Basic Manipulation; Procedure For Operations - Renesas RX24T Reference Manual

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

2.3 Basic Manipulation

The angle of the API to be defined in this section is the angle from the Y axis in a clockwise direction, as
shown in the figure in section 2.4.3. The arm lengths L1 and L2 are also those shown in the figure in section
2.4.3.

2.3.1 Procedure for Operations

The following table shows the sequence from turning on the power of the system, setting the offset, and
applying CP control.
Table 2-2 Operation Procedure
Step Description
1 Turn on the power of the system.
2 Turn on the servo.
3 Move the motor origin.
4 Turn off the servo.
5 Move the arm to the work origin (120, 120) by
hand.
6 Read out the joint angle (encoder value).
7 Set the offset (calibration).
The RX72M calculates the coordinate system
to be used in trajectory calculation from the
offset that was set.
8 Turn on the servo.
9 Set the CP mode.
10 Issue a CP control command.
11 The arm is stopped because the entered
operation has been completed or the stop
command has been issued.
12 Return to the motor origin.
Be sure this is handled after the
interrupt_stop command has been issued.
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Manipulation or
Command

GUI button
setup_motorzero
GUI button

output_state
setup_workzeroangle
GUI button
GUI button
setup_workzero,
move_line,
move_circle
interrupt_stop
setup_motorzero
Enabling/Disabling of
Coordinates and
Offset
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
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