HD6432351 datasheet(514/1025 Pages) RENESAS

514 / 1025 page

Section 10 16-Bit Timer Pulse Unit (TPU)

Rev. 3.00 Sep 15, 2006 page 480 of 988

REJ09B0330-0300

Phase Counting Mode Application Example

Figure 10.33 shows an example in which phase counting mode is designated for channel 1, and

channel 1 is coupled with channel 0 to input servo motor 2-phase encoder pulses in order to detect

the position or speed.

Channel 1 is set to phase counting mode 1, and the encoder pulse A-phase and B-phase are input

to TCLKA and TCLKB.

Channel 0 operates with TCNT counter clearing by TGR0C compare match; TGR0A and TGR0C

are used for the compare match function, and are set with the speed control period and position

control period. TGR0B is used for input capture, with TGR0B and TGR0D operating in buffer

mode. The channel 1 counter input clock is designated as the TGR0B input capture source, and

detection of the pulse width of 2-phase encoder 4-multiplication pulses is performed.

TGR1A and TGR1B for channel 1 are designated for input capture, channel 0 TGR0A and

TGR0C compare matches are selected as the input capture source, and store the up/down-counter

values for the control periods.

This procedure enables accurate position/speed detection to be achieved.

HD6432351 Datasheet(PDF) 514 Page - Renesas Technology Corp