Renesas Evaluation System User Manual
User's Manual
R12UZ0065EJ0110 Rev.1.10 Page 1 of 54
2020.11.06
Evaluation System for Stepping Motor with Resolver
User's Manual
Safety Precautions
Be sure to read this manual before using the Evaluation System for Stepping Motor with Resolver
(RTK0EMX270S01020BJ) (Called "this product" below).
・ Follow the instructions in this manual when using this product.
・ Keep this manual near this product so you can refer to it whenever necessary.
・ Transfer or sale of this product to third parties is prohibited without written approval.
・ The purchaser or importer of this product shall ensure compliance with local regulations. In addition, the
customer is responsible for ensuring that this product is handled correctly and safely, in accordance with the laws
of the customer's country (region).
・ The manuals and specifications related to this product (called "the documents, etc." below) are tools that were
developed for the function and performance evaluation of Renesas Electronics semiconductor devices (called
"Renesas Electronics devices" below) mounted on this product and do not guarantee the quality, function, and
performance equivalent to Renesas Electronics products.
・ By purchasing this product or downloading the documents, etc. from Renesas Electronics website, the support
services provided from Renesas Electronics are not guaranteed.
・ All information contained in this manual represents information on products at the time of publication of this
manual. Note that the product data, specifications, contact for inquiries, contents of website, address, etc., are
subject to change by Renesas Electronics Corporation without notice. Confirm the latest information on Renesas
Electronics website, etc.
In this manual, items related to the safe use of the product are indicated as described below.
■The degree of injury to persons or damage to property that could result if the designated instruction in this manual
is not followed is indicated as follows.
Danger
Indicates a thing that, if not followed, could result in
death or serious injury(*1) to the user, and which is
highly imminent.
Warning
Indicates a thing that, if not followed, could result in
death or serious injury to the user.
Caution
Indicates a thing that, if not followed, could result in
injury(*2) to persons or physical damage(*3).
*1 Serious injury refers to conditions resulting in persistent after-effects and for which treatment would
necessitate hospitalization or regular hospital visits, such as loss of eyesight, burns (high- or low-
temperature), electric shock, bone fracture, poisoning, or other injuries.
*2 Injury refers to conditions for which treatment would necessitate hospitalization or regular hospital visits.
*3 Physical damage refers to damage affecting the wider surroundings, such as the user's home or property.
Meaning of Notations
R12UZ0065EJ0110
Rev.1.10
2020.11.06
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■Requirements related to the handling of the product are classified into the following categories.
・Marks indicating that an action is prohibited
General prohibition
The indicated action is prohibited.
(Example) Do not touch.
Touching the specified location could
result in injury.
・Marks indicating that an action requires caution.
General caution
Indicates a general need for caution
that is not specified.
(Example) High temperature
Indicates the possibility of injury due to
high temperature.
・Marks directing that the specified action is required
General instruction
The specified action is required.
(Example) Turn off (disconnect) power.
Instructs the user to turn off (disconnect)
the power to the product.
Danger
・The product should be used only by persons having a thorough knowledge of electrical and mechanical
components and systems, a full knowledge of the risks associated with handling them, and training in
inverter motor control and handling motors, or equivalent skills (called "users" below). Users should be
limited to persons who have carefully read the Caution Items contained in this manual.
・Unlike typical equipment, this product has no protective case to ensure safety, and it contains moving
parts and high-temperature components that could be dangerous. Do not touch the evaluation board or
cables while power is being supplied.
・Carefully check to make sure that there are no pieces of conductive materials or dust adhering to the
board, connectors, and cables.
・There are moving parts, driven by a motor. Do not touch the motor while power is being supplied.
・Ensure that the motor is insulated and placed in a stable location before supplying power.
Do not connect load to motor.
・This could cause fire, burns, or injury.
Warnings Regarding Use of the Product
■Danger Items
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Warning
Caution - Rotating parts
・The system includes a motor. Touching the rotating shaft could cause high-temperature burns or injury.
Insert plugs, connectors, and cables securely, and confirm that they are fully inserted.
・Incomplete connections could cause fire, burns, electric shock, or failures.
Use the power supply apparatus specified in the manual.
・Failure to do so could cause fire, burns, electric shock, injury, or failures.
Stop supplying power and unplug all cables when the product will not be used for a period of time or when
moving the product.
・Failure to do so could cause heat, fire, burns, electric shock, or failures.
・This will protect the product against damage due to lightning.
Use a mechanism (switch, outlet, etc.) located within reach to turn off (disconnect) the power supply.
・If an abnormality occurs, it may be necessary to cut off the power supply quickly.
Stop supplying power immediately if you notice abnormal odor, smoke, abnormal sound, or overheating.
・Continuing to use the product in an abnormal condition could cause fire, burns, or electric shock.
Do not disassemble, modify, or repair the product.
・Doing so could cause fire, burns, electric shock, injury, or failures.
Do not use this product for any purpose other than initial evaluation of motor control in a testing room or
laboratory.
Do not integrate the product or any part of it into other equipment.
Do not insert or remove cables or connectors when the product is powered on.
・The product has no safety case.
・Failure to observe the above could cause fire, electric shock, burns, or failures.
・The product may not perform as expected if used for other than its intended purpose.
Caution
High temperature
・The motor gets hot. Touching it could cause high-temperature burns.
Follow the procedure specified in the manual when turning the power to each system on or off.
・Failure to do so could cause overheating or failures in devices.
Attention to static charge
Before using this product, wear an antistatic wrist strap. If you touch this product with a static
charge on your body, a device failure may occur or operation may become unstable.
Before using this product, mount the ferrite core near this product on each cable for connecting
this product and stabilized power supply.
・Failure to do so could interfere with operation of other devices or cause failures in the devices.
■Warning Items
■Caution Items
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Information Related to Regulations
European Union regulatory notices
This product complies with the following EU Directives. (These directives are only valid in the European Union.)
CE Certifications:
・Electromagnetic Compatibility (EMC) Directive 2014/30/EU
EN61326-1 : 2013 Class A
WARNING: This is a Class A product. This equipment can cause radio frequency noise when used in the
residential area. In such cases, the user/operator of the equipment may be required to take
appropriate countermeasures under his responsibility.
・Information for traceability
・Authorised representative
Name: Renesas Electronics Corporation
Address: Toyosu Foresia, 3-2-24, Toyosu, Koto-ku, Tokyo 135-0061, Japan
・Manufacturer
Name: Renesas Electronics Corporation
Address: Toyosu Foresia, 3-2-24, Toyosu, Koto-ku, Tokyo 135-0061, Japan
・Person responsible for placing on the market
Name: Renesas Electronics Europe GmbH
Address: Arcadiastrasse 10, 40472 Dusseldorf, Germany
・Trademark and Type name
Trademark: Renesas
Product name: Evaluation System for Stepping Motor with Resolver
Type name: RTK0EMX270S01020BJ
Environmental Compliance and Certifications:
・Waste Electrical and Electronic Equipment (WEEE) Directive 2012/19/EU
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Overview of This Product
The Evaluation System for Stepping Motor with Resolver is a motor control evaluation kit.
This product has a resolver/digital converter IC manufactured by Renesas Electronics, which enables high resolution
position control in combination with the motor with a resolver supplied with this product.
The product is equipped with various external device interfaces, which enables you to start the evaluation of the
stepping motor with a resolver immediately by connecting a general motor control device.
In addition, this product supports the support tool for motor control development manufactured by Renesas
Electronics (Renesas Motor Workbench). Renesas Motor Workbench can display internal variables of a microcontroller
in waveform in real time and automatically extract vector control parameters, which enables efficient software
development.
This user's manual describes how to handle this product. On this product, the connectors other than those required for
quick start are not basically mounted at the factory. To use an interface described in this user's manual, it may be
necessary to mount a required connector.
Mounted devices
Microcontroller: R5F524TEADFP
Resolver/digital converter: RAA3064002GFP
Gate driver: HIP4082IBZ
RS-485 driver: ISL3156EIUZ
CAN driver: R2A25416SP
MOSFET: RJK1054DPB
Regulator: ISL9001AIRNZ, ISL9005AIRNZ
Related documents
⚫ Related to 48V 2A inverter board for stepping motor
➢ Circuit diagram: R12TU0083
➢ Parts list: R12TU0085
➢ PCB pattern diagram: R12TU0087
⚫ Related to RX24T CPU card with RDC-IC
➢ Circuit diagram: R12TU0082
➢ Parts list: R12TU0084
➢ PCB pattern diagram: R12TU0086
⚫ Related to the support tool for motor control development "Renesas Motor Workbench"
➢ User's Manual: R21UZ0004
⚫ Sample code
➢ Application note: R03AN0014
Included items
Refer to the "Included Items" supplied with this product.
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Abbreviations
Abbreviation
Formal name
Remarks
this product
Evaluation System for Stepping Motor with
Resolver
Model name: RTK0EMX270S01020BJ
inverter board
48V 2A inverter board for stepping motor
Model name: RTK0EM0000B11020BJ
CPU card
RX24T CPU card with RDC-IC
Model name: RTK0EMX270C02000BJ
RMW
Support tool for motor control development
"Renesas Motor Workbench"
Support tool for motor control
development manufactured by Renesas
Electronics
MCU
microcontroller
Microcontroller mounted on this product
(Model name: R5F524TEADFP)
RDC IC
resolver/digital converter IC
Resolver/digital converter IC mounted
on this product
(Model name: RAA3064002GFP)
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Contents
Safety Precautions .................................................................................................................... 1
Information Related to Regulations ........................................................................................... 4
Overview of This Product .......................................................................................................... 5
Overview of the Product ..................................................................................................... 8
1.1 Specifications ................................................................................................................................ 8
1.2 Block Diagram ............................................................................................................................... 9
1.3 Layout .......................................................................................................................................... 10
Using This Product ........................................................................................................... 11
2.1 Quick Start 1 Connection and Board Operations ..................................................................... 11
2.2 Quick Start 2 GUI Operations ................................................................................................... 15
2.3 Initial Software Specifications ..................................................................................................... 23
2.4 Writing to Flash Memory ............................................................................................................. 24
2.5 Troubleshooting .......................................................................................................................... 25
Kit Specifications .............................................................................................................. 27
3.1 Specification List ......................................................................................................................... 27
3.2 Stepping Motor with Resolver ..................................................................................................... 28
3.3 Power Supply .............................................................................................................................. 29
3.4 Inverter Circuit ............................................................................................................................. 30
3.5 Sensor Interfaces ........................................................................................................................ 34
3.6 External Device Interfaces .......................................................................................................... 37
3.7 User Interfaces ............................................................................................................................ 44
3.8 Pin Assignments ......................................................................................................................... 46
How to Flash Program MCU ............................................................................................ 51
Website and Support ............................................................................................................... 54
Revision History ....................................................................................................................... 55
General Precautions in the Handling of Microprocessing Unit and Microcontroller Unit
Products ........................................................................................................................... 56
Notice ...................................................................................................................................... 57
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Overview of the Product
1.1 Specifications
Table 1-1 Overview of Specifications
Item
Specification
Kit name
Evaluation System for Stepping Motor with Resolver
Kit model name
RTK0EMX270S01020BJ
Kit configuration
48V 2A inverter board for stepping
motor
RTK0EM0000B11020BJ
RX24T CPU card with RDC-IC
RTK0EMX270C02000BJ
Stepping motor with resolver
R17PMK440CNVA4438
(manufactured by MinebeaMitsumi Inc.)
Rated current: 2 Apeak/Phase
With a resolver
Inverter
specifications
• Applicable motor: Stepping motor
• Rated voltage: 48 V
• Rated output: 100 W
• Detection function: Phase current, bus voltage
• Protection function: Overcurrent protection
Interface
specifications
• Applicable sensors: Resolver, encoder(*1)
• External device interfaces: RS-485(
*1
), CAN(*1), pulse train command(*1),
general-purpose in/out(
*1
)
Development
support functions
• Compatible with support tool for motor control development, Renesas Motor
Workbench
• With an on-board emulator circuit (flash programming circuit)
External view
Note: The actual product may differ from this photo.
Operating
temperature
Room temperature
Operating humidity
No condensation allowed.
Compliance: EMC
directive
Europe: EN61326-1: 2013 Class A
*1 The connector is not mounted.
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1.2 Block Diagram
Power
connector
Variable
resistor
Toggle switch/
push switch
12-V voltage
generation function
Overcurrent
detection
function
5-V voltage
generation
function
Inverter circuit
Gate Driver
Motor
connector
Board-to-
board
connector
24-48V
12V
Overcurrent detection
4-phase
compensation PWM
5V
MCU
RX24T
Origin sensor/limit
sensor interface (not
installed)
USB connector (not
installed)
Crystal
oscillator
Reset switch
LED * 3
RDC IC
Output voltage
divider
Resolver
connector
E2 On Board
RS485
CAN
Buffer
Communication circuit for motor development support tool, Renesas Motor Workbench
USB
connector
Digital
Isolator
Current detection
amplifier
LED * 2
Inverter board
Encoder/pulse train
command connector
(not installed)
CAN communication
connector (not
installed)
RS-485
communication
connector (not
installed)
General-purpose
output connector (not
installed)
General-purpose
input analog
command connector
(not installed)
Buffer
Buffer
CPU card
Shunt resistor
MOSFETs
Resolver motor
Figure 1-1 Block Diagram
Current
detection
MTU0
RDC
TMR4
MTU3
MTU4
UART6
MTU
RSCAN
A/D
ICU
Origin sensor
Limit sensor
MTU2
POE
I/O
Inverter
Upper device
RS485
Upper device
CAN
Upper device
Sequence input
Upper device
Sequence output
I/O
Supply voltage
Phase
voltage
Overcurrent
detection
Variable resistor
Switch
Analog command
Analog monitor
D/A
Resolver
Motor
LED
UART1
RMW
PE5/IRQ0
P00/IRQ2
P24/DA0
I/O
LED3
LED2
LED1
SW1
SW2
DOG
N-OT, P-OT
P33/MTCLKA
P32/MTCLKB
PA5/MTIOC1A
SPON
PD1
PA3/MTIOC2 A
PB2/TXD6
PB1/RXD6
I/O
P02
RS485_TX
RS485_RX
RS485_DE
PA0/CTXD0
PA1/CRXD0
CAN_TX
CAN_RX
P10
SVON
P65
PB7
GPINPUT
GPINPUT
PB6
PB5
PB4
PB3
PD4
PD2
COIN
ORG
GPOUTPUT
RDY
ERROR
GPOUTPUT
ICS_RX
ICS_TX
PD5/RXD1
PD3/TXD1
I/O
P64/AN204
P92/MTIOC6 D
P55/AN211
AIN
VR1
VDC
P54/AN210
VA-
VB-
VB+
VA+
P53/AN209
P52/AN208
P51/AN207
P75/MTIOC4C
P74/MTIOC3D
P72/MTIOC4A
P72/MTIOC3B
B+L
A+L
B+H
A+H
P70/POE0#
PA2
P81
P80
P61
P62
Analog_Mon
P43
P11/TMO3
PB0/TMO0
P82/TMO4
P31/MTIOC0A
TMR0
TMR3
MTU9
P21/MTIOC9A
PE0/MTIOC9B
P95/MTIOC6B
RSPI
P23/MOSI A
PA4/RSPCKA
PD6/SSLA0
P22/MISOA
HISEDE_OC
RDC_RESET
RDC_CLK
RDC_PWMINA
RDC_PWMINB
RDC_CC
RDC_CARR IER1
RDC_CARR IER2
RDC_COUT
SPI_MOSI
SPI_MISO
SPI_SCLK
SPI_SCS
P50/AN206
P47/AN103
MNTOUT_DC
MNTOUT_AC
RDC_ALARM
P01/POE12#
POE
Shunt resistor
A/D
P60/AN200
A/D
A-H
A-L
B-L
B-H
P91/MTIOC7 C
MTU6
MTU7
P94/MTIOC7 A
P44/AN100
P45/AN101
P46/AN102
P40/AN000
IA-
IA+
IB+
IB-
Encoder
Upper device
Pulse command
ENC_A
ENC_B
ENC_Z
PULSE/UP
DIR/DOWN
CLR
PE4/MTCLK C
PE3/MTCLK D
PA3/MTIOC2 A
Figure 1-2 Connection Destinations of RX24T Pins by Function
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1.3 Layout
Figure 1-3 Layout
* All connectors other than the resolver connector and on-board emulator connector are not mounted on the CPU card.
* The actual product may differ from this photo.
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Using This Product
2.1 Quick Start 1 Connection and Board Operations
This section describes a quick start procedure of this product. Perform steps (1) to (9) in this order.
A stepping motor with resolver (called a motor below) manufactured by MinebeaMitsumi Inc. is supplied with this
product. Use the supplied motor in the procedure described in this section.
Before using this product, wear an antistatic wrist strap. If you touch this product with a static charge on your body, a
device failure may occur or operation may become unstable.
Procedure of quick start 1
Step
Operation
(1)
Connecting the motor and board
(2)
Checking the variable resistor
(3)
Connecting the stabilized power supply and board
(4)
Supplying the power
(5)
Executing the calibration
(6)
Enabling the rotation of the motor
(7)
Checking that the motor speed changes
(8)
Stopping the rotation of the motor
(9)
Stopping supplying the power
Preparation
Prepare the following items.
・Stabilized power supply: 24 VDC or higher output voltage, 1 A or higher output current
・Two power cables: Cables through which 1 A or higher current can flow (for connecting the stabilized
power supply and inverter board)
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(1) Connecting the motor and board
First, connect the motor cable and the resolver cable to the supplied motor as shown in Figure 2-1. Then, connect the
motor cable to the inverter board and the resolver cable to the CPU card as shown in Figure 2-2.
Figure 2-1 Connecting the Cables to the Motor
Figure 2-2 Connecting the Cables to the Boards
(2) Checking the SW1 and the variable resistor
While referencing Figure 2-3, check that the SW1 is OFF and the variable resistor (VR1) is in the center position. If
the VR1 is not in the center position, adjust it in the center position with an ESD safe slotted screwdriver.
Figure 2-3 Checking the SW1 and the Variable Resistor
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(3) Connecting the stabilized power supply and board
This product provides a terminal block and DC jack as connectors for supplying the power to the board. The
following explains an example of connecting the board to the terminal block using a stabilized power supply. Connect
the power supply to the board as shown in Figure 2-4.
Figure 2-4 Power supply to the power connector
(4) Supplying the power
Use a stabilized power supply as the power supply, set the output voltage to 24 V and the limit current to 1 A, and
start output. If the voltage drops even momentarily, a reset occurs since the voltage of the power supplied to the MCU
also drops, which causes the program to be halted.
(5) Executing the calibration
For calibratin the motor parmaters, push and release SW2 and wait for 30~40 seconds. The motor starts rotating in
20~30 seconds. It stops rotating when the calibration finishes.
Figure 2-5 Push SW2 for the Calibration
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(6) Enabling the rotation of the motor
To enable the rotation of the motor, turn the toggle switch (SW1) on as shown in Figure 2-6.
Figure 2-6 Enabling the Rotation of the Motor
(7) Checking that the motor speed changes
Check that the motor speed changes when you turn the rotor of the variable resistor (VR1).
Figure 2-7 Changes of the Motor Speed
(8) Stopping the rotation of the motor
To stop the rotation of the motor, turn toggle switch SW1 off.
Figure 2-8 Stopping the Rotation of the Motor
(9) Stopping supplying the power
Check that the rotation stops and stop the output from the stabilized power supply.
SW1 ON
SW1 OFF
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2.2 Quick Start 2 GUI Operations
This section describes an operation procedure using Renesas Motor Workbench, support tool for motor control
development which is an application running on a PC.
Before starting this operation procedure, make connections and confirm SW setting according to steps (1) to (3) in
quick start 1. In addition, it is necessary to download the sample program “Vector Control of a Two-Phase Stepping
Motor Incorporating a Resolver Sensor”(R03AN0014) from the product page linked from the following URL and write
the program to the CPU card according to the procedure described in Chapter 4.
URL: http://japan.renesas.com/rssk/motor
Procedure of quick start 2
Step
Operation
(1)
Connecting a PC and this product
(2)
Connecting Renesas Motor Workbench
(3)
Loading the configuration file
(4)
Switching to the Analyzer tool
(5)
Changing the user interface
(6)
Executing offset calibration
(7)
Executing gain and phase calibration
(8)
Executing angle error calibration
(9)
Setting the command value of position control
(10)
Operating the motor in the position control mode
(11)
Turning the servo off
(12)
Sending a speed command
(13)
Stopping rotation
(14)
Stopping supplying the power
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(1) Connecting a PC and this product
Connect the USB cable supplied with this product to the USB connector on a PC and USB connector CN4 on the
inverter board. After that, turn the power to the board on as instructed in step (4) of quick start 1.
Figure 2-9 Connecting a PC
(2) Connecting Renesas Motor Workbench
Start up Renesas Motor Workbench and check that the relevant COM number is displayed.
For details of the methods of RMW operations described below, refer to "Support Tool for Motor Control
Development, Renesas Motor Workbench User's Manual (R21UZ0004JJ)".
Figure 2-10 Checking the COM Number
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(3) Loading the configuration file
Download the sample code “Vector Control of a Two-Phase Stepping Motor Incorporating a Resolver
Sensor”(R03AN0014) and load the configuration file " RX24T_MRSSK_STM_RSLV_FOC_CSP_RVxxx.rmt " on
Renesas Motor Workbench.
Note that the capture screens in this manual may be different from the actual ones.
URL: http://japan.renesas.com/rssk/motor
Figure 2-11 Reading the Configuration File
(4) Switching to the Analyzer tool
In the Main window, click the Analyzer button. Renesas Motor Workbench displays the windows for the Analyzer
tool, Scope, User Button, and Control windows.
Figure 2-12 Display for the Renesas Motor Workbench Analyzer Tool
Scope window
Control window
User button window
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(5) Changing the user interface
Change the user interface from the switches and variable resistor on the board to Renesas Motor Workbench. On
Renesas Motor Workbench, click the "GUI mode" User Button. Variable com_u1_sw_userif is rewritten from 1 to 0
and the interface changes.
Figure 2-13 Changing the User Interface
(6) Executing offset calibration
Click the "Offset Calibration" User Button to execute offset calibration.
Figure 2-14 Starting the Execution of Offset Calibration
User Button "GUI mode"
Changes the user interface.
User Button "Offset Calibration"
Execute offset calibration.
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