How often do shinkansen trains pass?

I know it depends on the station, but on Kyoto, Osaka and Tokyo? Do they pass regularly or I would need to check when they pass each day to know when to go to the station? It's just for planning the day trips, to know if I can go to the station whenever I want or I need to get there in a fixed time. Also, at what time at night do they stop coming? Or they don't? And if they do stop coming, when in the morning do they start passing again?