Renesas R-IN32M3 User Manual

Application Note

R-IN32M3 Module (RY9012A0)

R-IN32M3 Module Evaluation Board

Introduction

This document describes sample software for host microcomputers (RX66T) mounted on the R-IN32M3 Module Evaluation Board (SEM1320), which is manufactured by Shimafuji Electric Co., Ltd.

Target Device

RX66T (R5F566TKADFP)

R-IN32M3 Module (RY9012A0)

Contents

1. Overview ................................................................................................................................. 4

1.1 Overview .................................................................................................................................................. 4

1.2 Operating environment ............................................................................................................................ 5

2. Hardware configuration ............................................................................................................ 7

2.1 List of specifications ................................................................................................................................ 7

2.2 Appearance of the board ......................................................................................................................... 8

2.3 Block diagram .......................................................................................................................................... 9

2.4 Features ................................................................................................................................................ 10

2.4.1 Power supply ....................................................................................................................................... 10

2.4.2 GND ..................................................................................................................................................... 11

2.4.3 RESET and JTAG ............................................................................................................................... 12

2.4.4 R-IN32M3 Module ............................................................................................................................... 13

2.4.5 Emulator connection ............................................................................................................................ 13

2.5 External interfaces ................................................................................................................................. 14

2.5.1 Ethernet connector .............................................................................................................................. 14

2.5.2 LED ...................................................................................................................................................... 14

2.5.3 Switch .................................................................................................................................................. 16

2.5.4 Connector ............................................................................................................................................ 19

2.5.5 Jumper ................................................................................................................................................. 23

2.6 Difference between RX66T CPU Card .................................................................................................. 25

3. Sample software configuration ............................................................................................... 26

3.1 Folder structure ..................................................................................................................................... 26

3.1.1 Overview of the project ........................................................................................................................ 27

3.2 Setup of development environment....................................................................................................... 28

3.2.1 Install ................................................................................................................................................... 28

3.2.2 Connection .......................................................................................................................................... 31

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

3.2.3 Import project ....................................................................................................................................... 33

3.2.4 FIT Module .......................................................................................................................................... 36

3.2.5 Build project ......................................................................................................................................... 41

3.2.6 Debug .................................................................................................................................................. 42

3.3 How to use ............................................................................................................................................. 43

3.3.1 I/O mirror response (via PROFINET) .................................................................................................. 43

3.3.2 I/O mirror response (via EtherNet/IP) .................................................................................................. 48

3.3.3 I/O mirror response (via EtherCAT)..................................................................................................... 52

3.3.4 Motor Sample (via PROFINET) ........................................................................................................... 57

3.3.5 Motor Sample (via EtherNet/IP) .......................................................................................................... 59

3.3.6 Motor control (via EtherCAT) ............................................................................................................... 61

3.3.7 Remote I/O (via PROFINET) ............................................................................................................... 63

3.3.8 Remote I/O (via EtherNet/IP) .............................................................................................................. 65

3.3.9 Remote I/O (via EtherCAT) ................................................................................................................. 67

3.4 Application Implement Guide ................................................................................................................ 70

3.4.1 PROFINET .......................................................................................................................................... 71

3.4.2 EtherNet/IP .......................................................................................................................................... 76

3.4.3 EtherCAT ............................................................................................................................................. 80

4. Appendix ............................................................................................................................... 85

4.1 GOAL API .............................................................................................................................................. 85

4.2 OS Service Call ..................................................................................................................................... 85

4.3 Motor Sample ........................................................................................................................................ 86

Revision History ............................................................................................................................ 87

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

Terms

Description

This board

R-IN32M3 Module Evaluation Board: SEMB1320 (manufactured by Shimafuji Electric This sample

The sample program for the host microcomputer (RX66T) that is explained in this API

Application Programming Interface

GOAL

Generic Open Abstraction Layer

Document Type

Document Title

Document No.

Data Sheet

R-IN32M3 Module Datasheet

R19DS0109ED****

User’s Manual

R-IN32M3 Module User’s Manual: Hardware

R19UH0122ED****

User’s Manual

R-IN32M3 Module User’s Manual: Software

R17US0002ED****

Quick Start Guide

R-IN32M3 Module Application Note: Quick Start Guide

R12QS0042ED****

Application Note

Sensorless Vector Control for Permanent Magnet Synchronous

R01AN4244EJ****

User's Manual

Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T (Motor RSSK)

R20UT3697EJ**** Application Note

RX Smart Configurator User’s Guide: e² studio

R20AN0451ES****

List of Abbreviations and Acronyms

In this document, the terms below are defined as follows:

Co., Ltd.), which is the target board for the sample programs explained in this document

software (SW)

document

See "R-IN32M3 Module User's Manual: Software API description” (R17US0002ED****)』

1. Overview

1.1 Overview

This document describes sample software for host microcomputers (RX66T) mounted on theR-IN32M3 Module Evaluation Board (SEMB1320), which is manufactured by Shimafuji Electric Co., Ltd.

RX66T is mounted on this board as the host microcomputer of the R-IN32M3 Module and communicate via SPI.

Figure 1-1 R-IN32M3 Module Evaluation Board

This board can be connected to an optional inverter board, which is included in "24V Motor Control Evaluation System for RX23T", to evaluate motor control by industrial Ethernet protocol communication.

Figure 1-2 Photos of this board connected to the Inverter Board

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

1.2 Operating environment

The operating environment of this sample software is shown in Table 1-1.

Table 1-1 Operating Environments

module Sample

development environment

C/C++ Compiler

GNU Toolchain

time OS

Renesas

Tool, simple software PLC

package

Renesas

2021-01 or later

32bit version:

re-tool/e-studio

re-tool/cc-compiler-package-rxfamily

download-toolchains

re-tool/ri600v4-real-time-os-rx-

re-tool/rx-family-renesas-freertos

less sample projects

automation GmbH Including with Sample

of EtherCAT

GmbH

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

Abbreviation

Name

Description

E1 emulator

On-chip debugging emulator and flash programmer

Type name：R0E000010KCE00

E2 Lite

E2 emulator Lite

On-chip debugging emulator and flash programmer

Type name：RTE0T0002LKCE00000R

Product name

Type name

Link

24V Motor Control Evaluation

RTK0EM0006S01212BJ

https://www.renesas.com/products/

One of the following emulators is required separately to run this sample software.

Table 1-2 Supported emulators

To execute the motor control samples included in this sample software, a 24V inverter board included below, and a BLDC motor are required. In addition, a separate DC24V stabilized power supply is required.

Table 1-3 Corresponding motor control board

System for RX23T

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

Item

Functions and specification

5V (Supply from USB Micro B or inverter board.) or 3.3V (from inverter board)

Flash memory

1MB

Data flash memory

32KB

MCU Input Clock

Oscillator

8MHz

E1 / E2 Lite emulator

2.54mm pitch 14pins

CNA：2.54mm pitch 20pins CNB：2.54mm pitch 20pins

Hall sensor

B5B-XH-A

Encoder

B5B-XH-A

SCI

B4B-XH-A (not mounted)

Power input switch

DIP switch 2bit

rotary switch Hexadecimal (not mounted)

EtherCAT ID

rotary switch Hexadecimal

CPU Reset

Push switch 1bit

R-IN32M3 Module Reset

Push switch 1bit

5V power in

Red 1bit

Generic

Green 4bit

Protocol display

Green 3bit

Protocol status

Bi-Color(2bit) x 2

Pin Headers for External Extensions

2.54mm pitch 16 pins (not mounted)

while executing motor program

60mA typ.

while executing ethernet communication program

Operating Temperature

0 ~ 45℃

Board Dimension

80mm × 110mm t = 1.6mm

2. Hardware configuration

2.1 List of specifications

Table 2-1 shows a list of specifications for this board.

Table 2-1 Board specifications

Input Power Input voltage

Type name R5F566TKADFP

MCU

Connectors

Switches

LED

RAM 128KB

USB Micro B only input power (data line is not connected)

JTAG

Inverter Board

Slide switch SPDT

Generic

toggle switch 4bit

consumption

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260mA typ.

R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

No.

Component Description

No.

Component Description

General purpose DIP switch

Inverter Board connector B

USB Micro B

Reset switch

Power input selector switch

General purpose toggle switch

Inverter Board connector A

JTAG connector

General-purpose rotary switch (not mounted)

General purpose LED (Green)

EtherCAT ID switch

SCI connector (not mounted)

Protocol display LED

Pin header for external expansion (not mounted)

R-IN32M3 Module

Encoder connector

Protocol status LED

Hall sensor connector

2.2 Appearance of the board

Figure 2-1 shows the appearance of this board, and Table 2-2 shows the main parts and external

interfaces.

Table 2-2

Main parts and external interfaces

Figure 2-1 Board appearance

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

LED

3bit

0Ω

MCU

RX66T

0Ω

User SW

DIP-SW

2bit

E1 Emulator

Connector

Jumper

General LED

LED

4bit

INV_+5VA

USB_+5VA

+3.3V

INV_VCC33_ A

MCU_UVC C

Module_VCC

+5V

UVCC

AVCC

General SW

Toggle SW

4bit

RX66T

100pin

Inverter Board

Connector B

Encoder

Connector

E1 Emulator

Connector

Hall Senso r

Connector

Protocol-display

UVCC

AVCC

Power Block

Logic Block

USB Micro-B

Connector

LED

2bit

Protocol Status

Reset

R-IN32M3

Modu le

R-IN32M3

Modu le

Reserve

Rotary SW

4bit

(NMT)

SCI

Connector

(NMT)

Inverter Board B

Connector

Inverter Board A

Connector

Encoder

Connector

Hall-Sensor

Connector

LDO

3.3V/1A Jumper

Jumper

Inverter Board

Connector A

EtherCAT-ID

Rotary SW

4bit

2.3 Block diagram

The block diagram of this board is shown below.

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Figure 2-2 Block diagram

Apr.26.2021

R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

CN8

USB Micro B

CN1

Inverter Board

CNA

SW7

3.3V

LDO

LED10

+5V

+3.3V

INV_+3.3V

19 20

15 16

MCU_UVCC

Module_VCC

JP5

JP4

2.4 Features

2.4.1 Power supply

The board is powered by a USB Micro B connector or an Integer Board connector.

Normally, if you want to use this board alone, set SW7 at the USB Micro B connector side.

3.3V power supply method to RX66T MCU and the Module can be selected with jumper pins. For more information, 2.5.5(3) JP4、2.5.5(4) JP5

Figure 2-3 shows power supply configuration diagram of this board.

Figure 2-3 Power diagram

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

CN4

Inverter Board

CNB

PGAVSS1

GND1 GND2

VPN

VR1

GND

AVSS

PH0/AN007/PGAVSS0

AVSS

VSS

GND

P40/AN000 P41/AN001 P42/AN002

P43/AN003

P52/AN200 P53/AN201 P54/AN202

PH4/AN107/PGAVSS1

R39

0Ω

1MEGΩ

JP2

MCU

RX66T

GND

R-IN32M3

Module

GND

R69

(NM)

GND

TP11

(NM)

FG Terminal

2.4.2 GND

The board's GND and AVSS are connected by R39 near CN4.

In the shipping state, JP2 is shorted, and the PGAVSS0 terminal of the MCU is connected to the AVSS.

The FG terminal of the R-IN32M3 Module is connected to the TP11 and can be connected to the GND by mounting R69.

The connection diagram of the GND of this board is shown below.

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Figure 2-4 GND

R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

CN1

JTAG

Connector

1 2 3 4 5 6 7 8

9 10 11 12 13 14

JP3

MCU_UVCC

MCU

RX66T

TCK

TRST# EMLE TDO/TXD

MD/FINED

TMS UB TDI/RXD

RESET#

MCU_UVCC

Module

_RESET#

RESET

Module_VCC

RESET#

SW8

SW1

R-IN32M3

Module

Module_VCC

VCC

2.4.3 RESET and JTAG

This board has three method of reset, "Power ON Reset", "Reset by JTAG Emulator", and "Reset by External Switch". The reset and JTAM diagram of this board shows in Figure 2-5

Figure 2-5 RESET diagram

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

R-IN32M3

Module

SS# MISO MOSI SCLK

SYNC0

SYNC1

MCU

RX66T

PA3

PD1/SMISO8

PD2/SCK8

PD0/SMOSI8

PB6/IRQ2

PB3/IRQ9

SCLK

MOSI

2.4.4 R-IN32M3 Module

For more information about the R-IN32M3 Module mounted on this board, see the R-IN32M3 Module User's Manual Hardware Edition (R19UH0122EJ****).

The communication between the R-IN32M3 Module and the MCU is done via 4-wire SPI.

The SPI connection is shown in Figure 2-6. Each signal line in the SPI is not processed on this board because a Pull-Up or Pull-Down resistor is granted in the R-IN32M3 Module.

Figure 2-6 SPI

2.4.5 Emulator connection

The RX66T program is rewritten using E1 or E2 Lite, an on-chip debugging emulator from Renesas Electronics. The program is written by connecting E1 or E2 Lite to the Emulator connector on this board and the USB on PC.

Do not supply power from E1, E2 Lite in the integrated development environment.

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

protocol

MCU

RX66T

LED

LED2 LED

MCU_

UVCC

P96

プトル表示

2.5 External interfaces

2.5.1 Ethernet connector

The R-IN32M3 Module on this board has two RJ45 network connectors.

The Ethernet switch function of the R-IN32M3 allows external connections in several network topologies, such as dizzy chain connections. The internal PHY layer of R-IN32M3-EC can handle a variety of industrial communication protocols and supports 10BASE-T and 100BASE-TX/FX.

2.5.2 LED

This board is equipped with a 5V power display LED, a protocol display LED, a protocol status LED representing the status of each protocol, and a general-purpose output LED.

(1) 5V power display (LED10)

The LED10 (Red) is lit by a +5V power supply from the USB Micro B connector or the Inverter Board connector. See Figure 2-3 for the configuration.

(2) Protocol display (LED1~3)

Depending on the industrial ethernet protocol selected, the project in the sample software is executed on RX66T. Depending on the protocol running, one of LED1-3 (Green) will light up.

Figure 2-7 protocol display LED

LED display depending on the protocol is shown in Table 2-3.

Table 2-3 protocol display LED

PROFINET ON OFF OFF

LED1 (P94) LED2 (P95) LED3 (P96)

EtherNet/IP OFF ON OFF

EtherCAT OFF OFF ON

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

GREEN

RED

GREEN

RED

PA0

PA1

PA2

PA4

DCP indicator

(Blink)

EtherNet/IP

EtherCAT

OFF

ERR

RUN

OFF

MCU

PA2

PA4

LED4

MCU_UVCC

PA0

プトルステタス

PA1

Bi-Color

LED7

Bi-Color

(3) Protocol status (LED4,7)

LED4 and LED7 are Bi-Color LEDs (Green / Red) that display the LED status specified in each protocol standard.

For more information, see “R-IN32M3 Module User's Manual Software” (R17US0002ED****).

Figure 2-8 protocol status LED

Table 2-4 Protocol Status LED

LED7 LED4

Mode

1 PROFINET Connection BF

SF: system failure, BF: bus failure, DCP: discovery and configuration protocol

MS: module status indicator, NS: network status indicator,

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

EtherCAT Device ID

SW3

P93

P92

P91

P90

0 0 0 0 0 0 1 1 0 0 0 1 2 2 0 0 1 0 3 3 0 0 1 1 4 4 0 1 0 0 -

15 F 1 1 1

MCU

RX66

PE3

LED

LED6

LED8

MCU_UVCC

PE1

Remote I/O LED

LED9

PE0

プトル切替スイッチ

1 2 4 8

COM

MCU

UVCC

MCU

RX66T

P90 P91 P92 P93

SW3

(4) General-purpose output LED (LED5,6,8,9)

4bit green LEDs (LED5, LED6, LED8, and LED9) are available for general purpose I/O applications.

Figure 2-9 General purpose LED

2.5.3 Switch

This board has several switches for EtherCAT Explicit Device ID, input for general-purpose I/O applications, general-purpose DIP, input power, and resets.

(1) EtherCAT Explicit Device ID Switch (SW3)

When EtherCAT is selected as the protocol setting, the ID is set by SW3.

Figure 2-10 EtherCAT Explicit Device ID Switch

Table 2-5 EtherCAT ID setting

(2) General-purpose input SW (SW2,4,5,6)

SW2,4,5,6 (toggle switch) is available as an input switch for each 4bit for general purpose I/O applications.

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

SW2

SW4

SW5

SW6

MCU

RX66T

PB4

PB2

PB1

PB0

/ スイッチ

MCU_UVCC

Figure 2-11 General purpose input SW

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

SW7 Select

Description

1-2 ("USB" silkscreen side)

USB connector (CN8) supplies 5V power to this board

2-3 ("Inverter Board" silkscreen side)

5V power is supplied from the Integer Board connector A (CN1).

汎用

スイッチ

MCU_UVCC

MCU

RX66T

P62 P63

SW9

(3) General-input SW (SW9)

Figure 2-12 shows DIP switch, SW9, input for general purpose.

It is not used in this sample software.

Figure 2-12 Generic SW

(4) Power SW (SW7)

SW7 is a switch that selects the 5V power supply to this board. Select from the USB Micro B connector or the Inverter Board connector to power it.

See Figure 2-3for the configuration.

Table 2-6 SW7

(5) Reset SW (SW1, SW8)

SW1 is push switch to reset the RX66T microcomputer and SW8 is one to reset the R-IN32M3 module.

See Figure 2-5 for reset configuration.

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

Type name

description

CN1

SFH11-PBPC-D10-ST-BK

Inverter Board connector A

CN2

B5B-XH-A

Hall sensor connector

CN3

B5B-XH-A

Encoder connector

CN4

SFH11-PBPC-D10-ST-BK

Inverter Board connector B

CN5

XG4C-1431

JTAG connector

CN6

B4B-XH-A (not mounted)

SCI connector (not mounted)

CN7

A1-16PA-2.54DSA (not mounted)

Pin Headers for External Extensions(not CN8

10118194-0001LF

USB Micro B

signal

MCU Port

Note

signal

MCU Port

Note

LED1#

P22 2

LED2#

P21 3

LED3#

P20 4

VRL

P24 5

FO#

P70 6

NC - NC 7 WN

P76/ MTIOC4D

8 VN

P75/ MTIOC4C

9 UN

P74/ MTIOC3D

P73/ MTIOC4B

P72/ MTIOC4A

P71/ MTIOC3B

SW1#

P23 14

SW2#

P27 15

+5VA1

- 16

+5VA2

- 17

GND

- 18

GND

- 19

VCC33_A1

- 20

VCC33_A2

2.5.4 Connector

Table 2-7 shows the connectors on this board (except for the RJ-45 connector with the R-IN32M3 Module).

Table 2-7 Connector List

mounted)

(1) Inverter Board Connector (CN1, CN4)

This board is equipped with an Inventor Board connector for use as a CPU card for "24V Motor Control Evaluation System". The following is a pin assignment for the Integer Board connector:

Table 2-8 Inverter Board Connector A (CN1)

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

signal

MCU Port

Note

signal

MCU Port

Note

AVCC1

- 2

AVCC2

- 3

NC - NC 4 PGAVSS1

PH0/ PGAVSS1

5 IU

P40/AN000

6 IV

P41/AN001

7 IW

P42/AN002

8 VPN

P43/AN003

9 TEMP(VOT)

P52 /AN200

P53/AN201

P54/ AN202

VAC

IPFC

VR1

PH4/AN107

VN - NC

VCCIO1

- 18

VCCIO2

- 19

GND1

- 20

GND2

signal

MCU Port

Note

VCC

5V output

GND

HALL_U

P61/ IRQ5

Converted to 3.3V on this board

HALL_V

P60/IRQ4

Converted to 3.3V on this board

HALL_W

P55/IRQ3

Converted to 3.3V on this board

Table 2-9

(2) Hall sensor connector (CN2)

The Hall sensor connector (CN2) on this board is only compatible with 5V Hall sensors.

Because 5V is connected to the VCC pin, connecting the Hall sensor of 3.3V might be broken.

The signal line converts the 5V input signal to 3.3V by the level conversion IC on the board and connects it to the MCU.

Inverter Board Connector B (CN4)

(This sample software is not supported.)

The pin assignment of the Hall sensor connector is shown below.

Table 2-10 Hall sensor connector

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

signal

MCU Port

Note

VCC

5V output

GND

ENC_A

P33/MTCLKA

Converted to 3.3V on this board

ENC_B

P32/MTCLKB

Converted to 3.3V on this board

ENC_Z

PA5/MTIOC1A

Converted to 3.3V on this board

signal

MCU Port

Note

signal

MCU Port

Note

TCK/FINEC

PD4/TCK

2 GND

TRST#

PD7/TRST#

4 EMLE

EMLE

5 TDO /TXD1

PD3/TXD1

6 NC - NC 7 MD/FINED

MD/FINED

8 VCC

- 9

TMS

PD6_TMS

P00_UB

TDI/RXD1

PD5_RXD1

GND

- 13

RESET#

GND

(3) Encoder connector (CN3)

The Encoder connector on this board is only compatible with Encoder with 5V operation.

Because 5V is connected to the VCC pin, connecting encoder of 3.3V might be broken.

The signal line converts the 5V input signal to 3.3V by the level conversion IC on the board and connects it to the MCU.

(This sample software is not supported.)

The pin assignments for the Encoder connector are as follows:

Table 2-11 Encoder connector (CN3)

(4) JTAG Connector (CN5)

The pin assignments for JTAG connector is shown below.

Table 2-12 JTAG Connector (CN5)

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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

signal

MCU Port

Note

VCC

TXD

P81/TXD6

RXD

P80/RXD6

GND

signal

MCU Port

Note

signal

MCU Port

Note

MCU_UVCC

- 2

MCU_UVCC

- 3

MCU_PE5

PE5 4

MCU_P01

P01 5

MCU_PE2

PE2 6

MCU_P10

P10 7

MCU_P11

P11 8

MCU_P82

P82 9

MCU_P44

P44 10

MCU_P45

P45 11

MCU_P46

P46 12

MCU_P47

P47 13

MCU_PB7

PB7 14

GND

- 15

GND

- 16

GND

(5) SCI Connector (CN6

The pin assignments for SCI connector, CN6 is shown below.

CN6 is not mounded on this board.

Table 2-13 SCI Connector (CN6)

(6) Connectors for external expansion (CN7

The external expansion connector (CN7) has an unused pin connected to the MCU.

The pin assignments for external expansion connectors are shown below. CN7 connectors (pin headers) are not implemented.

Table 2-14 Connectors for external extension (CN7)

：Not Mounted)

(7) USB micro B (CN8)

CN8 is USB Micro B connector for 5V power supply to this board. See Figure 2-3 for the power supply diagram. By switching SW7 to the one described as "USB" with silkscreen, 5V power is supplied from CN8 to the board.

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signal

Feature

Select connection of JTAG_VCC and MCU_UVCC

Description

shipped state

Connect PGAVSS0 terminal and AVSS # Please use this normally.

not connect

Do not connect PGAVSS0 terminal and AVSS

Description

shipped state

Connect VCC pin and MCU_UVCC of the JTAG connector. # Please use this normally.

2.5.5 Jumper

Below is a list of jumper pins on this board. Normally, please use it in the shipping state.

Table 2-15 List of Jumper pins

JP2 XJ8C-0211 Select connection of PGAVSS0 and AVSS

JP3 XJ8C-0211

JP4 XJ8D-0311 Select input of MCU_UVCC

JP5 XJ8D-0311 Select input of Module_VCC

The settings for each jumper pin are shown below.

(1) JP2

JP2 is a jumper pin for connecting the PGAVSS0 pin and AVSS of the MCU. (See Figure 2-4)

The configuration table of JP2 is shown below.

When using the inverter board, please use JP2 of this board while keeping it short (shipped state).

Table 2-16

(2) JP3

JP3 is a jumper pin for connecting the VCC pin of JTAG connector (CCN5) to the MCU_UVCC. (See Figure 2-5). The configuration table of JP3 is shown below.

Table 2-17

JP2

1-2

JP3

1-2

not connect

Do not connect VCC pin and MCU_UVCC of the JTAG connector.

○

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Description

shipped state

Use 3.3V LDO output on this board as MCU_UVCC input # Please use this normally.。

Use VCC33_A of Inverter Board Connector A as MCU_UVCC.

There is no power to the MCU.

required.

Description

shipped state

3.3V LDO output on this board is selected as Module_VCC # Please use this normally.

Module_VCC.

(3) JP4

JP4 is jumper to select MCU_UVCC input. (See Figure 2-3)

The configuration table of JP4 is shown below.

Table 2-18

(4) JP5

JP5 is jumper to select Module_VCC input. (See Figure 2-3)

The configuration table of JP5 is shown below.

Table 2-19 JP5

JP4

1-2

2-3

not connect

1-2

2-3

# Select this setting in case of power supply from JTAG is

VCC33_A from Inverter Board connector A is selected as

○

not connect No power input to R-IN32M3 Module

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Item

This board

RX66T CPU Card

RTK0EMX870C00000BJ

Conn

Note

MPU

Type

R5F566TKADFP

R5F566TEADFP

ROM

1024KByte

512KByte

RAM

128KByte

64KByte

Package

LFQFP / 100 pin

The same on the left

Operating

3.3V

Encoder

ENCA

58pin (P33 / MTCLKA)

The same on the left

CN3

7 ENCB

59pin (P32 / MTCLKB)

The same on the left

CN3

ENCZ

36pin (PA5 /

The same on the left

CN3

Hall sensor

76pin (P61 / IRQ5)

17pin (PE0 / IRQ7)

CN2

77pin (P60 / IRQ4)

16pin (PE1 / IRQ15)

CN2

78pin (P55 / IRQ3)

1pin (PE5 / IEQ0)

CN2

Volume in

VR_1

86pin (PH4 / AN107)

68pin (P21 / AN217)

CN4

Need Volt

DC Link

VPN

87pin (P43 / AN003)

75pin (P62 / AN208)

CN4 14

waveform

TXD6

97pin (P81 / TXD6)

35pin (PB0 / TXD6)

CN6

Unusable

RXD6

98pin (P80 / RXD6)

34pin (PB1 / RXD6)

CN6

Unusable

Inverter

SW2#

64pin (P27)

97pin (P81)

CN1

error

SW1#

66pin (P23)

98pin (P80)

CN1

enable

LED1#

67pin (P22)

9pin (PE3)

CN1

Normal

LED2#

68pin (P21)

26pin (PB7)

CN1

Error

LED3#

69pin (P20)

32pin (PB3)

CN1

2.6 Difference between RX66T CPU Card

This board is developed referring to the RX66T CPU card (RTK0EMX870C00000BJ) and is configured to add an industrial Ethernet communication module, but there are several differences in MCU and the peripheral circuits. For this reason, in order for the sample software for the original RX66T CPU card to work with this board, it is necessary to make changes that take into account the following hardware differences: Please refer to Chapter 4.3 about changes of motor control sample software for this board.

Table 2-20 shows the major differences between original RX55T CPU card and this board about MPU peripheral circuits and R-IN32M3 Module-related circuit.

Table 2-20

Input

input

Differences b/w RX66T CPU card and this board

(SEMB1320)

Name

power supply voltage

(MPU spec: 2.7~5.5V)

MTIOC1A)

(MPU spec: 2.7~5.5V)

ection

Volt detect

monitor tool

board interface

(*) By changing the input supply voltage from 5V to 3.3V, the voltage loading process of sample software must be corrected. Here, this sample software is already corrected.

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Conv (*1)

release

motor control

R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

3. Sample software configuration

3.1 Folder structure

The folder structure of this sample software is shown below.

RX66T_CCM_V***

├─appl User application

│ ├─goal_net Sample application of udp_server, tcp_client, tcp_server and udp_client │ ├─mirror_io_sample Sample application of mirror I/O response (PROFINET, EtherNetI/P and EtherCAT) │ ├─motor_sample Sample application of motor control (PROFINET, EtherNet/IP and EtherCAT) │ └─remote_io_sample Sample application of Remote I/O (PROFINET, EtherNet/IP and EtherCAT)

│ ├─ext Software component by 3rd party ├─goal Main part of GOAL (Generic Open Abstraction Layer *) ├─goal_global Configuration of SPI mode

├─goal_media Wrapper part to absorb device-dependent and non-dependent components ├─plat HW-dependent components (OS-dependent part, board spec, drivers) ├─projects Project files corresponding to each user application │ ├─goal_net uITRON, FreeRTOS and OS less project files against 4 sample applications

│ ├─mirror_io_sample uITRON, FreeRTOS and OS less project files against 3 sample applications │ ├─motor_sample uITRON, FreeRTOS and OS less project files against 3 sample applications │ └─remote_io_sample uITRON, FreeRTOS and OS less project files against 3 samples applications │

└─protos enhancements such as the NW protocol and MCTC (Micro Core To Core)

* For more information about GOAL, see “R-IN32M3 Module User's Manual Software API Description” (R17US0002ED****).

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Protocol

Feature

PROFINET

Conformance : CC-B (RT)

I&M : 1-4

EtherNet/IP

DLR : Support

EtherCAT

DC : Support

3.1.1 Overview of the project

The protocols (PROFINET, EtherNet/IP and EtherCAT) in this sample software support the following features:

Table 3-1 Protocol and feature

・・Netload : I

Min Interval : 1ms

・・

・

・Mailbox : CoE / FoE / EoE

・Profile : CiA401

I/O mirror response, motor control and Remote I/O can be evaluated with industrial ethernet protocol, PROFINET, EtherNet/IP and EtherCAT by using the projects in this sample software.

In addition, every project supports RTOS of uITRON and FreeRTOS, and OS less system. The source code is shared, and the project files are packaged independently.

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3.2 Setup of development environment

Please refer to Chapter 1.2 for the operating environment of this sample software.

3.2.1 Install

(1) IDE e2studio

Download the version of e2studio listed in Table 1-1 from the following web site and install it on your PC.

https://www.renesas.com/software-tool/e-studio

Do not forget to check for "RX" at the screen to select [Device Family] in the middle of the installation. (multiple selections can be made together with others)

Figure 3-1 Select device family

(2) CC-RX

If you use uITRON environment, please install CC-RX, the C/C++ compiler package for the RX family. Download the version of this listed in Table 1-1 from the following website:

https://www.renesas.com/software-tool/cc-compiler-package-rx-family

Because it is a free trial version, the license has an expiration date and is a 60-day trial version. After 60 days, the ROM size will be limited to 128Kbyte. For more information, please refer to “CC-RX Compiler User's Manual”.

(3) RI600V4

If you use a uITRON environment, please install a real-time OS for the RX family. Download the version

of RI6000V4 listed in Table 1-1 from the following website:

https://www.renesas.com/software-tool/ri600v4-real-time-os-rx-family

(4) GCC for Renesas RX

If you use FreeRTOS environment, please install GCC for Renesas RX, the GNU Toolchain for the RX family. Download the version of GCC for Renesas RX listed in Table 1-1 from the following website:

https://gcc-renesas.com/rx-download-toolchains

(5) FreeRTOS

If you use FreeRTOS environment, please download FreeRTOS package through the e2studio. Specifically, create a new temporary project in e2studio and download FreeRTOS in the process. After the download is complete, cancel the project creation.

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Since the source code of FreeRTOS is already implemented in this sample software, it does not directly affect the build and debug of this sample software, but by downloading this, you can set the OS functions (memory, interrupt, etc.) and generate those code in the smart configurator of e2studio.

If every project uses the same version of FreeRTOS, the download should be carried out only once on your PC. (It is not necessary to carry out it for each project after that.) If you have already downloaded it, please go to the next section.

To start the e

\Renesas\e2_studio\eclipse\e2studio.exe

Select [File] -> [New] -> [C/C++Project].

studio, execute "e2studio.exe" in the following installation folder (default case).

Figure 3-2 Select new project

In the [Templates for New C/C++ Project] dialog, select [Renesas RX] -> [Renesas CC-RX C/C++ Executable Project] -> [Next].

Figure 3-3 Select detailed project

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In the [New Renesas CC-RX C/C++ Executable Project] dialog, enter a temporary project name and select [Next].

Figure 3-4 GCC for Renesas RX dialog

After select “FreeRTOS from “RTOS” pull down menu, select [Manage RTOS version…]. If region selection dialog is displayed, select your region.

Figure 3-5 Select FreeRTOS

Check [RX Family Renesas FreeRTOS] and select [Download]. If the disclaimer dialog is displayed, select [I Agree].

That is all about the download of the FreeRTOS package. Please cancel the project creation and finish.

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USB micro B cable

(LAN) Ethernet cable

e2studio

E1 emulator

Software PLC

3.2.2 Connection

(1) One board operation

Connect this board to the E1 emulator and your PC as follows:

After setting the power input switch SW7 of this board to the "USB" side (yellow arrow in Figure 3-6), power

is supplied to this board by connecting a USB micro B cable to this board.

Figure 3-6 Connection of one board operation

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DC24V output AC Adapter

(LAN) Ethernet cable

e2studio

E1 emulator

Motor

Software PLC

(2) Operation with Inverter Board

To evaluate motor solution, connect the inverter board and motor to this board as follows. For information on how to connect the inverter board to the motor, please refer to “Renesas Solution Starter Kit 24V Motor Control Evaluation System for RX23T (Motor RSSK) Manual” (R20UT3697J).

The motor control program included in this sample software is based on " RX66T Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation) (R01AN4244EJ), so the encoder connector (CN3) and the Hall sensor connector (CN2) are not required to be connected.

After setting the power input switch SW7 of this board to the "Inverter Board" side (yellow arrow in Figure

), turning on the inverter control circuit switch (S1) and connecting the +24V power supply (please

3-7 prepare separately) to the inverter board, then, power is supplied to the inverter board.

Figure 3-7 Connection with Inverter Board

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3.2.3 Import project

(1) Unzip package

First, unzip the archived package of this sample software (RX66T_CCM_V***.zip) and store it in arbitrary folder. Because e2studio cannot recognize project properly if file path is too long in the folder hierarchy, place it in shorter path. Also, do not use multi-byte character, such as Japanese, in the folder path.

(2) Execute e2studio

Execute "e2studio.exe" to start e2studio in the following folder (default case) installed (default case):

\Renesas\e2_studio\eclipse\e2studio.exe

To check the compiler installed above, select [Window] -> [Preferences], and then select [C/C++] -> [Renesas] -> [Renesas Toolchain Management] in the Settings dialog. In the dialog [Renesas Toolchain Management], it can be seen whether an appropriate compiler has been added to "Renesas CCRX" or "GCC for Renesas RX".

Figure 3-8 Renesas Toolchain Management

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(3) Import project

Import the sample project into e2studio from the following steps:

[File] -> [Import…] on the right of the screen.

Figure 3-9 Import

In the [Select] dialog, select [General] -> [Existing Project into Workspace], and then select [Next>].

Figure 3-10 Select

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In the [Import Projects] dialog, select [Select root directory] check box, and then select [Browse]. Select the package of this sample software "RX66T_CCM_V***" stored in arbitrary folder at 3.2.3(1) and select [OK].

Figure 3-11 Import Projects

After confirming that each sample project listed in [Projects] is checked, select [Finish] to import the project.

Figure 3-12 Imported projects

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3.2.4 FIT Module

(1) Download FIT Module

Sample projects in this sample software apply the FIT module. Download the FIT module from Smart Configurator in e2studio. If every project uses the same version of FIT module, the download should be carried out only once on the PC. (It is not necessary to carry out it for each project after that.)

If you have already downloaded it, please go to the next section. For more information, see "RX Smart Configurator User’s Guide: e² studio" (R20AN0451ES****).

In the [Project Explorer] on e2studio, expand the sample project and select the configuration file.

Figure 3-13 Project Explore

If you see a dialog below, select [Open Perspective].

Figure 3-14 Open Perspective

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Go to the [Components] tab of the Smart Configurator perspective screen and select the [Add component] button.

Figure 3-15 Add component

In the [Software Component Selection] dialog, select [Download more software components]. If the region selection dialog appears, select your region.

Figure 3-16 Download selection of Software Component

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After checking "RX Family Driver Package", select Download.

Figure 3-17 FIT Module Download

After the download is complete, close the [Software Component Selection] dialog. If successfully downloaded, each element of the FIT module will be activated.

Figure 3-18 Activated FIT module

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If each component is not activated, or if each component is not latest version, go to the [Components] tab of the Smart Configurator perspective screen and select the [Add component] button (Figure 3-15). So that, in the [Software Component Selection] dialog, select [Configure general settings…].

Figure 3-19 General settings of Software Component

In component settings, check [Allow blocked FIT modules to be displayed] and select [Apply].

Figure 3-20 Check of component display setting

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Right-click each component and select [Change version…].

Figure 3-21 Change version of component

Select [Next] -> [Finish].

If there is latest version in available versions, select [Next] -> [Finish] after selecting its version.

(2) Code generation for FIT Module

Generate the source code of the FIT module to use. Code generation needs to be done on a project-byproject level. Go to [Overview] tab of the Smart Configurator perspective screen and select [Generate Code] button to generate the required source code.

Figure 3-22 Generate code

Now, it is ready to build the project.

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3.2.5 Build project

In the [Project Explorer] on e2studio, select the sample project, select the arrow next to the [Build] button (hammer icon), and select [HardwareDebug] from the drop-down menu.

Figure 3-23 Build project

e2studio builds the selected project. When the build is complete, "Build Finished" message can be seen in the [Console] at the bottom of the screen.

Figure 3-24 Build finished

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3.2.6 Debug

Once the build is complete, it is possible to start debugging immediately. Select the arrow next to the [Debug] button (bug icon) and select [Debug Configurations…].

Figure 3-25 Debug Configurations

In the [Debug Configuration] dialog, select the appropriate "xxxx HardwareDebug" from [Renesas GDB Hardware Debugging] and select the [Debug] button to launch the debug screen.

Figure 3-26 Debug start

If a firewall warning for "e2-server-gdb.exe" is shown, check all check boxes, "Domain", "Private" and "Public", and select [Allow access].

If asked to change the perspective in the Confirm Perspective Switch dialog, check the check box of [Always use this setting] and select [Yes].

When the debugger screen is up and the program download is complete, select the [Restart] button to run the program.

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Sample Application

\appl\mirror_io_sample\01_pnio

Project File

\projects\mirror_io_sample\01_pnio\e2studio\RX66T\FreeRTOS

IP address

192.168.0.1

Netmask

255.255.255.0

3.3 How to use

3.3.1 I/O mirror response (via PROFINET)

This chapter describes an example of I/O mirror response via PROFINET communication by running the following sample project (FreeRTOS version):

Project file name on e2studio:

mirror_io_sample __01_pnio __RX66T_FreeRTOS

At first, refer to Chapter 3.2. to prepare the development environment.

(1) This sample application does not require an inverter board, so connect it as shown in Figure 3-6.

(2) Build the project and run the sample application, referring to Chapters 3.2.4 to 3.2.6.

When the sample application is run, a totally 5 LEDs light up. (protocol display LED (LED1) and generalpurpose output LED (LED5, 6, 8, 9)).

Next, set fixed IP address of the PC. Open the [Network Properties] of the network adapter connected to the R-IN32M3 Module and set the fixed IP (using 192.168.0.1 as an example, considering the description below).

Table 3-2 Set IP address of the PC

Here, Management tool can be used as a PROFINET master. It is included with " R-IN32M3 Module (RY9012A0) Sample Package" (R18AN0052EJ****) along with this sample software.

Execute "ice.exe" file in the folder below to start the Management tool. For more information about the Management tool, refer to “R-IN32M3 Module (RY9012A0) Quick Start Guide” (R12QS0042ED****).

\Tool\iCommExplorer-win32.win32.x86_64_ci117-v1.3.1\iCommExplorer\ice.exe

(This path is an example of version 1.3.1. The path and folder name may differ depending on the tool version.)

By referring to the following operation of Management tool, confirm PRIFINET connection to this sample application and verify the I/O mirror response by cyclic communication.

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(1) Select network to use in [Network Navigator] panel and select [Scan Network] button.

Figure 3-27 Scan network

(2) “Scan complete. found 1 device” message is displayed in [Network Scan] dialog, then select [OK].

Figure 3-28 Scan completed

(3) In [Network Navigator] panel in the scanned network, R-IN32M3 Module is displayed as the new device, so select [R-IN32M3 Module].

Figure 3-29 Select R-IN32M3 Module

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(4) In order to communicate with the R-IN32M3 Module, the IP address of the R-IN32M3 Module must be in the same IP network as the IP address of the PC. Therefore, access the configuration manager variables (volatile memory and non-volatile memory stored configuration variables) of the R-IN32M3 Module to set the IP address, Netmask, and Gateway.

With [R-IN32M3 Module] selected, select [Read Configuration] button while displaying the [ConfigManager] panel.

Figure 3-30 ConfigManager

(5) In the configurations displayed in the [ConfigManager] panel, change the following items: The changed Value will be highlighted in yellow.

- Module = GOAL_ID_NET、Variable = IP, Value = IP address (Here, for example 192.168.0.100)

- Module = GOAL_ID_NET、Variable = NETMASK, Value = Netmask (Here, for example 255.255.255.0)

- Module = GOAL_ID_NET、Variable = VALID, Value = 0x01

Figure 3-31 Set IP address

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(6) Select [Write Configuration] button to download the changed Configuration Manager variables to the RIN32M3 Module.

Figure 3-32 Download Config variables

(7) If a change confirmation dialog is displayed, select [Yes]. The changed value is then transferred to the RIN32M3 Module and changed in RAM only. If change the value of Flash incorporated in the R-IN32M3 Module, use the [Save config to flash]. The changed IP address setting is applied after the system is restarted, so restart this board.

(8) Select [PNIO Master] panel, and then select [Scan device].

Figure 3-33 PNIO Master

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(9) When a PROFINET device is detected, "PNIO: Found 1 device" appears in [Messages] panel at the bottom of the screen, and [Device Data] in the [PNIO Master] panel displays the Device Type = Renes Electronics, IP Address = 192.168.0.10, Netmask = 255.255.255.0, displays device information of the RIN32M3 Module.

Figure 3-34 Device Data display

(10) Open the I/O panel of [PNIO Master] panel and select [Load GSDML file] button to import the GSDML file. GSDML files can be found in the following folder:

\appl\mirror_io_sample\01_pnio\gsdml

Verify that [Slots:] and [Modules] display contents as set in GSDML, and then select [Connect] button. If the connection is successful, this button switches to [Disconnect] button. In addition, the protocol status LED (LED4) on this board lights up.

Figure 3-35 GSDML

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Sample Application

\appl\mirror_io_sample\02_eip

Project File

\projects\mirror_io_sample\02_eip\e2studio\RX66T\FreeRTOS

(11) After the connection is complete, move the slider bar down in [PNIO Master] panel to display [I/O Data], which monitors cyclic communication. The I/O mirror response is verified by operating 1 byte and 2byte data of [Output Data].

- Type "0x11" in [Output Data] of [O Signed8], then "0x11" in [Input Data] of [I Signed8] is displayed

- Type "0x2233" in [Output Data] of [O Signed16], then “0x2233" in [Input Data] of [I Signed16] is displayed

Figure 3-36 Confirmation of I/O mirror

3.3.2 I/O mirror response (via EtherNet/IP)

This chapter describes an example of I/O mirror response via EtherNet/IP communication by running the following sample project (FreeRTOS version):

Project file name on e2studio:

mirror_io_sample__02_eip__RX66T_FreeRTOS

Preparation of development environment is the same as Chapter 3.3.1.

When the sample application is run, a totally 5 LEDs light up. (protocol display LED (LED2) and generalpurpose output LED (LED5, 6, 8, 9)). Also, protocol status LED4 is light up and LED7 flashes.

Network adapter setting is the same as Chapter 3.3.1.

Management tool can be used as a EtherNet/IP master, which is also the same as Chapter 3.3.1.

By referring to the following operation of Management tool, confirm EtherNet/IP connection to this sample application and verify the I/O mirror response by cyclic communication.

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(1) In [Network Navigator] panel, select the network to use, and then select the Scan Network button.

Figure 3-37 Scan network

(2) ”Scan complete. found 1 device” message is displayed in [Network Scan] dialog, then select [OK].

Figure 3-38 Scan completed

(3) In [Network Navigator] panel in the scanned network, R-IN32M3 Module is displayed as the new device, so select [R-IN32M3 Module].

Note that in the I/O mirror response sample application via EtherNet/IP, the IP address of the R-IN32M3 Module is fixed (the default value is 192.168.0.100)). It is in the same IP network as the PC; therefore, it is not necessary to access the configuration manager variable of the R-IN32M3 Module to set the IP address, Netmask, or Gateway.

Figure 3-39 Select R-IN32M3 Module

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(4) Open [EtherNet/IP Master] panel and select [Scan device] button.

Figure 3-40 Scan device

(5) When an EtherNet/IP device is detected, [Messages panel] at the bottom of the screen displays "EIP: Found 1 device" and [Device Data] in [EtherNet/IP Master] panel displays the device information for the RIN32M3 Module at 192.168.0.100.

Figure 3-41 Device Data display

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(6) Open [I/O Data] panel in [EtherNet/IP Master] panel and select [Connect] button. If the connection is successful, this button switches to [Disconnect] button. In addition, the protocol status LED (LED7) on this board changes from flashing to lighting up (LED4 remains lit).

Figure 3-42 I/O Data panel

(7) After the connection is complete, move the slider bar down in [EtherNet/IP Master] panel to display [I/O Data O->T] and [I/O Data T->O], which monitor cyclic communication. The I/O mirror response is verified by operating the 32byte data of [I/O Data O->T].

- Type "12 34 56 78 90 00 00 00 00 ... 00 00 00 09 87 65 43 21" in [I/O Data O-> T], then "12 34 56 78 90 00 00 00 ... 00 00 00 09 87 65 43 21" in [I/O Data T->O] is displayed

Figure 3-43 Confirmation of I/O mirror response

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Sample Application

\appl\mirror_io_sample\03_ecat

Project File

\projects\mirror_io_sample\03_ecat\e2studio\RX66T\FreeRTOS

3.3.3 I/O mirror response (via EtherCAT)

This chapter describes an example of I/O mirror response via EtherCAT communication by running the following sample project (FreeRTOS version):

Project file name on e2studio:

mirror_io_sample__03_ecat__RX66T_FreeRTOS

To use this sample application, you need to update the firmware version of the R-IN32M3 Module to 2.0.0.0 or later. For the firmware update method, refer to “R-IN32M3 Module (RY9012A0) Quick Start Guide” (R12QS0042ED****).

Preparation of development environment is the same as Chapter 3.3.1.

When the sample application is run, a totally 5 LEDs light up. (protocol display LED (LED3) and generalpurpose output LED (LED5, 6, 8, 9).

TwinCAT made by Beckhoff Automation can be used as a EtherCAT master. TwinCAT is available from the Beckhoff Automation website.

http://www.beckhoff.com/

As a preparation before TwinCAT startup, you need to store the sample application’s EtherCAT Slave information (ESI) file to TwinCAT folder on your PC.

[ESI file]

\appl\mirror_io_sample\03_ecat\esi\03_ecat_slave_renesas.xml

(Displayed name on TwinCAT: RIN32M3 Module)

[Folder to store ESI file]

C:\TwinCAT\3.1\Config\Io\EtherCAT

By referring to the following operation of TwinCAT, confirm EtherCAT connection to this sample application and verify the I/O mirror response by cyclic communication.

(1) From the start menu on your PC, select [Beckhoff] -> [TwinCAT 3] -> [TwinCAT XAE (VS 20 xx)].

(2) After starting TwinCAT, select [File] -> [New] -> [Project] and create a new project of type [TwinCAT XAE Project].

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(3) In TwinCAT project tree, right-click [I/O] -> [Devices] and select [Scan].

Figure 3-44 Scan network

(4) Click [OK] on [HINT: Not all types of devices can be found automatically] dialog.

(5) In the [new I/O devices found] dialog, select the check box of Ethernet adapter to be scanned and click [OK].

(6) Click [Yes] in [Scan for Boxes] dialog, scanning is started and the devices in the EtherCAT segment are recognized automatically.

(7) When [Active Free Run] dialog is displayed, click [Yes]. In TwinCAT project tree, display [Device x] -> [Box 1] is added under [I/O] -> [Devices].

Figure 3-45 Box 1

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(8) If the EEPROM is blank and [Box 1 (PFFFFFFFF RFFFFFFFF)] is displayed, or if the ESI of different sample application is written, it is necessary to write the ESI file of corresponding sample application to the EEPROM. In TwinCAT project tree, double-click [Device x] -> [Box 1] -> [I/O] -> [Devices], the window is displayed on the right side. Select the [EtherCAT] panel and click the [Advanced Settings].

If the ESI file of corresponding sample application has already been written to EEPROM, please go to steps (14).

Figure 3-46 EEPROM setting

(9) Select [ESC Access] -> [EEPROM] -> [Hex Editor] in the left side of [Advanced Settings] dialog.

(10) In the [Hex Editor] window, click [Download from list].

(11) In [Write EEPROM] dialog, select [Renesas Electronics Corp] -> [RIN32M3 Module]. Select the ESI file of corresponding sample application and click [OK]. This writes the ESI file is written to EEPROM. When the writing is complete, click [OK] to close [Advanced Settings] dialog.

(12) In order to reflect the changed ESI file settings in TwinCAT project, disconnect the connected device once. Right-click [I/O] -> [Devices] -> [Device x] and select [Remove].

Figure 3-47 Remove device

(13) Follow steps (3) to (7) for connection the device again.

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(14) Double-click [I/O] -> [Devices] -> [Device x] -> [Box 1] in TwinCAT project tree, the window is displayed on the right side. Select [Online] panel. If connection is successful, "OP" is displayed in [Current Status] and [Requested State]. In addition, the protocol status LED (LED4) on this board lights up.

Figure 3-48 Connection successful

(15) After the connection is complete, expand [Box 1] in TwinCAT project tree and expand [TxPDO 1] and [RxPDO 1], which monitor cyclic communication. The I/O mirror response is verified by operating 1byte data of [digital Inputs 1-8] and [digital Outputs 1-8].

Right-click [digital Inputs 1-8], select [Add to Watch]. Similarly, right-click [digital Outputs 1-8], and select [Add to Watch]. This can watch IN and OUT data on one screen in the [symbol Watch] panel.

Figure 3-49 Add to Watch

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(16) For operating each value, Right-click [digital Outputs 1-8] or [digital Inputs 1-8], select [Online Write…]. It is enabled to set the value on [Set Value Dialog] dialog that is displayed.

Figure 3-50 Online Write

Figure 3-51 Set Value Dialog

- Type "12" in [Dec] of [digital Outputs 1-8], then “12” in [digital Inputs 1-8] is displayed

Figure 3-52 Confirmation I/O mirror response

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Sample

\appl\motor_sample\01_pnio

Project File

\projects\motor_sample\01_pnio\e2studio\RX66T\OSless

3.3.4 Motor Sample (via PROFINET)

This chapter describes an example of motor control via PROFINET communication by running the following sample project (OS less version):

Application

Project file name on e2studio:

motor_sample__01_pnio__RX66T_OSless

At first, refer to Chapter 3.2. to prepare the development environment.

(1) This sample application requires an inverter board, so connect it as shown in Figure 3-7.

(2) Build the project and run the sample application, referring to Chapters 3.2.4 to 3.2.6.

When the sample application is run, a totally 5 LEDs light up. (protocol display LED (LED1) and generalpurpose output LED (LED5, 6, 8, 9).

Network adapter setting is the same as Chapter 3.3.1.

Management tool can be used as a PROFINET master, which is also the same as Chapter 3.3.1.

By referring to the following operation of Management tool, confirm PROFINET connection to this sample application and verify the motor control by cyclic communication. Since steps (1) to (9) are the same as Chapter 3.3.1, only steps (10) and beyond are described below.

(10) Open the I/O panel of [PNIO Master] panel and select [Load GSDML file] button to import the GSDML file. GSDML files can be found in the following folder:

\appl\motor_sample\01_pnio\gsdml

Figure 3-53 GSDML

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Operating Data

Motor control

[O Signed8] -> [Output Data]

Select movement

[O Signed16] -> [Output Data]

Specify rotation speed (Big Endian)

(11) After the connection is complete, move the slider bar down in [PNIO Master] panel to display [I/O Data], which monitors cyclic communication. The motor control is verified by operating 1byte and 2byte data of [Output Data].

0x00：Stop

0x01：FWD rotation (clockwise(CW))

0x02：RVS rotation (counter-clockwise(CCW))

By typing data as follows, the motor rotates FWD (CW) at the specified rotational speed.

- [O Signed8] -> [Output Data] = ”0x01”, [O Signed16] -> [Output Data] = ”0080”

Figure 3-54 CW

Also, by typing data as follows, the motor rotates RVS (CCW) at the specified rotational speed.

- [O Signed8] -> [Output Data] = ”0x02”, [O Signed16] -> [Output Data] = ”0x0070”

Figure 3-55 CCW

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Sample Application

\appl\motor_sample\02_eip

Project File

\projects\motor_sample\02_eip \e2studio\RX66T\OSless

Operating Data

Motor control

1st byte in [I/O Data O->T]

Select movement

3rd and 4th byte in [I/O Data O->T]

Specify rotation speed (Big Endian)

3.3.5 Motor Sample (via EtherNet/IP)

This chapter describes an example of motor control via EtherNet/IP communication by running the following sample project (OS less version):

Project file name on e2studio:

motor_sample__02_eip__RX66T_OSless

Preparation of development environment is the same as Chapter 3.3.4.

When the sample application is run, a totally 5 LEDs light up. (protocol display LED (LED2) and generalpurpose output LED (LED5, 6, 8, 9). Also, protocol status LED4 is light up and LED7 flashes.

Network adapter setting is the same as Chapter 3.3.1.

Management tool can be used as a EtherNet/IP master, which is also the same as Chapter 3.3.1.

By referring to the following operation of Management tool, confirm EtherNet/IP connection to this sample application and verify the motor control by cyclic communication. Since steps (1) to (6) are the same as Chapter 3.3.2, only step (7) and beyond are described below.

(7) After the connection is complete, move the slider bar down in the EtherNet/IP Master panel and display [I/O Data O->T] and [I/O Data T->O], which monitor cyclic communication. The motor control is verified by operating 32byte data of [I/O Data O->T].

0x00：Stop

0x01：FWD rotation (clockwise(CW))

0x02：RVS rotation (counter-clockwise(CCW))

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By typing data as follows, the motor rotates FWD (CW) at the specified rotational speed.

- 1

byte in [I/O Data O->T] = “01”, 3rd byte and 4

byte in [I/O Data O->T] = ”00 60”

Figure 3-56 CW

Also, by typing data as follows, the motor rotates RVS (CCW) at the specified rotational speed.

- 1

byte in [I/O Data O->T] = ”02”, 3rd and 4th byte in [I/O Data O->T] = ”00 70”

Figure 3-57 CCW

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Sample Application

\appl\motor_sample\03_ecat

Project File

\projects\motor_sample\03_ecat\e2studio\RX66T\OSless

3.3.6 Motor control (via EtherCAT)

This chapter describes an example of motor control via EtherCAT communication by running the following sample project (OS less version):

Project file name on e2studio:

motor_sample__03_ecat__RX66T_OSless

Preparation of development environment is the same as Chapter 3.3.4.

When the sample application is run, a totally 5 LEDs light up. (protocol display LED (LED3) and generalpurpose output LED (LED5, 6, 8, 9).

TwinCAT can be used as a EtherCAT master, which is also the same as Chapter 3.3.3.

As a preparation before TwinCAT startup, you need to store the sample application’s EtherCAT Slave information (ESI) file to TwinCAT folder on your PC.

[ESI file]

\appl\motor_sample\03_ecat \esi\03_ecat_mtr_slave_renesas.xml

(Displayed name on TwinCAT: RIN32M3 Module (Motor sample))

[Folder to store ESI file]

C:\TwinCAT\3.1\Config\Io\EtherCAT

By referring to the following operation of TwinCAT, confirm EtherCAT connection to this sample application and verify the motor control by cyclic communication. Since steps (1) to (14) are the same as Chapter 3.3.3, only step (15) and beyond are described below.

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Operating Data

Motor control

[Motor start/stop switch]

Select movement

[Motor velocity]

Specify rotation speed (Big Endian)

(15) After the connection is complete, expand [Box 1] in TwinCAT project tree and expand [RxPDO 1], which monitors cyclic communication. The motor control is verified by operating 1byte data of [Motor start/stop switch] and 2byte data of [Motor velocity].

0x00：Stop

0x01：FWD rotation (clockwise(CW))

0x02：RVS rotation (counter-clockwise(CCW))

For operating each value, Right-click [Motor start/stop switch] or [Motor velocity], select [Online Write…]. It is enabled to set the value on [Set Value Dialog] dialog that is displayed.

By typing data as follows, the motor rotates FWD (CW) at the specified rotational speed.

- [Dec] of [Motor start/stop switch] = ”1”, [Dec] of [Motor velocity] = ”128”

Figure 3-58 CW

Also, by typing data as follows, the motor rotates RVS (CCW) at the specified rotational speed.

- [Dec] of [Motor start/stop switch] = ”2”, [Dec] of [Motor velocity] = ”80”

Figure 3-59 CCW

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Sample Application

\appl\remote_io_sample\01_pnio

Project File

\projects\remote_io_sample\01_pnio\e2studio\RX66T\RI600V4

3.3.7 Remote I/O (via PROFINET)

This chapter describes an example of Remote I/O via PROFINET communication by running the following sample project (uITRON version):

Project file name on e2studio:

remote_io_sample__01_pnio__RX66T_RI600V4

Preparation of development environment is the same as Chapter 3.3.1.

When the sample application is run, protocol display LED (LED1) light up.

Network adapter setting is the same as Chapter 3.3.1.

Management tool can be used as a PROFINET master, which is also the same as Chapter 3.3.1.

By referring to the following operation of Management tool, confirm PROFINET connection to this sample application and verify the Remote I/O by cyclic communication. Since steps (1) to (9) are the same as Chapter 3.3.1, only steps (10) and beyond are described below.

(10) Open the I/O panel of [PNIO Master] panel and select [Load GSDML file] button to import the GSDML file. GSDML files can be found in the following folder:

\appl\remote_io_sample\01_pnio\gsdml

Figure 3-60 GSDML

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Corresponding data

Corresponding

Remote control

[Switch]

SW2,4,5,6

By operating SW2,4,5,6 on this board, the bit value of

SW6 : bit3

[LED]

LED5,6,8,9

By operating the bit value of [LED] on Management tool,

bit3 : LED9

(11) After the connection is complete, move the slider bar down in [PNIO Master] panel to display [I/O Data], which monitors cyclic communication. The Remote I/O is verified by operating 1byte data of [Switch] and [LED], and operating SW and LED on this board.

on Management tool

- Set SW2,6 on this board to "H" side, then "9" in [Switch] on Management tool is displayed

function on this board

[Switch] on Management tool change (High : 1, Low : 0). Each link is below: SW2 : bit0 SW4 : bit1 SW5 : bit2

LED5,6,8,9 on this board change (1 : light up, 0 : turn off). Each link is below: bit0 : LED5 bit1 : LED6 bit2 : LED8

Figure 3-61 Confirmation of Input

- Type “0x07” in [LED] on Management tool, general-purpose output LED (LED5,6,8) on this board is lighted up

Figure 3-62 Confirmation of Output

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Sample Application

\appl\remote_io_sample\02_eip

Project File

\projects\remote_io_sample\02_eip\e2studio\RX66T\RI600V4

Corresponding data

Corresponding

Remote control

1st byte in [I/O Data

LED5,6,8,9

By operating the bit value of 1st byte in [I/O Data O->T]

bit3 : LED9

1st byte in [I/O Data

SW2,4,5,6

By operating SW2,4,5,6 on this board, the bit value of 1st

SW6 : bit3

3.3.8 Remote I/O (via EtherNet/IP)

This chapter describes an example of Remote I/O via EtherNet/IP communication by running the following sample project (uITRON version):

Project file name on e2studio:

remote_io_sample__02_eip__RX66T_RI600V4

Preparation of development environment is the same as Chapter 3.3.1.

When the sample application is run, protocol display LED (LED2) light up. Also, protocol status LED4 is light up and LED7 flashes.

Network adapter setting is the same as Chapter 3.3.1.

Management tool can be used as a EtherNet/IP master, which is also the same as Chapter 3.3.1.

By referring to the following operation of Management tool, confirm EtherNet/IP connection to this sample application and verify the Remote I/O by cyclic communication. Since steps (1) to (6) are the same as Chapter 3.3.2, only steps (7) and beyond are described below.

(7) After the connection is complete, move the slider bar down in [EtherNet/IP Master] panel to display [I/O Data O->T] and [I/O Data T->O], which monitor cyclic communication. The Remote I/O is verified by operating 32byte data of [I/O Data O->T] and [I/O Data T->O], and operating SW and LED on this board.

on Management tool

O->T]

T->O]

function on this board

on Management tool, LED5,6,8,9 on this board change (1 : light up, 0 : turn off). Each link is below: bit0 : LED5 bit1 : LED6 bit2 : LED8

byte in [I/O Data T->O] on Management tool change (High : 1, Low : 0). Each link is below: SW2 : bit0 SW4 : bit1 SW5 : bit2

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- Type “0A” in [I/O Data O->T] on Management tool, general-purpose output LED (LED6,9) on this board is lighted up

Figure 3-63 Confirmation of Output

- Set SW4,5,6 on this board to "H" side, then "0E" in [I/O Data T->O] on Management tool is displayed

Figure 3-64 Confirmation of Input

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Sample Application

\appl\remote_io_sample\03_ecat

Project File

\projects\remote_io_sample\03_ecat\e2studio\RX66T\RI600V4

3.3.9 Remote I/O (via EtherCAT)

This chapter describes an example of Remote I/O via EtherCAT communication by running the following sample project (uITRON version):

Project file name on e2studio:

remote_io_sample__03_ecat__RX66T_RI600V4

Preparation of development environment is the same as Chapter 3.3.1.

When the sample application is run, protocol display LED (LED3) light up.

TwinCAT can be used as a EtherCAT master, which is also the same as Chapter 3.3.3.

As a preparation before TwinCAT startup, you need to store the sample application’s EtherCAT Slave information (ESI) file to TwinCAT folder on your PC.

[ESI file]

\appl\remote_io_sample\03_ecat\esi\03_ecat_slave_rmtio_renesas.xml

(Displayed name on TwinCAT: RIN32M3 Module (Remote I/O sample))

[Folder to store ESI file]

C:\TwinCAT\3.1\Config\Io\EtherCAT

By referring to the following operation of TwinCAT confirm EtherCAT connection to this sample application and verify the Remote I/O by cyclic communication. Since steps (1) to (14) are the same as Chapter 3.3.3, only steps (15) and beyond are described below.

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Corresponding data

Corresponding

Remote control

[SW]

SW2,4,5,6

By operating SW2,4,5,6 on this board, the bit value of

SW6 : bit3

[LED]

LED5,6,8,9

By operating the bit value of [LED] on TwinCAT,

bit3 : LED9

(15) After the connection is complete, expand [Box 1] in TwinCAT project tree and expand [TxPDO 1] and [RxPDO 1], which monitor cyclic communication. The Remote I/O is verified by operating 1byte data of [SW] and [LED], and operating SW and LED on this board.

on TwinCAT

For confirming [SW] value, select [SW], select [Online Write…]. Since window is displayed on the right side, it is enabled to watch current value in [Value] of this panel.

For operating [LED] value, Right-click [LED], select [Online Write…]. It is enabled to set the value on [Set Value Dialog] dialog that is displayed.

function on this board

[SW] on TwinCAT (High : 1, Low : 0). Each link is below: SW2 : bit0 SW4 : bit1 SW5 : bit2

LED5,6,8,9 on this board change (1 : light up, 0 : turn off). Each link is below: bit0 : LED5 bit1 : LED6 bit2 : LED8

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- Set SW2,5 on this board to "H" side, then "5" in [Switch] on TwinCAT is displayed

Figure 3-65 Confirmation of Input

- Type “15” in [Dec] of [LED] on TwinCAT, general-purpose output LED (LED5,6,8,9) on this board is lighted up

Figure 3-66 Confirmation of Output

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Use Application

Unique Processing

appl_init()

Perform initialization steps before the GOAL core part is initialized, such

appl_setup()

Configure profile settings for each protocol stack, such as vendor ID

appl_loop()

Perform normal operations, including loop control functions.

GOAL initial phase

GOAL loop phase

appl_init()

appl_setup()

appl_loop()

user application

GOAL

3.4 Application Implement Guide

This chapter describes the steps to implement unique processing as a user application.

This sample software is equipped with GOAL middleware and is structured based on its design philosophy. GOAL provides appl_init(), appl_setup(), and appl_loop() functions for user application-specific processing, with appl_init() and appl_setup() executed in the initial phase of goal, followed by periodic appl_loop() in the subsequent loop phases.

Figure 3-67

The following is an overview of the unique processing of functions in the user application. These are also defined in goal_appl.c, which is the main source code of each sample.

Table 3-3 User applications and unique processing

as initialization of each protocol stack, initialization of board-dependent hardware.

settings. It also registers callback functions and receives data from the RIN32M3 Module through each protocol.

Overall flow of the program

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3.4.1 PROFINET

This chapter describes the implementation of the user application part in the motor control sample application by PROFINET. For more information about each API, see "R-IN32M3 Module (RY9012A0) User's Manual Software" (R17US0002ED****).

(1) appl_init

This function includes application-specific initialization steps before the GOAL core module, etc. is initialized. To enable PROFINET in GOAL, it is necessary to call goal_pnioInit first and register the GOAL's PROFINET stack with GOAL, therefore call the initialization routine for each module, including goal_pnioInit. The sample program also registers board-dependent hardware initialization routines.

GOAL_STATUS_T appl_init( void ) { GOAL_STATUS_T res = GOAL_OK; /* result */

/* initialize DD */ res = goal_ddInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of DD failed"); }

res = goal_snmpInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of SNMP failed"); }

/* initialize PROFINET */ res = goal_pnioInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of PROFINET failed"); }

/* initialize ccm RPC interface */ res = appl_ccmRpcInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of ccm RPC failed"); }

/* register local setup stage */ res = goal_mainStageReg(GOAL_STAGE_MODULES, &stageApplSetup, GOAL_STAGE_INIT, appl_setupLocal); if (GOAL_RES_ERR(res)) { goal_logErr("failed to register local appl setup stage"); }

/* initialize HTTP module */ res = goal_httpInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of http module failed"); return res; }

return res; }

① Initialize each module of GOAL. goal_pnioInit must be called from appl_init

①

②

①

② Registers a callback function (appl_setupLocal) to be called with the specified stage ID.

appl_setupLocal performs board-specific initialization, such as LED initialization and motor controlrelated initialization.

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③

(2) appl_setup

This function defines static settings for protocols, such as creating instance of PROFINET.

An instance of PROFINET is created in goal_pnioNew and ready for use. Some settings, such as how much slot memory is reserved and which vendor ID to use, must be defined between goal_pnioInit and goal_pnioNew. These settings are set by the API group starting with goal_pnioCfg. After goal_pnioNew, all other APIs, such as creating slots and modules can be used.

GOAL_STATUS_T appl_setup( void ) { ・・・ /* initialize timeout timestamp */ tsTout = goal_timerTsGet();

res = appl_ccmLogEnable(); if (GOAL_RES_ERR(res)) { goal_logErr("failed to enable LOG to CC"); return res; }

res = goal_snmpNew(&pInstanceSnmp, APPL_SNMP_ID); if (GOAL_RES_ERR(res)) { goal_logErr("failed to create SNMP instance"); return res; }

/* set SNMP instance id for new PNIO instance */ res = goal_pnioCfgSnmpIdSet(APPL_SNMP_ID); if (GOAL_RES_ERR(res)) { goal_logErr("failed to set SNMP instance id"); return res; }

・・・

/* set identification of the slave (vendor name) */ res = goal_pnioCfgVendorNameSet(APPL_PNIO_VENDOR_NAME); if (GOAL_RES_ERR(res)) { goal_logErr("failed to set vendor name"); return res; }

/* create new PROFINET instance */ res = goal_pnioNew(&pPnio, APPL_PNIO_ID, appl_pnioCb); if (GOAL_RES_ERR(res)) { goal_logErr("failed to create a new PROFINET instance"); return res; }

①

②

① Create an instance of SNMP.

② Define static settings in the protocol. In this sample, the vendor ID, device ID and else are set.

③ Create an instance of PRFINET and register the main callback (appl_pnioCb) The main callback

function describes what to do depending on the state reported by the protocol stack. For information about the reported status, see "R-IN32M3 Module (RY9012A0) User's Manual Software" (R17US0002ED****).

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⑤

goal_logInfo("Initializing device structure");

/* create subslots */ res = goal_pnioSubslotNew(pPnio, APPL_API, APPL_SLOT_1, APPL_SLOT_1_SUB_1, GOAL_PNIO_FLG_AUTO_GEN); if (GOAL_RES_ERR(res)) { goal_logErr("failed to add subslot"); return res; }

・・・

/* create submodules */ res = goal_pnioSubmodNew(pPnio, APPL_MOD_1, APPL_MOD_1_SUB_1, GOAL_PNIO_MOD_TYPE_INPUT, APPL_SIZE_1_SUB_1_IN, 0, GOAL_PNIO_FLG_AUTO_GEN); if (GOAL_RES_ERR(res)) { goal_logErr("failed to add submodule"); return res; }

・・・

/* plug modules into slots */ res = goal_pnioSubmodPlug(pPnio, APPL_API, APPL_SLOT_1, APPL_SLOT_1_SUB_1, APPL_MOD_1, APPL_MOD_1_SUB_1); if (GOAL_RES_ERR(res)) { goal_logErr("failed to plug submodule"); return res; }

・・・

/* PROFINET configuration succesful */ goal_logInfo("PROFINET ready");

goal_logInfo("Configuring DD");

/* start DD instance */ if (GOAL_RES_OK(res)) { res = goal_ddNew(&pHdlDd, GOAL_DD_FEAT_ALL); }

・・・

④

⑥

④ Create an instance of a sub-slot.

⑤ Create an instance of the sub-module and associate it with the sub-slot.

⑥ Create an instance of DD (Device Detection) and configure the static definitions. In this sample, the

customer ID and module name are set.

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⑧ ⑦ ⑩

/* RX DATA */ goal_logInfo("mapping of ctc rx data (CC -> AC)");

/* PROFINET: add CS of Slot 1 Subslot 1 to cyclic RX data */ if (GOAL_RES_OK(res)) { goal_logInfo("CC: input IOCS -> AC"); mMapIoxs[APPL_IOXS_RX_SL1_SU1_CS].strDesc = APPL_IOXS_RX_SL1_SU1_CS_DESC; res = goal_pnioDmSubslotIoxsAdd( pPnio, /* PROFINET instance */ ・・・ APPL_SLOT_1, /* slot */ APPL_SLOT_1_SUB_1 /* subslot */ ); goal_logInfo("RX: Slot 1 Subslot 1 CS: %"FMT_u32"", goal_miDmPartIdxGet(mMapIoxs[APPL_IOXS_RX_SL1_SU1_CS].pPart)); }

・・・

/* TX DATA */ goal_logInfo("mapping of ctc tx data (AC -> CC)");

/* PROFINET: add PS of Slot 1 Subslot 1 to cyclic TX data */ if (GOAL_RES_OK(res)) { goal_logInfo("AC: input IOPS -> CC"); res = goal_pnioDmSubslotIoxsAdd( pPnio, /* PROFINET instance */ ・・・ APPL_SLOT_1, /* slot */ APPL_SLOT_1_SUB_1 /* subslot */ ); goal_logInfo("TX: Slot 1 Subslot 1 PS: %"FMT_u32"", goal_miDmPartIdxGet(mMapIoxs[APPL_IOXS_TX_SL1_SU1_PS].pPart)); }

・・・

/* register read callback for cyclic data, use rx mapping to get group id */ if (GOAL_RES_OK(res)) { res = goal_miDmCbReg(NULL, pPartRxSl2Su1Data->pGroup, GOAL_MI_DM_CB_READ, appl_dmCbCyclicRx, NULL); }

/* setup web server */ if (GOAL_RES_OK(res)) { res = appl_httpSetup(); }

・・・

return res; }

⑨

⑦ Map the receive data of the sub-slot to the specified DM (Data Mapper) instance.

⑧ Map the transmission data of the sub-slot to the specified DM (Data Mapper) instance.

⑨ Register a callback function (appl_dmCbCyclicRx) which performs update of cyclic data. The callback

function copies data from the receive slot to the transmission slot and removes the motor control data (motor rotation direction and rotational speed).

⑩ Setting Web server (HTTP)

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(3) appl_loop

Process the data after initialization of GOAL.

void appl_loop( void ) { GOAL_TIMESTAMP_T tsCur; /* current timestamp */ unsigned int cnt; /* counter */

/* Processing Motor control */ mces_motorControl();

/* get current timestamp */ tsCur = goal_timerTsGet();

/* mirror output data from submod 0:2:1 to input data from submod 0:1:1 */ if ((tsTout <= tsCur)) {

if (genericDp.leds & GOAL_MCTC_DP_LED_RED_1) { goal_maLedSet(pMaLed, GOAL_MA_LED_LED1_RED, GOAL_MA_LED_STATE_ON); } else { goal_maLedSet(pMaLed, GOAL_MA_LED_LED1_RED, GOAL_MA_LED_STATE_OFF); }

・・・

if (genericDp.leds & GOAL_MCTC_DP_LED_GREEN_2) { goal_maLedSet(pMaLed, GOAL_MA_LED_LED2_GREEN, GOAL_MA_LED_STATE_ON); } else { goal_maLedSet(pMaLed, GOAL_MA_LED_LED2_GREEN, GOAL_MA_LED_STATE_OFF); }

/* update timeout value */ tsTout = goal_timerTsGet() + APPL_TIMEOUT_TRIGGER_VAL; }

/* show changes in IOXS states */ for (cnt = 0; cnt < APPL_IOXS_CNT_ELEM; cnt += 2) { if (GOAL_TRUE == mMapIoxs[cnt].flgChg) { mMapIoxs[cnt].flgChg = GOAL_FALSE; goal_logInfo("IOXS changed: '%s' = 0x%x", mMapIoxs[cnt].strDesc, mMapIoxs[cnt].valPrev); } } }

①

②

③

① Update the motor control according to the instructions of the host side.

② The LED lights/turns off at regular intervals, depending on the reception state of the data,

③ Clear the update state of the cyclic data.

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3.4.2 EtherNet/IP

This chapter describes the implementation of the user application part in the motor control sample application by EtherNet/IP. For more information about each API, see "R-IN32M3 Module (RY9012A0) User's Manual Software" (R17US0002ED****).

(1) appl_init

This function includes application-specific initialization steps before the GOAL core module, etc. is initialized.

To enable EtherNet/IP in GOAL, it is necessary to call goal_eipInit and register the EtherNet/IP stack with GOAL. Therefore, call the initialization routine for each module, including goal_eipInit. The sample program also registers board-dependent hardware initialization routines.

GOAL_STATUS_T appl_init( void ) { GOAL_STATUS_T res; /* result */

/* initialize DD */ res = goal_ddInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of DD failed"); }

/* initialize ccm RPC interface */ res = appl_ccmRpcInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of ccm RPC failed"); }

res = goal_eipInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of Ethernet/IP failed"); }

/* initialize HTTP module */ res = goal_httpInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of http module failed"); return res; }

return res; }

①

②

①

① Initialize each module of GOAL. goal_eipInit must be called from appl_init.

② Registers a callback function (appl_setupLocal) to be called with the specified stage ID.

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④

(2) appl_setup

This function defines static settings for protocols, such as creating instance of EtherNet/IP.

Instance of EtherNet/IP is created in goal_eipNew and available for use.

Some settings like vendor ID are necessary to be set between goal_eipInit and goal_eipNew. These settings are set by the API group starting with goal_eipCfg. After goal_eipNew, various types of data. are accessible.

GOAL_STATUS_T appl_setup( void ) { GOAL_STATUS_T res; /* result */ GOAL_MI_MCTC_INST_T *pMiMctcInst = NULL; /* MI MCTC instance */ char strVersion[APPL_VERSION_LEN]; /* version string */ GOAL_ETH_MAC_ADDR_T mac; /* mac address */ uint16_t devType = 0; /* device type */ GOAL_DD_T *pHdlDd = NULL; /* dd handle */

res = appl_ccmLogEnable(); if (GOAL_RES_ERR(res)) { goal_logErr("failed to enable LOG to CC"); return res; }

/* for a real device the serial number should be unique per device */ res = goal_eipCfgSerialNumSet(123456789); if (GOAL_RES_ERR(res)) { goal_logErr("failed to set Serial Number"); return res; }

・・・

goal_logInfo("create new EIP instance");

res = goal_eipNew(&pHdlEip, EIP_INSTANCE_DEFAULT, main_eipCallback); if (GOAL_RES_ERR(res)) { goal_logErr("failed to create a new EtherNet/IP instance"); return res; }

if (GOAL_RES_OK(res)) { res = goal_miMctcOpen(&pMiMctcInst, GOAL_ID_DEFAULT); }

/* add generic dp to cyclic RX data */ res = goal_eipDmDpAdd(pHdlEip, GOAL_MI_MCTC_DIR_PEER_FROM, &mpPartRxDp); if (GOAL_RES_ERR(res)) { goal_logErr("failed to add generic data provider"); return res; }

①

②

③

① Defines static settings in the protocol. In this sample, the vendor ID, product code, etc. are set.

② Create an instance of EtherNet/IP. Registering the main callback (main_eipCallback). The callback

function copies data from the received data to the transmission data and removes the motor control data (motor rotation direction and rotational speed).

③ Open an instance of the Micro Core (MCTC) module.

④ Register the allocation of received data on the data buffer.

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res = main_eipApplInit(pHdlEip); if (GOAL_RES_ERR(res)) { goal_logErr("failed to initialize assembly and attribute configuration"); return res; }

if (GOAL_RES_OK(res)) { res = appl_httpSetup();

}

goal_logInfo("Configuring DD");

/* start DD instance */ if (GOAL_RES_OK(res)) { res = goal_ddNew(&pHdlDd, GOAL_DD_FEAT_ALL); }

/* configure DD properties */ res = goal_ddCustomerIdSet(pHdlDd, APPL_DD_CUSTOMER_ID); if (GOAL_RES_ERR(res)) { goal_logErr("failed to configure DD customer id"); }

res = goal_ddModuleNameSet(pHdlDd, (uint8_t *) APPL_DD_MODULE_NAME); if (GOAL_RES_ERR(res)) { goal_logErr("failed to configure DD module name"); }

res = goal_ddFeaturesSet(pHdlDd, APPL_DD_FEATURES); if (GOAL_RES_ERR(res)) { goal_logErr("failed to configure DD features"); }

if (GOAL_RES_OK(res)) { goal_logInfo("DD ready"); } else { goal_logErr("DD initialization failed"); }

if (GOAL_RES_OK(res)) { res = appl_ccmInfo(strVersion, APPL_VERSION_LEN, &mac, &devType); }

goal_logInfo("CCM version : %s", strVersion); goal_logInfo("CCM device : %u", devType); goal_logInfo("CCM Serial : %02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);

return res; }

⑤

⑥

⑦

⑤ Set the created instance of EtherNet/IP to a CIP object.

⑥ Set Web server (HTTP)

⑦ Creating Instantance and setting up static definitions for the Device Detection (DD) module. In this

sample, customer ID and module name are set.

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void appl_loop(

}

②

R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

(3) appl_loop

Process the data after initialization of GOAL.

void ) { GOAL_TIMESTAMP_T tsCur; /* current timestamp */ GOAL_STATUS_T res; /* result */

/* Processing Motor control */ mces_motorControl();

/* get current timestamp */ tsCur = goal_timerTsGet();

if ((tsTout <= tsCur)) {

/* retrieve data provider state */ res = goal_miDmSingleRead(mpPartRxDp, (uint8_t *) &genericDp); if (GOAL_RES_ERR(res)) { return; }

if (genericDp.leds & GOAL_MCTC_DP_LED_RED_1) { goal_maLedSet(pMaLed, GOAL_MA_LED_LED1_RED, GOAL_MA_LED_STATE_ON); } else { goal_maLedSet(pMaLed, GOAL_MA_LED_LED1_RED, GOAL_MA_LED_STATE_OFF); }

・・・

if (genericDp.leds & GOAL_MCTC_DP_LED_GREEN_2) { goal_maLedSet(pMaLed, GOAL_MA_LED_LED2_GREEN, GOAL_MA_LED_STATE_ON); } else { goal_maLedSet(pMaLed, GOAL_MA_LED_LED2_GREEN, GOAL_MA_LED_STATE_OFF); }

/* update timeout value */ tsTout = goal_timerTsGet() + APPL_TIMEOUT_TRIGGER_VAL; }

①

① The motor control is updated according to the instructions of the host.

② The LED lights/turns off at regular intervals depending on the reception state of the data.

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②

3.4.3 EtherCAT

This chapter describes the implementation of the user application part in the motor control sample application by EtherCAT. For more information about each API, see "R-IN32M3 Module (RY9012A0) User's Manual Software" (R17US0002ED****).

(1) appl_init

This function includes application-specific initialization steps before the GOAL core module, etc. is initialized.

To enable EtherCAT in GOAL, it is necessary to call goal_ecatInit first and register the EtherCAT stack with GOAL. Therefore, call the initialization routine for each module, including goal_ecatInit. The sample program also registers board-dependent hardware initialization routines.

GOAL_STATUS_T appl_init( void ) { GOAL_STATUS_T res; /* result */

/* initialize ccm RPC interface */ res = appl_ccmRpcInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of ccm RPC failed"); }

/* initialize DD */ res = goal_ddInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of DD failed"); }

/* initialize EtherCAT */ res = goal_ecatInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of EtherCAT failed"); }

/* initialize HTTP */ res = goal_httpInit(); if (GOAL_RES_ERR(res)) { goal_logErr("Initialization of HTTP failed"); }

/* register setup stage handler which contains steps not covered by CSAP */ if (GOAL_RES_OK(res)) { res = goal_mainStageReg(GOAL_STAGE_MODULES, &stageApplSetup, GOAL_STAGE_INIT, appl_setupLocal); }

return res; }

①

① Initialize each module of GOAL. goal_ecatInit must be called from appl_init

② Register a callback function (appl_setupLocal) called with the specified stage ID.

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(2) appl_setup

This function defines static settings for protocols, such as creating instance of EtherCAT.

An instance of EtherCAT is created in goal_ecatNew and ready for use. Also, if necessary, configure EtherCAT protocol before creating instance set by the API group starting with goal_ecatCfg. After creating instance, generate the required object dictionary and set the initial values.

GOAL_STATUS_T appl_setup( void ) { GOAL_STATUS_T res; /* result */ char strVersion[APPL_VERSION_LEN]; /* version string */ uint16_t devType = 0; /* device type */ GOAL_ETH_MAC_ADDR_T mac; /* mac address */ uint8_t fwSignature[16]; /* firmware signature */ uint32_t valObj = 0; /* object dictionary value */

/* enable logging from AC to CC */ res = appl_ccmLogToAcEnable(); if (GOAL_RES_ERR(res)) { goal_logErr("failed to enable logging from CC to AC"); }

/* enable CoE emergency */ res = goal_ecatCfgEmergencyOn(GOAL_TRUE); if (GOAL_RES_ERR(res)) { goal_logErr("failed to enable CoE Emergency support"); }

・・・

#if APPL_ECAT_SII_INIT == 1 goal_logInfo("initializing EtherCAT SSI data");

res = appl_ccmCfgSsiVendorId( &__03_ecat_mtr_slave_eeprom_bin[0], /* data buffer */ __03_ecat_mtr_slave_eeprom_bin_len, /* data buffer length */ APPL_ECAT_VENDOR_ID); if (GOAL_RES_ERR(res)) { goal_logErr("failed to configure EEPROM ssi vendor id"); }

・・・

/* configure SII in EEPROM before creating the EtherCAT instance */ res = appl_ccmEcatSsiUpdate( &__03_ecat_mtr_slave_eeprom_bin[0], /* data buffer */ __03_ecat_mtr_slave_eeprom_bin_len, /* data buffer length */ GOAL_FALSE); /* always overwrite ssi data */ if (GOAL_RES_ERR(res)) { goal_logErr("failed to configure EEPROM ssi data"); } #endif

①

②

① Setting EtherCAT protocol. goal_ecatNew must be performed before an instance can be created in the

application.

② Initialization of SII. (Disabled by default)

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⑤ ④ ⑥

goal_logInfo("create new instance");

res = goal_ecatNew(&pHdlEcat, GOAL_ECAT_INSTANCE_DEFAULT, appl_ecatCallback); if (GOAL_RES_ERR(res)) { goal_logErr("failed to create a new EtherCAT instance"); return res; }

res = appl_ecatInit(pHdlEcat); if (GOAL_RES_ERR(res)) { goal_logErr("failed to initialize application resources"); return res; }

res = appl_ecatCreateObjects(pHdlEcat); if (GOAL_RES_ERR(res)) { goal_logErr("failed to initialize object dictionary"); return res; }

res = goal_ecatObjValSet( pHdlEcat, 0x1008, 0x00, (uint8_t *) APPL_ECAT_PRODUCT_NAME, GOAL_STRLEN(APPL_ECAT_PRODUCT_NAME)); if (GOAL_RES_ERR(res)) { goal_logErr("failed to set product name in object dictionary"); return res; }

・・・

/* set settings for ccm firmware update via FoE */ res = appl_ccmFoeUpdateSettings( "ccm.efw", /* filename beginning */ 0, /* 0 -> match all characters */ 0, /* password */ GOAL_TRUE); /* only update in ESM state bootstrap */ if (GOAL_RES_ERR(res)) { goal_logErr("failed to configure FoE firmware update of CC"); return res; }

/* register a callback function to handle update events */ if (GOAL_RES_OK(res)) { res = appl_ccmFwUpdateCbReg(appl_fwUpdateCb); }

③

⑦

③ Create an instance of EtherCAT and register main callback (main_ecatCallback). The callback function

describes operation depending on the state reported by the protocol stack. For information about the reported status, see “R-IN32M3 Module (RY9012A0) User's Manual Software” (R17US0002ED****)

④ Initialize the module for setting the EtherCAT Explicit Device ID. The EtherCAT Explicit Device ID switch

(SW3) is required to set the ID. For details, please refer to Chapter 2.5.3(1).

⑤ Generates each object dictionary (OD). OD is added by goal_ecatdynOdObjAdd or else, and end OD

generation by goal_ecatdynOdFinish in the end.

⑥ Set the initial value for each OD definition.

⑦ Set up firmware update via FoE.

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/* register http web server after 83nitialization of EtherCAT stack */ if (GOAL_RES_OK(res)) { res = appl_httpSetup(); }

/* initialize timeout timestamp */ tsTout = goal_timerTsGet();

/* get version and information of ccm */ if (GOAL_RES_OK(res)) { res = appl_ccmInfo(strVersion, APPL_VERSION_LEN, &mac, &devType); }

/* update object Manufacturer Software Version */ if (GOAL_RES_OK(res)) { res = goal_ecatObjValSet( pHdlEcat, 0x100a, 0x00, (uint8_t *) strVersion, GOAL_STRLEN(strVersion)); }

・・・

valObj = 0; if (GOAL_RES_OK(res)) { res = appl_ccmCfgVarSet( 34, /* module id ccm */ 1, /* variable id foe password */ &valObj, sizeof(valObj) ); }

if (GOAL_RES_OK(res)) { goal_logInfo(“cfg variable (dd:customer id) changed to %”FMT_x32”.”, valObj); }

return res; }

⑧

⑨

⑧ Set Web server (HTTP)

⑨ Exchange the data with CC (R-IN32M3 Module main unit) by using RPC. Set the acquired data for OD

definition.

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(3) appl_loop

Process the data after initialization of GOAL.

void appl_loop( void ) { GOAL_TIMESTAMP_T tsCur; /* current timestamp */

/* Processing Motor control */ mces_motorControl();

/* get current timestamp */ tsCur = goal_timerTsGet();

/* set leds */ if ((tsTout <= tsCur) && (GOAL_TRUE != flgError)) { } }

① The motor control is updated according to the instructions of the host.

①

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API

Description

RI600V4(uITRON)

FreeRTOS

vsta_knl

vTaskStartScheduler

Start OS

Creation of static instances

xEventGroupCreate

Create event flag

wai_flg

xEventGroupWaitBits

Monitor event flags

set_flg

xEventGroupSetBits

Set event flags

Creation of static instances

xSemaphoreCreateRecursiveMutex

Create Mutex

Creation of static instances

vSemaphoreDelete

Delete Mutex

tloc_mtx

xSemaphoreTakeRecursive

Lock Mutex

unl_mtx

xSemaphoreGiveRecursive

Un-Lock Mutex

Creation of static instances

xSemaphoreCreateBinary

Create Semaphore 10

twai_sem

xSemaphoreTake

Acquire Semaphore

sig_sem

xSemaphoreGive

Return Semaphore

act_tsk,sta_tsk

xTaskCreate

Create/Start Tasks

get_tid

xTaskGetCurrentTaskHandle

Get Task in Running State

get_pri

uxTaskPriorityGet

Get Priority of Task

chg_pri

vTaskPrioritySet

Set Priority of Task

rem_tsk

vTaskResume

Release Suspend State

tslp_tsk

vTaskDelay

Task Delays

sus_tsk

vTaskSuspend

Transit to Suspend State

ter_tsk

vTaskDelete

End/Delete Task

4. Appendix

4.1 GOAL API

The host microcomputer communicates with the R-IN32M3 Module via an API function to control the RIN32M3 Module provided by GOAL. The APIs are categorized by protocol, and for more information, see “RIN32M3 Module (RY9012A0) User's Manual Software” (R17US0002ED****).

4.2 OS Service Call

Table 4-1 shows the service calls used in operating environments of uITORN and FreeRTOS projects.

Table 4-1 Comparison table with OS service call

only

irem_tsk

xTaskResumeFromISR

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factor

changes

change reason

Changed ADC channels for analog input

For changing the MCU pin allocation of

Changed the conversion ratio of the inverter bus

The supply voltage of the RX66T has

Changed the terminal corresponding to LED1 to 3

For changing the MCU pin allocation of

Timer used for 500 [us] cycle interrupt for motor

To increase the number of free channels

Changed to disable the variable resistance (VR1)

In order not to overlap with the operation

Changed interrupt processing to a call via the FIT

To put the interrupt handler under OS

Delete serial communication processing (SCI6).

Non-support of RMW tool.

Add include files

To be able to build with both CC-RX/GNU

4.3 Motor Sample

The motor control sample software included in this sample software has made the following changes based on the sample software for the CPU card, "Sensorless Vector Control for Permanent Magnet Synchronous Motor (Implementation)" (R01AN4244EJ****).

Regarding hardware differences, please refer to Chapter 2.6.

Table 4-2 Changes of Motor control sample software

measurement.

VPN：AN208 -> AN003

VR1：AN217 -> AN107

voltage.

/ SW1 to 2 of the inverter board.

control changed from CMT to TMR

and toggle switch (SW1) of the inverter board during protocol communication.

module (BSP).

the board.

been changed from 5.0[V] -> 3.3 [V] according to the specifications of the RIN32M3 module.

the board.

of CMT timer which is used for hard timers in GOAL.

on the board during various protocol communication.

control (FreeRTOS and uITRON version).

To put the interrupt handler under FIT module control (OS less version).

Change macros for interrupt-allow/prohibit

Add Padding to Structures

Change description method of #pragma

R12AN0111EJ0204 Rev.2.04 Page 86 of 88 Apr.26.2021

compilers

R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

Rev.

Date

Description

Page

Summary

1.00

Oct/16/2020

First Edition

2.00

Nov/06/2020

27,52,61,6 7,80

Add description about EtherCAT(Chapter 3.1.1, 3.3.3, 3.3.6,

3.3.9 and 3.4.3)

Change Folder Structure

Add FreeRTOS package download procedure

Add Remote I/O sample

2.01

Jan/15/2021

52,61,67

Add version and update method of FW

2.02

Jan/29/2021 5,43

Changed the description due to the version upgrade of Management tool

Removed the statement that the switch is unused

2.03

Mar/31/2021

Update each version of operating environment

26, 27, 43

- Unify OS less environment of RX sample program

folder path

Add the procedure when the component is not activated in FIT module generation

2.04

Apr/26/2021

Add Sample package DL link

Add trademark

13, 15

Modify Figure 2-6 and Table 2-4

respective owners.

Revision History

- Change the folder name and project name to shorten the

Trademark

Ethernet is a registered trademark of Fuji Xerox Co., Ltd.

EtherCAT® and TwinCAT® are registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Additionally all product names and service names in this document are a trademark or a registered trademark which belongs to the

R12AN0111EJ0204 Rev.2.04 Page 87 of 88 Apr.26.2021

R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board

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 w ell 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 usi ng 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 pi n 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 w aveform 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 V

(Max.) and V

input level is fixed, and also in the transition period when the input level passes through the area between V

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 system-

evaluation test for the given product.

(Min.) due to noise, for example, the device may malfunction. Take care to prevent chattering noise from entering the device when the

(Max.) and VIH (Min.).

R12AN0111EJ0204 Rev.2.04 Page 88 of 88 Apr.26.2021

Notice

Corporate Headquarters

Contact information

www.renesas.com

Trademarks

of their respective owners.

1. Descriptions of circuits, software and other related i nformation 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 i n 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.

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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 l atest 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.

8. Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product. You are responsible for carefully and sufficiently investigating applicable laws and regulations that regulate the inclusion or use of controlled substances, including without limitation, the EU RoHS Directive, and using Renesas Electronics products in compliance with all these applicable laws and regulations. Renesas Electronics disclaims any and all liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations.

9. Renesas Electronics products and technologies shall not be used for or incorporated into any products or systems whose manufacture, use, or sale is prohibited under any applicable domestic or foreign laws or regulations. You shall comply with any applicable export control laws and regulations promulgated and administered by the governments of any countries asserting jurisdi ction over the parties or transactions.

10. It is the responsibility of the buyer or distributor of Renesas Electronics products, or any other party who distributes, disposes of, or otherwise sells or transfers the product to a third party, to notify such third party in advance of the contents and conditions set forth in this document.

11. This document shall not be reprinted, reproduced or duplicated in any form, in whole or in part, without prior written consent of Renesas Electronics.

12. Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas Electronics products.

(Note1) “Renesas Electronics” as used in this document means Renesas Electronics Corporation and also includes its directly or indirectly controlled

(Note2) “Renesas Electronics product(s)” means any product developed or manufactured by or for Renesas Electronics.

subsidiaries.

electronic appliances; machine tools; personal electronic equipment; industrial robots; etc.

financial terminal systems; safety control equipment; etc.

(Rev.4.0-1 November 2017)

TOYOSU FORESIA, 3-2-24 Toyosu,

Koto-ku, Tokyo 135-0061, Japan

Renesas and the Renesas logo are trademarks of Renesas Electronics Corporation. All trademarks and registered trademarks are the property

For further information on a product, technology, the most up-to-date version of a document, or your nearest sales office, please visit:

www.renesas.com/contact/

Renesas R-IN32M3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Overview

1.1 Overview

1.2 Operating environment

2. Hardware configuration

2.1 List of specifications

2.2 Appearance of the board

2.3 Block diagram

2.4 Features

2.4.1 Power supply

2.4.2 GND

2.4.3 RESET and JTAG

2.4.4 R-IN32M3 Module

2.4.5 Emulator connection

2.5 External interfaces

2.5.1 Ethernet connector

2.5.2 LED

(1) 5V power display (LED10)

(2) Protocol display (LED1~3)

(3) Protocol status (LED4,7)

(4) General-purpose output LED (LED5,6,8,9)

2.5.3 Switch

(1) EtherCAT Explicit Device ID Switch (SW3)

(2) General-purpose input SW (SW2,4,5,6)

(3) General-input SW (SW9)

(4) Power SW (SW7)

(5) Reset SW (SW1, SW8)

2.5.4 Connector

(1) Inverter Board Connector (CN1, CN4)

(2) Hall sensor connector (CN2)

(3) Encoder connector (CN3)

(4) JTAG Connector (CN5)

(7) USB micro B (CN8)

2.5.5 Jumper

(1) JP2

(2) JP3

(3) JP4

(4) JP5

2.6 Difference between RX66T CPU Card

3. Sample software configuration

3.1 Folder structure

3.1.1 Overview of the project

3.2 Setup of development environment

3.2.1 Install

(1) IDE e2studio

(2) CC-RX

(3) RI600V4

(4) GCC for Renesas RX

(5) FreeRTOS

3.2.2 Connection

(1) One board operation

(2) Operation with Inverter Board

3.2.3 Import project

(1) Unzip package

(2) Execute e2studio

(3) Import project

3.2.4 FIT Module

(1) Download FIT Module

(2) Code generation for FIT Module

3.2.5 Build project

3.2.6 Debug

3.3 How to use

3.3.1 I/O mirror response (via PROFINET)

3.3.2 I/O mirror response (via EtherNet/IP)

3.3.3 I/O mirror response (via EtherCAT)

3.3.4 Motor Sample (via PROFINET)

3.3.5 Motor Sample (via EtherNet/IP)

3.3.6 Motor control (via EtherCAT)

3.3.7 Remote I/O (via PROFINET)

3.3.8 Remote I/O (via EtherNet/IP)

3.3.9 Remote I/O (via EtherCAT)

3.4 Application Implement Guide

3.4.1 PROFINET

3.4.2 EtherNet/IP

3.4.3 EtherCAT

4. Appendix

4.1 GOAL API