Table Of Contents - Renesas RX24T Reference Manual

Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
Contents
1. Specifications of the Demo System ......................................................................................... 6
1.1 Overall Configuration of the Demo System ............................................................................................. 6
1.2 Motor Control Board .............................................................................................................................. 10
1.2.1 Hardware Specifications ...................................................................................................................... 10
1.2.2 Software Specifications ....................................................................................................................... 19
1.3 NC Board ............................................................................................................................................... 20
1.4 Stepping Motors .................................................................................................................................... 21
1.5 Mechanical Parts ................................................................................................................................... 23
1.6 GUI ........................................................................................................................................................ 26
1.7 Assembly and Wiring ............................................................................................................................. 27
2. Specifications of NC Software ............................................................................................... 31
2.1 Overview ................................................................................................................................................ 31
2.1.1 Applicable Conditions and Functions .................................................................................................. 31
2.2 Definition of the Control Coordinate System ......................................................................................... 32
2.3 Basic Manipulation ................................................................................................................................ 33
2.3.1 Procedure for Operations .................................................................................................................... 33
2.3.2 List of Commands and APIs ................................................................................................................ 34
2.3.3 Output Format of output_state ............................................................................................................ 35
2.3.4 List of Parameters ............................................................................................................................... 36
2.3.5 Error Processing .................................................................................................................................. 37
2.4 Implementation Method ......................................................................................................................... 40
2.4.1 Calculations for Interpolation ............................................................................................................... 40
2.4.2 Acceleration or Deceleration Calculation ............................................................................................ 43
2.4.3 Joint Angle Calculation ........................................................................................................................ 45
2.4.4 Error Correction ................................................................................................................................... 47
2.5 Time Charts ........................................................................................................................................... 48
2.6 List of Used Peripheral Functions and Pins .......................................................................................... 49
2.6.1 SCI6 and SCI10................................................................................................................................... 50
2.6.2 CRC ..................................................................................................................................................... 51
2.7 Project Configuration ............................................................................................................................. 52
2.7.1 Operating Conditions ........................................................................................................................... 52
2.7.2 Configuration Image ............................................................................................................................ 52
3. Operating the Demo System .................................................................................................. 53
3.1 Tuning .................................................................................................................................................... 53
3.1.1 Adjusting the Offset ............................................................................................................................. 53
3.1.2 Adjusting the Resonance Suppressing Filters .................................................................................... 54
3.2 Demonstrations by GUI ......................................................................................................................... 57
3.2.1 Preparations ........................................................................................................................................ 57
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
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