILABLE
Scalable solution, same MCU control:
• From low voltage, low current
• Up to high voltage, high current

8. © 2016 Renesas Electronics Corporation. All rights reserved. Page 8
AUTO-TUNING EMBEDDED SOFTWARE
45 seconds to drive unknown 3-phase motors !
Current PI coefficients
tuned !
Stator resistance, synchronous inductance,
permanent magnet flux tuned !
Oscilloscope to display
Motor Phase and current

9. © 2016 Renesas Electronics Corporation. All rights reserved. Page 9
HIGH PERFORMANCE & DYNAMICS AT COMPETITIVE PRICE
0 64
32
KHz
Max
PWM
0 64
32
KHz
Max
Control
loop
22

10. © 2016 Renesas Electronics Corporation. All rights reserved. Page 10
VECTOR CONTROL SOFTWARE MODULES IMPLEMENTED
Vector Control Algorithm
αβ
conversion
dq
conversion
Current control
Max. torque
control
Flux
weakening
control
Max.
efficiency
control
Power factor
control
Direct Current control
Position detection
Speed detection
PI controllers for
Current & Speed
Modulation
Clamped
Modulation
Anti-windup
Centred
Modulation
Sensorless estimators
Method using
Integral estimation
Model using
Direct Integration
Sensorless drive at low-speed
Dead-time compensation
Position control/torque control/ speed control
Auto-tuning
Stator resistance compensation
Parameters self-identification
Bus Voltage automatic compensation
Current PI automatic calibration

11. © 2016 Renesas Electronics Corporation. All rights reserved. Page 11
KITS OVERVIEW
RX111
32-bit @ 32MHz
50 DMIPS
RX23T
32-bit @ 40MHz
80 DMIPS with FPU
RX62T
32-bit @ 100MHz
165 DMIPS with FPU
Microcontrollers
Specifications
Inverter
System
dynamics
PWM frequency: Max. 64KHz Max. 64KHz Max. 64KHz
Control loop speed: Max. 15KHz Max. 20KHz Max. 25KHz
Vector Control loop: 57µs 40µs 35µs
Sensorless: 1 or 3 shunts 1 or 3 shunts 1 or 3 shunts
Microcontroller
resources
used by algo.
CPU load @ 8KHz 45% 32% 28%
Flash footprint: 25KB 20KB 20KB
RAM usage: 3KB 3KB 3KB
Arithmetic Fixed-point Floating-point Floating-point
Peripherals: MTU2 MTU3 MTU3
12-bit A/D 12-bit A/D 12-bit A/D
Comp. PGA, Comp.

12. © 2016 Renesas Electronics Corporation. All rights reserved. Page 12
KITS OVERVIEW
Sensorless
Algorithm
capabilities
Torque & speed control:
Flux Weakening support:
Efficient PWM Modulation:
PI current auto-tuning:
Motor para. Identification:
Development
Tools
Compilers:
IDE:
CC RX Renesas
E²Studio
CC RX Renesas
E²Studio
CubeSuite+ CS+
CC RX Renesas
E²Studio
HEW
3-ph inverter
capabilities
Isolated USB connection:
Drive one or two motors:
Motor Voltage capability:
Debugger connector:
Yes
Single
24VDC
E1
Yes
Single
48VDC
E1
Yes
Dual
24VDC
E1

13. © 2016 Renesas Electronics Corporation. All rights reserved. Page 13
BILL OF MATERIAL IN DETAILS
 Renesas devices:
PART-NAMES DESCRIPTION QUANTITY
R5F523T3ADFM RX23T MCU 1
RJK0654DPB MOSFETs 6
R1EX2400-2A-SA-S0A EEPROM 1
TOTAL 8
PART-NAMES DESCRIPTION QUANTITY
Cxx Capacitor 110
JPxx Jumper/connector 33
Dxx Diode/LED 37
Fux Fuse, connector 2
Lx Inductance 4
Px Push button 4
Qx Transistor 6
Rx Resistor 155
U10, U11, U12 MOSFET driver 3
Ux Op-amp, IC 9
X1 Quartz 1
TOTAL 364

14. © 2016 Renesas Electronics Corporation. All rights reserved. Page 14
SCHEMATICS HINTS
 Easy connection to PC via USB and Micro-USB connector
 Serial to USB IC used for easy reuse of the serial protocol
 FDTI chip used to ensure Windows drivers compatibility: W7, W8
 LED DL1 used to indicate the connection traffic
 Max. baud rate is: 76.6 KBd to ensure fluid oscilloscope window

15. © 2016 Renesas Electronics Corporation. All rights reserved. Page 15
SCHEMATICS HINTS
 USB connection is galvanic isolated
 Ensure maximum safety for user when high voltage or high current motor used

16. © 2016 Renesas Electronics Corporation. All rights reserved. Page 16
SCHEMATICS HINTS
 E1 connection for debug and programming
 Parameters management in EEPROM
 It stores:
 the motor parameters
 The algorithms specific data
 the application specific parameters

17. © 2016 Renesas Electronics Corporation. All rights reserved. Page 17
SCHEMATICS HINTS
 Three driving circuits for the 6 x low voltage MOSFETS
 Over-current circuit management using gate driver signals, linked to Port Output Enable of the RX23T to stop the
PWM signal in hardware

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SCHEMATICS HINTS
Three shunts used for the motor
current reading and motor
speed estimation

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SCHEMATICS HINTS
Shunt current measurements and Bus voltage
connected to A/D inputs: AN000 to AN003
Three circuit using Op. amplifier
action as signal conditioning.
Option to remove two shunts and
use a single shunt to reduce bill of
material cost.

20. © 2016 Renesas Electronics Corporation. All rights reserved. Page 20
SCHEMATICS HINTS
 Phases voltage are measured for the back EMF signals detection
 A/D inputs: AN100 to AN102
 Use for Brushless DC motor
 Sensorless controlled

21. © 2016 Renesas Electronics Corporation. All rights reserved. Page 21
SCHEMATICS HINTS: POWER STAGE CONNECTION
300VDC/20A or 60VDC/100A

22. © 2016 Renesas Electronics Corporation. All rights reserved. Page 22
SCHEMATICS: FEEDBACK, HALL SENSORS & ENCODERS

23. © 2016 Renesas Electronics Corporation. All rights reserved.
Hallsensor
PressButtons
YellowLED
Serialcom.
Six PWM
signals
Over-current
Encoder
Serial com.
E1 connection
EEPROMcom.
Busvoltage
Shuntsmeasurement
Temperature
Phasevoltagesmeas.
Quartz
Page 23
SCHEMATICS HINTS: RX23T, 64-PIN RESOURCES USED

24. © 2016 Renesas Electronics Corporation. All rights reserved. Page 24
RX23T EMBEDDED SOFTWARE PROJECT STRUCTURE
Contains PI auto-tuning, Motor identification and estimators routines
Renesas Project Generator: setting of B, R sections
External EEPROM management functions: read, write via I²C up to 64 parameters.
By default, 21 are used by the PC GUI
Hardware setup definition for each MCU pins and SFRs
Interrupt Service Routines definition: linked to the A/D converter to launch the
control loop
Main loop including initialisation of PWM, measurements, enable interrupt, serial
communication, LED management…
Complete FOC algorithm in interrupt, including POE management, modulation, etc.
Reset procedure
Serial protocol used to manage the PC GUI communication
Define addresses for each interrupt service routines

25. © 2016 Renesas Electronics Corporation. All rights reserved. Page 25
YROTATEITRX23T_LIBRARY DESCRIPTION
Header file for the Math Library block
Header file for the Motor Self-identification
Header file for the PI Coefficients auto-tuning
Library file containing the three blocks above

26. © 2016 Renesas Electronics Corporation. All rights reserved. Page 26
IMPORTANT HEADER FILES
Def. of constants: Base Timing, PWM parameters, dead-time, Duty cycles, trigger delay for A/D, conversions constants, alarms ,
interrupts prio.
Definition application parameters, switches to enable Auto-tuning, over-modulation, estimators selection, flux weakening, etc.
3-phase Permanent Magnet Motor – Default parameters used by the kit: NANOTEC DB42S3, 24V, 4000RPM nominal speed.
Data Transfer Control (DTC): data structure definition
EEPROM management functions, variables and constants
Global Definitions
Microcontroller I/O definitions
Mask definitions used
Definition of functions used in the Interrupt service routines
Parameters used to drive the External power stage using IPM
Parameters used to drive the internal power stages using MOSFETS
Stack and data types definition
Parameters used in the serial protocol
Vectors definition

27. © 2016 Renesas Electronics Corporation. All rights reserved. Page 27
LET’S RECAP
Sensorless Vector control:1 or 3 shunts
Flux weakening enable by default
Auto-tuning of current PI coefficients
Motor automatic identification
Off-line automatic process
Flux estimator type selectable
Several PWM Modulations available
External power stage available
Royalty free embedded Software
Permanent Magnet AC, AC/DC Brushless
Surface or interior Permanent Magnet
In-runner & out-runner motors
3-phase Motor types supported
Schematics, gerber files, Bill of Material
Manuals, Starting Guide, Short intro.
Embedded software source code
PC Graphical User Interface
www.renesas.eu/motor Website contents
Choice of Motor Control Ref. Platforms

28. © 2016 Renesas Electronics Corporation. All rights reserved. Page 28
Vincent.mignard@renesas.com