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Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
3. Operating the Demo System
This section explains the method of operating the demo system. Start by tuning the motors and demo system
and training in the demonstration operations through the GUI, and then operate the arm of the demo system
as desired.
3.1 Tuning
3.1.1 Adjusting the Offset
The position of a magnetic pole of a motor needs to be set correctly by software when a resolver is to be
used in driving a motor. Also, the offset of the current sensing value needs to be adjusted so that the current
can be adjusted to zero. This manipulation is called offset adjustment, and it should be according to the
following procedure. Since some of the adjustment cannot be handled normally if a load is attached to a
motor, each motor must have no load during the adjustment. Note that this manipulation only has to proceed
once because the result of offset adjustment is written to flash memory in the microcontroller. The offset will
not require re-adjustment even after the power has been turned off. However, the offset must definitely be
adjusted following a change to a motor or control board.
1. Connect an emulator (E1 or E2 Lite) to the 42-mm square board or 85-mm square board and write the
sample software for driving each of the motors (RX24T_ROBOT42_STM_RSLV_FOC for the 42-mm
square board and RX24T_ROBOT42_STM_RSLV_FOC for the 85-mm square board).
2. After disconnecting the emulator, connect a PC in which the RMW has been installed via the RMW
communication board.
3. Start the RMW and write 0 to com_u1_sw_userif in the control window to switch to the RMW operating
mode.
4. Write 7 to com_u1_system_mode to perform offset adjustment.
5. After reading the value in com_u1_system_mode and confirming that the value has become 0, write 8 to
com_u1_system_mode to perform flash programming.
6. Read the value in com_u1_system_mode. If the value has become 0, flash programming has been
completed and offset adjustment has finished.
The above manipulation has to be handled for both the 42-mm square motor and 85-mm square motor.
Upon completing the above procedure, follow the procedure below as a test operation to issue instructions
for the 90° and −90° positions to confirm whether movement to the desired positions is achieved. If the
operation does not proceed correctly, try adjusting the offset again.
1. Write 1 to com_u1_system_mode to start controlling the position.
2. Write 90 to com_f4_pos_ref_deg.
3. Write 1 to com_u1_enable_write and confirm that the motor is rotated clockwise by 90 degrees.
4. Write -90 to com_f4_pos_ref_deg.
5. Write 0 to com_u1_enable_write and confirm that the motor is rotated counterclockwise by 90 degrees.
6. Write 0 to com_u1_system_mode to stop controlling the position.
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Page 53 of 62
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