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Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
2.6.1 SCI6 and SCI10
In asynchronous mode, SCI6 is used for communication between PC-GUI and RX72M and SCI10 is used for
communication between RX72M and RX24T. Table 2-11 shows the settings of SCI6 and Table 2-12 shows
the settings of SCI10.
Table 2-11 SCI6 Setting
Item
Serial communication mode
Start-bit detection
Data length
Parity
Stop bit
Data transfer direction
Transfer speed
Noise filter
Hardware flow control
Data match detection
Data processing
Interrupts
Callback functions
Input/output pins
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
Setting
Asynchronous mode
Low level of RXD6 pin
8 bits
Disabled
1 bit
LSB first
• Transfer clock: Internal clock
• Bit rate: 115200 bps
• Bit rate modulation: Disabled
• SCK6 pin function: SCK6 is not used
Used
Disabled
Disabled
Processing of transmit data: Processed in interrupt service
routine
Processing of receive data: Processed in interrupt service
routine
Priority of TXI6: 6
Priority of RXI6: 6
Receive error interrupt: Enabled
Priority of TEI6 or ERI6 (group BL0): 6
Transmission complete
Reception complete
Receive error
• Output: TXD6 (P00)
• Input: RXD6 (P01)
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
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