Specifications Of Nc Software; Overview; Applicable Conditions And Functions - Renesas RX24T Reference Manual

Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers

2. Specifications of NC Software

2.1 Overview

This section gives a guide to use the RX72M-based robot arm trajectory control software (NC software) and
explains its algorithms.
The NC software for the RTK5572MNDS10000BE board is only provided in the Motorola format (.mot).

2.1.1 Applicable Conditions and Functions

The applicable conditions for the NC software are as follows:
• Two degrees of freedom (two axes)
• The angle of the arm joints can be sensed by the sensors.
• The singularity of the arm (arm shape being a straight line) should not be passed.
The functions implemented by the NC software are as follows:
• Trajectory control
 Interpolation calculation (linear 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)
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
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