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R01AN0168ED0101 Rev. 01.01 10Application NoteChapter 2 General Notices 2.2.3 Functionality of GEN (Soft Reset)GEN is always set on Hardware RESET.By

R01AN0168ED0101 Rev. 01.01 11Application Note Chapter 3 About Stepper Motor Movement3.1 The Physics of a Stepper MotorThe Stepper Motor consists of

R01AN0168ED0101 Rev. 01.01 12Application NoteChapter 3 About Stepper Motor Movement The average amplitude of the magnetic field is determined by the

R01AN0168ED0101 Rev. 01.01 13Application NoteChapter 3 About Stepper Motor Movement 3.2 The PWM Generation of ISMFollowing a Prescaler (GTB), the cen

R01AN0168ED0101 Rev. 01.01 14Application NoteChapter 3 About Stepper Motor Movement 3.2.1 ISM ClockingThe clock of the central time base is selected

R01AN0168ED0101 Rev. 01.01 15Application NoteChapter 3 About Stepper Motor Movement 3.3 Recirculation of InductanceRecirculation means performing a s

R01AN0168ED0101 Rev. 01.01 16Application NoteChapter 3 About Stepper Motor Movement 3.4 The ISM Channel CircuitryAs a summary of the previous chapter

R01AN0168ED0101 Rev. 01.01 17Application Note Chapter 4 Automated Motor MovementWithin this chapter, more deep functional description about the proc

R01AN0168ED0101 Rev. 01.01 18Application NoteChapter 4 Automated Motor Movement 4.1 Processing of PWM (non-ZPD) ChannelsThis is performed for all cha

R01AN0168ED0101 Rev. 01.01 19Application NoteChapter 4 Automated Motor Movement CZCn has reached the end of the table marked by ZPD table index limit

2 R01AN0168ED0101Application Note Notice1. All information included in this document is current as of the date this document is issued. Such inform

R01AN0168ED0101 Rev. 01.01 20Application NoteChapter 4 Automated Motor Movement Figure 4-2 ZPD Processing Flow of ISM=3'3URFHVVLQJRI&KDQQ

R01AN0168ED0101 Rev. 01.01 21Application NoteChapter 4 Automated Motor Movement 4.3 Channel Management Processing OverviewSummarized from the chapter

R01AN0168ED0101 Rev. 01.01 22Application Note Chapter 5 Looking into the PWM and ZPD Tables5.1 Virtual ChannelsAs the PWM Value RAM is a lookup-tabl

R01AN0168ED0101 Rev. 01.01 23Application NoteChapter 5 Looking into the PWM and ZPD Tables 5.2 Values for PWM Operation5.2.1 Channels and PrecisionAs

R01AN0168ED0101 Rev. 01.01 24Application NoteChapter 5 Looking into the PWM and ZPD Tables 5.2.2 PWM ValuesIn the ideal case, one would expect that t

R01AN0168ED0101 Rev. 01.01 25Application NoteChapter 5 Looking into the PWM and ZPD Tables (1) Example of a Sine - Cosine Sequence PWM TableWhen writ

R01AN0168ED0101 Rev. 01.01 26Application NoteChapter 5 Looking into the PWM and ZPD Tables { 0x3E0L, 0x0F8L, 0x3L, 1L, 1L, 0L }, { 0x3EBL, 0x0C7L,

R01AN0168ED0101 Rev. 01.01 27Application NoteChapter 5 Looking into the PWM and ZPD Tables { 0x3FDL, 0x032L, 0x1L, 1L, 1L, 0L }, { 0x3FFL, 0x000L,

R01AN0168ED0101 Rev. 01.01 28Application NoteChapter 5 Looking into the PWM and ZPD Tables 5.3 Values for ZPD Operation5.3.1 Addressing in ZPD ModeWh

R01AN0168ED0101 Rev. 01.01 29Application Note Chapter 6 Performing MovementsWithin this section, the movement of stepper motors using the Channel Ma

3 R01AN0168ED0101Application Note The quality grade of each Renesas Electronics product is “Standard” unless otherwise expressly specified in a Ren

R01AN0168ED0101 Rev. 01.01 30Application NoteChapter 6 Performing Movements 6.1.1 Common 25-bit Number FormatFor all parameters and variables which a

R01AN0168ED0101 Rev. 01.01 31Application NoteChapter 6 Performing Movements (2) Value IntegerFor position values, the value integer consists of the m

R01AN0168ED0101 Rev. 01.01 32Application NoteChapter 6 Performing Movements (3) Acceleration Limit, Deceleration Limit PALn, PDLnIf acceleration or d

R01AN0168ED0101 Rev. 01.01 33Application NoteChapter 6 Performing Movements 6.1.3 Variable Description(1) Actual Algorithm Values VAXn, VASn, VAPnThe

R01AN0168ED0101 Rev. 01.01 34Application NoteChapter 6 Performing Movements }}if ( VAS >= 0 ){if ( VAS > PMS ) {VAS = PMS}}else{if ( ( -VAS

R01AN0168ED0101 Rev. 01.01 35Application NoteChapter 6 Performing Movements VSP = 0}else{VSP = VSP}if ( ( ( -VAS ) >= PS3 ) and( ( -VAS ) <= PS

R01AN0168ED0101 Rev. 01.01 36Application NoteChapter 6 Performing Movements 6.2 Moving the MotorsHaving all parameters set, the timebases defined and

R01AN0168ED0101 Rev. 01.01 37Application Note Chapter 7 Performing Zero Point Detection7.1 Zero Point Detection (ZPD) TheoryIn order to define the Z

R01AN0168ED0101 Rev. 01.01 38Application NoteChapter 7 Performing Zero Point Detection 7.1.1 The ZPD Measurement PrincipleFor all 4 cases, the same m

R01AN0168ED0101 Rev. 01.01 39Application NoteChapter 7 Performing Zero Point Detection Figure 7-3 Reaching the Zero PointIn the best case, the induce

4 R01AN0168ED0101Application Note 12. This document may not be reproduced or duplicated, in any form, in whole or in part, without prior written co

R01AN0168ED0101 Rev. 01.01 40Application NoteChapter 7 Performing Zero Point Detection Figure 7-4 Using the Blanking Time(4) Definition of the Measur

R01AN0168ED0101 Rev. 01.01 41Application NoteChapter 7 Performing Zero Point Detection (5) Setting up the Digital Filter of ZPDThe digital filter of

R01AN0168ED0101 Rev. 01.01 42Application NoteChapter 7 Performing Zero Point Detection Note In most cases, the reference level on its own is enough t

R01AN0168ED0101 Rev. 01.01 43Application NoteChapter 7 Performing Zero Point Detection For each channel, one of its four ports can be assigned by ZIS

R01AN0168ED0101 Rev. 01.01 44Application NoteChapter 7 Performing Zero Point Detection required. So, we choose GZF to be 14 (factor 1/512), and we ar

R01AN0168ED0101 Rev. 01.01 45Application NoteChapter 7 Performing Zero Point Detection 7.3 ZPD OperationThe ZPD operation for a channel can be indivi

R01AN0168ED0101 Rev. 01.01 46Application NoteChapter 7 Performing Zero Point Detection 7.3.1 Using Direct I/O ControlWhen performing ZPD, it is often

R01AN0168ED0101 Rev. 01.01 47Application NoteChapter 7 Performing Zero Point Detection 7.3.2 Executing a ZPD TableThe following illustration shows, h

R01AN0168ED0101 Rev. 01.01 48Application NoteChapter 7 Performing Zero Point Detection The following chapters are referring to the steps indicated wi

R01AN0168ED0101 Rev. 01.01 49Application Note Revision HistoryThe table below gives an overview about the revision history of this document.Rev. Dat

R01AN0168ED0101 Rev. 01.01 5Application Note General Precautions in the Handling of MPU/MCU ProductsThe following usage notes are applicable to all M

V850E2/Dx4 Application NotePublication Date: Rev. 01.01 February 13, 2012Published by: Renesas Electronics Corporation

http://www.renesas.comRefer to "http://www.renesas.com/" for the latest and detailed information.Renesas Electronics America Inc. 2880 Scot

R01AN0168ED0101 V850E2/Dx4

R01AN0168ED0101 Rev. 01.01 6Application Note Table of ContentsGeneral Precautions in the Handling of MPU/MCU Products . . . . . . 5Table of Conten

R01AN0168ED0101 Rev. 01.01 7Application NoteTable of Contents 6.2 Moving the Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R01AN0168ED0101 Rev. 01.01 8Application Note Chapter 1 Overview of ISM in the Dx4-H SeriesWithin the Dx4-H series, the Intelligent Stepper Motor (IS

R01AN0168ED0101 Rev. 01.01 9Application Note Chapter 2 General Notices2.1 Abbreviations in this Application NoteTypically, all variables and registe