Renesas RA6T1 User Manual
Rev. 1.10 January 2021
Renesas RA Family
RA6 Series
RA6T1 Group
Motor Control Evaluation System for RA Family
- RA6T1 Group
User’s Manual
User’ s Manua
l
All information contained in these materials, including products and product specifications,
represents information on the product at the time of publication and is subject to change by
Renesas Electronics Corp. without notice. Please review the latest information published by
Renesas Electronics Corp. through various means, including the Renesas Electronics Corp.
website (http://www.renesas.com).
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© 2020 Renesas Electronics Corporation. All rights reserved.
Notice
1. Descriptions of circuits, software and other related information in this document are provided only to illustrate the operation of semiconductor products
and application examples. You are fully responsible for the incorporation or any other use of the circuits, software, and information in the design of your
product or system. Renesas Electronics disclaims any and all liability for any losses and damages incurred by you or third parties arising from the use of
these circuits, software, or information.
2. Renesas Electronics hereby expressly disclaims any warranties against and liability for infringement or any other claims involving patents, copyrights, or
other intellectual property rights of third parties, by or arising from the use of Renesas Electronics products or technical information described in this
document, including but not limited to, the product data, drawings, charts, programs, algorithms, and application examples.
3. No license, express, implied or otherwise, is granted hereby under any patents, copyrights or other intellectual property rights of Renesas Electronics or
others.
4. You shall not alter, modify, copy, or reverse engineer any Renesas Electronics product, whether in whole or in part. Renesas Electronics disclaims any
and all liability for any losses or damages incurred by you or third parties arising from such alteration, modification, copying or reverse engineering.
5. Renesas Electronics products are classified according to the following two quality grades: “Standard” and “High Quality”. The intended applications for
each Renesas Electronics product depends on the product’s quality grade, as indicated below.
"Standard": Computers; office equipment; communications equipment; test and measurement equipment; audio and visual equipment; home
electronic appliances; machine tools; personal electronic equipment; industrial robots; etc.
"High Quality": Transportation equipment (automobiles, trains, ships, etc.); traffic control (traffic lights); large-scale communication equipment; key
financial terminal systems; safety control equipment; etc.
Unless expressly designated as a high reliability product or a product for harsh environments in a Renesas Electronics data sheet or other Renesas
Electronics document, Renesas Electronics products are not intended or authorized for use in products or systems that may pose a direct threat to
human life or bodily injury (artificial life support devices or systems; surgical implantations; etc.), or may cause serious property damage (space system;
undersea repeaters; nuclear power control systems; aircraft control systems; key plant systems; military equipment; etc.). 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.
6. When using Renesas Electronics products, refer to the latest product information (data sheets, user’s manuals, application notes, “General Notes for
Handling and Using Semiconductor Devices” in the reliability handbook, etc.), and ensure that usage conditions are within the ranges specified by
Renesas Electronics with respect to maximum ratings, operating power supply voltage range, heat dissipation characteristics, installation, etc. Renesas
Electronics disclaims any and all liability for any malfunctions, failure or accident arising out of the use of Renesas Electronics products outside of such
specified ranges.
7. Although Renesas Electronics endeavors to improve the quality and reliability of Renesas Electronics products, semiconductor products have specific
characteristics, such as the occurrence of failure at a certain rate and malfunctions under certain use conditions. Unless designated as a high reliability
product or a product for harsh environments in a Renesas Electronics data sheet or other Renesas Electronics document, Renesas Electronics products
are not subject to radiation resistance design. You are responsible for implementing safety measures to guard against the possibility of bodily injury,
injury or damage caused by fire, and/or danger to the public in the event of a failure or malfunction of Renesas Electronics products, such as safety
design for hardware and software, including but not limited to redundancy, fire control and malfunction prevention, appropriate treatment for aging
degradation or any other appropriate measures. Because the evaluation of microcomputer software alone is very difficult and impractical, you are
responsible for evaluating the safety of the final products or systems manufactured by you.
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with applicable laws and regulations.
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(Note1) “Renesas Electronics” as used in this document means Renesas Electronics Corporation and also includes its directly or indirectly controlled
subsidiaries.
(Note2) “Renesas Electronics product(s)” means any product developed or manufactured by or for Renesas Electronics.
(Rev.4.0-1 November 2017)
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General Precautions in the Handling of Microprocessing Unit and Microcontroller
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.
1. Precaution against Electrostatic Discharge (ESD)
A strong electrical field, when exposed to a CMOS device, can cause destruction of the gate oxide and ultimately degrade the device operation. Steps
must be taken to stop the generation of static electricity as much as possible, and quickly dissipate it when it occurs. Environmental control must be
adequate. When it is dry, a humidifier should be used. This is recommended to avoid using insulators that can easily build up static electricity.
Semiconductor devices must be stored and transported in an anti-static container, static shielding bag or conductive material. All test and
measurement tools including work benches and floors must be grounded. The operator must also be grounded using a wrist strap. Semiconductor
devices must not be touched with bare hands. Similar precautions must be taken for printed circuit boards with mounted semiconductor devices.
2. Processing at power-on
The state of the product is undefined at the time when power is supplied. The states of internal circuits in the LSI are indeterminate and the states of
register settings and pins are undefined at the time when power is supplied. In a finished product where the reset signal is applied to the external reset
pin, the states of pins are not guaranteed from the time when power is supplied until the reset process is completed. In a similar way, the states of pins
in a product that is reset by an on-chip power-on reset function are not guaranteed from the time when power is supplied until the power reaches the
level at which resetting is specified.
3. Input of signal during power-off state
Do not input signals or an I/O pull-up power supply while the device is powered off. The current injection that results from input of such a signal or I/O
pull-up power supply may cause malfunction and the abnormal current that passes in the device at this time may cause degradation of internal
elements. Follow the guideline for input signal during power-off state as described in your product documentation.
4. Handling of unused pins
Handle unused pins in accordance with the directions given under handling of unused pins in the manual. The input pins of CMOS products are
generally in the high-impedance state. In operation with an unused pin in the open-circuit state, extra electromagnetic noise is induced in the vicinity of
the LSI, an associated shoot-through current flows internally, and malfunctions occur due to the false recognition of the pin state as an input signal
become possible.
5. Clock signals
After applying a reset, only release the reset line after the operating clock signal becomes stable. When switching the clock signal during program
execution, wait until the target clock signal is stabilized. When the clock signal is generated with an external resonator or from an external oscillator
during a reset, ensure that the reset line is only released after full stabilization of the clock signal. Additionally, when switching to a clock signal
produced with an external resonator or by an external oscillator while program execution is in progress, wait until the target clock signal is stable.
6. Voltage application waveform at input pin
Waveform distortion due to input noise or a reflected wave may cause malfunction. If the input of the CMOS device stays in the area between VIL
(Max.) and VIH (Min.) due to noise, for example, the device may malfunction. Take care to prevent chattering noise from entering the device when the
input level is fixed, and also in the transition period when the input level passes through the area between VIL (Max.) and VIH (Min.).
7. Prohibition of access to reserved addresses
Access to reserved addresses is prohibited. The reserved addresses are provided for possible future expansion of functions. Do not access these
addresses as the correct operation of the LSI is not guaranteed.
8. Differences between products
Before changing from one product to another, for example to a product with a different part number, confirm that the change will not lead to problems.
The characteristics of a microprocessing unit or microcontroller unit products in the same group but having a different part number might differ in terms
of internal memory capacity, layout pattern, and other factors, which can affect the ranges of electrical characteristics, such as characteristic values,
operating margins, immunity to noise, and amount of radiated noise. When changing to a product with a different part number, implement a systemevaluation test for the given product.
User’s Manual
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January 28, 2021
Renesas RA Family
Motor Control Evaluation System for RA Family - RA6T1
Group User’s Manual
Contents
1. Overview ................................................................................................................................. 4
1.1 Presupposition and precautions of this document .................................................................................. 6
2. Product Contents ..................................................................................................................... 7
3. Product Order Information ....................................................................................................... 7
4. Hardware Configuration and Default Setting ............................................................................ 8
4.1 Hardware configuration ........................................................................................................................... 8
4.2 Block diagram ........................................................................................................................................ 11
4.3 Jumper pin setting ................................................................................................................................. 12
5. Inverter Board Specification ................................................................................................... 13
5.1 Overview ................................................................................................................................................ 13
5.2 Functions ............................................................................................................................................... 13
5.2.1 Inverter control circuit block ................................................................................................................. 13
5.2.2 Current detection circuit ...................................................................................................................... 14
5.2.3 Overcurrent detection circuit ............................................................................................................... 15
5.2.4 Output voltage detection circuit ........................................................................................................... 16
5.2.5 Voltage generation circuit .................................................................................................................... 16
5.2.6 LED ...................................................................................................................................................... 17
5.2.7 Toggle switch and push switch ............................................................................................................ 17
5.2.8 Variable resistor................................................................................................................................... 17
5.3 Pin assignment ...................................................................................................................................... 18
5.3.1 Connector pin function assignment ..................................................................................................... 18
6. RA6T1 CPU Card Specification ............................................................................................. 20
6.1 Overview ................................................................................................................................................ 20
6.2 Functions ............................................................................................................................................... 20
6.2.1 Power supply ....................................................................................................................................... 20
6.2.2 Onboard emulator ............................................................................................................................... 20
6.2.3 Inverter board connector ..................................................................................................................... 21
6.2.4 Serial communication connector ......................................................................................................... 22
6.2.5 Hall sensor signal input ....................................................................................................................... 22
6.2.6 Encoder signal input ............................................................................................................................ 22
6.2.7 Unused pins ......................................................................................................................................... 23
Renesas RA Family Motor Control Evaluation System for RA Family - RA6T1 Group
User's Manual
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6.2.8 Reset circuit ......................................................................................................................................... 23
6.2.9 LED ...................................................................................................................................................... 23
6.2.10 CAN Communication ........................................................................................................................... 23
6.2.11 SPI communication ............................................................................................................................. 24
6.2.12 2nd inverter board connection ............................................................................................................. 24
6.2.13 RA6T1 pin function list ........................................................................................................................ 25
7. Certification ........................................................................................................................... 28
7.1 European Union regulatory notices ....................................................................................................... 28
8. Design and Manufacture Information ..................................................................................... 29
9. Website and Support ............................................................................................................. 29
Figure of contents
Figure 1-1 Main board (top view) ...................................................................................................................... 5
Figure 1-2 Main board (bottom view) ................................................................................................................. 5
Figure 2-1 Product contents .............................................................................................................................. 7
Figure 4-1 Motor Control Evaluation System for RA Family - RA6T1 Group .................................................. 11
Figure 4-2 Jumper pin setting .......................................................................................................................... 12
Figure 5-1 Illustration of inverter control circuit block ...................................................................................... 13
Figure 5-2 Current detection circuit ................................................................................................................. 14
Figure 5-3 Overcurrent detection circuit .......................................................................................................... 15
Figure 5-4 Output voltage detection circuit ...................................................................................................... 16
Renesas RA Family Motor Control Evaluation System for RA Family - RA6T1 Group
User's Manual
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Table of contents
Table 4-1 Motor Control Evaluation System for RA Family - RA6T1 Group specification (1/3) ........................ 8
Table 4-2 Motor Control Evaluation System for RA Family - RA6T1 Group specification (2/3) ........................ 9
Table 4-3 Motor Control Evaluation System for RA Family - RA6T1 Group specification (3/3) ...................... 10
Table 4-4 Jumper pin setting ........................................................................................................................... 12
Table 5-1 Relation between Iin and Vout ........................................................................................................ 14
Table 5-2 Voltage generation circuit ................................................................................................................ 16
Table 5-3 LED .................................................................................................................................................. 17
Table 5-4 Toggle switch and push switch........................................................................................................ 17
Table 5-5 Variable resistance specification ..................................................................................................... 17
Table 5-6 Board-to Board connector (CNA) .................................................................................................... 18
Table 5-7 Board-to Board connector (CNB) .................................................................................................... 19
Table 5-8 Board-to-Board connector (CN10) .................................................................................................. 19
Table 6-1 Inverter board connector (CNA) pin assignment ............................................................................. 21
Table 6-2 Inverter board connector (CNB) pin assignment ............................................................................. 21
Table 6-3 Serial communication connector (CN10) pin assignment ............................................................... 22
Table 6-4 Pin for hall sensor signal input (CN5) pin assignment .................................................................... 22
Table 6-5 Through holes for encoder signal input (CN7) pin assignment ....................................................... 22
Table 6-6 Through hole for unused pin (CN9) pin assignment ....................................................................... 23
Table 6-7 LED pin assignment ........................................................................................................................ 23
Table 6-8 CAN communication pin assignment .............................................................................................. 23
Table 6-9 SPI communication pin assignment ................................................................................................ 24
Table 6-10 2nd inverter board connector (CNC) pin assignment .................................................................... 24
Table 6-11 RA6T1 pin function list .................................................................................................................. 25
Renesas RA Family Motor Control Evaluation System for RA Family - RA6T1 Group
User's Manual
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1. Overview
Motor Control Evaluation System for RA Family - RA6T1 Group is a motor control evaluation kit. By using
this product, motor control can be performed easily.
Motor Control Evaluation System for RA Family - RA6T1 Group has characteristics shown below.
（1） Supports permanent magnet synchronous motor.
（2） Supports 3-shunt current detection.
（3） Equipped with USB mini B for Motor Control Development Support Tool communication.
（4） Provides overcurrent protection function using overcurrent detection circuit.
Motor Control Evaluation System for RA Family - RA6T1 Group consists of 2 boards, which are the inverter
board and the RA6T1 CPU Card. Main functions are listed below.
① Inverter board
・ Operating input voltage : DC24~48V
⁻ DC jack (J1)
⁻ Power supply connector (CN1)
・ Switch
⁻ Toggle switch (SW1)
⁻ Push switch (SW2)
・ LED
⁻ LED1, LED2, LED3
⁻ LED for power source for inverter control circuit block
・ Connector
⁻ Board to board connector (CNA, CNB)
⁻ USB minB connector
⁻ Motor connector (CN2)
・ Variable resistor (VR1)
② RA6T1 CPU Card
・ R7FA6T1AD3CFP MCU (hereinafter called “RA MCU”)
・ Connector
⁻ Board to board connector (CNA, CNB)
⁻ USB connector for J-Link OB
⁻ SCI connector for Renesas Motor Workbench communication
⁻ Through hole for CAN communication
⁻ Through hole for SPI communication
⁻ Connector for hall sensor signal input
⁻ Connector for encoder signal input
⁻ 10/20 pin through hole for Arm debugger
⁻ Through hole for 2nd inverter
⁻ Connection pattern for J-Link 6pin Needle Adapter
・ LED
LED for user control x2
・ Switch
Switch for MCU external reset
Renesas RA Family Motor Control Evaluation System for RA Family - RA6T1 Group
User's Manual
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Through hole for
CAN communication
SCI connector
for RMW
communication
Hall signal
input connector
USB connector for
J-Link OB
Through hole for
2nd inverter
Through hole for
SPI communication
Encoder signal
Input connector
Motor connector
DC jack
Power supply
terminal block
switch
LED
Renesas Motor
Workbench
Communication
circuit connector
Variable resistor
Figure 1-1 Main board (top view)
Figure 1-2 Main board (bottom view)
Renesas RA Family Motor Control Evaluation System for RA Family - RA6T1 Group
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1.1 Presupposition and precautions of this document
1. Experience of using tools: This document assumes that the user has used terminal emulation program of
Integrated Development Environment (IDE) such as e2 studio before.
2. Knowledge about the development subject: This document assumes that the user has a basic knowledge
to modify the sample project regarding MCU and embedded system.
3. Before using this product, wear an antistatic wrist strap. If you touch this product with static charge on
your body, a device failure may occur or operation may become unstable
4. To use this product prepare the following items, too.
・Stabilized power supply ： Output voltage of DC24 V or higher, the upper limit of the output current
can be set at 1A
・Power supply cable (x2) ：Cables which enable to apply the current of 1A or higher.
(To connect the stabilized power supply and the inverter board)
5. All screen shots provided in this document is for reference. Actual screen displays may differ depending
on the software and development tool version which you use.
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2. Product Contents
This kit consists of the following parts.
1. Inverter Board (RTK0EM0000B10020BJ)
2. RA6T1 CPU Card (RTK0EMA170C00000BJ)
3. Brushless DC Mortor (TG-55L-KA 24V)
4. Motor Cable
5. Communication Cable
6. USB Cable
7. Ferrite Core
(1)Inverter board
(2)RA6T1 CPU card
(3)Brushless DC motor
(4)Motor cable
(5)communication cable
(6)USB cable
(7)Ferrite core
Figure 2-1 Product contents
3. Product Order Information
Product model name to order Motor Control Evaluation System for RA Family - RA6T1 Group：
RTK0EMA170S00020BJ
Renesas RA Family Motor Control Evaluation System for RA Family - RA6T1 Group
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4. Hardware Configuration and Default Setting
4.1 Hardware configuration
Motor Control Evaluation System for RA Family - RA6T1 Group consists of the inverter board and the RA6T1
CPU Card. Specifications as a kit and for the relevant boards are listed below.
Table 4-1 Motor Control Evaluation System for RA Family - RA6T1 Group specification (1/3)
Item
Specification
Product name
Motor Control Evaluation System for RA Family - RA6T1 Group
Kit model name
RTK0EMA170S00020BJ
Kit configuration
Inverter board
RTK0EM0000B10020BJ
RA6T1 CPU Card
RTK0EMA170C00000BJ
Permanent Magnet Synchronous Motor
TG-55L-KA (Tsukasa Electric Co.,LTD)
Rated voltage：24[V]
Rated current：0.42[A]
Inverter circuit‐
CPU card
Non-isolated
External view
Note: The actual product may differ from this photo.
Board size
Inverter board：175 mm (width) x 160 mm (length)
RAT1 CPU Card ：78 mm (width) x 70 mm (length)
Operating temperature
Room temperature
Operating humidity
No condensation allowed
EMC Directive
Europe：EN61326-1 : 2013 Class A
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