UM0312 Getting started with the library
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If this header file is not edited appropriately (no choice or undefined choice), you will receive
an error message when building the project. Note that you will not receive an error message
if the configuration described in this header file does not match the hardware that is actually
in use, or in case of wrong wiring.
More specifically:
● #define ICS_SENSORS
To be uncommented when current sampling is done with isolated current sensors
(commented by default).
● #define THREE_SHUNT
To be uncommented when current sampling is done with 3 shunt resistors
(uncommented by default).
● #define ENCODER
To be uncommented when the encoder is connected to the starter kit. Mandatory
(uncommented by default) for the PMSM software library 1.0.
● #define TACHO
To be uncommented when the tacho signal is connected to the starter kit. Not used
(commented by default) in the PMSM software library.
● #define Id_Iq_DIFFERENTIAL_TERM_ENABLED
To be uncommented when derivative terms for torque and flux control loop regulation
(PID) are enabled (uncommented by default).
● #define SPEED_DIFFERENTIAL_TERM_ENABLED
To be uncommented when the derivative term for speed control loop regulation (PID) is
enabled (uncommented by default).
Once these settings have been done, only the required blocks will be linked in the project;
this means that you do not need to exclude any C source files from the build.
Caution: When using shunt resistors for current measurement, ensure that the REP_RATE parameter
(in MC_Control_Param.h) is set properly (see Section 2.2.4 and Section A.2: Selecting
PWM frequency for 3 shunt resistor configuration on page 80 for details).
2.2.2 Permanent magnet motor parameters: MC_PMSM_motor_param.h file
The MC_PMSM_motor_param.h header file holds motor parameters which are essential to
properly operate the vector drive. It provides the compiler with the number of pole pairs of
the motor, and with the alignment settings (see Figure 6).
The following parameters must be defined in all cases:
● #define POLE_PAIR_NUM
Specify here the number of pole pairs of your motor. For the SHINANO PM Sensored
motor provided with the starter-kit, the default value is 2.
● #define T_ALIGNMENT
Define here the time in ms for the rotor alignment.
● #define I_ALIGNMENT
Define here the maximum current value at the end of the rotor alignment (the value is
hardware dependent).
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