Renesas RZ/T2M User guide

Application Note
R12AN0124EJ0400 Rev.4.00 Page 1 of 65
Feb.28, 2023
RZ/T2M Group, RZ/T2L Group, RZ/N2L Group
CN032 AC Servo Solution Startup Guide (for EtherCAT)
Introduction
This manual explains the procedure for performing motion control by EtherCAT® communication using
Renesas Electronics CN032 AC Servo Solution Kit.
The sample program for RZ/T2M is dual core control, and by performing motion control with Cortex®-R52
and performing EtherCAT communication with Cortex®-R52, communication processing is possible without
degrading the processing performance of motion control.
Data is exchanged between the two cores via the shared memory, and by access right management using
the semaphore register, access conflict to the shared memory is prevented.
The sample program for RZ/T2L or RZ/N2L is single core control, and by performing motion control and
EtherCAT communication with Cortex®-R52.
EtherCAT communication processing implements the CiA402 drive profile and it is possible to evaluate more
practical control.
For details of each function, you can download documents separately from the Renesas Electronics website.
<<Caution when handling the solution board>>
Don't touch the board while power is supplied because CN032 AC servo solution board contains high
voltage circuits.
Target Device
RZ/T2M Group
RZ/T2L Group
RZ/N2L Group
Related Document
CN032 AC Servo Solution Hardware Manual (for RZ/T2M, RZ/N2L)
CN032 AC Servo Solution Hardware Manual (for RZ/T2L)
CN032 AC Servo Solution Firmware Manual
CN032 AC Servo Solution Startup Guide (for Motion Utility Control)
CN032 AC Servo Solution Startup Guide (for EtherCAT) (this manual)
RZ/T2M Group User’s Manual: Hardware
RZ/T2L Group User’s Manual: Hardware
RZ/N2L Group User’s Manual: Hardware
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Contents
1. Operating Environment............................................................................................................4
2. Preparation of CN032 AC Servo Solution Kit ...........................................................................5
2.1 Connecting the Logic and Motor Power .................................................................................................. 5
2.2 Connecting the Motor Windings .............................................................................................................. 5
2.3 Connecting the Encoder .......................................................................................................................... 6
2.4 Connecting the UART communication cable .......................................................................................... 6
2.4.1 RS232 to USB ....................................................................................................................................... 6
2.4.2 RS485 to USB ....................................................................................................................................... 7
2.4.3 Selection for RS232 and RS485 ........................................................................................................... 7
2.5 Connecting the JTAG interface ............................................................................................................... 7
2.6 Connecting the Ethernet Interface........................................................................................................... 8
2.7 Overall connection configuration ............................................................................................................. 8
2.8 Power supply to the board....................................................................................................................... 9
3. Preparing EtherCAT Communication.....................................................................................10
3.1 TwinCAT®3 Installation.......................................................................................................................... 10
3.2 Copying the ESI File.............................................................................................................................. 14
4. Confirm Communication with TwinCAT®3 ..............................................................................15
4.1 Starting TwinCAT®3............................................................................................................................... 15
4.2 Checking the Communication Status .................................................................................................... 19
4.3 CiA402 Drive Profile Operation ............................................................................................................. 21
4.3.1 Operation mode setting ....................................................................................................................... 21
4.3.2 Profile Position Mode (pp) ................................................................................................................... 22
4.3.3 Cyclic Synchronous Position Mode (csp)............................................................................................ 25
4.3.4 Cyclic Synchronous Velocity Mode (csv) ............................................................................................ 27
5. CiA402 Drive Profile ..............................................................................................................30
5.1 Operation Modes ................................................................................................................................... 30
5.2 State Transition ..................................................................................................................................... 31
5.3 Object Dictionary ................................................................................................................................... 31
5.4 Implementing the Motor Control Program ............................................................................................. 33
6. Appendix ...............................................................................................................................40
6.1 Preparation in advance ......................................................................................................................... 40
6.1.1 Power Supply ...................................................................................................................................... 40
6.1.2 Generating the Slave Stack Code ....................................................................................................... 41
6.2 Development Environments Install........................................................................................................ 44
6.3 Program Writing Procedure................................................................................................................... 45
6.3.1 Program writing by IAR EWARM......................................................................................................... 45

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6.3.2 Program writing by Renesas e2studio ................................................................................................ 47
6.4 Debugging the Sample Project.............................................................................................................. 50
6.4.1 Debugging the Sample Project in IAR EWARM.................................................................................. 50
6.4.2 Debugging the Sample Project in Renesas e2studio.......................................................................... 53
6.5 EEPROM Data Update on CN032 AC Servo Solution.......................................................................... 61
Revision History ............................................................................................................................65
How to Use This Manual
1. Purpose and Target Readers
This manual is designed to provide the user with an understanding of the set-up of the CN032 AC Servo
Solution Kit. It is intended for users evaluating the RZ/T2M or RZ/N2L. A basic knowledge of electric circuits,
logical circuits, and MCUs is necessary in order to use this manual. The manual comprises a step-by-step
description of the installation and initial usage of an application software package that includes the CN032
AC Servo Solution Kit package.
Particular attention should be paid to the precautionary notes when using the manual. These notes occur
within the body of the text, at the end of each section, and in the Usage Notes section.
The revision history summarizes the locations of revisions and additions. It does not list all revisions. Refer to
the text of the manual for details.
2. List of Abbreviations and Acronyms
Abbreviation Full Form
CPU Central Processing Unit
PC Personal Computer
UART Universal Asynchronous Receiver / Transmitter
FSP Flexible Support Package
FSA Finite State Automaton
SSC Slave Stack Code
All trademarks and registered trademarks are the property of their respective owners.

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1. Operating Environment
The sample program in this manual assumes the following environment.
Item
Contents
RZ/T2M edition
RZ/T2L edition
RZ/N2L edition
CPU
Series
RZ/T2M
Dual Arm Cortex®-R52
RZ/T2L
Single Arm Cortex®-R52
RZ/N2L
Single Arm Cortex®-R52
Package
R9A07G075M24:
225-pin FBGA
R9A07G074M08:
196- pin FBGA
R9A07G084M04:
225-pin FBGA
Operating frequency
800MHz
800MHz
400MHz
Operation mode
xSPI0 boot mode (x1 boot Serial flash)
Operating voltage
3.3V/1.8V/1.1V
Communication protocol
EtherCAT
Integrated development
environment
Refer to Appendix 6.2 on how to
install.
IAR Systems Embedded Workbench for ARM
Version 9.30.1
Version 9.32.1(**)
Version 9.30.1
Renesas Electronics e2studio
Version: 2022-04
Version: 2023-01
Version: 2022-07
Renesas Electronics FSPSC (*)
Version: 2022-04
Version: 2023-01
Version: 2022-07
Flexible Support Package
(FSP)
RZT FSP v1.0.0
RZT FSP v1.2.0
RZN FSP v1.0.0
Emulator
IAR Systems
I-jet
SEGGER
J-Link EDU Version 11.0
SSC Tool
Provided by EtherCAT Technology Group (ETG)
Slave Stack Code (SSC) Tool Version 5.12
Software PLC
Beckhoff Automation
TwinCAT
®
3
(*) FSP SC (Smart Configurator) is a code generation tool for IAR Embedded Workbench.
(**) After install EWARM 9.32.1, apply patch file for RZ/T2L. The patch file is available from URL below.
https://www.renesas.com/jp/ja/document/sws/rzt-fsp-packs-v120?r=25412341
Table 1-1 Operation Environment
The installation of the integrated development environment, SSC Tool, software PLC has been completed.

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2. Preparation of CN032 AC Servo Solution Kit
The first step of getting started with the CN032 AC Servo Solution Kit is connecting the power supply, the
motor, the encoder and the communication cable. Follow the steps using the cables and the motor included
with the kit.
2.1 Connecting the Logic and Motor Power
The power can be inputted from 100V to 250V AC. From this chapter onwards, the procedure for operating
the 220V AC servo motor control system with 220V AC power supply is described.
The power consumption when the controller is idle is around 0.288A but can go up to 0.312A depending on
the connected encoders, sensors and other loads.
The motor that is delivered with the kit is prepared for 220V operation. Power is supplied via 12-pin
connector P4 on the inverter board as shown in Figure 2-1. The 4-pin cable for P4 is included in the kit.
Note: It is recommended to use separate power supplies for logic and motor.
Figure 2-1 power connection via P4
2.2 Connecting the Motor Windings
The motor windings are connected using P4 on the inverter board. When connecting, you need to consider
the signal names printed on the motor cable and the inverter board. Figure 2-2 shows the position of the
connections for the motor windings.
Note: silk for U/W on the inverter board is wrong printed.
Figure 2-2 Connecting the motor windings to P4
Logic power supply
Motor power supply
L2 L1
Motor windings
Motor FG(EARTH)
UV W

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2.3 Connecting the Encoder
The encoder is connected to J13 on the controller board via a DB 15 connector. A second encoder (not
included in the kit) can be connected to J14 if desired. The position of J13 on the controller board is
illustrated in Figure 2-3. The encoder of the motor that is supplied with the kit is prepared for immediate
connection. AC Servo Solution Kit is supported Tamagawa encoder.
Figure 2-3 Connecting the encoder
2.4 Connecting the UART communication cable
2.4.1 RS232 to USB
Communication with the host PC is done via a serial interface available on J5 of the controller board. The
RS232 to USB converter is used when connecting. A suitable serial cable is included in the kit. The
connection is shown in Figure 2-4.
Figure 2-4 Serial connection to host PC
Table 2-1 Connection RS232 to USB Converter with controller board
RS232 to USB converter
J5
Note
TXD(Green)
RXD(J5-1)
RXD(White)
TXD(J5-2)
NC
3V3(J5-3)
Connection is not needed
GND(Black)
GND(J5-4)
J14
J13
Encoder connector
RS232 to USB Converter
J5

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2.4.2 RS485 to USB
The RS485 to USB converter is connected the J6 or J8 of the controller board.
Table 2-5 is shown the connection with controller board.
Figure 2-5 Serial connect to host PC
2.4.3 Selection for RS232 and RS485
RS232 or RS485 can be selected by SW2-1 according to Table 2-2.
Table 2-2 Communication selection
RS232
RS485(default)
SW2-1
ON
OFF
SW2 on the board
2.5 Connecting the JTAG interface
This connection is required for development purposes or in case new firmware has to be loaded. The
JTAG connector is using a MIPI10 connector (as specified by IAR). The pins are spaced 1.27mm apart
and the connector is polarized.
The connection is shown in Figure 2-6.
Figure 2-6 Hardware debugger connection
RS485 to USB Converter
J8
J6
J15
ICE debugger

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2.6 Connecting the Ethernet Interface
An Ethernet connection to the PC or a PLC can be prepared using one of the two RJ-45 connectors J11 or
P12. For running the EtherCAT sample program you can use any of the two connectors.
Figure 2-7 Ethernet connection
2.7 Overall connection configuration
After connecting chapter 2.1 to 2.6 above, the boards will look like the figure below.
Figure 2-8 Overall connection configuration
J11
Ethernet cable
J12
2.1 Power supply
2.2 220V AC Motor
2.3 Encoder
Board connection
2.4 Serial communication
2.6 Ethernet

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2.8 Power supply to the board
①xSPI0 boot mode setting
Set SW1 of the controller board to the following.
②Power supply to the inverter board, and then the red lamp lights up.
Additionally, the controller board is supplied 5V DC power from inverter board and then LED1 lights up.
If LED7 does not light up, program for motor control is not written to the flash memory. So, the program need
to be written to the flash memory according to the chapter 6.1 and 6.3.
Power lamp of the inverter board
Power LED of the controller board

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3. Preparing EtherCAT Communication
This chapter describes a couple of steps required before actually running the EtherCAT sample project on
the RZ/T2M, RZ/T2L or RZ/N2L.
3.1 TwinCAT®3 Installation
The TwinCAT®3 installation is straight forward and simple. You can download TwinCAT®3 from
http://www.beckhoff.com/english/download/tc3-downloads.htm?id=1905053019883865
Please keep in mind that screen shots and operation method may change without notice for newer
versions of the software. Above URL will lead you to a screen as shown in Figure 3-1.
Figure 3-1 TwinCAT®3 Download Screen
Select the TE1xxx|Engineering software package for download. If you are no registered user, you can
register and download as guest; the registration is free of charge. You will then get an e mail with a download
link. After download, TwinCAT®3 can be installed on your PC. The installation procedure guides you through
a number on steps that we will not detail here; simply follow the default installation.

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•The installation procedure asks for a serial number. This field can be left empty.
•In the ‘Select Installation Level’ dialog select TwinCAT PLC – IEC 61131-3 PLC system
•In the ‘Select Installation Type’ dialog select 30 days demo version (the functions that are
required to run our example last longer than 30 days)
•Install all features
•Target directory for the installation should be C:\TwinCAT
After installation one important point needs to be checked in order to control whether the installation has
completed properly. It is the selection of the network adapter for TwinCAT®3. To check that, start
TwinCAT®3 and in the start-up screen select “Show Realtime Ethernet Compatible Devices” from the
“TwinCAT” menu (see Figure 3-2).
Figure 3-2 Checking available network adapters for TwinCAT®3
TwinCAT®3 will then show you a list of the network adapters in your PC, grouped into several categories.
There should be at least one adapter listed under “Compatible devices” as shown in Figure 3-2. Select
one of the compatible devices and click “Install”. The network adaptor is then moved to the “Installed and
ready to use devices (realtime capable)” category.

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Figure 3-3 Selecting a compatible network adapter
Check the properties of the network adapter that you use for the EtherCAT connection. Open the Network
and Sharing Center in MS Windows, right-click on the network adapter used for EtherCAT and select
“Properties”. You will then see a list of supported protocols and/or services for this adapter similar to Figure
3-4.
Please uncheck all items that are not EtherCAT related as shown in the screenshot. Then retry to scan for
devices.

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Figure 3-4 Setting the network adapter used for EtherCAT

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3.2 Copying the ESI File
Obtain the ESI (EtherCAT Slave Information) file " Renesas_CN032_AC_Servo_Solution_CiA402.xml " file
from the following location shown in Figure 3-5.
Case of the AC Servo Solution Kit (RZ/T2M)
“\r12an0123xxXXXX-cn032-ac-servo-solution\Software\Firmware\rzt2m\Common\ethercat\src\r_ecat\utilities\esi”
Case of the AC Servo Solution Kit (RZ/T2L)
“\r12an0123xxXXXX-cn032-ac-servo-solution\Software\Firmware\rzt2l\Common\ethercat\src\r_ecat\utilities\esi”
Case of the AC Servo Solution Kit (RZ/N2L)
“\r12an0123xxXXXX-cn032-ac-servo-solution\Software\Firmware\rzn2l\Common\ethercat\src\r_ecat\utilities\esi”
Then, copy the obtained file to the following folder, in which TwinCAT®3 has been installed:
“\TwinCAT\3.x\Config\Io\EtherCAT”
Figure 3-5 Copying the ESI file

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4. Confirm Communication with TwinCAT®3
4.1 Starting TwinCAT®3
(1) Start the "TwinCAT XAE" program by one of the following methods.
1. From the task tray, select [TwinCAT Config Mode] > [TwinCAT XAE (VS2013)]
2. From the start menu, select [All Programs] > [Beckhoff] > [TwinCAT 3] > [TwinCAT XAE (VS2013)]
(2) After starting the program, select [New TwinCAT Project] as shown in Figure 4-1 and create a new
project of type TwinCAT XAE Project. Note that the creation of the new project may take several 10
seconds and watch the progress bar in the lower right corner of the TwinCAT®3 window.
Figure 4-1 TwinCAT®3 start-up screen

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Figure 4-2 Creating a new project
When the project is created, open the “TWINCAT” menu, chose “EtherCAT Devices” and execute “Reload
Device Descriptions”. This ensures, that the device description (aka .ESI file), that you have copied into the
TwinCAT®3 installation file structure in chapter 3.2 can really be used in our project.
Make sure that the CN032 AC Servo Solution firmware project on the RZ/T2M, RZ/T2L or RZ/N2L is up and
running before the next steps in TwinCAT®3. When the project is not up and running, see chapter 6 to
execute the project.

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(3) Right-click [Devices] and select [Scan] (Figure 4-3)
After you have clicked [Scan], you will be prompted that not all devices in the network can be found
automatically. Click ok. TwinCAT®3 will then show you a list of available devices in the network. Select the
[EtherCAT] device connected to the network controller that you use for the CN032 AC Servo Solution board
(see Figure 4-4) and click ok
Figure 4-3 Scanning the network for new devices
(4) Select only [EtherCAT] and click [OK].
Figure 4-4 Selecting the proper EtherCAT device

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Note). When scanning the device, the CiA402's ESI is used, so the axis configuration settings are displayed.
Select [NC-Configuration]
After clicking ok you will be prompted, whether you want to “scan for boxes” and to “activate Free Run”. In
both cases click “yes”. When Free Run was activated, the RUN and ERR LEDs begin flashing and the L/A IN
LED is flashing rapidly.
Note that if you repeat the “Scan” process in the same project in the same environment, you will be informed
that no new devices were found. This is no bad thing as there has been no change in the network.
(5) The scan result is displayed as "Drive x (CN032 AC Servo Solution CiA402)".
Figure 4-5 Result of scan for EtherCAT slave devices
When the scan result is displayed as "Box 1 (Pxxxxxxxx Rxxxxxxxx)” as like Figure 4-6. EEPROM data
should be written according to chapter 6.5. After EEPROM write, Box 1 will be displayed as "Drive x (CN032
AC Servo Solution CiA402)". EEPROM rewrite is described in chapter 6.5.
Figure 4-6 Result of scan for unknow devices
Your TwinCAT®3 project is now ready for operation.

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4.2 Checking the Communication Status
To confirm that TwinCAT®3 and the software on the RZ/T2M are running properly, it is recommended to
check the communication status in TwinCAT®3. For the check, double click the "Drive 2 (CN032 AC Servo
Solution CiA402)” device (1), select the “Online” tab (2) and check, whether the current state is “OP” (3).
Figure 4-7 Checking the communication status
In case that the current state is not “OP” (i.e. “INIT”) please restart establishing the communication with the
[Restart TwinCAT (Config Mode)] button shown in Figure 4-8. You will then be prompted for
•Restarting TwinCAT System in Config Mode
•Loading I/O Devices
•and Activating Free Run
In all three dialogues simply click “yes”. When communication is re-established, the device state in the
“Online” tab must change to “OP” as shown in Figure 4-7.
3
2
1

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Figure 4-8 Restarting TwinCAT®3 system in config mode