Usage Notes - Renesas RX24T Reference Manual

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

3.3 Usage Notes

• Since the GUI and NC software do not have fail-safe functions or functions for preventing accidents or
defects, the user needs to implement functions for ensuring safety as required.
• The NC software is not capable of determining the cause of malfunctions or an unexpected stop of
operation. In such a case, issue a reset.
• When using the move_xxx command to stop operation, setting the end flag to 0 makes the motor operate
with acceleration = ∞, so vibration will occur. The position is shifted from the specified coordinates if
operation is stopped in such a manner. Therefore, the end flag should be set to 1 when operation is to be
stopped.
• When combining the move_xxx commands to change the traveling direction, setting the end flag to 0
makes the motor operate with acceleration = ∞ and vibration will occur. Therefore, when combining
operations (for example, continuous operation such as straight line ↔ arc or arc ↔ arc) while the end flag
is set to 0, make the direction be changed smoothly.
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Page 61 of 62