Time Charts - Renesas RX24T Reference Manual

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

2.5 Time Charts

The figures below show the typical and maximum time charts in CP control mode.
The processing times in trajectory calculation were measured from a simulator, but the times for command
analysis and communications are those which are theoretically expected.
The timeout for waiting for a response in transfer is 100 µs. If there was no response during the response
waiting time, only a single retry is allowed. If timeouts occur twice in a row, a communications error is judged
to have occurred; communications operations are stopped and the servo is turned off. Accordingly, as shown
in Figure 2-5, the state that requires the maximum time is when a retry proceeds because a timeout had
occurred due to no response within 100 µs in the first attempt at transfer (78 commands) for both slave 1 and
slave 2, and the response to the second transfer occurred just before a timeout (99 µs).
0 s
5 µs
Command
analysis
Trajectory
calculation
0 s 25 µs
Communication
(78 commands)
Create transmit data (3 µs).
Transmission (78 commands: 60 µs
@2 Mbps − 8 + 3.5 characters)
Waiting for response (max. 100 µs)
Timeout (100 µs)
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
25 µs
Slave 1
Communication (78 commands)
Create transmit data (3 µs).
Transmission (78 commands 60 µs
@2 Mbps − 8 + 3.5 characters)
Waiting for
response
(50 µs)
Figure 2-4 Time Chart (Typ.)
188 µs
Communication
(retry of 78 commands)
Transmission (78 commands: 60 µs
@2 Mbps − 8 + 3.5 characters)
Waiting for response (max. 100 µs)
Reception of response (99 µs)
Figure 2-5 Time Chart (Max.)
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
153 µs 281 µs
Slave 2
Create transmit data (3 µs).
Transmission (79 commands: 40 µs
Response
processing @2 Mbps − 4 + 3.5 characters)
Details of
(15 µs)
processing
are the same
as that of
slave 1.
362 µs 525 µs
Slave 1
Response
processing
(15 µs)
Details of
processing are the
same as that of
slave 1.
424 µs
Communication
(79 commands)
Wait time after broadcast
(100 µs)
699 µs 842 µs
Slave 2
Communication
(79 commands)
For details on
processing, see
Figure 2-4.
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