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Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
Table 1-6 MCU Pin Assignment (85-mm Square Board) (2/2)
Pin
No.
Pin Name
55
AN101
56
AN100
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".
Position
profiling
θ
_reference
Figure 1-10 Vector Control of a 2-Phase Stepping Motor with a Resolver
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
I/O
Function of Connected Signal
I
Motor current detection B
I
Motor current detection A
Interrupt Process (250 us)
ω
_reference
ω*
Position P
Speed
+ Speed FF
PI
θ*
IPD controller
+ Position P + Speed FF
Switch
Position/Speed loop controller
ω
θ
ω*
Switch
Position/Speed
loop mode
AD Scan End Interrupt Process (50 us)
i
q
_reference
i
*
d
Flux-
Current
i
**
i
*
+
q
q
weakening
PI
v
**
i
i
ω
i
i
q
q
d
q
d
Decoupling
control
i
*
i
*
d
q
Speed
observer
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Connection
Destination
RDC
RDC
+
v
*
v
v
dq
d
Voltage
α
-
error
v
*
v
v
*
compen
q
q
Voltage
β
-sation
αβ
+
limit
v
**
θ
d
θ
ω*
i
i
dq
d
α
i
q
i
β
αβ
ω
Angle/
θ
Phase
Speed
detection
conv
ー
A
α
A
M
PWM
v
β
B
ー
B
Resolver
RDC
Page 19 of 62
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