Renesas RX24T User manual

R01AN5644EJ0100 Rev.1.00 Page 1 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M, RAA3064002GFP/RAA3064003GFP
Overview
We have developed a reference kit for a 2-axis robot arm
with our solution for positional control involving the use of
2-phase stepping motors incorporating resolvers.
An RX72M handles the numerical control and two
RX24Ts handle motor control of the axes. The system
enables movement of the arm at speeds of up to 250 mm
per second within the movable range of 150 mm x 153
mm.
Features
•Trajectory control of the arm (CP control)
Continuous path (CP) control by linear or circular
interpolation enables consecutive operations along
the path as required (a demonstration video is
available on the Renesas website).
Arm swing speed is adjustable from low to high
(0.017 to 5 r/sec)
Motor control for axes: The RX24Ts control the
motor positions by using the resolver feedback
signals (servo control).
System control: The RX72M controls the robot arm
as a whole, with each of the segments controlled
by an RX24T.
•High positional resolution of 200,000 P/R
A positional resolution of 200,000 pulses per
revolution is achieved by using 2-phase stepping
motors incorporating resolvers manufactured by
MinebeaMitsumi Inc. and resolver-to-digital
converters (RDC ICs) manufactured by Renesas
Electronics.
Repeatable positional accuracy: 0.2 mm
The positional resolution is 250 times that
achievable by open-loop control
•Reducing the reference kit’s size by integrating the
mechanical and electrical structures
Integral structures with the control boards installed
at the opposite ends of the stepping motors from
the driving ends of the motor axes.
Only requiring the power supply and
communications lines reduces the amount and
complexity of wiring.
•Gearless direct drives
Direct drives with high positional resolution
eliminate being out-of-step with the resolver
positional information and maximize the motor
torque.
The RX24Ts apply filtering to suppress the
mechanical resonances caused by the direct
drives.
The gearless structure reduces system costs.
•High-speed serial communications
Modbus communications at 2 Mbps with the use of
half-duplex RS485
Applications
•Service robots
•Small arm robots
•Power-assistance robots
•XY-stage driving
•Automatic guided vehicles
•Electrically driven slides
•Surveillance camera positioning
•Machine tool control
•Textile-related machinery
•Medical equipment
•OA equipment
RX72M
USB
Ethernet
◆Communications
Modbus communications at 1 Mbps with the use of half-duplex RS485
Arm 1 Arm 2
RX24T RX24T
◆NC board
・Trajectory control
Interpolation calculation (linear interpolation or circular interpolation)
Acceleration or deceleration calculation (moving average filter)
Joint angle calculation (successive Jacobian calculations)
Monoaxial movement (no interpolation or angle specification)
・Consecutive operations (combinations of motion in straight lines and along arcs)
RX24T RX24T
RX72M
◆Motor in use
・2-phase stepping motor
◆Resolver
・Position resolution of 200,000 P/R
◆Motor control
・Vector control of position, speed, and current
◆GUI（PC）
・Training
・Running the
demo system

R01AN5644EJ0100 Rev.1.00 Page 2 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Introduction
This document is a reference guide for a 2-axis robot arm with 2-phase stepping motors, each incorporating
a resolver sensor. The user has to prepare the components of the demo system described in this document.
Note that the control board drawings, mechanical part drawings, software for control (for motor control or
system control), and a GUI for controlling the demo system, which are listed in Related Documents below,
are available for use and can be found on the Renesas Electronics Website.
The demo system can be used for training in movements of the arm tip (written in specific commands) with
the use of a GUI on a PC and for moving the arm according to training in continuous path (CP) control by
linear or circular interpolation. Refer to the examples of operation posted on the Renesas Electronics
Website (URL: https://www.renesas.com/us/en/application/home-building/motor-control-solutions/resolver-
motor-control-solutions-consumer-and-industrial-applications#videos).
This document explains the system configuration and mechanical parts of the demo system, circuit diagrams
of motor control boards, and methods of manipulating the demo system by using the GUI. For the software to
be written to the motor control boards and its control functions, refer to the application note
"R01AN5662EJ0100".
Related Documents
•Related to mechanical parts
Structural drawings of robot arms: R12TU0118
•Related to control boards
(a) 42-mm square motor control board
•Circuit drawings: R12TU0106
•Parts list: R12TU0107
•PCB pattern drawings: R12TU0108
(b) 85-mm square motor control board
•Circuit drawings: R12TU0109
•Parts list: R12TU0110
•PCB pattern drawings: R12TU0111
(c) System control board for NC control (Renesas Starter Kit+ for RX72M (part number:
RTK5572MNDS10000BE)
•User's manual : R20UT4391
(d) Resolver-to-digital converter
•User's manual : R03UZ0002
•Related to software
(a) Software for motor control
•Application note: R01AN5662EJ0100
(b) Motor control development support tool "Renesas Motor Workbench"
•User's manual : R21UZ0004
Related MCUs
•RX24T
•RX72M

R01AN5644EJ0100 Rev.1.00 Page 3 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
List of Abbreviations and Acronyms
Acronym/Abbreviation
Formal Name
Remarks
MCU
Microcontroller

Demo system
A 2-axis robot arm using 2-phase
stepping motors with resolvers
Not for sale
42-mm square motor
42-mm square 2-phase stepping
motor with a resolver
Manufactured by MinebeaMitsumi Inc.
Contact MinebeaMitsumi for detailed
specifications.
85-mm square motor
85-mm square 2-phase stepping
motor with a resolver
Manufactured by MinebeaMitsumi Inc.
Contact MinebeaMitsumi for detailed
specifications.
42-mm square board
42-mm square motor control board.
An RX24T is incorporated as the
MCU.
Not for sale
85-mm square board
85-mm square motor control board.
An RX24T is incorporated as the
MCU.
Not for sale
NC board
System control board for numerical
control
NC: Numerical Control
The Renesas Starter Kit + for RX72M
(part number:
RTK5572MNDS10000BE) is used in
this demo system.
RMW
Motor control development support
tool "Renesas Motor Workbench"
Manufactured by Renesas Electronics
Corp.
RDC
Resolver-to-digital converter IC
A resolver-to-digital converter IC (part
number: RAA3064002GFP)
manufactured by Renesas Electronics
Corp. is used on the 42-mm square
and 85-mm square boards.
GUI
Graphical user interface
The demo system uses
"Demo_Ver1.1", which is a GUI for the
2-axis robot arm.

R01AN5644EJ0100 Rev.1.00 Page 4 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Contents
1. Specifications of the Demo System .........................................................................................6
1.1 Overall Configuration of the Demo System ............................................................................................. 6
1.2 Motor Control Board .............................................................................................................................. 10
1.2.1 Hardware Specifications...................................................................................................................... 10
1.2.2 Software Specifications ....................................................................................................................... 19
1.3 NC Board............................................................................................................................................... 20
1.4 Stepping Motors .................................................................................................................................... 21
1.5 Mechanical Parts ................................................................................................................................... 23
1.6 GUI ........................................................................................................................................................ 26
1.7 Assembly and Wiring............................................................................................................................. 27
2. Specifications of NC Software ...............................................................................................31
2.1 Overview................................................................................................................................................ 31
2.1.1 Applicable Conditions and Functions .................................................................................................. 31
2.2 Definition of the Control Coordinate System ......................................................................................... 32
2.3 Basic Manipulation ................................................................................................................................ 33
2.3.1 Procedure for Operations .................................................................................................................... 33
2.3.2 List of Commands and APIs................................................................................................................ 34
2.3.3 Output Format of output_state ............................................................................................................ 35
2.3.4 List of Parameters ............................................................................................................................... 36
2.3.5 Error Processing.................................................................................................................................. 37
2.4 Implementation Method ......................................................................................................................... 40
2.4.1 Calculations for Interpolation............................................................................................................... 40
2.4.2 Acceleration or Deceleration Calculation ............................................................................................ 43
2.4.3 Joint Angle Calculation........................................................................................................................ 45
2.4.4 Error Correction................................................................................................................................... 47
2.5 Time Charts ........................................................................................................................................... 48
2.6 List of Used Peripheral Functions and Pins .......................................................................................... 49
2.6.1 SCI6 and SCI10................................................................................................................................... 50
2.6.2 CRC..................................................................................................................................................... 51
2.7 Project Configuration ............................................................................................................................. 52
2.7.1 Operating Conditions........................................................................................................................... 52
2.7.2 Configuration Image ............................................................................................................................ 52
3. Operating the Demo System..................................................................................................53
3.1 Tuning.................................................................................................................................................... 53
3.1.1 Adjusting the Offset ............................................................................................................................. 53
3.1.2 Adjusting the Resonance Suppressing Filters .................................................................................... 54
3.2 Demonstrations by GUI ......................................................................................................................... 57
3.2.1 Preparations ........................................................................................................................................ 57

R01AN5644EJ0100 Rev.1.00 Page 5 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
3.2.2 Registration of Work Origin ................................................................................................................. 57
3.2.3 Training................................................................................................................................................ 58
3.2.4 Demonstrations ................................................................................................................................... 60
3.3 Usage Notes.......................................................................................................................................... 61
Revision History ............................................................................................................................62

R01AN5644EJ0100 Rev.1.00 Page 6 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
1. Specifications of the Demo System
This section describes the overall configuration of the demo system and the specifications of each of the
modules.
1.1 Overall Configuration of the Demo System
Figure 1-1 shows the external appearance of the demo system, Figure 1-2 is a system configuration
diagram, and Figure 1-3 shows a schematic view of controlling the demo system. Table 1-1 lists the
components of the demo system.
The 85-mm square motor is housed in a cylindrical case and connected to arm 1, and the 42-mm square
motor and arm 2, which operates in accordance with the rotation of the 42-mm square motor, are connected
to the tip of arm 1. A laser module is attached to the tip of arm 2 and the laser light produces illumination in
the direction of the ground. The 42-mm square board and 85-mm square board are installed for the 42-mm
square motor and 85-mm square motor in respective integral structures, and each of the motors rotates to
operate the arms upon receiving control instructions from the NC board, which is connected to the control
boards via RS-485 links. Origin sensors for detecting the origin positions of arm 1 and arm 2 are attached to
arm 1 and the cylindrical case, and the signals from the origin sensors are connected to the 42-mm square
board and 85-mm square board. The system control board is connected to a PC by a USB cable, and control
instructions for the motors are generated from operation commands generated with a GUI on the PC. The
42-mm square board and 85-mm square board are driven by a 24-V power supply and the NC board is
driven by a 5-V power supply. A 3-V power supply generated on the NC board is supplied to the laser
module.
Figure 1-1 External Appearance of the Demo System

R01AN5644EJ0100 Rev.1.00 Page 7 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Figure 1-2 System Configuration Diagram
Figure 1-3 Schematic View of Controlling the Demo System
Arm 1
Arm 2
42-mm square stepping
motor with a resolver
85-mm square motor
control board
85-mm square stepping
motor with a resolver
(installed inside a
cylindrical case)
NC board
24-V power
supply
5-V power
supply
Cylindrical
case
Base
PC to manipulate
the GUI
通信線：modbus
Communication
line: RS485
Communication
line: USB
Origin sensor for arm 1
Origin sensor for arm 2
Laser module
Laser
3-V power supply for the laser module
42-mm square motor
control board
RX72M
USB
Ethernet
◆Communications
Modbus communications at 2 Mbps with the use of half-duplex RS485
Arm 1 Arm 2
RX24T RX24T
◆NC board
・Trajectory control
Interpolation calculation (linear interpolation or circular interpolation)
Acceleration or deceleration calculation (moving average filter)
Joint angle calculation (successive Jacobian calculations)
Monoaxial movement (no interpolation or angle specification)
・Consecutive operations (combinations of motion in straight lines and along arcs)
RX24T RX24T
RX72M
◆Motor in use
・2-phase stepping motor
◆Resolver
・Position resolution of 200,000 P/R
◆Motor control
・Vector control of position, speed, and current
◆GUI（PC）
・Training
・Running the
demo system

R01AN5644EJ0100 Rev.1.00 Page 8 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Table 1-1 List of Components of the Demo System (1/2)
Classification
Name
Description
Related Files
Motor control
board
42-mm square motor
control board
Control board for driving the 42-
mm square stepping motor. It is
installed at the opposite end of
the 42-mm square stepping
motor from the driving end of
the motor axis. An RX24T and
RDC IC are mounted on this
control board.
Circuit drawings: R12TU0106
Parts list: R12TU0107
PCB pattern drawings:
R12TU0108
Software:
RX24T_ROBOT42_STM_RSL
V_FOC
85-mm square motor
control board
Control board for driving the 85-
mm square stepping motor. It is
installed at the opposite end of
the 85-mm square stepping
motor from the driving end of
the motor axis. An RX24T and
RDC IC are mounted on this
control board.
Circuit drawings: R12TU0109
Parts list: R12TU0110
PCB pattern drawings:
R12TU0111
Software:
RX24T_ROBOT85_STM_RSL
V_FOC
Stepping motor
42-mm square
stepping motor with
a resolver
42-mm square stepping motor
with integrated mechanical and
electrical structures
(manufactured by
MinebeaMitsumi). This motor is
used for driving arm 2.
For the model number and
detailed specifications, contact
MinebeaMitsumi.
Contact URL:
https://www.minebeamitsumi.co
m/english/
85-mm square
stepping motor with
a resolver
85-mm square stepping motor
with integrated mechanical and
electrical structures
(manufactured by
MinebeaMitsumi). This motor is
used for driving arm 1.
For the model number and
detailed specifications, contact
MinebeaMitsumi.
Contact URL:
https://www.minebeamitsumi.co
m/english/
System control
board
System control
board
Used for performing 2-axis CP
control. The starter kit for the
Renesas microcontroller
RX72M is used.
Renesas Starter Kit + for
RX72M
[RTK5572MNDS10000BE]
https://www.renesas.com/us/en/
products/microcontrollers-
microprocessors/rx-32-bit-
performance-efficiency-
mcus/rx72m-starter-kit-plus-
renesas-starter-kit-rx72m
Mechanical parts
Structural parts for
demo system
Structural parts, such as the
arms, cylindrical case, base,
and origin sensors. The details
are given in related files.
Structural drawings:
R12TU0118
Power supply
24-V power supply
Power supply for the 42-mm
square motor control board and
85-mm square motor control
board. Use a power supply unit
with the output power of at least
24 V DC/2 A.

5-V power supply
5-V DC power supply for the
system control board


R01AN5644EJ0100 Rev.1.00 Page 9 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Table 1-1 List of Components of the Demo System (2/2)
Classification
Name
Description
Related Files
PC
PC for GUI
PC for a GUI used to execute
demonstrations.
For operating the GUI, the
following requirements have to
be met in the PC.
Supporting OS: 32-bit or 64-bit
version of Windows 7, 8.1, and
10
File: .NET Framework 4.7.2 or
later

GUI
GUI for training in and operating
the demo system
File name: Demo_Ver1.1.exe

R01AN5644EJ0100 Rev.1.00 Page 10 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
1.2 Motor Control Board
1.2.1 Hardware Specifications
Table 1-2 shows the system specifications of the motor control boards. The two motor control boards are the
42-mm square board and 85-mm square board for the motors with the corresponding dimensions. An MCU
(64-pin RX24T) and RDC IC, both made by Renesas Electronics, are mounted on both of them, and the 2-
phase stepping motors with resolvers can be driven in fast decay mode. Though the RDC IC made by
Renesas Electronics has a function for correcting errors in the resolver angle, that function is not used on the
42-mm and 85-mm square boards of this demo system.
For detailed circuit diagrams of each board, see R12TU0106 for the 42-mm square board and R12TU0109
for the 85-mm square board.

R01AN5644EJ0100 Rev.1.00 Page 11 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Table 1-2 System Specifications of Motor Control Board
Item
Function
42-mm Square Board
85-mm Square Board
Input power supply
Motor power supply
24-V DC
As at left
Decoupling capacitor
330 uF
400 uF
Internally generated
power supply
Gate driver power
supply
No (generated within a gate
driver)
12 V
Logic power supply,
analog power supply
5 V
As at left
Control
microcomputer
MCU part number
R5F524TAADFM
(64-pin, 256 KB, Ver. A)
As at left
Firmware rewriting
The MD/FINED pin is used
(single-wire).
Note: A 14-pin connector is not
mounted.
As at left
Driver
Gate driver
Gate driver with built-in FET
(DRV8844 manufactured by
Texas Instruments Inc.)
Pressure resistance: 60 V
Rated current: 1.75 A RMS
UCC27282
manufactured by
Texas Instruments Inc.
(pressure resistance:
120 V)
Drive current: 2.5 A
Driver FET
SQJB90EP
manufactured by
Vishay
Intertechnology, Inc.
(pressure resistance:
80 V)
Rated current: 30 A
Interface
Communication
RMW, pulse string, RS485
As at left
Servocontrol
No
As at left
Sensor
Resolver (RDC IC is installed,
part number:
RAA3064002GFP), origin
sensor (DOG, FLS, or RLS)
As at left
Motor control
Gate drive system
Fast decay
As at left
Current detection
2-phase source current is
amplified by the RDC's internal
amplifier.
As at left
Protection function
Overcurrent sensing
Detected in the power supply
current. When overcurrent is
detected, the PWM output is
stopped (POE).
As at left
Gate driver
Thermal shutdown or
overcurrent
No
Hardware reset
Pressing the reset switch
returns the system to the initial
state.
As at left

R01AN5644EJ0100 Rev.1.00 Page 12 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
(1) Functional block diagram of 42-mm square board
Figure 1-4 shows a functional block diagram of the 42-mm square board.
Figure 1-4 Functional Block Diagram of 42-mm Square Board
(2) External appearance of 42-mm square board
Figure 1-5 shows the external appearance of the 42-mm square board.
Figure 1-5 External Appearance of 42-mm Square Board
RDC
RX24T
RDC IC
PreDrv FET
DC/DC LDO
(VDD, AVDD)
PRGRMW
Resolver
VM/GND
A+/A-/B-
/B-
BPF
Excitation
RMW
communication
board
Conversion
board
E2
Lite
PC Motor
Resolver
sensor
Over-
current
detector
5 V
42-mm square board
24-V DC power supply
Isense
IiOUT
Excitation, correction, COUT, SPI
Xtal
Driver
RS485
AVDD
VDD
VMOT
VMOT
AVDD
VDD
Gate driver with built-in FET
Sensor
Conversion
board
42-mm square motor
Top Bottom (view from solder side)
34.92
34.92

R01AN5644EJ0100 Rev.1.00 Page 13 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
(3) Component layout of 42-mm square board
Figure 1-6 shows a component layout diagram of the 42-mm square board. Table 1-3 lists the interface
connector specifications of the 42-mm square board.
Figure 1-6 Component Layout Diagram of 42-mm Square Board
Table 1-3 Interface Connector Specifications (42-mm Square Board)
Item
Function
Pin (in ascending order of pin
number from pin 1)
Connector Shape
Power source
Power input
GND, V+
2.54-mm pitch, 2-pin
Motor
Motor output
A-, A+, B+, B-
2.0-mm pitch, 4-pin
Communication
Program
(E1 or E2 Lite)
GND, RX, TX, +5V, MD/FINED, RES#
1.27-mm pitch, 6-pin
RMW
GND, RX, TX, +5V
(pins are used in common with the
above program)
1.27-mm pitch, 4-pin
RS485
GND, B/Z, A/Y, NC
1.27-mm pitch, 4-pin
Sensor
Resolver
XBN, XBP, XAP, XAN, EXC
1.27-mm pitch, 5-pin
Origin sensor
GND, +5V, RLS, FLS, DOG
1.27-mm pitch, 5-pin
Driver
Top
MCU
DC/DC
LDO
SW
Xtal
Tran.
Bottom (view from solder side)
RDC
Rectifier diode
Shunt
Shunt
+Amp
Shunt
Buffer Buffer
Program/RMW
Origin sensor
Motor output
Resolver
RS485
Power input

R01AN5644EJ0100 Rev.1.00 Page 14 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
(4) MCU pin assignment of 42-mm square board
Table 1-4 shows the MCU pin assignment of the 42-mm square board.
Table 1-4 MCU Pin Assignment (42-mm Square Board) (1/2)
Pin
No.
Pin Name
I/O
Function of Connected Signal
Connection
Destination
1
MTIOC9D
O
RDC I/F (CARRIER signal)
RDC
5
IRQ4
I
MCU_FLS
Sensor
12
SSLA1
O
RDC I/F (CS# signal)
RDC
13
TMO1
O
RDC I/F (CLK signal)
RDC
14
PD5
O
RDC I/F (RESET# signal)
RDC
15
PD4
O
UART I/F (RE# signal)
RS485
16
TMO0
O
RDC I/F (PWMINA signal)
RDC
17
RXD5
I
UART I/F (RX signal)
RMW
18
TXD5
O
UART I/F (TX signal)
RMW
19
IRQ3
I
RDC I/F (ALARM# signal)
RDC
20
RSPCKA
O
RDC I/F (SCLK signal)
RDC
21
TXD6
O
UART I/F (DI signal of RS485 transceiver)
RS485
22
RXD6
I
UART I/F (RO signal of RS485 transceiver)
RS485
24
POE4#
I
Overcurrent signal
Overcurrent
sensing
26




27
MTIOC7A
I
RDC I/F (COUT signal)
RDC
28
P93
O
UART I/F (DE signal)
RS485
29
P92
O
LED
LED
30
MTIOC7C
O
RDC I/F (CC signal)
RDC
31
P90
O
nRESET
Gate driver
33
MTIOC4C
O
Motor gate drive PWM B+L
Gate driver
34
MTIOC3D
O
Motor gate drive PWM A+L
Gate driver
35
P73
O
PWM_EN
Gate driver
36
MTIOC4A
O
Motor gate drive PWM B+H
Gate driver
37
MTIOC3B
O
Motor gate drive PWM A+H
Gate driver
38
IRQ5
I
MCU_CLR
Higher-layer
device
40
MTCLKC
I
MCU_PULSE
Higher-layer
device
42
MTCLKD
I
MCU_DIR
Higher-layer
device
43
TMO6
O
RDC I/F (PWMINB signal)
RDC
44
MOSIA
O
RDC I/F (SDI signal)
RDC
45
MISOA
I
RDC I/F (SDO signal)
RDC
46
MTIOC9A
O
RDC I/F (CARRIER signal)
RDC
49
IRQ2
I
nFault
Gate driver
50
IRQ1
I
MCU_RLS
Higher-layer
device
51
IRQ0
I
MCU_DOG
Sensor
52
AN207
I
Power-supply voltage detection
Voltage detecting
circuit
53
AN206
I
MNTOUT
RDC
55





R01AN5644EJ0100 Rev.1.00 Page 15 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Table 1-4 MCU Pin Assignment (42-mm Square Board) (2/2)
Pin
No.
Pin Name
I/O
Function of Connected Signal
Connection
Destination
55
AN101
I
Motor current detection B
RDC
56
AN100
I
Motor current detection A
RDC

R01AN5644EJ0100 Rev.1.00 Page 16 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
(5) Functional block diagram of 85-mm square board
Figure 1-7 shows a functional block diagram of the 85-mm square board.
Figure 1-7 Functional Block Diagram of 85-mm Square Board
(6) External appearance of 85-mm square board
Figure 1-8 shows the external appearance of the 85-mm square board.
Figure 1-8 External Appearance of 85-mm Square Board
85-mm square board
RDC
RX24T
RDC
PreDrv FET
DC/DC LDO
(VDD, AVDD)
PRG
RMW
Resolver
VM/GND
A+/A-/B-
/B-
BPF
Excitation
RMW
communication
board
E2
Lite
PC Motor
Resolver
sensor
Over-
current
detector 5 V
24-V DC power supply
Isense
IiOUT
Excitation, correction, COUT, SPI
Xtal
Driver
RS485
AVDD
VDD
VMOT
VMOT
AVDD
VDD
Sensor
12 V
12 V
Conversion
board
Conversion
board
85-mm square motor
Top Bottom (view from solder side)
58.7
50.8

R01AN5644EJ0100 Rev.1.00 Page 17 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
(7) Component layout of 85-mm square board
Figure 1-9 shows a component layout diagram of the 85-mm square board. Table 1-5 lists the interface
connector specifications of the 85-mm square board.
Figure 1-9 Component Layout Diagram of 85-mm Square Board
Table 1-5 Interface Connector Specifications (85-mm Square Board)
Item
Function
Pin (in ascending order of pin number
from pin 1)
Connector Shape
Power source
Power input
GND, V+
3.5-mm pitch, 2-pin
Motor
Motor output
A-, A+, B+, B-
φ1 mm ×4
Communication
Program
(E1 or E2 Lite)
GND, RX, TX, +5V, MD/FINED, RES#
2.54-mm pitch, 6-pin
RMW
GND, RX, TX, +5V
2.54-mm pitch, 4-pin
RS485
GND, B/Z, A/Y, +5V
2.54-mm pitch, 4-pin
Sensor
Resolver
XBN, XBP, XAP, XAN, EXC
2.54-mm pitch, 5-pin
Origin sensor
GND, +5V, RLS, FLS, DOG
2.54-mm pitch, 5-pin
Top Bottom (view from solder side)
MCU
DC/DC
LDO
Shunt
SW
Xtal
Inductor
Shunt
Driver
RDC
Rectifier diode
BPF
APF
Excitation LPF
Shunt
+Amp
Driver Driver Driver
Rectifier diode
FET FET
FETFET
Resolver
Program
RS485
Power input
Motor output
Origin sensor
RMW

R01AN5644EJ0100 Rev.1.00 Page 18 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
(8) MCU pin assignment of 85-mm square board
Table 1-6 shows the MCU pin assignment of the 85-mm square board.
Table 1-6 MCU Pin Assignment (85-mm Square Board) (1/2)
Pin
No.
Pin Name
I/O
Function of Connected Signal
Connection
Destination
1
MTIOC9D
O
RDC I/F (CARRIER signal)
RDC
5
IRQ4
I
MCU_FLS
Sensor
12
SSLA1
O
RDC I/F (CS# signal)
RDC
13
TMO1
O
RDC I/F (CLK signal)
RDC
14
PD5
O
RDC I/F (RESET# signal)
RDC
15
PD4
O
UART I/F (RE# signal)
RS485
16
TMO0
O
RDC I/F (PWMINA signal)
RDC
17
RXD5
I
UART I/F (RX signal)
RMW
18
TXD5
O
UART I/F (TX signal)
RMW
19
IRQ3
I
RDC I/F (ALARM# signal)
RDC
20
RSPCKA
O
RDC I/F (SCLK signal)
RDC
21
TXD6
O
UART I/F (DI signal of RS485 transceiver)
RS485
22
RXD6
I
UART I/F (RO signal of RS485 transceiver)
RS485
24
POE4#
I
Overcurrent signal
Overcurrent
sensing
26




27
MTIOC7A
I
RDC I/F (COUT signal)
RDC
28
P93
O
UART I/F (DE signal)
RS485
29
P92
O
LED
LED
30
MTIOC7C
O
RDC I/F (CC signal)
RDC
31




33
MTIOC4C
O
Motor gate drive PWM B+L
Gate driver
34
MTIOC3D
O
Motor gate drive PWM A+L
Gate driver
35




36
MTIOC4A
O
Motor gate drive PWM B+H
Gate driver
37
MTIOC3B
O
Motor gate drive PWM A+H
Gate driver
38
IRQ5
I
MCU_CLR
Higher-layer
device
40
MTCLKC
I
MCU_PULSE
Higher-layer
device
42
MTCLKD
I
MCU_DIR
Higher-layer
device
43
TMO6
O
RDC I/F (PWMINB signal)
RDC
44
MOSIA
O
RDC I/F (SDI signal)
RDC
45
MISOA
I
RDC I/F (SDO signal)
RDC
46
MTIOC9A
O
RDC I/F (CARRIER signal)
RDC
49




50
IRQ1
I
MCU_RLS
Higher-layer
device
51
IRQ0
I
MCU_DOG
Sensor
52
AN207
I
Power-supply voltage detection
Voltage detecting
circuit
53
AN206
I
MNTOUT_DC
RDC
54
AN102
I
MNTOUT_AC
RDC

R01AN5644EJ0100 Rev.1.00 Page 19 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Table 1-6 MCU Pin Assignment (85-mm Square Board) (2/2)
Pin
No.
Pin Name
I/O
Function of Connected Signal
Connection
Destination
55
AN101
I
Motor current detection B
RDC
56
AN100
I
Motor current detection A
RDC
1.2.2 Software Specifications
Figure 1-10 shows a functional block diagram of vector control of a 2-phase stepping motor with a resolver
used for driving the robot arm, which is used for writing to each of the MCUs (on the 42-mm square board
and 85-mm square board) of the demo system. Control of the positions of the motors is based on the
resolver feedback signals and position references from the NC board.
For details on algorithms for controlling the motors and the software configuration, refer to the application
note "R01AN5662EJ0100".
Figure 1-10 Vector Control of a 2-Phase Stepping Motor with a Resolver
Decoupling
control
PWM
Current
PI
Speed
PI
dq
αβ
dq
αβ
Resolver
ω*i
d
*
ω
i
q
*
v
d
*
θ
i
d
i
q
i α
i β
θ
v
α
v
β
+
-
+
+
Position P
+ Speed FF
θ*
θ
i
q
i
d
v
d
**
v
q
**
Voltage
limit
i
q
** v
q
*v
q
*
Voltage
error
compen
-sation
v
α
v
β
ω
θ
Switch
Position/Speed
loop mode
Position
profiling
θ _reference
IPD controller
+ Position P + Speed FF
Switch
Position/Speed loop controller
AD Scan End Interrupt Process (50 us)
Interrupt Process (250 us)
ω*ω*
i
q
*i
d
*
ω
_reference
M
A
A
ー
B
B
Flux-
weakening
i
q
i
d
ω
Speed
observer
RDC
Phase
detection
ー
i
q
_reference
Angle/
Speed
conv

R01AN5644EJ0100 Rev.1.00 Page 20 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
1.3 NC Board
Figure 1-11 shows the external appearance of the NC board. The Renesas Starter Kit + for RX72M (part
number: RTK5572MNDS10000BE) is used as the NC board of this demo system and the MCU is RX72M.
The PC and NC board are connected via a USB cable, CP control is handled upon receiving operation
instructions from a GUI running on the PC, and position references of the motor are sent to the 42-mm
square board and 85-mm square board which are connected via RS485. The laser module is connected to
PMOD2 and the DC3V power is supplied. Note that DC5V is necessary for the power supply of the NC
board.
For details on hardware specifications and the method for writing by software, see Renesas Starter Kit + for
RX72M User’s Manual.
Figure 1-11 External Appearance of NC Board
Connected to RX24T
(RS485)
Connected to PC
(USB)
Connected to power supply
(DC5V, 10 W)
Connected to debugger (E1 or E2 Lite)
Connected to laser
module (PMOD2)