Renesas RX72M Series Installation and operating instructions

Application Note
R01AN5434EJ0110 Rev.1.10 Page 1 of 85
Aug.31.2020
RX72M Group
Single-Chip Motor Control via EtherCAT Communications
Outline
This application note describes a sample program for the RX72M. The program has an encoder vector
control function for a permanent magnet synchronous motor (hereinafter referred to as a PMSM) and works
with the EtherCAT communications controller of the RX72M. The module provides an interface via the
EtherCAT Slave Stack Code (SSC) of Beckhoff, which is used in the RX family products that incorporate an
EtherCAT slave controller (ESC) for industrial Ethernet communications.
The FIT module itself does not include the SSC. Therefore, generate the executable code after obtaining the
sample SSC from the EtherCAT Technology Group (ETG Association).
This FIT module is hereinafter referred to as the EtherCAT FIT module.
Target Devices
RX72M group devices
When applying the sample program covered in this application note to another microcomputer, modify the
program according to the specifications for the target microcomputer and conduct an extensive evaluation
and testing of the modified program.
R01AN5434EJ0110
Rev.1.10
Aug.31.2020

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Contents
Description
1. Overview .................................................................................................................................4
1.1 This Application Note............................................................................................................................... 4
1.2 Operation Environment ........................................................................................................................... 4
1.3 Projects.................................................................................................................................................... 5
2. System Overview.....................................................................................................................6
2.1 Hardware Configuration .......................................................................................................................... 6
2.2 Hardware Specifications.......................................................................................................................... 7
2.3 Software Configuration .......................................................................................................................... 10
2.3.1 Software File Configuration ................................................................................................................. 10
2.3.2 Software Module Configuration ........................................................................................................... 13
2.4 Software Specifications ......................................................................................................................... 16
3. CiA402 Drive Profile ..............................................................................................................18
3.1 Operating Mode..................................................................................................................................... 19
3.2 State Transitions.................................................................................................................................... 20
3.3 State Transition Functions..................................................................................................................... 21
3.4 Object Dictionary ................................................................................................................................... 23
4. Motion Control Parameters ....................................................................................................25
4.1 Velocity Parameters .............................................................................................................................. 25
4.2 Acceleration Parameters ....................................................................................................................... 25
4.3 Conversion of Units by the RMW .......................................................................................................... 25
5. API Functions ........................................................................................................................27
5.1 Overview................................................................................................................................................ 27
5.2 R_MTR_InitControl................................................................................................................................ 28
5.3 R_MTR_SetUserifMode ........................................................................................................................ 29
5.4 R_MTR_ExecEvent............................................................................................................................... 30
5.5 R_MTR_ChargeCapacitor ..................................................................................................................... 31
5.6 R_MTR_GetLoopModeStatus ............................................................................................................... 32
5.7 R_MTR_SetPositionStatus.................................................................................................................... 33
5.8 R_MTR_SetPosition .............................................................................................................................. 34
5.9 R_MTR_GetPosition.............................................................................................................................. 35
5.10 R_MTR_GetPositioningFlag.................................................................................................................. 36
5.11 R_MTR_SetSpeed ................................................................................................................................ 37
5.12 R_MTR_GetSpeed ................................................................................................................................ 38
5.13 R_MTR_SetDir ...................................................................................................................................... 39
5.14 R_MTR_GetDir...................................................................................................................................... 40
5.15 R_MTR_GetStatus ................................................................................................................................ 41
5.16 R_MTR_InputBuffParamReset.............................................................................................................. 42
5.17 R_MTR_CtrlInput................................................................................................................................... 43
5.18 R_MTR_SetVariables............................................................................................................................ 44

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5.19 R_MTR_AutoSetVariables .................................................................................................................... 45
5.20 R_MTR_CtrlGainCalc............................................................................................................................ 46
5.21 R_MTR_UpdatePolling.......................................................................................................................... 47
5.22 R_MTR_GetErrorStatus ........................................................................................................................ 48
5.23 R_MTR_GetPositionPFStatus............................................................................................................... 49
5.24 R_MTR_SetPositionUnits...................................................................................................................... 50
5.25 R_MTR_SetActualPositionUnits............................................................................................................ 51
5.26 R_MTR_GetPositionUnits ..................................................................................................................... 52
5.27 R_MTR_GetSpeedUnits........................................................................................................................ 53
5.28 R_MTR_SetSpeedUnits ........................................................................................................................ 54
5.29 R_MTR_SetAccelerationUnits............................................................................................................... 55
5.30 R_MTR_SetDecelerationUnits .............................................................................................................. 56
6. Checking Operation of the Application on the Solution Kit .....................................................57
6.1 Operating Environment ......................................................................................................................... 57
6.2 Operating Environment Settings and Connection ................................................................................. 58
6.3 Building the Sample Program................................................................................................................ 62
6.4 Importing the Sample Project into the e2 studio ................................................................................... 64
6.5 Programming and Debugging ............................................................................................................... 65
6.6 Connection with TwinCAT (Writing the ESI File)................................................................................... 67
6.7 Checking the Connection with CODESYS ............................................................................................ 71
6.7.1 Device Network Settings ..................................................................................................................... 71
6.7.2Starting CODESYS ............................................................................................................................. 71
6.7.3 Starting the PLC .................................................................................................................................. 72
6.7.4 Updating the Slave Device .................................................................................................................. 73
6.7.5 Setting up the Connection with PLC.................................................................................................... 74
6.8 Using CODESY to Check Operation ..................................................................................................... 80
7. Documents for Reference......................................................................................................81
8. APPENDIX ............................................................................................................................82

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1. Overview
1.1 This Application Note
This application note describes a sample program for the RX72M. The program has an encoder vector
control function for a permanent magnet synchronous motor (hereinafter referred to as a PMSM) and works
with the EtherCAT communications controller of the RX72M.
The sample program is intended to run on a combination of a board with an RX72M CPU and a 24-V system
inverter board.
1.2 Operation Environment
Table 1-1 Operation Environment
Target MCU
RX72M Group
Evaluation board
Manufactured by Renesas
RX72M CPU card + 24-V system inverter board *
Integrated development
environment (IDE)
Renesas e2 studio, V.7.5.0 or later
IAR Embedded Workbench for Renesas RX 4.13.1 or later
C compiler
Renesas C/C++ compiler package for RX Family
V3.01.00 or later
GCC for Renesas RX 4.8.4.201803 or later
IAR C/C++ compiler for Renesas RX version 4.13.1 or later
Motor
Permanent magnet synchronous motor with an incremental encoder from
Leadshine Technology
BLM57050-1000
Emulator
Renesas e2 Lite
Communication protocol
EtherCAT
SSC tool
Provided by the EtherCAT Technology Group (ETG)
Slave Stack Code (SSC) tool Version 5.12
Software PLC
TwinCAT
®
3 (download this from the Beckhoff web site)
of Beckhoff Automation
CODESYS of 3S-Smart Software Solutions
Note: * The 24-V motor control system manufactured by Renesas Electronics incorporates both items.
24V Motor Control Evaluation System for RX23T (RTK0EM0006S01212BJ)

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1.3 Projects
The sample program realizes single-chip motor control via EtherCAT communications. It was prepared by
modifying other projects for motor control and EtherCAT communications.
Table 1-2 Base Projects and Changes that were Required
Function/Project Name (Application note)
Changes
Motor control
RX72M_MRSSK_SPM_ENCD_FOC_E2S_RV100
(r01an5386ej0100-rx72m-motor)

API functions were added for control of the
motor by the EtherCAT communications
program.
The units of position and velocity were
converted to conform with the CiA402 object
specifications.
EtherCAT communications
rx72m_com_cia402
(r01an4672ej0100-rx72m-ecat)
Objects were added to fit the CiA402 drive
profile.
Calls of API functions to control the motor
The project included for the sample program is shown below.
In the following sections, the RX72M CPU card plus 24-V system inverter board project is used as an
example. When using a different project, read the project name in this application note as that of the given
project.
Table 1-3 List of Projects
MCU
Evaluation Board
Project Name
RX72M
RX72M CPU card + 24-V system inverter
board
ecat_cia402_motor_rsskrx72m

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2. System Overview
2.1 Hardware Configuration
The following figure shows the hardware configuration of the environment where the sample program runs.
Figure 2-1 Hardware Configuration

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2.2 Hardware Specifications
Table 2-1 to Table 2-4 list the pin interfaces for use in the sample program.
Table 2-1 Motor Control Related Pin Interface
Pin Name Description
P43 / AN003
Inverter’s main line voltage measurement
P47 / AN007
For input of the rotational velocity and position command values
(analog values)
P30
START/STOP toggle switch
P02
ERROR RESET toggle switch
P71
LD1 on/off control
PN4
LD2 on/off control
PH0
LD3 on/off control
P40 / AN000
U-phase current measurement
P42 / AN002
W-phase current measurement
PE1 / MTIOC3B
PWM output (Up)
PE2 / MTIOC4A
PWM output (Vp)
PE3 / MTIOC4B
PWM output (Wp)
PE0 / MTIOC3D
PWM output (Un)
PE5 / MTIOC4C
PWM output (Vn)
PE4 / MTIOC4D
PWM output (Wn)
P31 / IRQ1
Hall U-phase input
PD3 / IRQ3
Hall V-phase input
PB0 / IRQ12
Hall W-phase input
PA4 / MTCLKA
Encoder A-phase input
P25 / MTCLKB
Encoder B-phase input
PC4 / POE0#
Input for the emergency signal for stopping the PWM output on
detection of an overcurrent

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Table 2-2 EtherCAT Communications Related Pin Interface (1)
Pin Name Description
PK6/CATLINKACT0 Link/Activity LED control output
PK7/CATLINKACT1 Link/Activity LED control output
PH1/CATI2CCLK EEPROM I2C clock output
P15/CATLEDRUN RUN LED (green LED) control output
PH3/CATLEDERR ERR LED (red LED) control output
PL3/CAT0_RX_CLK Receive clock input
PM4/CAT0_ETXD2 4-bit transmit data output (bit 2)
PM5/CAT0_ETXD3 4-bit transmit data output (bit 3)
PL4/CAT0_ETXD0 4-bit transmit data output (bit 0)
PL5/CAT0_ETXD1 4-bit transmit data output (bit1)
PK5/CAT0_ERXD3 4-bit receive data input (bit 3)
PK4/CAT0_ERXD2 4-bit receive data input (bit 2)
P74/CAT0_ERXD1 4-bit receive data input (bit 1)
P75/CAT0_ERXD0 4-bit receive data input (bit 0)
PL7/CAT0_MDIO Management data I/O
PN3/CAT1_RX_ER Receive error input
P84/CAT1_LINKSTA Link status input from the PHY-LSI
PQ2/CAT1_RX_DV Received data valid input
PL6/CAT0_TX_EN Transmit enable output
PN2/CAT1_TX_CLK Transmit clock input
PH4/CATLEDSTER
Output for RUN LED part of STATE LED (bicolor) (turned off while
ERR)
PH5/CATLATCH0 LATCH signal input
PH6/CATLATCH1 LATCH signal input
P27/CATIRQ IRQ output
PQ7/CAT1_TX_EN Transmit enable output
PK2/CAT0_RX_DV Received data valid input
PM1/CAT1_ERXD1 4-bit receive data input (bit 1)
PM2/CAT1_ERXD2 4-bit receive data input (bit 2)
PM3/CAT1_ERXD3 4-bit receive data input (bit 3)
PL2/CAT0_RX_ER Receive error input
PM0/CAT1_ERXD0 4-bit receive data input (bit 0)
PQ4/CAT1_RX_CLK Receive clock input
PJ5/CATSYNC0 SYNC0 signal output
PA6/CATRESTOUT PHY reset signal output

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Table 2-3 EtherCAT Communications Related Pin Interface (2)
Pin Name
Description
PN1/CAT1_ETXD3
4-bit transmit data output (bit 3)
PQ5/CAT1_ETXD0
4-bit transmit data output (bit 0)
PN0/CAT1_ETXD2
4-bit transmit data output (bit 2)
PQ6/CAT1_ETXD1
4-bit transmit data output (bit 1)
P11/CATSYNC1
SYNC1 signal output
PM6/CAT0_TX_CLK
Transmit clock input
PK0/CAT0_MDC Management data clock output
P34/CAT0_LINKSTA
Link status input from the PHY-LSI
P82/CATI2CDATA
EEPROM I2C data input/output
Table 2-4 Other Pin Interface
Pin Name Description
P12/RXD2 SCI2 receive data input pin
P13/TXD2 SCI2 transmit data output pin
PH2 Device ID DIP SW (bit 0)
PQ3 Device ID DIP SW (bit 1)
P05 Device ID DIP SW (bit 2)
P72 Device ID DIP SW (bit 3)
PC1 Device ID DIP SW (bit 4)
PN5 Device ID DIP SW (bit 5)

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2.3 Software Configuration
2.3.1 Software File Configuration
Folders and files configured for the sample program are listed in Table 2-5 to Table 2-7.
The files in gray-shaded cells are those which required changes from the base project to implement the
functionality of the sample program. The files listed in bold letters are those that have been added.
Table 2-5 Configuration of Files for the Motor Control Program (1)
Directory
motor/
File Description
application/
main/ main.h, main.c Main function
user_interface/
ics/
r_mtr_ics.h, r_mtr_ics.c ICS related function definition
ICS_RX72M.h
ICS_RX72M.lib
Communications-related
definitions for tools
Communications library for
tools
board/
r_mtr_board.h, r_mtr_board.h Board user function definition
middle/
interface/
r_mtr_driver_access.h
r_mtr_driver_access.c User access function definition
r_mtr_driver_ecat_access.h
r_mtr_driver_ecat_access.c
Definitions of functions for
access by the EtherCAT
communications program
common/
r_mtr_common.h Common definition
r_mtr_units.h Definitions of units
r_mtr_filter.h, r_mtr_filter.c
General-purpose filter function
definition
r_mtr_fluxwkn.h
r_mtr_fluxwkn.obj
Definition of a function related
to magnetic-flux weakening
control
r_mtr_pi_control.h
r_mtr_pi_control.c PI control function definition
r_mtr_transform.h
r_mtr_transform.c
Coordinate transformation
function definition
r_mtr_mod.h, r_mtr_mod.c Modulation function definition
r_mtr_volt_err_comp.h
r_mtr_volt_err_comp.obj
Voltage error compensation
function definition
r_mtr_statemachine.h
r_mtr_statemachine.c
State machine function
definition
control/
r_mtr_parameter.h
Definitions of various
parameters
r_mtr_ctrl_gain_calc.obj
Control gain calculation
function definition
r_mtr_foc_action.c Action function definition
r_mtr_interrupt_carrier.c
Carrier interrupt function
definition
r_mtr_interrupt_timer.c
Cycle interrupt function
definition
r_mtr_interrupt_sensor.c
Sensor input interrupt function
definition
r_mtr_foc_control_encd_position.h
r_mtr_foc_control_encd_position.c FOC function definition

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Table 2-6 Configuration of Files for the Motor Control Program (2)
Directory
motor/
File Description
middle/
control/
r_mtr_foc_current.h
r_mtr_foc_current.c
Current control function
definition
r_mtr_foc_speed.h
r_mtr_foc_speed.c
Velocity control function
definition
r_mtr_foc_position.h
r_mtr_foc_position.c
Position control function
definition
r_mtr_position_profiling.h
r_mtr_position_profiling.c
Function for creating position
command values
r_mtr_ipd.h
r_mtr_ipd.obj IPD control function definition
r_mtr_speed_observer.h
r_mtr_speed_observer.obj
Velocity observer function
definition
driver/
inverter/
r_mtr_ctrl_mrssk.h
r_mtr_ctrl_mrssk.c
Inverter board dependent
function definition
mcu/
r_mtr_interrupt.c Interrupt function definition
r_mtr_ctrl_rx72m.h
r_mtr_ctrl_rx72m.c
MCU specific function
definition
r_mtr_ctrl_mcu.h MCU common definition
sensor/
r_mtr_ctrl_encoder.h
r_mtr_ctrl_encoder.c Encoder function definition
r_mtr_ctrl_hall.h
r_mtr_ctrl_hall.c Hall function definition
config/
r_mtr_config.h
Configuration common
definition
r_mtr_motor_parameter.h
Motor parameter configuration
definition
r_mtr_inverter_parameter.h
Inverter parameter
configuration definition
r_mtr_control_parameter.h
Control parameter
configuration definition
r_mtr_encoder_parameter.h
Encoder parameter
configuration definition

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Table 2-7 Configuration of Files for the EtherCAT Communications Program (1)
Directory
smc_gen/r_ecat_rx/
File Description
./
r_ecat_rx_if.h FIT module API definition
readme.txt
Attached document regarding
the FIT module
./doc/
en/
r01an4881ejxxxx-rx-ecat.pdf
Application Note (English
version)
ja/
r01an4881jjxxxx-rx-ecat.pdf
Application Note (Japanese
version)
./ref/
r_ecat_rx_config_reference.h Default definitions of options
for the FIT module
./src/
hal/
renesashw.h
renesashw.c
ESC access function
definition
phy/
phy.h, phy.c PHY control function definition
targets/
rx72m/
r_ecat_setting_rx72m.c MCU specific function
definition
./utilities/
rx72m/
batch_files/
apply_patch.bat
Batch file for modifying the
SSC source file
RX72M_Motor_YYMMDD.patch
Modification patch for the
single-chip motor control
program
esi/
RX72M EtherCAT MotorSolution.xml ESI file
ssc_config/
Renesas_RX72M_config.xml SSC configuration file
RX72M EtherCAT CiA402.esp SSC tool project file
Table 2-8 Configuration of Files for the EtherCAT Communications Program (2)
Directory
application/
File Description
./ecat
cia402sample.h
cia402sample.c
CiA402 application definition
SSC source file
Stored after applying the
batch file

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2.3.2 Software Module Configuration
Figure 2-2 shows the module configuration of the motor control program.
The files added or modified to control the motor control base project by EtherCAT communication are
enclosed in a red frame.
The frames with solid red lines indicate the files that have been added, and the frame with a broken red line
indicates the files that have been changed.
The major changes are listed below according to the module layer.
Table 2-9 Changes According to the Module Layer
Layer / Module
Related File
Description of File
Application layer
/ EtherCAT application
cia402sample.c
Application layer for the EtherCAT
communications program. This has the functions
of passing commands from the EtherCAT
master to the motor control program and
passing indicators of state from the motor
control program to the EtherCAT master.
Middle layer
/ EtherCAT interface module
r_ecat_dirver_acces.c
API functions for the interface between the
motor control program and the EtherCAT
communications program.
Middle layer
/ Control module
r_mtr_foc_control_encd_position.c
r_mtr_foc_speed.c
r_mtr_foc_position.c
These files convert the units of velocity [count/s]
and position [count] used in the CiA402 to the
units of velocity [rad/s] and position [rad] used in
the motor control program.

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Figure 2-2 Module Configuration of the Motor Control Program

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Figure 2-3 shows the module configuration of the EtherCAT communications program.
Figure 2-3 Module Configuration of the EtherCAT Communications Program
Category
SyncMan0 MbxOut SyncMan1 MbxIn SyncMan2 SyncMan3
FMMU n
FMMU n
FMMU n
FMMU n EtherCAT Slave Controller(ESC)
ESC Address Space
Registrers Mailbox Process Data
EtherCAT Processing Unit
And Auto-Forwarder with Loop Back
PHY
Management MII Port0 MII Port1
Object Dictionary
PDOSDO
PDO Mapping
Process Data Interface
CiA402 Drive Profile
Application
Application
Layer(AL)
DataLink
Layer(DL)
Physical
Layer(PL)
CoE
EoEFoE
VoE CoE
SSC Tool
Generate
SSC Tool
Generate
Motor contorol(user asset)
Mailbox DLL
Not Support
Support
Library
Provide

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2.4 Software Specifications
The basic software specifications of the sample program are listed below.
Table 2-10 Basic Specifications of the Motor Control Program
Item
Description
Control method
Vector control
Detection of rotor's
magnetic pole position
Incremental encoder (A phase, B phase), hall sensor (UVW phase)
Input voltage
DC 24 V
Carrier frequency (PWM)
20 [kHz] (carrier period: 50 [μs])
Dead time
2 [µs]
Control period (current)
50 [μs]
Control period (velocity,
position)
500 [µs]
Range of position
command values
Board UI
-180° to 180°
ICS UI
-32768° to 32767°
ETH UI
-2 147 483 648 [count] to 2 147 483 647 [count] *
2
Range of velocity
command values
CW: 0 [rpm] to 2000 [rpm]
CCW: 0 [rpm] to 2000 [rpm]
Positional resolution
0.3° (encoder pulse: 1000 [ppr], after multiplication by 4: 4000 [cpr])
Positional dead zone *
1
Encoder incrementing or decrementing by one t (±0.09°)
Frequencies specific to
the control systems
Current control system: 300 Hz
Velocity control system: 30 Hz
Position control system: 10 Hz
Protection stop
processing
The motor control signal outputs (6 lines) are set to the inactive level in
response to any of the following four conditions.
The current in any phase exceeds 3.82 A (monitored once every 50 µs).
The inverter’s main line voltage exceeds 28 V (monitored once every 50 µs).
The inverter’s main line voltage falls below 14 V (monitored once every 50
µs).
The rotational speed exceeds 3000 rpm (monitored once every 50 µs).
The PWM output pins are placed in the high-impedance state, when external
input of an overcurrent signal is detected (indicated by a falling edge on the
POE0# pin) or when an output short circuit is detected.
Note 1. The dead zone is provided to prevent hunting when deciding the position.
Note 2. [unit] here indicates the numbers counted from the encoder.

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Table 2-11 Basic Specifications of the EtherCAT Communications Program
Item
Description
Physical layer
100 BASE-TX (IEEE802.3)
Baud rate
100 [Mbps] (full duplex)
Number of communications ports
2
EtherCAT LED
RUN, ERR, STAT, L/A IN, or L/A OUT
Station ID
Specified by the device ID DIP switch block (6 bits)
Explicit device ID
Supported
Device profile
CiA402 device profile
Sync manager
4
FMMU
3
Communications objects
SDO (service data object)
PDO (process data object)
Synchronous mode
SM2 event synchronous mode
DC mode
Form of providing the protocol stack
The SSC tool project files for the sample program
are provided. A patch for the CiA402 application is
also provided. The EtherCAT communications
program can be created by applying the patch after
the protocol stack code has been generated by
using the SSC tool.

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3. CiA402 Drive Profile
The CiA402 drive profile is the device profile for drivers and motion controllers and mainly defines functional
operations for servo drives, sine wave inverter, and stepping motor controller. In this profile, the multiple
operating modes and corresponding parameters are defined as an object dictionary. Moreover, the finite
state automaton (FSA) to define the internal and external behavior in every state is included. To change the
status, set the control word object, then status word which shows the current status reflects the result after
transition. The control word and various command values (such as for velocity) are assigned to RxPDO, and
the status word and various actual values (such as for position) are assigned to TxPDO. For details, refer to
the CiA402 Specifications.
Figure 3-1 Flow of CiA402 Communications
PLC
AC servo unit
RxPDO
Operation commands
and target values
TxPDO
State of operation and
current position
Cyclic communications

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3.1 Operating Mode
Among the operating modes specified by the CiA402 standard, the sample program supports the following
modes.
Table 3-1 List of Supported Operating Modes
Operating Mode
Support
Profile position mode
Available
Velocity mode (frequency converter)
Not available
Profile velocity mode
Not available
Profile torque mode
Not available
Homing mode
Available
Interpolated position mode
Not available
Cyclic synchronous position mode
Available
Cyclic synchronous velocity mode
Available
Cyclic synchronous torque mode
Not available
Cyclic synchronous torque mode with commutation angle Not available
Manufacturer specific mode
Not available

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3.2 State Transitions
Among the finite state automata (FSAs) defined in the CiA402 standard, the sample program supports the
following modes.
In Figure 3-2, the state where torque is being applied through the motor is "Operation enabled". The motor is
activated at the times of transitions from "Switched on" to "Operation enabled" (transition 4). The motor is
deactivated at the times of transitions from "Operation enabled" to several other states (transitions 5, 8, 9).
However, at the times of transitions from "Operation enabled" to "Quick stop active" (transition 11) or the
timing of transition to "Fault reaction active" (transition 13), the application of torque is maintained.
Figure 3-2 CiA402 State Transition Diagram
Not ready to
Switch on
Switch on
disabled
Ready to
Switch on
Switched on
Operation
enabled
Quick stop
active
Fault
Fault reaction
active
0
1
2
3
4 5
6
7
9
8
10
12
15
13
16
Start
11
14