user's manual - renesas

Renesas Electronics https://www.renesas.com

Motor Control Development Support Tool

Renesas Motor Workbench 3.0

User’s Manual

Rev.3.00 Dec 2021

Renesas Microcomputer

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All information contained in these materials, including products and product specifications,

represents information on the product at the time of publication and is subject to change

by Renesas Electronics Corp. without notice. Please review the latest information published

by Renesas Electronics Corp. through various means, including the Renesas Technology

Corp. website (http://www.renesas.com).

Table of Contents

1. Overview ........................................................................................................................ 1

1.1 Renesas Motor Workbench ........................................................................................................ 1

1.2 File package information ............................................................................................................ 4

1.3 System Requirement ................................................................................................................... 5

1.4 Specifications .............................................................................................................................. 5

2. Use of Renesas Motor Workbench (From installation to a connection) .................... 5

2.1 Renesas Motor Workbench is installed. ................................................................................... 7

2.1.1 Installation ............................................................................................................................. 7

2.2 Including the Communication Library....................................................................................... 9

2.2.1 DTC Setting .......................................................................................................................... 14

2.2.2 Interrupt Setting .................................................................................................................. 15

2.2.3 Using Library Functions ..................................................................................................... 16

2.3 Map File Generation .................................................................................................................. 22

2.3.1 “CS+” Environment (CC Compiler) ................................................................................... 22

2.3.2 “e2studio” Environment ...................................................................................................... 25

2.3.3 “e2studio(RA)” Environment .............................................................................................. 26

2.4 A user program is written in a microcomputer. ..................................................................... 26

2.5 Renesas Motor Workbench Launching ................................................................................... 26

2.6 Authentication Function ........................................................................................................... 28

2.6.1 Authentication of the first time .......................................................................................... 28

2.6.2 Authentication expired ....................................................................................................... 28

2.6.3 Authentication is renewed ................................................................................................. 28

2.6.4 Authentication screen is indicated. ................................................................................... 28

2.6.5 Authentication message ..................................................................................................... 29

2.7 Preparations of Renesas Motor Workbench to communicate .............................................. 30

2.7.1 When a user program is used. ........................................................................................... 30

2.7.2 When a set of MOT file and RMT file is used. ................................................................... 30

2.7.3 When a sample program of Renesas offer is used. ......................................................... 31

2.8 Clock frequency setting ............................................................................................................ 32

2.9 Baud rate setting ....................................................................................................................... 33

2.10 A board Connect a board and a PC and communicate ......................................................... 34

2.10.1 USB is connected. ............................................................................................................... 34

2.10.2 Communication is begun from Renesas Motor Workbench. ......................................... 34

2.11 RMT file (Environment File) is preserved. .............................................................................. 35

2.11.1 Preserved from the menu. .................................................................................................. 35

2.11.2 Renesas Motor Workbench end and RMT file preservation ........................................... 35

3. Main Window ................................................................................................................ 36

3.1 Function Overview .................................................................................................................... 36

3.2 Screen Configuration ................................................................................................................ 36

3.3 Operation .................................................................................................................................... 37

3.3.1 Window Operation ............................................................................................................... 37

3.3.2 Menu of Main Window......................................................................................................... 38

3.3.3 Option Dialog Function....................................................................................................... 39

3.3.4 Load Variable Data Function .............................................................................................. 41

General Precautions in the Handling of Microprocessing Unit and Microcontroller Unit Products

The following usage notes are applicable to all Microprocessing unit and Microcontroller unit products from

Renesas. For detailed usage notes on the products covered by this document, refer to the relevant sections of the

document as well as any technical updates that have been issued for the products.

1. Handling of Unused Pins

Handle unused pins in accordance with the directions given under Handling of Unused Pins in the

manual.

⎯ The input pins of CMOS products are generally in the high-impedance state. In operation with

an unused pin in the open-circuit state, extra electromagnetic noise is induced in the vicinity of

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. Unused pins should be

handled as described under Handling of Unused Pins in the manual.

2. Processing at Power-on

The state of the product is undefined at the moment 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 moment 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 moment 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 moment when power is supplied until the power reaches

the level at which resetting has been specified.

3. Prohibition of Access to Reserved Addresses

Access to reserved addresses is prohibited.

⎯ The reserved addresses are provided for the possible future expansion of functions. Do not

access these addresses; the correct operation of LSI is not guaranteed if they are accessed.

4. Clock Signals

After applying a reset, only release the reset line after the operating clock signal has become

stable. When switching the clock signal during program execution, wait until the target clock signal

has 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. Moreover, 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.

5. Differences between Products

Before changing from one product to another, i.e. to a product with a different part number, confirm

that the change will not lead to problems.

⎯ The characteristics of Microprocessing unit or Microcontroller unit products in the same group

but having a different part number may differ in terms of the 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.

http://www.renesas.com

Refer to "http://www.renesas.com/" for the latest and detailed information.

Renesas Electronics America Inc.1001 Murphy Ranch Road, Milpitas, CA 95035, U.S.A.Tel: +1-408-432-8888, Fax: +1-408-434-5351

Renesas Electronics Canada Limited9251 Yonge Street, Suite 8309 Richmond Hill, Ontario Canada L4C 9T3Tel: +1-905-237-2004

Renesas Electronics Europe LimitedDukes Meadow, Millboard Road, Bourne End, Buckinghamshire, SL8 5FH, U.KTel: +44-1628-651-700, Fax: +44-1628-651-804

Renesas Electronics Europe GmbH

Arcadiastrasse 10, 40472 Düsseldorf, GermanyTel: +49-211-6503-0, Fax: +49-211-6503-1327

Renesas Electronics (China) Co., Ltd.Room 1709 Quantum Plaza, No.27 ZhichunLu, Haidian District, Beijing, 100191 P. R. ChinaTel: +86-10-8235-1155, Fax: +86-10-8235-7679

Renesas Electronics (Shanghai) Co., Ltd.Unit 301, Tower A, Central Towers, 555 Langao Road, Putuo District, Shanghai, 200333 P. R. ChinaTel: +86-21-2226-0888, Fax: +86-21-2226-0999

Renesas Electronics Hong Kong LimitedUnit 1601-1611, 16/F., Tower 2, Grand Century Place, 193 Prince Edward Road West, Mongkok, Kowloon, Hong KongTel: +852-2265-6688, Fax: +852 2886-9022

Renesas Electronics Taiwan Co., Ltd.13F, No. 363, Fu Shing North Road, Taipei 10543, TaiwanTel: +886-2-8175-9600, Fax: +886 2-8175-9670

Renesas Electronics Singapore Pte. Ltd.80 Bendemeer Road, Unit #06-02 Hyflux Innovation Centre, Singapore 339949Tel: +65-6213-0200, Fax: +65-6213-0300

Renesas Electronics Malaysia Sdn.Bhd.Unit 1207, Block B, Menara Amcorp, Amcorp Trade Centre, No. 18, Jln Persiaran Barat, 46050 Petaling Jaya, Selangor Darul Ehsan, MalaysiaTel: +60-3-7955-9390, Fax: +60-3-7955-9510

Renesas Electronics India Pvt. Ltd.No.777C, 100 Feet Road, HAL 2nd Stage, Indiranagar, Bangalore 560 038, IndiaTel: +91-80-67208700, Fax: +91-80-67208777

Renesas Electronics Korea Co., Ltd.17F, KAMCO Yangjae Tower, 262, Gangnam-daero, Gangnam-gu, Seoul, 06265 KoreaTel: +82-2-558-3737, Fax: +82-2-558-5338

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© 2018 Renesas Electronics Corporation. All rights reserved.

Colophon 7.0

(Rev.4.0-1 November 2017)

Notice1. Descriptions of circuits, software and other related information in this document are provided only to illustrate the operation of semiconductor products and application examples. You are fully responsible for

the incorporation or any other use of the circuits, software, and information in the design of your product or system. Renesas Electronics disclaims any and all liability for any losses and damages incurred by

you or third parties arising from the use of these circuits, software, or information.

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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

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(Note 1) “Renesas Electronics” as used in this document means Renesas Electronics Corporation and also includes its directly or indirectly controlled subsidiaries.

(Note 2) “Renesas Electronics product(s)” means any product developed or manufactured by or for Renesas Electronics.


User’s Manual 1. Overview

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1. Overview

1.1 Renesas Motor Workbench

Renesas Motor Workbench which is a motor control development support tool moves on the PC.

By connecting one board of “Evaluation System for BLDC Motor” made by Renesas , “the inverter with which a communication board for tools (Communication Board) was connected (Inverter Board)” or “Inverter with built-in communication library (Inverter Board)” to the PC by USB, Renesas Motor Workbench can read and write value of global variable of the program executed on the board.

Figure 1-1 System

When using the built-in communication library, connect via a USB / serial conversion board, etc.

Figure 1-2 System (Built-in communication library)



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Renesas Motor Workbench is preparing the colorful function. The outline is indicated on below.

When a tool starts first, Main Window screen is indicated.

The outline of functions of Main Window screen is as follows.

-list of a global variable on executive program can read.

-Operation/established environmental information can do save to RMT file and read from RMT file.

-User can select USB (COM communication) connection, and can check the status of communication, and can check the information of connection board.

-When choice of a USB (COM communication) connection normally connects, the user does icon indication of an available tool.

-When an indicated tool icon is chosen, each tool starts.

(Note) Also function as and so on and please refer to “3.Main Window” for the details.



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Next the outline of the tool which can be started from Main Window is indicated on below. Please refer to “figure Tool of 1 2 Renesas Motor Workbench Screen image” for a screen image of each tool.

Table 1-1 Tool of Renesas Motor Workbench

Tool Overview

(1) Analyzer ・When a Analyzer icon is clicked from Select Tool in Main Window, it can start.

・The user can operate to a global variable of the program which is executed by the board connected in USB. “Reading of variable value”, “writing in to variable value” and “of variable value, real time corrugated indication” etc..

(2) Tuner ・When a Tuner icon is clicked from Select Tool in Main Window, it can start.

・The user can do automatic adjustment “peculiar Parameter measurement” and “control parameter” of the motor which was connected with the board(Motor RSSK) connected in USB.

*But, with the need by which automatic adjusting function is included in the program executed on the board.

(3) Easy ・Click the Easy icon from the Select Tool of the Main Window to start it.

・You can drive and instruct command values for programs executed on a board connected via USB using the GUI.

*Please refer to another material for detail description of the function of each tool. (Renesas Motor Workbench Functional Description)



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1.2 File package information

A downloaded package includes following folder, and it includes following file in (1) to (5).

Table 1-2 File list of a package

No. Type File name Notes

(1) Document User’s Manual

r21uz0004ej****-motor.pdf

Functional Description

r20an0527ej****-motor.pdf

Tuner Functional Description

r20an0528ej****-motor.pdf

Procedures are indicated on this file.

(2) Library for

communication

ICS_RX***.h, ICS2_RX***.h

ICS_RX***.obj, ICS2_RX***.lib

File for RX microcomputer building

There is a folder every microcomputer.

Ics2_RL78G1F.h,

Ics2_RL78G1F.obj

File for RL78/G1F microcomputer

building


ICS2_RA***.o, ICS2_RA***_Built_in.o ICS2_RA***.h

File for RA microcomputer building


(3) Installer renesas_motor_workbench_****.msi Uninstall, if installed with an old version.

Authentication file renesas_motor_workbench_****.atf File to be read when performing

authentication

(4) Executable file ****.mot (RX), ****.hex (RA) Used by writing into MotorRSSK

Environment file ****.rmt Used by reading into tools

(5) Map file generation ElfMapConverter.exe Generate map file from elf file.

/Renesas_Motor_Workbench_V2_0 …… (1)

/communication library …… (2)

/Installer …… (3)

/mot_rmt …… (4)

/ElfMapConverter …… (5)

Figure 1-3 The folder construction of the package


User’s Manual 2. Use of Renesas Motor Workbench (From installation to a connection)

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1.3 System Requirement

Table 1-3 shows the required condition to operate this tool.

Table 1-3 System Requirement

1.4 Specifications

Table 1-4 shows the specification overview of the Renesas Motor Workbench.

Table 1-4 Renesas Motor Workbench specifications

Function Category Item Description

General

Supported MCU

RX23T, RX24T, RX24U, RX66T, RX72T, RX72M, RX13T RL78/G14, RL78/G1F

RA6T1, RA6T2

Communication

Peripherals, port

UART 1ch, DMA(DTC), ports：TXD, RXD

Communication I/F USB2.0 (Communication device class)

Communication board

Communication board for tools or Built-in communication library is required when used in environments other than the Motor RSSK

Communication board for tools：W2002 (Desk Top Laboratories Inc. (*1))

Function Variable read / write Maximum simultaneous selection: 255

Waveform display

Maximum simultaneous display: 12ch Maximum number of data: 1024 (Motor RSSK, built-in communication library) 100000 (MC-COM)

(*1)Desk Top Laboratories Inc. http://www.desktoplab.co.jp/.

2. Use of Renesas Motor Workbench (From installation to a connection)

This chapter is mentioned about necessary preparations/operation to use Renesas Motor Workbench.

It's different in the item of the preparations/operation depending on the user's procedures.

Please read below from a chapter necessary to reference.

It includes the following 3 ways as the way to use Renesas Motor Workbench.

(a) a user program is used.

(b) a set of Mot-file and RMT-file (the sample in this package) is used.

Item Description

PC

Available disk capacity : 50M[byte] and more

RAM : 4G [byte] and more

USB ports : 1ch (USB2.0)

.Net framework support 4.6.1

Adobe Reader(need to install in case of using Function of Report)

OS Windows10



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(c) a sample program of Renesas offer (Separately, it's acquired from Renesas HP.) is used.

Table 2-1 The item of the preparation work and procedures

The item of the preparation work Procedures (*1, *2)

No The chapter title (a) (b) (c)

2.1 Renesas Motor Workbench is installed. ○ ○ ○

2.2 Including the Communication Library ○ × △

2.3 Map File Generation ○ × △

2.4 A user program is written in a microcomputer. ○ ○ ○

2.5 Renesas Motor Workbench Launching ○ ○ ○

2.6 Authentication Function ○ ○ ○

2.7 Preparations of Renesas Motor Workbench to communicate ○ ○ ○

2.8 Clock frequency setting ○ ○ ○

2.9 Baud rate setting ○ ○ ○

2.10 A board Connect a board and a PC and communicate ○ ○ ○

2.11 RMT file (Environment File) is preserved. ○ ○ ○

(*1) The symbol explanation

(○: Work is needed, △: Necessary for work by the situation, ×: The work is unnecessary.)

(*2) This “use conditions” is being also transcribed in the title of each chapter.

(a) (b) (c)

○ ○ ○



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2.1 Renesas Motor Workbench is installed.

2.1.1 Installation

Please carry out “renesas_motor_workbench_***.msi” of the installer by which installation of Renesas Motor

Workbench is included in a package.

(a) (b) (c)

○ ○ ○

Figure 2-1 Installation screen



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If you run the installer and the following screen appears, select the process and proceed with the installation.

* Installation chooses “Repair Renesas Motor Workbench”.

* Uninstallation chooses “Remove Renesas Motor Workbench”.

Click” Repair Renesas Motor Workbench”

Figure 2-2 Installation Selection screen



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2.2 Including the Communication Library

To use this tool, it is required to include the communication library listed below into a user program and generate a

project on the user’s development environment. This section describes how to include it.

Table 2-2 Communication library (RX) 1/3

Supported CPU RX23T RX24T RX24U

File ics_RX23T.obj

ics_RX23T.h

ics_RX24T.obj

ics_RX24T.h

ics_RX24U.obj

ics_RX24U.h

Communication rate 0.5 [Mbps] ～ 5 [Mbps]

Ports SCI1 TXD1:PD3

RXD1:PD5

SCI5 TXD5:PB5

RXD5:PB6

SCI5 TXD5:PB2

RXD5:PB1

SCI1 TXD1:PD3

RXD1:PD5

SCI5 TXD5:PB5

RXD5:PB6

SCI6 TXD6:PB2

RXD6:PB1

SCI6 TXD6:PB0

RXD6:PA5

SCI6 TXD6:P81

RXD6:P80

SCI1 TXD1:PD3

RXD1:PD5

SCI5 TXD5:PB5

RXD5:PB6

SCI6 TXD6:PB2

RXD6:PB1

SCI6 TXD6:PB0

RXD6:PA5

SCI6 TXD6:P81

RXD6:P80

Variable type 8bit unsigned integer (number display/setting/waveform

display)

8bit signed integer (number display/setting/waveform

display)

16bit unsigned integer (number display/setting/waveform

display)


display)

32bit unsigned integer (number display/setting/waveform

display)


display)

32bit IEEE754 floating point (number display/setting/waveform display)

CPU resource to use SCIx RX、SCIx TX、DTC

(a) (b) (c)

○ × △



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Supported CPU RX66T RX72T RX72M

File ICS2_RX66T.lib

ICS2_RX66T.h

ICS2_RX72T.lib

ICS2_RX72T.h

ICS2_RX72M.lib

ICS2_RX72M.h

Communication rate 0.5 [Mbps] ～ 7.5 [Mbps]

Ports SCI1 TXD1:PD3

RXD1:PD5

SCI5 TXD5:PB5

RXD5:PB6

SCI6 TXD6:PB0

RXD6:PB1

SCI5 TXD5:PB5

RXD5:PB6

SCI6 TXD6:PB0

RXD6:PB1

SCI8 TXD8:PC1

RXD8:PC0

SCI12 TXD12:PB5

RXD12:PB6

SCI1 TXD5:PF0

RXD5:PF2

SCI2 TXD6:P50

RXD6:P52

SCI3 TXD8:P23

RXD8:P25

SCI4 TXD8:PB1

RXD8:PB0

SCI5 TXD5:PA4

RXD5:PA3

SCI6 TXD6:P00

RXD6:P01

SCI6 TXD8:PB1

RXD8:PB0

SCI8 TXD12:PJ2

RXD12:PC6

SCI8 TXD12:PJ2

RXD12:PJ1

Variable type 8bit unsigned integer (number display/setting/waveform display)

8bit signed integer (number display/setting/waveform display)

16bit unsigned integer (number display/setting/waveform display)




32bit IEEE754 floating point (number display/setting/waveform display)




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Supported CPU RX13T

File ICS2_RX13T.lib

ICS2_RX13T.h

Communication rate 0.5 [Mbps] ～ 4 [Mbps]

Ports SCI1 TXD1:PD3

RXD1:PD5

SCI1 TXD1:PB6

RXD1:PB7

SCI5 TXD5:PB6

RXD5:PB7

SCI5 TXD5:PB2

RXD5:PB1

SCI5 TXD5:P23

RXD5:P24

SCI12 TXD12:PB0

RXD12:P94

Variable type 8bit unsigned integer (number

display/setting/waveform display)

8bit signed integer (number


16bit unsigned integer (number








32bit IEEE754 floating point (number





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Table 2-5 Communication library(RL)

Supported CPU RL78/G1F (R5F11BLE (64pin))

File ics_RL78G1F_ca.obj, ics_RL78G1F_ca.h

* A file exists every CA compiler and courtesy copy compiler.

Communication rate 0.5[Mbps] ～ 5.33[Mbps]

Ports SCI0 TXD0:P51, RXD0:P50

SCI0 TXD0:P17, RXD0:P16

SCI2 TXD2:P77, RXD2:P76

Conversion type 8bit unsigned integer (number display/setting/waveform display)




CPU resourceto use DTC:*SCIx_Pab_Pcd

(x : represents SCI number, a/b/c/d : represents)

SCIx, PIOR0.1 (depending on port),PMCa.b,PMCc.d, Pa.b, PMa.b, PMc.d,

Pab(for TXDx), Pcd (for RXDx), SPS0 bit4～7(clk), STPR0x, STPR1x, SRPR0x,

SRPR1x, SREPR0x, SREPR1x



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Table 2-6 Communication library (RA)

Supported CPU RA6T1 RA6T2

File ICS2_RA6T1.o

ICS2_RA6T1.h

ICS2_RA6T2.o

ICS2_RA6T2_Built_in.o

ICS2_RA6T2.h

Communication rate 0.5 [Mbps] ～ 7.5 [Mbps] 0.5 [Mbps] ～ 10.0 [Mbps]

Ports SCI0 TXD0:P101

RXD0:P100

SCI4 TXD4:P205

RXD4:P206

SCI9 TXD9:P109

RXD9:P110

SCI9 TXD9:PD05

RXD9:PD06

Variable type 8bit unsigned integer (number display/setting/waveform

display)











32bit IEEE754 floating point (number


CPU resource to use SCIx RX、SCIx TX



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2.2.1 DTC Setting

This tool operates on a DTC(standard address mode), and therefore the DTC table must be defined within a user

program. This section explains how to maintain area for the DTC table within a program (within a file to call

initialization functions described later). (Excluding RA series)

<For RX microcontrollers>

assign the DTC table to an address in the RAM so that the lower 12bit becomes 0.

<For RL microcontrollers>

assign the DTC table to an address so that the lower 8bit becomes 0.

.

Refer to the code sample below for each setting.

When using an emulator such as E2, make sure that the user RAM area and DTC table area do not overlap.



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2.2.2 Interrupt Setting

Specify the functions ( ics_int_sci_eri(), ics_int_sci_rxi() ) for the user software interrupt vectors as shown in the code

sample below. When using a project generated by the Renesas standard compiler, specify them within intprg.c.

(Excluding RA series)

Code sample

void Excep_SCI1_ERI1(void){ ics_int_sci_eri(); }

void Excep_SCI1_RXI1(void){ ics_int_sci_rxi(); }

void Excep_SCI5_ERI5(void){ ics_int_sci_eri(); }

void Excep_SCI5_RXI5(void){ ics_int_sci_rxi(); }



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2.2.3 Using Library Functions

This section describes how to call the following 2 library functions within a user program.

・void ics2_init(void* addr, char port, char level, char speed, char mode)

・void ics2_watchpoint (void)

The following tables show the specifications for each function.

Table 2-7 Library function (ics2_init)

Function name void ics2_init(void* addr, char port, char level, char speed, char mode)

Return value void None

Argument void*addr The start address of a DTC vector table to be used:

The DTC vector table must be reserved by a user before calling this

function.


char port Settings of SCI port number and pins used for SCI

char level SCI interrupt level setting

：Set the appropriate interrupt level for the system, as appx. 10[usec]

interrupt occurs within minimum 2[msec] interval.


char speed Communication rate setting：Communication rate = PCLKB/(x*(speed+1))

[Mbps](For RX microcontroller and RA6T1: x=8, for RL microcontroller: x=2,

for RA6T2: x=6)

e.g. Communication rate is 1.0[Mbps] at PCLKB=40 [MHz] speed = 4

char mode Communication mode setting

Specify 1: 32 bit / 8 channel

Send 1 sampling data in 2 transfers


Send 1 sampling data in 1 transfer


Send 1 sampling data in 3 transfers

Function Initialization process



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Table 2-8 Library function (ics2_watchpoint)

Function name void ics2_watchpoint (void)

Return value void None

Argument void None

Function Data transfer：

When communication rate is BR [Mbps], the minimum sampling cycle is 70 + (180/BR)

[usec] , and therefore the data transfer function is called at intervals greater than this

value.

For example, 250[usec] intervals or greater are required for communication rate at

1.0[Mbps].

For MC-COM,

the minimum sampling cycle is 10 + (180/BR) [usec].

(1)Calling on RX microcontroller

① Call the initialization function “ics2_init ()”.

Add the initialization function “ics2_init” to the initialization process part of a program. Specify the

argument based on the following rules and describe the source by reference to the sample codes.

The first argument: specify the start address (0 for the lower 12 bit) of a DTC table

The second argument: select the ports used from “ics_****.h” (Table 2-2 Communication library

(RX))

The third argument: specify the tool interrupt level

The forth argument: specify the communication rate

The fifth argument: specify the transfer mode

RX23T sample code

#include "ics_RX23T.h"

#pragma section DTCTBL

unsigned long dtc_table[256]; // caution alignment 0x000

#pragma section

void main(void)

{

ics2_init((void*) dtc_table, port, level, speed, mode);

}



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② Call data transfer function ics2_watchpoint ()

Call the data transfer function “ics2_watchpoint (void)” at intervals longer than the minimum sampling

cycle as shown in the sample code below.

RX23T sample code

(2)Calling on RL microcontroller

① Call the initialization function “ics2_init()”.

Add the initialization function” ics2_init” to the initialization process part of a program. Specify the


The first argument: specify the start address (0 for the lower 8 bit)of a DTC table

The second argument: select the ports used from “ics_****.h” (

void int_TM100u(void) /* 100usec intervals */

{

if (3 <= g_u1_cnt_decimation) /*decimation of ICS call */

{

g_u1_cnt_decimation = 0;

ics2_watchpoint(); /* data transfer */

}

g_u1_cnt_decimation++;

}



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Table 2-5 Communication library(RL))

The third argument: specify the tool interrupt level

The forth argument: specify the communication rate

The fifth argument: specify the transfer mode

RL78/G1F sample code

#include "ics_RL78G1F_ca.h"

#pragma address dtc_tbl = 0xFFE00

char dtc_tbl[0xD0];

void main(void)

{


}



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② Calling data transfer function ics2 watchpoint().



RL78/G1F sample code

__interrupt void int_TM50u (void) /* 50usec */

{


{



}


}



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(3)Calling on RA microcontroller

① Call the initialization function “ics2_init ()”.

Add the initialization function “ics2_init” to the initialization process part of a program. Specify the


The first argument: select the ports used from “ics_****.h” (Table 2-6 Communication library (RA))

The second argument: specify the communication rate

The third argument: specify the transfer mode

RA6T1 sample code

#include "ics2_RA6T1.h"

void main(void)

{


}



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② Call data transfer function ics2_watchpoint ()



RA6T1 Sample code

2.3 Map File Generation

In order to use tools, variable information should be obtained by the Map file generated during object (control SW)

generation.

When a build programed, a Map file is generated with an executable file (control software).

It's necessary to set the designation by which information on a global variable of a program is output to a Map file at the

time of this generation as the “CS+” environment or the “e2studio” environment.

(Note) The following example shows the case of CC Compiler Environment.

2.3.1 “CS+” Environment (CC Compiler)

① Start-up “CS+” and display the project.

② Select the project information from “Project Tree”.

(a) (b) (c)

○ × △

void int_TM100u(void) /* 100usec intervals */

{


{



}


}



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Select “CC-RX(Build Tool)” from the right click menu and click “Properties”, and the “Properties” window

will be displayed on the right.

Figure 2-3 CS+(project tree)window display



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③ Click “Link Options” in “Properties”.

④ Check the status in “List” and “Other”.

⑤ See “Outputs the linkage list file” under “List” and if it is set to “Yes (List contents=ALL)(-LISt -

SHow=ALL)”, skip to ⑨ . If not, proceed to ⑥.

⑥ Select “Yes (List contents=specify) (-LISt)” to “Outputs the linkage list file” under “List”.

⑦ Select “No” to “Outputs a symbol name list in a module” under “List”.

⑧ Add “-Show=symbol, struct” (comma-delimited) to “Other additional options” under “Other”.

⑨ Execute build by the above settings and a Map file will be generated with “Variable information”.

④

④

⑤

④

③

④

⑧

⑥ ⑦

Link Options

Figure 2-4 CS+(Property)window (Map output(other))window



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2.3.2 “e2studio” Environment

① Start-up “e2studio”and display the project.

② Click the target project from “Project Explorer”.

Select “Properties” from the right click menu of the target project and the “Properties” window will be

displayed.

③ Open “C/C++ Build “and click” Settings”.

④ Click “Tool Settings” from “Settings” on the right.

⑤ Click “user” under “Linker”.

⑥ Add “-Show=Symbol, struct” to “Definition by User Option (Add After Command Line)” (comma-

delimited) on the right bottom.

⑦ Execute build by the above settings and a Map file will be generated with “Variable information”.

Figure 2-5 e2studio window

③

⑤

⑥

④

-Show=Symbol, struct

Figure 2-6 e2studio (property) window



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2.3.3 “e2studio(RA)” Environment

① Copy ElfMapConverter.exe included in Renesas Motor Workbench to the output folder of the project.

② Create a bat file that describes the following command.

arm-none-eabi-objdump.exe -W Project name.elf> Project name.txt

ElfMapConverter.exe Project name.txt

③ Start-up “e2studio”and display the project.

④ Click the target project from “Project Explorer”.

Select “Properties” from the right click menu of the target project and the “Properties” window will be

displayed.

⑤ Open “C/C++ Build “and click” Settings”.

⑥ Click “Build Steps” from “Settings” on the right.

⑦ Add the bat file created in ② to the command field of "Post-build steps".

⑧ Execute build by the above settings and a Map file will be generated with “Variable information”.

2.4 A user program is written in a microcomputer.

Please write the executable file(MOT-file) the user did build generation of or the executable file included in a

package in a target microcomputer.

Please use a tool of “CS+” and “Renesas Flash Programmer” etc. for writing in.

2.5 Renesas Motor Workbench Launching

When Renesas Motor Workbench is installed, a shortcut icon is shown to a desktop.

“Renesas Motor Workbench” can be started from the shortcut icon.

*It's possible to choose a RMT file from Explorer of Windows and start Renesas Motor Workbench.

The RMT file chosen at the same time is indicated in the established state.

(a) (b) (c)

○ ○ ○

(a) (b) (c)

○ ○ ○

Figure 2-7 Icon for tool launching



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After launching, the following window will be displayed.

Figure 2-8 Tool launching (Main Window)



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2.6 Authentication Function

Authentication processing is needed to use Renesas Motor Workbench.

2.6.1 Authentication of the first time

When starting the first time of Renesas Motor Workbench, it's shown to an authentication screen with “Termfile not

exist”. While this message is indicated, Renesas Motor Workbench can't use it.

In this case, please read the authentication file(*.atf) included in a package from a “Select” button of the authentication

screen. When authentication processing normally ends, an authentication screen goes off, and Renesas Motor

Workbench can be used now.

2.6.2 Authentication expired

Authentication of Renesas Motor Workbench has a use time limit. When the user passes a time limit, “Termfile not

exist” and an authentication screen are indicated. While this message is indicated, Renesas Motor Workbench can't use

it.

2.6.3 Authentication is renewed

When continuation is used after a use time limit crossed Renesas Motor Workbench, a renewal of authentication is

needed.

A renewal of authentication acquire the latest authentication file, and please read from a “select” button of the

authentication screen.

2.6.4 Authentication screen is indicated.

An authentication screen is i.ndicated by the authentication situation which is at the time of Renesas Motor Workbench

start automatically.

When “Load Authentication file” on the “Help” menu of Main Window is chosen, it's possible to indicate an

authentication screen.

(a) (b) (c)

○ ○ ○

Figure 2-9 Authentication (Termfile not exist)

Figure 2-10 Authentication (Set Authentication File)



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2.6.5 Authentication message

An authentication message is shown to an authentication screen. The list is indicated below.

Table 2-9 Authentication screen message list

Message Description

Termfile not exist

< Cause>

-When the authentication information which is already read isn't found, it's

indicated.

-Renesas Motor Workbench can't use it.

< Solution>

-Please read an authentication file.

Set Authentication file

< Cause>

-An authentication screen is indicated from the menu.

< Solution>

-An authentication file is read.

-It's possible to close a screen just as it is.

License expires soon

< Cause>

-When an authentication time limit was left and was less than 30 days, it's

indicated.

-Renesas Motor Workbench can be continued and used.

< Solution>

-When continuation is used after an authentication time limit has passed,

please acquire the latest authentication file and read.

Expiration data out

< Cause>

-When a use deadline of authentication could be fixed, it's indicated.

-Renesas Motor Workbench can't use it.

< Solution>

-When continuation is also used after the authentication expiration, please

acquire the latest authentication file and read.

Expired File

< Cause>

-When a read authentication file is invalid, it's indicated.

< Solution>

-Please read an authentication file once again. When the situation doesn't

change, please acquire the latest authentication file and read.



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2.7 Preparations of Renesas Motor Workbench to communicate

<prior information>

・Renesas Motor Workbench reads information(a) on a global variable of the program written in a board (Map file),

“Variable information” is renewed, and access becomes possible to a global variable.

・Renesas Motor Workbench can preserve(b) the “Environmental information” the user operated to RMT file.

“Environmental information” can be restored(c) by reading RMT file preserved again.

Renesas Motor Workbench needs reading of “Variable information” from following operation to communicate.

2.7.1 When a user program is used.

Please read Map file from Renesas Motor Workbench.

< Map file reading Operation> (For details, refer to the “4.3.4 Load Variable Data function”.)

(1) Map file is read from “Load Variable Data” on the menu of Main Window.

(2) confirmation of a variable name and confirmation of Data Type are done on the indicated User Setting Form

screen. A SET button is pushed down after that, and it's established.

2.7.2 When a set of MOT file and RMT file is used.

Please read RMT file from Renesas Motor Workbench.

< RMT file reading Operation>

RMT file can be read from the following one of operation.

(a) RMT file is chosen from “Open RMT File” on the menu of Main Window.

(b) when a drug does RMT filing, and it drops to RMT file list of Main Window, the file is copied from another

application, and the file is double-clicked and chosen.

(a) (b) (c)

○ ○ ○

Map File

RMT File

Renesas Motor Workbench

Environmental information (a) (b)

(c) Variable information

Figure 2-11 Information on a Map file and RMT file



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2.7.3 When a sample program of Renesas offer is used.

-when RMT file exists in the sample environment, the file, please read. (For details, refer to Renesas Motor Workbench

Functional Description.)

-when RMT file doesn't exist, please read Map file. (For details, refer to Renesas Motor Workbench Functional

Description.)

-when editing a sample program, a build is done and reading of a generated Map file is needed.

< about use of RMT file of the old version>

It's possible to read the RMT file used in Renesas Motor Workbench of the previous version.

But, when Error “Failed to load configuration file. It's an older version.” or “Failed to read an RMT File.” was

indicated by reading, please read Map file.



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2.8 Clock frequency setting

When using the communication board for tools, set the communication speed by the following operation.

Click the "Clock" button of "Connection" on the Main Window screen to display the Clock Setting screen.

The currently set clock frequency is displayed on the Clock Setting screen, and its value can be changed.

The changed clock frequency will take effect when connecting to COM.

For the clock frequency to be set, set the value obtained by multiplying the communication rate by 8.

Example:

When the communication rate is 1 Mbps, set the clock frequency to 8 MHz.

When the communication rate is 5 Mbps, set the clock frequency to 40 MHz.

When using MC-COM, the following communication rates (clock frequencies) can be selected.

Set it together with the jumper (JP2) of MC-COM.

JP2 short: 1 Mbps (8 MHz), 5 Mbps (40 MHz), 7.5 Mbps (60 MHz), 10 Mbps (80 MHz), 15 Mbps (120 MHz)

JP2 Open: 6.25 Mbps (50 MHz), 8.33 Mbps (66666666 Hz), 12.5 Mbps (10 MHz), 16.66 Mbps (133333333 Hz)

(a) (b) (c)

○ ○ ○



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2.9 Baud rate setting

Click the "Baud rate Dialog" button in the "Option" menu of the Main Window screen to display the Baud rate Setting

screen.

The currently set baud rate is displayed on the Baud rate Setting screen, and its value can be changed.

The changed baud rate will take effect when connecting to COM.

Set the baud rate to the value set by the software that incorporates the built-in communication library. In addition, the set

value must be a value that can be set from a PC to the connected USB / serial conversion board. You can check the

values that can be set from the properties of Device Manager.

(a) (b) (c)

○ ○ ○



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2.10 A board Connect a board and a PC and communicate

2.10.1 USB is connected.

A board of one of “Motor RSSK”, “the inverter with which a communication board for tools was connected” or

or “Inverter with built-in communication library (Inverter Board)” which did power supply supply and the PC

which has started Renesas Motor Workbench are connected by a USB cable (USB mini B).

2.10.2 Communication is begun from Renesas Motor Workbench.

When “COMxx” is chosen from a “COM” select list of Renesas Motor Workbench, communication of connection

processing is begun.

The state of the connection processing is shown to “Status”. When connection processing normally ends, you

indicate “Connect”. When it'll be in this state, a tool can be used.

(a) (b) (c)

○ ○ ○

Figure 2-13 Main Window (connection)

Figure 2-12 Main Window (Select COM)



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2.11 RMT file (Environment File) is preserved.

Renesas Motor Workbench can preserve “Variable information” and “Environmental information” to a RMT file

together. (For details of “Variable information” and “Environmental information” refer to Renesas Motor Workbench

Functional Description)

2.11.1 Preserved from the menu.

When “Save” or “Save As” is chosen from the menu of Main Window, it can be preserved.

Table 2-10 The preservation function on the menu

Menu Function

Save “Environmental information” is overwritten to a read RMT file.

Save As The RMT file name is designated and “Environmental information” is preserved.

2.11.2 Renesas Motor Workbench end and RMT file preservation

When Renesas Motor Workbench chooses “Exit” on the menu of Main Window or chooses a “x” button of the Renesas

Motor Workbench screen upper right, a termination screen is indicated.

The function of each button of the termination screen is as follows.

Table 2-11 The button function of the termination screen

Menu Function

Save “Environmental information” is overwritten to a read RMT file

and Renesas Motor Workbench is ended.

Save As The RMT file name is designated and “Environmental information” is preserved


No Save “Environmental information” isn't preserved to RMT file


Cancel “Environmental information” isn't preserved to RMT file

and an end of Renesas Motor Workbench is also canceled.

When it's preserved from “Save” or a “Save As” button in a termination screen and it's ended, when starting next time

of Renesas Motor Workbench, preserved RMT file information is read and starts.

(a) (b) (c)

○ ○ ○

Figure 2-14 Termination screen


User’s Manual 3. Main Window

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3. Main Window

This chapter explains the “Main Window” functions of the Renesas Motor Workbench.

3.1 Function Overview

Table 3-1 Function Overview for Main Window

Category Overview

Screen display When Renesas Motor Workbench is started, first Main Window screen is indicated.

RMT file

management

“Environment information” including “Variable Information” to be read from Map file and

information set with each tool can be saved to RMT file.

“Environmental information” can restore by reading a preserved RMT file.

Communication

management

Connected “COM” or “Offline Mode” can be chosen.

Configuration display Configuration information on a COM connection board is indicated.

(Limited to Renesas offer executable file utilization time)

Tool management When COM is connected, an icon of the tool which can be used is shown to Select Tool.

When an icon is chosen, a chosen tool starts.

3.2 Screen Configuration

(1) Menu

File：Reading of a Map file and preservation of a RMT file/reading can be done.

Option：Specifies tool settings

Help：A screen of help, authentication and version information can be indicated.

(2) Connection

“COM” connection or “Offline Mode” can be chosen. When “COM” is connected, the state of the connection

of the communication is indicated.

When a button of “Click” is clicked, a communication frequency can be established. (For details, another

material referring).

Figure 3-1 Start-up window

(1)

(2) (4)

(5)

(6)

(3)



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*When Offline Mode is chosen, a display/a reference can use a Analyzer tool without COM connections, and

can do the corrugated information preserved by a Analyzer tool.

(3) Configuration

Displays information (CPU information, motor type, control method, inverter name) of connecting destination

(Renesas control software only).

(4) File information

“path and the file name” and “the file update date and time” of read RMT file and Map file are indicated.

-It's RMT file or a Map file by button push down on the indication right side, it can be also read.

(5) Select Tool

An icon of the tool which can be used is indicated.

When the icon is clicked, a tool can be started.

(6) RMT File Management

Path of a chosen RMT file is shown to “Project File Path”.

Information on the RMT file which exists in the path is indicated under the “Project File Path”.

When an indicated RMT file is double-clicked, RMT file is read.

3.3 Operation

3.3.1 Window Operation

(1) Display Switch Button

It's possible to change the indication form of each tool screen.

(a)Display screen selection list.

(b)Arrange the screens in cascade.

(c)Arrange the screens up and down.

(d)Arrange the screens left and right.

(e)The screen size to the original size.

(2) Tool Switch Button (see Figure 4-2 Top of the screen when starting up tools (2))

After starting up tools from the Main Window, the “Tool Switch” button will be displayed on the top of the

frame. Click the button to switch tools. Note that this function is disabled during process in operation such as

motor driving etc.

Figure 3-2 Top of the screen when starting up tools

(1) (2) (3)

Figure 3-3 Display switch buttons

(a) (b) (c) (d) (e)



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(3) Main Window Switch Button (see Figure 4-2 Top of the screen when starting up tools (3))

Click the button to go back to the Main Window. Note that this function is disabled during process in

operation such as motor driving etc.

(4) Window Flame Out/Flame In (see Figure 4-4 Flame out from Main Window)

To move the tool windows (except for some tools), drag and pull in/out (flame in/ frame out) the target

window from the Main Window.

3.3.2 Menu of Main Window

Figure 3-5 Menu of Main Window

(1) File Menu

･Open RMT File(O) RMT file is chosen, and “Environmental information” can be read.

When this function is carried out, “Environmental information” is overwritten by

information on a read RMT file. The COM connection I win is also reset.

･Save(S) “Environmental information” is overwritten to a read RMT file.

･Save As(A) The RMT file name is designated and “Environmental information” is preserved.

･Load Variable Data “Variable information” can be read from a Map file.

(See 3.3.4Load Variable Data Function)

･Exit(X) Renesas Motor Workbench can be terminated.

When Exit is chosen, end Termination screen is indicated.

Figure 3-4 Flame out from Main Window



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(2) Option Menu

･Option Dialog Start up the Option Dialog for tool settings,

This menu indicates only during Main Window indication.

･Baud rate Dialog Set the baud rate when using the built-in communication library.

(3) Help Menu

･View Help File A help screen can be started.

･Load Authentication file A authentication screen can be started.

(See 2.6Authentication Function).

･Version Information Version information on Renesas Motor Workbench can be indicated.

3.3.3 Option Dialog Function

Function to specify settings within Tools. Click “Set” to reflect new settings.

(1) Main Window

-Tab [Load Variable Data]

The Map file reading function which starts from “Load Variable Data” on the Main Window menu can be

established.

The setting which does “Change in the data type” or “Change to array” of a global variable in the read Map file

can be done.

Designation can make the prefix of a variable designation method up to at most 4 by a comma end.

“Data type change” can be specified in [UINT8 - FLOAT].

“Change to array” can be specified in [Array of UINT8 - Array of FLOAT].

Figure 3-6 Option dialog (Main Window)



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(2) Analyzer

-Tab [Control Window]

① The variable to confirm the state

When a motor is driving, the prohibited function is preparing a change to other tools to make the

consideration safe in Renesas Motor Workbench.

The value is designated as the variable name from which the state that a motor is driving can be

distinguished. When a variable name of designation is the value of the designation, you restrain a change to

other tools.

-Tab [Commander]

② Log file

Path which outputs an execution result (Result Log File) file of the Commander function can be designated.

③ Maximum Records

The max number which maintains an execution result of the Commander function can be designated.

④ Send Check Variable

The variable name used in [Send Checker] of the Commander function can be designated.

⑤ Send Check Value

The Value written in in [Send Checker] of the Commander function can be designated.

* [Control Window] is a screen of Analyzer tool. It's possible to start reading of variable value, writing in of variable

value and the Commander function on this screen. (For details, Renesas Motor Workbench Functional Description)

* [Commander] can edit the order value by a CSV file. You can read that and carry out. (For details, Renesas Motor

Workbench Functional Description)

* [Send Checker] is the function of Commander. This function measures the smallest interval where the order value by

the communication environment is sent. If the Commander function is started, first it's necessary to perform this send

checker function. (For details, Renesas Motor Workbench Functional Description)

① ②

③

④

⑤

Figure 3-7 Option dialog (analyzer)



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Dec.09.2021

3.3.4 Load Variable Data Function

This function is used to read “Variable information” into the Renesas Motor Workbench from the Map file created

after build.

< Load Variable Data Operation>

(1) Map file is chosen and read more than “Load Variable Data” on the Main Window menu.

(2) When it's normally read, User Setting Form screen is indicated. When establishing “Change in the data type” or

“Change in the array” on the Option Dialog screen, the result which reflected that is shown to a list.

The user can also do setting change in Data Type from User Setting Form screen.

(3) When a SET button is pushed down, “Variable information” is set as Renesas Motor Workbench.

Change operation of Data Type isn't made of each tool of Renesas Motor Workbench.

When you'd like to change it, please perform the “Load Variable Data” function once again and establish “Variable

information”.

Figure 3-8 User Setting Form window

Figure 3-9 User Setting Form window (Data Type)

I

Revision History

Rev.

Date

Revision

Page Contents

1.00 Apr.05.2017 - Issued

2.00 Nov.27.2018 - Supported version 2.0

2.01 May.16.2019 - Supported RX72T

2.02 Nov.29.2019 - Supported RX13T

2.03 Oct.28.2020 - Supported RA6T1

3.00 Dec.09.2021 - Supported version 3.0

II

Renesas Motor Workbench User’s Manual

Issued Date Dec, 09 2021 Rev.3.00

Issued Renesas Electronics Corporation

TOYOSU FORESIA, 3-2-24 Toyosu, Koto-ku, Tokyo 135-0061,

Japan

III

Motor Control Development Support Tool


R21UZ0004EJ0300

user's manual - renesas

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