Renesas RA6T2 Application Note

Vector control for permanent magnetic synchronous motor with encoder - ab incremental type encoder

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RA6T2

Vector control for permanent magnetic synchronous motor with encoder - AB

incremental type encoder

Abstract

This application note describes the sample program for a permanent magnetic synchronous motor drive with

vector control using encoder based on Renesas RA6T2 microcontroller. This application note also describes

how to use the motor control development support tool, 'Renesas Motor Workbench'.

The targeted software for this application is only to be used as reference purposes only and Renesas

Electronics Corporation does not guarantee the operations. Please use this after carrying out a thorough

evaluation in a suitable environment.

Operation checking device

Operations of the target software of this application note are checked by using the following device.

- RA6T2 (R7FA6T2BD3CFP)

Contents

Overview ................................................................................................................................. 3

1.1

Development environment ...................................................................................................................... 3

System overview ..................................................................................................................... 4

2.1

Hardware configuration ........................................................................................................................... 4

2.2

Hardware specifications .......................................................................................................................... 5

2.2.1

User interface ........................................................................................................................................ 5

2.2.2

Peripheral functions ............................................................................................................................... 7

2.3

Software configuration ........................................................................................................................... 18

2.3.1

Software file configuration ................................................................................................................... 18

2.3.2

Module configuration ........................................................................................................................... 19

2.4

Software specifications .......................................................................................................................... 20

2.5

Interrupt Priority ..................................................................................................................................... 21

Descriptions of the control program ....................................................................................... 22

3.1

Contents of control ................................................................................................................................ 22

3.1.1

Motor start/stop.................................................................................................................................... 22

3.1.2

A/D Converter ...................................................................................................................................... 22

3.1.3

Modulation ........................................................................................................................................... 23

3.1.4

State transition..................................................................................................................................... 25

3.1.5

Start-up method ................................................................................................................................... 26

3.1.6

Position Profile Generation .................................................................................................................. 27

(Position Profile of Trapezoidal Curve for Speed Command Value) ............................................................... 27

R01AN6208EJ0101 Rev.1.01

Oct 18, 2022

APPLICATION NOTE

Page 1 of 71

Table of Contents

Summary of Contents for Renesas RA6T2

Page 1: Table Of Contents
’Renesas Motor Workbench’. The targeted software for this application is only to be used as reference purposes only and Renesas Electronics Corporation does not guarantee the operations. Please use this after carrying out a thorough evaluation in a suitable environment.
Page 2 Importing the Demo Project ........................55 Building and Debugging ........................56 Motor Demonstration Project Overview....................57 4.4.1 Quick Start ............................57 Motor Control Development Support Tool ‘Renesas Motor Workbench’ ..........58 4.5.1 Overview .............................. 58 4.5.2 Easy function operation example ......................59 4.5.3...
Page 3: Overview
1. Overview This application note explains how to implement the vector control with encoder software that drives permanent magnetic synchronous motor (PMSM) using the RA6T2 microcontroller and how to use the motor control development support tool, ‘Renesas Motor Workbench’. Note that this software uses the algorithm described in the application note ‘Vector control with encoder for permanent magnet synchronous motor (Algorithm)’...
Page 4: System Overview
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 2. System overview Overview of this system is explained below. 2.1 Hardware configuration The hardware configuration is shown below. RA6T2 A/D converter input Bus voltage...
Page 5: Hardware Specifications
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 2.2 Hardware specifications 2.2.1 User interface Table 2-1 and Table 2-2 is lists of user interfaces of this system. Table 2-1 User Interface Item Interface component...
Page 6 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder List of port interfaces of this system is given in Table 2-3. Table 2-3 Port Interfaces R7FA6T2BD3CFP port name Function PA06 / AN006 Inverter bus voltage measurement...
Page 7: Peripheral Functions
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 2.2.2 Peripheral functions List of the peripheral functions used in this system is given in Table 2-4. Table 2-4 List of the Peripheral Functions Peripheral...
Page 8 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder (1) 12-bit A/D Converter (12ADC) U-phase current (Iu), V-phase current (Iv), W-phase current (Iw), inverter bus voltage1 (Vdc), and speed command (VR) are measured in "Single scan mode" (use a hardware trigger).
Page 9 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 2-3 FSP Configuration of ADC Driver (FSP 3.5.0) [2/3] R01AN6208EJ0101 Rev.1.01 Page 9 of 71 Oct 18, 2022...
Page 10 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 2-4 FSP Configuration of ADC Driver (FSP 3.5.0) [3/3] R01AN6208EJ0101 Rev.1.01 Page 10 of 71 Oct 18, 2022...
Page 11 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder (2) Low Power Asynchronous General-Purpose Timer (AGT) The AGT is used as 500 [µs] interval timer. Figure 2-5 FSP Configuration of AGT Driver (FSP 3.5.0)
Page 12 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 2-6 FSP Configuration of GPT Driver for PWM output (FSP 3.5.0) (4) Phase Counting Timer (GPT) Channel 3 is used as phase counting mode2 to measure the phase difference between encoder phase A and B signal and counts the encoder input.
Page 13 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 2-7 FSP Configuration of GPT Driver for phase counting timer (FSP 3.5.0) [1/5] Figure 2-8 FSP Configuration of GPT Driver for phase counting timer (FSP 3.5.0) [2/5] R01AN6208EJ0101 Rev.1.01...
Page 14 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 2-9 FSP Configuration of GPT Driver for phase counting timer (FSP 3.5.0) [3/5] Figure 2-10 FSP Configuration of GPT Driver for phase counting timer (FSP 3.5.0) [4/5] R01AN6208EJ0101 Rev.1.01...
Page 15 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 2-11 FSP Configuration of GPT Driver for phase counting timer (FSP 3.5.0) [5/5] R01AN6208EJ0101 Rev.1.01 Page 15 of 71 Oct 18, 2022...
Page 16 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder (5) Free run timer (GPT) Channel 1 is used as a free run timer for speed measurement. Figure 2-12 FSP Configuration of GPT Driver for free run timer (FSP 3.5.0) R01AN6208EJ0101 Rev.1.01...
Page 17 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder (6) Port Output Enable for GPT (POEG) The port executing PWM output are set to high impedance state when an overcurrent is detected (when a low level of the GTETRGD port is detected) Figure 2-13 FSP Configuration of POEG Driver (FSP 3.5.0)
Page 18: Software Configuration
ICS2_RA6T2.h : Function definition for GUI tool Note 1 : Regarding the specification of Analyzer function in the motor control development support tool “Renesas Motor Workbench”, please refer to the chapter 4.5 the identifier “ics/ICS (ICS is previous motor control development support tool “In Circuit Scope”)”...
Page 19: Module Configuration
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 2.3.2 Module configuration Module configuration of the software is described below. Application Layer (User Application) Main User Interface Module mtr_main.c r_mtr_ics.c Set User Command to Buffer...
Page 20: Software Specifications
Item Content Control method Vector control Position detection Incremental encoder (A-B Phase) method SW1 input or input from ‘Renesas Motor Workbench’ Motor rotation start/stop Input voltage DC 24 [V] Main clock frequency 120 [MHz] Carrier frequency 20 [kHz] (Carrier period: 50 [μs]) (PWM) 2 [μs]...
Page 21: Interrupt Priority
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 2.5 Interrupt Priority Table 2-6 shows the interrupt and priorities used in this system. Table 2-6 Interrupt priority Interrupt level Priority function 500 [μsec] Interrupt handling...
Page 22: Descriptions Of The Control Program
3.1.2 A/D Converter (1) Motor rotation speed reference The rotation speed and position command value of the motor is determined from the input from ‘Renesas Motor Workbench’ or the output value (analog value) of VR1. Rotation speed and position command value from VR1 is measured as shown in the table below.
Page 23: Modulation
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.3 Modulation The target software of this application note uses pulse width modulation (hereinafter called PWM) to generate the input voltage to the motor. And the PWM waveform is generated by the triangular wave comparison method.
Page 24 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder As shown in the Figure 3-2, ratio of the output voltage pulse to the carrier wave is called duty. × 100 [%] Duty = Average...
Page 25: State Transition
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.4 State transition Figure 3-3 is a state transition diagram of the vector control with encoder software. In the target software of this application note, the software state is managed by “SYSTEM MODE”.
Page 26: Start-Up Method
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.5 Start-up method Figure 3-4 and Figure 3-5 show the software implementation of d-axis and encoder alignment method. The d-axis alignment method used as startup control of position control method, in initialization mode (MTR_MODE_INIT) and Boot mode (MTR_MODE_BOOT).
Page 27: Position Profile Generation
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.6 Position Profile Generation (Position Profile of Trapezoidal Curve for Speed Command Value) In vector control software for PMSM with encoder, the position profile generation is used to create command value (input position value).
Page 28: Speed Measurement
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.7 Speed Measurement 3.1.7.1 Speed calculation using encoder at low speed The sample software calculates the speed from the encoder count (A, B phase signal edge) intervals for higher real-time and slow speed resolution.
Page 29 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.7.2 Speed calculation using encoder at high speed When using the encoder during high-speed rotation, the speed is calculated from the number of input pulses in the control cycle.
Page 30: System Protection Function
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.8 System protection function This control software has the following error status and executes emergency stop functions in case of occurrence of respective errors. Table 3-5 shows each software threshold for the system protection function.
Page 31: Ad Triggers
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.1.9 AD triggers Shows the timing of AD triggers and scan groups. Timer start 50us Carrier cycle ADC trigger ADC trigger ADC trigger ADC trigger...
Page 32: Function Specifications Of Vector Control With Encoder Software
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.2 Function specifications of vector control with encoder software μ The control process of the target software of this application note is mainly consisted of 50[ s] period μ...
Page 33 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-6 List of Functions Executed in 50[µs] Period Interrupt (1/4) File name Function name Process overview Encoder control callback mtr_callback_event0 function Input : (motor_encoder_callback_args_t *) p_args mtr_main.c...
Page 34 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-7 List of Functions Executed in 50[µs] Period Interrupt (2/4) File name Function name Process overview rm_motor_driver_mod_run Calculates duty cycle Input : (motor_driver_modulation_t *) p_mod / Pointer to the...
Page 35 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-8 List of Functions Executed in 50[µs] Period Interrupt (3/4) File name Function name Process overview Angle/Speed Process in motor_current_angle_cyclic Cyclic Process of Current...
Page 36 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-9 List of Functions Executed in 50[µs] Period Interrupt (4/4) File name Function name Process overview motor_current_transform_dq_uvw_abs Coordinate transform dq Input : (const float) f_angle / Rotor angle...
Page 37 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-10 List of Functions Executed in 500[µs] Interrupt (1/2) File name Function name Process overview mtr_callback_encoder Encoder control callback Input : (motor_encoder_callback_args_t *) p_args...
Page 38 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-11 List of Functions Executed in 500[µs] Interrupt (2/2) File name Function name Process overview rm_motor_speed_first_order_lpf First Order LPF Input : (motor_speed_lpf_t *) p_lpf / First order LPF structure...
Page 39: Contents Of Control
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.3 Contents of control 3.3.1 Configuration Options The configuration options of the vector control with encoder module for motor can be configured using the RA Configurator. The changed options are automatically reflected to the hal_data.c when generating code.
Page 40 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-13 Configuration Options for Current Control Configuration Options (rm_motor_current.h) Options Description Shunt type Selects how many shunt resistances to use current detection. Please set to “1shunt”.
Page 41 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-14 Configuration Options for Speed Control [1/2] Configuration Options (rm_motor_speed.h) Options Description Speed control period (sec) The period of speed control process [sec]. Initial: 0.0005F Step of speed climbing (rpm) The step of speed fluctuation [rpm].
Page 42 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-15 Configuration Options for Speed Control [2/2] Configuration Options (rm_motor_speed.h) Options Description Speed PI Control parameter omega. Design parameter | Speed PI loop omega Initial: 30.0F...
Page 43 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 3-13 FSP Configuration of Motor Speed Controller (FSP 3.5.0) R01AN6208EJ0101 Rev.1.01 Page 43 of 71 Oct 18, 2022...
Page 44 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-16 Configuration Options for Position control module [1/2] Configuration Options (rm_motor_position.h) Options Description Position dead band Position dead band Initial: 1U Position band limit...
Page 45 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 3-14 FSP Configuration of Position control module (FSP3.5.0) R01AN6208EJ0101 Rev.1.01 Page 45 of 71 Oct 18, 2022...
Page 46 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-17 Configuration Options for Encoder sensing module Configuration Options (rm_motor_position.h) Options Description Pole pairs of target motor. Motor Parameter | Pole pairs Initial: 4U Motor Parameter | Resistance (ohm) Resistance of motor [ohm].
Page 47 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 3-15 FSP Configuration of Encoder sensing module (FSP3.5.0) R01AN6208EJ0101 Rev.1.01 Page 47 of 71 Oct 18, 2022...
Page 48 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Table 3-18 Configuration Options for Driver Access Configuration Options (rm_motor_driver.h) Options Description Shunt type Selects how many shunt resistances to use current Initial: 2shunt detection.
Page 49 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 3-16 FSP Configuration of ADC and PWM Modulation Driver (FSP 3.5.0) R01AN6208EJ0101 Rev.1.01 Page 49 of 71 Oct 18, 2022...
Page 50: Control Flowcharts
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.4 Control flowcharts 3.4.1 Main process Main process Initialization of FSP module Initialization of main variables User interface initialization Initialization of communication function for tools...
Page 51: Μs] Period Interrupt (Carrier Synchronized Interrupt) Process
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.4.2 50[µs] Period Interrupt (Carrier synchronized Interrupt) Process Carrier synchronous interrupt Encoder counter processing Get U phase and W phase current values Get inverter bus voltage value.
Page 52: 500 [Μs] Period Interrupt Process
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.4.3 500 [µs] Period Interrupt Process 500 [us] interrupt [INACTIVE] SYSTEM MODE [ACTIVE] Decide direction [INIT MODE] [DRIVE MODE] RUN MODE [BOOT MODE] [Unconfirmed] Current offset adjustment...
Page 53: Over Current Detection Interrupt Process
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.4.4 Over Current Detection Interrupt Process The overcurrent detection interrupt is an interrupt that occurs when either an external overcurrent detection signal is input at POEG pin, or an output short circuit is detected by the GTETRGD output level comparison operation.
Page 54: Encoder Signal Interrupt Processing
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 3.4.5 Encoder signal interrupt processing Encoder count capture interrupt [NO] Encoder alignment finished [YES] Encoder edge interval cumulation Encoder phase counter cumulation Encoder position calculation...
Page 55: Evaluation Environment Explanation
Motor Brushless DC Motor (BLY171D-24V-4000) On-chip debugging The RA6T2 CPU Card has an on-board debugger (J-Link OB), so there is no need to Emulator prepare an emulator. Table 4-2 shows the software requirements for build and debug Motor control software.
Page 56: Building And Debugging
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 2. Select “Existing Projects into Workspace”. Figure 4-2 Import Wizard Selection 3. Click “Browse…” button and select the demo project. Click Finish button and the demo project is imported.
Page 57: Motor Demonstration Project Overview
4.4 Motor Demonstration Project Overview 4.4.1 Quick Start When executing the sample code only in the evaluation environment without using Renesas motor workbench, the Quick Start Sample Project can be executed with the following procedure. (1) After turning on stabilized power supply or executing reset, LED1, and LED2 on the inverter board are both off and the motor stops.
Page 58: Motor Control Development Support Tool 'Renesas Motor Workbench
4.5 Motor Control Development Support Tool ‘Renesas Motor Workbench’ 4.5.1 Overview In the target software of this application note, the motor control development support tool “Renesas Motor Workbench” is used as a user interface (rotating/stop motor, set rotation speed reference, etc). Please refer to ‘Renesas Motor Workbench User’s Manual’...
Page 59: Easy Function Operation Example
Change the user interface to use Renesas Motor Workbench (1) Turn on "RMW UI". If it has already been turned on, turn it off and then turn it on again. Figure 4-6 Procedure for changing to use Renesas Motor Workbench Run the motor (1) Press the “Run” button (2) Enter the command position with the "Ref position"...
Page 60 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Stop the motor (1) Press the “Stop” button Figure 4-8 Motor stop procedure Processing when it stops (error) (1) Turn on "Reset" button. (2) Turn off “Reset” button Figure 4-9 Error clearing procedure R01AN6208EJ0101 Rev.1.01...
Page 61 Change the user interface to use Renesas Motor Workbench (2) Turn on "RMW UI". If it has already been turned on, turn it off and then turn it on again. Figure 4-11 Procedure for changing to use Renesas Motor Workbench Run the motor (3) Press the “Run” button (4) Enter the command speed with the "Ref speed"...
Page 62 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Stop the motor (1) Press the “Stop” button Figure 4-13 Motor stop procedure Processing when it stops (error) (1) Turn on "Reset" button. (2) Turn off “Reset” button Figure 4-14 Error clearing procedure R01AN6208EJ0101 Rev.1.01...
Page 63: List Of Variables For Analyzer Function
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 4.5.3 List of variables for Analyzer function Table 4-3 is a list of variables for Analyzer. These variables are reflected to the corresponding variables when the same values as g_u1_enable_write are written to com_u1_enable_write. However, note that variables with (*) do not depend on com_u1_enable_write.
Page 64: Operation Example For Analyzer
4.5.4 Operation Example for Analyzer Following example shows motor driving operation using Analyzer. Operation is using “Control Window” as shown in Figure 4-4. Regarding specification of “Control Window”, refer to ‘Renesas Motor Workbench User’s Manual’. - Change the user interface to Analyzer (1) Confirm the check-boxes of column [W?] for ‘com_u1_sw_userif’...
Page 65: Tuner Function
Figure 4-17 Procedure - Error cancel operation 4.5.5 Tuner function To use the Tuner function, use the executable file provided by Renesas Motor Workbench or "RA6T2_MCILV1_SPM_ENCD_FOC_TUNER_E2S_V100" included in the sample software. For details on how to use the Tuner function, refer to the Tuner function manual (R20AN0528) included in the Renesas Motor Workbench download file.
Page 66: Example Of Changing Communication Speed
The procedure for changing the communication speed of Renesas Motor Workbench with the sample software is shown below. See the Renesas Motor Workbench User's Manual for the values to change. Change the communication speed setting of the sample software (when the required communication rate is 10 Mbps) (1) Change the value of ICS_BRR in r_mtr_ics.h to 1.
Page 67: How To Use The Built-In Communication Library
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 4.5.7 How to use the built-in communication library The procedure for connecting to Renesas Motor Workbench using the built-in communication library without using the communication board with the sample software is shown below.
Page 68 (3) Change the value of USE_BUILT_IN in r_mtr_ics.h to 1. Figure 4-22 Modification of r_mtr_ics.h Change the communication baud rate setting of Renesas Motor Workbench to connect (1) Change the value to 921,600 with Baud rate Dialog from the Option menu of the Main Window.
Page 69 RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Figure 4-23 Baud rate setting R01AN6208EJ0101 Rev.1.01 Page 69 of 71 Oct 18, 2022...
Page 70: Reference Documents
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder 5. Reference Documents RA6T2 Group User’s Manual: Hardware (R01UH0951) RA Flexible Software Package Documentation Application note: ‘Sensorless vector control for permanent magnet synchronous motor (Algorithm)’...
Page 71: Revision History
RA6T2 Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder Revision History Description Rev. Date Page Summary 1.00 Dec, 09, 2021 First edition issued 1.01 Oct.18, 2022 For FSP V4.1.0 R01AN6208EJ0101 Rev.1.01 Page 71 of 71...
Page 72 Unit Products The following usage notes are applicable to all Microprocessing unit and Microcontroller unit products from Renesas. For detailed usage notes on the products covered by this document, refer to the relevant sections of the document as well as any technical updates that have been issued for the products.
Page 73 Renesas Electronics disclaims any and all liability for any damages or losses incurred by you or any third parties arising from the use of any Renesas Electronics product that is inconsistent with any Renesas Electronics data sheet, user’s manual or other Renesas Electronics document.

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