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****)』
Related documents
Motor (Implementation)
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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board
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
Category
Name
Version
Link
Remarks
R-IN32M3
package
Sample
-
r18an0052xx0***
Integrated
e2studio
64bit version:
V7.8.0 or later
https://www.renesas.com/softwa
RX family
package
CC-RX
V3.03.00
https://www.renesas.com/softwa
Not necessary for OS
RX family
GCC for
RX
V8.3.0.202004
https://gcc-renesas.com/rx-
RX family real-
RI600V4
V1.06.00
https://www.renesas.com/softwa
family
Not necessary for OS
RX family
FreeRTOS
FreeRTOS
V10.0.04
https://www.renesas.com/softwa
Not necessary for OS
Management
ICE
V1.3.1 or later
-
port industrial
package
Software PLC
TwinCAT
V3.1
Beckhoff Automation
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
less sample projects
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
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
1
General purpose DIP switch
10
Inverter Board connector B
2
USB Micro B
11
Reset switch
3
Power input selector switch
12
General purpose toggle switch
4
Inverter Board connector A
13
JTAG connector
5
General-purpose rotary switch (not
mounted)
14
General purpose LED (Green)
6
EtherCAT ID switch
15
SCI connector (not mounted)
7
Protocol display LED
16
Pin header for external expansion (not
mounted)
8
R-IN32M3 Module
17
Encoder connector
9
Protocol status LED
18
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
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
SW
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
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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
4
19
20
PGAVSS1
GND1
GND2
5
IU
6
IV
7
IW
8
VPN
10
VU
11
VV
12
VW
15
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
U1
FG
GND
R-IN32M3
Module
U3
FG
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_UVCC
MCU
RX66T
U1
TCK
TRST#
EMLE
TDO/TXD
MD/FINED
TMS
UB
TDI/RXD
RESET#
MCU_UVCC
Module
_RESET#
RESET
IC
Module_VCC
RESET#
SW8
SW1
R-IN32M3
Module
U3
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
U3
R-IN32M3
Module
SS#
MISO
MOSI
SCLK
SYNC0
SYNC1
MCU
RX66T
U1
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
U1
P
94
P
95
LED
1
LED2 LED
3
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)
2
EtherNet/IP
NS
NS
MS
MS
3
EtherCAT
OFF
ERR
RUN
OFF
MCU
RX
66
T
U
1
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,
SF
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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
1
MCU
RX66
T
U
1
PE3
PE
4
LED
5
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
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
MCU
_
UVCC
MCU
RX66T
U1
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
U1
PB4
PB2
PB1
PB0
/ スイッチ
MCU_UVCC
MCU_UVCC
MCU_UVCC
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
U1
P62
P63
SW9
ON
(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
CN
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
pin
signal
MCU Port
Note
pin
signal
MCU Port
Note
1
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
10
WP
P73/ MTIOC4B
11
VP
P72/ MTIOC4A
12
UP
P71/ MTIOC3B
13
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
pin
signal
MCU Port
Note
pin
signal
MCU Port
Note
1
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)
-
NC
10
VU
P52 /AN200
11
VV
P53/AN201
12
VW
P54/ AN202
13
VAC
-
NC
14
IPFC
-
NC
15
VR1
PH4/AN107
16
VN - NC
17
VCCIO1
- 18
VCCIO2
- 19
GND1
- 20
GND2
-
pin
signal
MCU Port
Note
1
VCC
-
5V output
2
GND
-
3
HALL_U
P61/ IRQ5
Converted to 3.3V on this board
4
HALL_V
P60/IRQ4
Converted to 3.3V on this board
5
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
pin
signal
MCU Port
Note
1
VCC
-
5V output
2
GND
-
3
ENC_A
P33/MTCLKA
Converted to 3.3V on this board
4
ENC_B
P32/MTCLKB
Converted to 3.3V on this board
5
ENC_Z
PA5/MTIOC1A
Converted to 3.3V on this board
pin
signal
MCU Port
Note
pin
signal
MCU Port
Note
1
TCK/FINEC
PD4/TCK
2 GND
-
3
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
10
UB
P00_UB
11
TDI/RXD1
PD5_RXD1
12
GND
- 13
RESET#
RESET#
14
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
pin
signal
MCU Port
Note
1
VCC
-
2
TXD
P81/TXD6
3
RXD
P80/RXD6
4
GND
pin
signal
MCU Port
Note
pin
signal
MCU Port
Note
1
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)
：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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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board
pin
signal
Feature
Select connection of JTAG_VCC and
MCU_UVCC
JP
Description
shipped state
Connect PGAVSS0 terminal and AVSS
# Please use this normally.
not connect
Do not connect PGAVSS0 terminal and AVSS
JP
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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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board
JP
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.
JP
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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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board
#
Item
This board
RX66T CPU Card
RTK0EMX870C00000BJ
Conn
Note
1
MPU
Type
R5F566TKADFP
R5F566TEADFP
2
ROM
1024KByte
512KByte
3
RAM
128KByte
64KByte
4
Package
LFQFP / 100 pin
The same on the left
5
Operating
3.3V
5V
6
Encoder
ENCA
58pin (P33 / MTCLKA)
The same on the left
CN3
7 ENCB
59pin (P32 / MTCLKB)
The same on the left
CN3
8
ENCZ
36pin (PA5 /
The same on the left
CN3
9
Hall sensor
HU
76pin (P61 / IRQ5)
17pin (PE0 / IRQ7)
CN2
10
HV
77pin (P60 / IRQ4)
16pin (PE1 / IRQ15)
CN2
11
HW
78pin (P55 / IRQ3)
1pin (PE5 / IEQ0)
CN2
12
Volume in
VR_1
86pin (PH4 / AN107)
68pin (P21 / AN217)
CN4
Need Volt
13
DC Link
VPN
87pin (P43 / AN003)
75pin (P62 / AN208)
CN4
14
waveform
TXD6
97pin (P81 / TXD6)
35pin (PB0 / TXD6)
CN6
Unusable
15
RXD6
98pin (P80 / RXD6)
34pin (PB1 / RXD6)
CN6
Unusable
16
Inverter
SW2#
64pin (P27)
97pin (P81)
CN1
error
17
SW1#
66pin (P23)
98pin (P80)
CN1
enable
18
LED1#
67pin (P22)
9pin (PE3)
CN1
Normal
19
LED2#
68pin (P21)
26pin (PB7)
CN1
Error
20
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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R-IN32M3 Module (RY9012A0) R-IN32M3 Module Evaluation Board
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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