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  1. 齐乐娱乐老虎机官网 >  解决方案 >  [齐乐娱乐老虎机官网] Renesas RX72T工业控制机器人伺服控制方案

[齐乐娱乐老虎机官网] Renesas RX72T工业控制机器人伺服控制方案

关键词:RXv3 CPU 工业控制 伺服控制 马达控制 RX72T 时间:2019-06-06 11:02:12       来源:齐乐娱乐老虎机官网

Renesas公司的RX72T是用于工业机器人伺服控制的扩展微控制器(MCU),采用32位RX MCU,工作频率200MHz,具有片上FPU,1160 CoreMark,支持2.7到 5.5-V 电源,集成了高达1MB闪存,128KB SRAM,32KB数据闪存,16KB带ECC的SRAM,同时取样的三单元12位ADC(多达7路),单端/假差分输入支持放大器(6路),模拟比较器(6路),200MHz PWM(4路用于三相互补,2路用于5相互补,10路用于单相互补),4路高分辨率PWM,分辨率195ps,主/功能或OTG控制器具有全速USB 2.0转移,CAN,加密功能(可选).器件RX72T内置了防护与安全特性别,并提供逆变器控制应用价值.本文介绍了RX72T主要特性和指标,框图以及评估板RX72T RSK主要特性,布局图和元件布放图,内部框图和电路图.

RX72T Group microcontrollers are equipped with the RXv3 third-generation RX CPU core, and are optimized for motor control applications. The RX72T Group offers high performance required for motor control in robots and other equipment by max. 200 MHz operating frequency CPU core and dedicated accelerators. Built-in security and safety features also offer new added value for inverter control applications.

RX72T主要特性:

■ 32-bit RXv3 CPU core
 Maximum operating frequency: 200 MHz
Capable of 1160 CoreMark in operation at 200 MHz
 JTAG and FINE (one-line) debugging interfaces
 A function for collectively saving the values of registers is available.
■ Low-power design and architecture
 Operation from a single 2.7- to 5.5-V supply
 Four low-power modes
■ On-chip code flash memory
 Supports versions with 1 Mbytes/512 Kbytes
 No wait cycles at up to 120 MHz or when the ROM cache is hit
 User code is programmable by on-board or off-board programming.
■ On-chip data flash memory
 32 Kbytes, reprogrammable up to 100,000 times
 Programming/erasing as background operations (BGOs)
■ On-chip SRAM, no wait states
 128Kbytes of SRAM (no wait states)
 16 Kbytes of RAM with ECC (with wait)
■ Data transfer
 DMACa: 8 channels
 DTCa: 1 channel
■ ELC
 Module operation can be initiated by event signals without usinginterrupts
 Linked operation between modules is possible when the CPU is insleep mode
■ Reset and supply management
 Power-on reset (POR)
 Low voltage detection (LVDA) with voltage settings
■ Clock functions
 Frequency of resonator for main clock oscillator: 8 to 24 MHz (thiscan be used as the PLL reference clock)
 High-speed on-chip oscillator: 16 MHz/18 MHz/20 MHz (this canbe used as the PLL reference clock)
 Low-speed on-chip oscillator: 240 kHz
■ Independent watchdog timer
 120-kHz IWDT-dedicated on-chip oscillator clock operation
■ Useful functions for IEC60730 compliance
 Oscillation-stoppage detection, functions for self-diagnosis anddetection of disconnection for the A/D converter, clock frequencyaccuracy measurement circuit, independent watchdog timer, RAMtest-assisting function by DOC, and CRCA,etc.
 Register write protection function can protect values in importantregisters against overwriting.
■ External bus
 Bus clock at 40 MHz (max)
 Four CS areas
 8- or 16-bit bus space is selectable per area
■ Various communications interfaces
 Host/function or OTG controller (1 channel) with full-speed USB2.0 (USBb) transfer
 CAN (compliant with ISO11898-1), incorporating 32 mailboxes(1 channel)
 SCIj and SCIh with multiple functionalities (up to 6 channels)
Choose from among asynchronous mode, clock-synchronous mode,smart-card interface mode, simplified SPI, simplified I2C, andextended serial mode.
 SCIi with 16-byte transmission and reception FIFOs (1 channel)
 I2C bus interface (RIICa) for transfer at up to 400 kbps (fast mode),capable of SMBus operation (1 channel)
 RSPId (1 channel) for transfer at up to 30 Mbps
■ Up to 31 extended-function timers
 32-bit GPTW (10 channels): operation at 200 MHz, input capture,output compare, PWM waveforms: 10 output channels in singlephasecomplementary PWM mode/3 output channels in 3-phasecomplementary PWM mode/2 output channels in 5-phasecomplementary PWM mode, phase-counting mode, linkage withcomparator (counting operation, PWM negate control)
 16-bit MTU3d (9 channels): operation at 200 MHz, input capture,output compare, PWM waveforms: 2 output channels in 3-phasecomplementary PWM mode, phase-counting mode
 8-bit TMR (8 channels)
 16-bit CMT (4 channels)
■ High-resolution PWM waveform generation circuit(HRPWM): 4 channels
 Controlling the timing of rising or falling of the PWM outputwaveform for 32-bit GPTW is realized with minimum of 195 psresolution (in operation at 160 MHz)
■ 12-bit A/D converter (S12ADH):
total of 30 channels for three units
 Up to three 12-bit units of sample-and-hold circuit included
Unit 0 (8 channels for 3 sample-and-hold circuits),
Unit 1 (8 channels for 3 sample-and-hold circuits),
Unit 2 (14 channels)
 Programmable gain amplifier with pseudo differential amplification(3 channels × 2)
■ Analog Comparator (CMPC): 6 channels
■ 12-bit D/A converter: 2 channels
 Usable as a reference voltage for the analog comparator
■ Temperature sensor for measuring temperaturewithin the chip
■ Encryption functions (Trusted Secure IP Lite)
 128- or 256-bit key length of AES for ECB, CBC, GCM, others
 True random number generator
 Unauthorized access to the encryption engine is disabled andimposture and falsification of information are prevented
 Safe management of keys
■ Up to 110 pins for general I/O ports
 5-V tolerance, open drain, input pull-up, switchable driving ability
■ Recommended operating temp. range (Topr)
 –40 C to +85 C
 –40 C to +105 C

RX72T主要指标(1/9)











图1.RX72T框图

评估板RX72T RSK

Renesas Starter Kit for RX72T
This RSK is an evaluation tool for Renesas microcontrollers. This manual describes the technical details of theRSK hardware. The Quick Start Guide and Tutorial Manual provide details of the software installation anddebugging environment.

RX72T RSK主要特性:

•Renesas microcontroller programming
•User code debugging
•User circuitry such as switches, LEDs and a potentiometer
•Sample application
•Sample peripheral device initialisation code

评估板RX72T RSK主要指标:


图2.评估板RX72T RSK外形图

图3.评估板RX72T RSK布局图

图4.评估板RX72T RSK顶层元件布放图

图5.评估板RX72T RSK底层元件布放图

图6.评估板RX72T RSK内部框图

图7.评估板RX72T RSK电路图(1)

图8.评估板RX72T RSK电路图(2)

图9.评估板RX72T RSK电路图(3)

图10.评估板RX72T RSK电路图(4)

图11.评估板RX72T RSK电路图(5)

图12.评估板RX72T RSK电路图(6)

图13.评估板RX72T RSK电路图(7)

图14.评估板RX72T RSK电路图(8)

图15.评估板RX72T RSK电路图(9)

图16.评估板RX72T RSK电路图(10)

图17.评估板RX72T RSK电路图(11)
详情请见:
https://www2.renesas.cn/cn/zh/img/products/microcontrollers-microprocessors/rx/rx700/rx72t/r01ds0331ej0100-rx72t.pdf
https://www.renesas.com/us/en/doc/products/tool/doc/016/r20ut4272eg0100-rskrx72t-usermanual.pdf
以及https://www.renesas.com/us/en/doc/products/tool/doc/016/r20ut4271eg0200-rskrx72t-schema.pdf
https://www.renesas.com/us/en/doc/products/tool/doc/016/r20ut4274eg0100-rskrx72t-qsg.pdf
r01ds0331ej0100-rx72t.pdf
r20ut4272eg0100-rskrx72t-usermanual.pdf
r20ut4271eg0200-rskrx72t-schema.pdf
r20ut4274eg0100-rskrx72t-qsg.pdf

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