Renesas RX100 Series User Manual page 418

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(3) 16-Bit Phase Counting Mode Application Example

Figure 19.40 shows an example in which MTU1 is in phase counting mode, and MTU1 is coupled with MTU0 to input

2-phase encoder pulses of a servo motor in order to detect position or speed.

MTU1 is set to phase counting mode 1, and the encoder pulse A-phase and B-phase are input to MTCLKA and

In MTU0, MTU0.TGRC compare match is specified as the TCNT clearing source and MTU0.TGRA and MTU0.TGRC

are used for the compare match function and are set with the speed control period and position control period.

MTU0.TGRB is used for input capture, with MTU0.TGRB and MTU0.TGRD operating in buffer mode. The MTU1

count clock is designated as the MTU0.TGRB input capture source, and the widths of 2-phase encoder 4-multiplication

pulses are detected.

MTU1.TGRA and MTU1.TGRB for MTU1 are designated for the input capture function and MTU0.TGRA and

MTU0.TGRC compare matches in MTU0 are selected as the input capture sources to store the up/down-counter values

for the control periods.

This procedure enables the accurate detection of position and speed.

Figure 19.40

16-Bit Phase Counting Mode Application Example

R01UH0822EJ0100 Rev.1.00

Jul 31, 2019

(Speed period capture)

(Position period capture)

(Speed control period)

(Position control period)

(Pulse width capture)

(Buffer operation)

19. Multi-Function Timer Pulse Unit 3 (MTU3c)

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