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User`s Manual - Nippon Pulse

1. Terminal number 5V PCD4611 PCD4621 PCD4641 Terminal Logic Description tole X Y X Y Z U rant 36 60 92 CLK Reference clock 41 4 97 RST 1 Negative Reset signal 42 5 98 CS Negative Chip select signal 43 6 100 WR Negative Write signal 44 7 99 RD Negative Read signal 47 8 1 Positive Address bus 0 LSB O 46 9 2 A1 Positive Address bus 1 10 3 A2 Positive Address bus 2 O 4 Positive Address bus 3 2 12 9 DO Positive Data bus 0 LSB O 3 13 10 D1 Positive Data bus 1 O 4 14 11 D2 Positive Data bus 2 O 5 15 12 D3 Positive Data bus 3 O 6 17 13 D4 Positive Data bus 4 7 18 14 D5 Positive Data bus 5 O 8 19 15 D6 Positive Data bus 6 O 9 20 16 D7 Positive Data bus 7 38 1 6 O Negative Interrupt request signal 39 2 7 WRQ O Negative Wait request signal 27 22 50 27 36 64 73 U B 1 eee L unipolar H bipolar Select excitation sequence 28 23 51 28 37 65 74 F H 1 L 2 2 phase 1 2 phase O 25 24 52 29 38 66 75 STA 1 Negative External start signal 26 25 53 30 39 67 76 STP 1 Negative External stop signal 18 26 54 31 40 68 77 ORG 1 Negative Origin position switch signal 17 27 55 32 41 69 78 EL 1 Negative end limit sw
2. 9 4 2 17 0 1 1 02 2 03 3 04 4 9 4 2 18 5 5 PO DIR lige de le Dav hee RE eR dee eee 10 LP ALME EE SEE 10 4 2 20 OT 93 22296 10 4 2 21 VOD GND iode tide eiecit tue 10 4 2 22 0 imet t ted at dtt aet teu etes 10 5 BEOGK DIAGRAM tee n n D DI ERR NR BERT De REO RETE ERR TER ER 11 6 CPU INTERFACE neueren e Rd daddies RR D o e PUN Pe eed ve e de deeded A ees 12 6 1 Precaution for designing 12 6 1 1 Printed board design 12 6 1 2 Unused terminal nea oc tec eter tet dato e M tant 12 6 1 3 55 e EDEN m 12 6 1 4 General purpose input output ports 21 P1 to 04 4 12 6 1 5 E Roger HU e ete 12 6 2 Examples of CPU interfaces irre teet 13 6 3 Address AA 14 6 3 1 Address map of PCD4611
3. Operation direction in positioning mode lt CCM3 gt Control mode command WRITE 0 direction 7 0 1 direction 0 1 n 1 sD signal control lt CCM1 gt Control mode command WRITE 0 SD input signal is disabled 7 0 1 Making sD input signal LOW makes the speed decelerated to FL speed 1 n Pulse output control lt OCM2 gt Output mode command WRITE 0 Output pulses 7 0 1 Does not output pulses 1 1 1 l Stop method by ORG input lt Set in RENV ORDS gt RENV register WRITE 0 Stop immediately when ORG input turns ON 7 0 1 Decelerate and stop when ORG input turns ON eee LS p RCUN automatic reset by inputting ORG lt Set in RENV ORRS gt RENV register WRITE 0 RCUN automatic reset OFF 7 0 1 RCUN is reset automatically at the falling edge of ORG input 1 1 1 1 111 Set the count operation of RCUN Current position counter lt Set in RENV PSTP gt RENV register WRITE 0 Count every pulse output Count even when Output mode command OCM1 1 15 8 1 Stop counting 9 3 1 Procedure example of 1000 pulses direction of FH high speed positioning operation 1 At the start COMBF lt 44 Control mode command Speed COMBF lt EO h Output mode command COMBF lt 87 h select command RegWBF 23 to 16 lt 00 RegWBEF 15 to 8 lt 00 h Au
4. 1 1 64 14 5 Precautions for Mounting 2 4 5 544 2 44 41 44444142 4 241021342140018 141 0114 AARNE nEn BAKEREN 64 14 6 precautions 2 eere a D E TAa 65 APPENDDE ob 66 Appendix A Command list iecit terere ESR ELS 66 Appendix B Register tees esto reuse repente repeto sema SC Pede en nett Sad 67 AppendicC Status listron a 68 Appendix D Differences from 45 1 2 69 C3 DA70133 1 5E 1 Outline and features 1 1 Outline PCD4611 4621 4641 are pulse control LSIs with phase sequence control for 2 phase stepper motor Using these LSIs and ICs for stepping drive allows you to construct stepper motor control system Inputting data and commands from CPU allows you to control speed and positioning etc Using output pulse signal drive can control motor drive of pulse train input type 1 2 Feature 3 3 V single power source Input and output terminals 5 V tolerance feature Maximum output frequency 4 91 Mpps Reference clock 9 8304 MHz Maximum frequency speed magnification 300x 2 46 Mpps Reference clock 4 9152 MHz Standard frequency speed magnification 300x control is added for interface with CPU
5. 14 6 3 2 Address map of PCD46241 25 o ed oe 14 6 3 3 Address map of PCD4644 niii Red rb e e eR 14 6 4 Description of map details iere trei eth ERERRRRARRIN ERAS ARRE RIRES 15 DA70133 1 5E 6 4 1 Command buffer 15 6 4 2 Mairrstatus oi Ue RU ERU ER UR UR RUN UR I EP RE RUE EDO RC EORR LAE RR R 15 6 4 3 Register WR buffer 15 6 4 4 Register RD buffer 15 6 5 Write and read 16 6 5 1 Procedure to write to register 16 6 5 2 Procedure to read out 16 6 5 3 Procedure to write start mode command control mode command and output mode command kuchen LM Korm Mil M IUE M M Cree MI ALL Dre M LA 16 6 5 4 Procedure to write a start command 2 eren enne enne 17 T COMMAND 5 1 hr Eee o ide ce Za ee e HIR ee id ed de suc ened redd doutes 18 7 1 Start mode command E e CE ieu a era DG CEA 19 7 2 Control mod
6. 9 2 1 Procudure example of direction of FH constant speed origin return operation 1 At the start COMBF lt 41 Control mode command Speed COMBF lt E0 h Output mode command 08h COMBF lt 87 h select command RegWBF 23 to 16 lt OO h RegWBF 15108 lt 0 RegWBF 7 to0 lt 02 h PCD46x1 mode COMBF lt 01 Dummy command Secure waiting time longer than CLK one cycle Time COMBF lt 11 h FH constant speed start command 2 2 At the stop A motor stops automatically by turning a signal input ON If you want to stop a motor during running as follows COMBF lt 08 h Immediate stop command 9 2 2 Procedure example of direction of FH high speed origin return operation 1 At the start COMBF lt 43 h Control mode command Speed COMBF EO h Output mode command COMBF lt 87 h RENV select command RegWBF 23t016 lt 00 h RegWBF 15408 lt 00 h RegWBF 7 to 0 02 h PCD46x1 mode COMBF 05 h Dummy command Secure waiting time longer than CLK one cycle COMBF 15 h FH high speed start command 2 At the stop A motor decelerates by SD input L and stops automatically when ORG signal input turns ON If you want to decelerate and stop a motor during running as follows COMBF lt 1D h Deceleration stop command 38 DA70133 1 5E 9 2 3 Procedure example of di
7. Monitor of Output mode command RMG register Note Bit with is disabled during writing and O during reading 25 DA70133 1 5E The value of speed step 1 to 8 191 can be set in the speed setting registers RFL RFH The relationship between speed step value and output pulse speed is set in this register Output pulse speed pps value of the speed setting register x speed magnification Speed magnification times reference clock frequency Hz setting value x 8192 Setting example when the reference clock is 4 9152 MHz typical example RMG setting Speed RMG setting Speed RMG setting Speed value magnification rate value magnification rate value magnification rate 600 258 h 1x 60 03C h 10x 6 006 h 100x 300 12C h 2x 30 01E h 20x 3 003 h 200x 120 078 h 5x 12 00C h 50x 2 002 h 300x 8 2 6 RDP register WR select 10xx0101 RD select 10xx0101 PCD46x1 mode This is a 24 bit register to set a ramping down point The setting range changes according to the setting method of a ramping down point 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 This register is used to set a timing to start deceleration positioning operation mode The setting value of this register is disabled in other than positioning operation mode Control mode command CCM2 0 There are two setting methods of a ramping down point manual se
8. An ANAVA ON BARE AEN AAEN LAM MANNE 40 9 4 Timer mo aec ES 41 9 4 1 Procedure example to use this mode as a 100 ms 41 10 Ted a eden eu 42 10 1 Speed patterns 5 42 10 2 Speet pattern settiN9S z5 2 5062220 ERO 43 10 3 Setting example of acceleration deceleration pattern 45 C2 DA70133 1 5E 10 4 Changing speed patterns in operation 46 11 FUNCTION DESGQCRIPTION e SEND DOR HRS AME EGER ERR Ea EP Te RAE 48 Mc 48 11 2 Idling pulse output ette xu ak eret ZE AAS A CA 48 11 3 External start corntrol erre Send 49 11 4 External stop control iiri 421444 49 11 5 Output pulse mode iet Dx neo hen Rode Ade E en AREE ER ERN rA 49 11 6 Excitation S QueNnCe OUtP Ub ceanii tenant eneietce
9. 1 1 4 3 3 Terminal assignment diagram of PCD4641 1 5 4 TERMINAL FUNCTION DESCRIPTION 6 AST A list of terminals netten senex 6 4 2 FUNCTIONS OF terminals 5 7 P ol GM rn 7 45252 RST 222 A R I EP OT TRAC E 7 4 25 6S dn e teret E ote S m n xe FES aa 7 45254 AU A M 7 42255 RD it Seite dr ester hh ADO utendi 7 4 2 6 A0 A1 A2 ee 8 4 2 7 DO0 to D7 LR Rn e E AI ee 8 rS MEI MATE 8 45259 WBO d eco E AA tai DE e be T 8 4 23 10 D JB dto ertt dettes SUS A fend at 8 4 2 11 5 JH eite cet 8 PME We 8 42 13 S TP M LIE o i ai e NA M UNE A 9 cea vat ate act a ea ete Corda 9 42 48 WEE ED 9 422216 550 525
10. DA70133 1 5E Appendix D Differences from PCD45x1 D1 Outline of Differences 1 10 11 12 13 PCD46x1 has slight difference from PCD4500 PCD45x1 series by software See 6 5 Write and read procedures Because the power supply voltage package and terminal assignment of PCD46x1 are different from those of PCD4511 PCD4521 and PCD4541 you need to prepare a new printed board 3 3 V single power supply Signal terminals have 5 V tolerance functions The package was downsized The Ambient operating temperature is 40 to 85 You can select output pulse mode from two pulse mode pulse and pulse and common pulse mode pulse and direction signal The maximum output frequency is 2 4 Mpps When speed magnification is 300 The function to set a ramping down point automatically is added 24 bit current position counter is added for control of the current position Wait control terminal WRQ is added for interface with CPU Sequence signals output terminals 01 to 04 are used as general purpose input output ports Function to monitor input terminal U B and F H to set sequence signal output is added If sequence signal output is not used these can be used as general purpose input terminals You can select the method of stop by ORG EL EL STP signals To stop immediately or to decelerate and stop 69 DA70133 1 5E D2 Specification comparative table Differences are
11. Excitation sequencing output for 2 phase stepper motor terminals for sequence output can be used as general purpose I O terminals Pulse train output CW and CCW pulse pulse and direction signal Linear and S curve acceleration deceleration control External start stop control Positioning operation origin return operation continuous operation timer operation Idling pulse output 24 bit current position counter Automatic setting for a ramping down point Selection of stop method by ORG EL EL STP signals Immediate stop deceleration stop Available in single axis PCD4611 2 axis PCD4621 and 4 axis PCD4641 Note If control software for PCD4511 PCD4521 PCD4541 is used for PCD 4611 PCD4621 PCD4641 slight modification is needed 2 Specifications DA70133 1 5E Item Standard Power source 3 0 to 3 6 V Reference clock 4 9152 MHz standard 10 MHz max Number of control axes PCD4611 one PCD4621 two PCD4641 four Positioning control range 0 to 16 777 215 pulses 24 bits Speed setting step range 1 to 8 191 steps 13 bits Recommended speed magnification range 1x to 300x when using reference clock 4 9152 MHz When 1x 1 to 8 191 pps When 2x 2 to 16 382 pps When 5x 5 to 40 955 pps When 10x 10 to 81 910 pps When 20x 20 to 163 820 pps When 50x 50 to 409 550 pps When 100x 100 to 819 100 pps When 200x 200 to
12. Main status Buffer for write registers Buffer for read registers 6 3 1 Address map of PCD4611 DA70133 1 5E A1 to Write Read ME O 21123 C OMBE ST 1 2 A l REIWBF 10 0 tus 11 Read OUt REJRBE el Write toRegWBF 15t08 Read out RegRBF 150 11 Write to RegWBF 23 to 16 Read out RegRBF 23 to 16 6 3 2 Address map of PCD4621 A2 to Axis Write Read 000 1 X WitetoCOMBFExX eee e _ SI MSTS X RV 001 X Write to RegWBF_x 7 to 0 Read outRegRBF_x 7to0 NO 010 X Write to RegwBF_x 15 to 8 ReadoutRegRBF XU9 TS 011 X Write to RegWBF_x 23 to 16 Read out RegRBF x 23 to 16 fo 100 Y Wrte to COMBE y I Read MSTS Y Write to RegWBF_y 7 t00 Read out RegRBF y 7400 Write to RegWBF_y 15t08 Read out RegRBF 1508 111 Y Write to RegWBF y 23 to 16 Read out RegRBF y 23 to 16 6 3 3 Address map of PCD4641 to Axis Write Read 000 Read MSTS X 2 0001 X Write toRegWBF_x 7to0 x 7t00 MN 0010 X WitetoRegWBF x 15t08 ReadoutRegRBE 1508 0011 X Write to RegWBF x 23 to 16 Read out RegRBF x 23 to 16 enr TO COMBE PRORA 0101
13. If you use these as excitation sequence output terminals sequence signals are switched with synchronized with the output pulses Using the F H terminals you can select between 1 2 phase and 2 2 phase excitation sequencing Using the U B terminals you can select between unipolar and bipolar excitation sequencing When pulse output control is masked with Output mode command OCM1 1 the excitation sequencing cannot be 9 DA70133 1 5E changed Excitation sequence output be masked all terminals 1 to 4 are LOW level with Output mode command OCM2 1 4 2 18 PO PLS PO DIR These are output terminals of pulse train for motor driving These terminals have two modes two pulse mode to output and direction pulse train and common pulse mode to output pulse trains and direction signals The mode of pulse output is set by RENV PMD Output logic is set by Output mode The direction of motor s operation is set by Control mode command CCM3 The duty of output pulse train is approximately 50 4 2 19 BSY This is a terminal to monitor operation condition This terminal goes LOW level when this LSI operates It is used to check operation condition and to control current reduction of motor drive when a motor stops 4 2 20 OTS This is a general purpose output terminal This terminal can be used as an excitation ON OFF control signal for a motor driver IC This terminal becomes HIGH level with Control mode co
14. Y Write to RegWBF_y 7 to 0 ReadoutRegRBF y 7t00 s sees 0110 Y Write to RegWBF_y 15 to 8 Read out RegRBF_y 15 to 8 0111 Y Write to RegWBF y 23 to 16 Read out RegRBF y 23 to 16 1000 2 Write to COMBF 2 Read MSTS z Z 1011 Z Write to RegWBF_z 23 to 16 Read out RegRBF z 23 to 16 51 22 1191 e 5099 2 Wille toRegWBF u 7 t0 0 Read out RegRBF MAIO LL LL MMO E gt te MME TO REIWBF U 1910 8 Read out RegRBF u 15108 1111 U Write to RegWBF_u 23 to 16 Read out RegRBF_u 23 to 16 14 DA70133 1 5E 6 4 Description of map details 6 4 1 Command buffer COMBF This is a buffer to write a start command Control mode command Register select command and Output mode command written command is determined by the upper 2 bits and memorized in separate command areas D7 to D6 Command D5 to DO 00 Start mode command 01 Control mode command 10 Register select command 11 Output mode command 6 4 2 Main status MSTS Monitor current status of axis 7 6 5 4 3 2 1 0 FDWN FUP SDP PLSZ BUSY ISTA ISDP ISTP Bit Bit name Contents 0 ISTP Requesting an interrupt by stop 0 ON 1 OFF 1 ISDP Requesting an interrupt by ramping down point 0 ON 1 OFF 2 ISTA Requesting an interrupt by external start 0 ON 1 OFF 3
15. 0 0 1 1 0 1 000 Main status RMV lower data RMV middle data RMV upper data 001 Main status RFL lower data RFL upper data Start mode command 010 Main status RFH lower data RFH upper data Control mode command 011 Main status RUD lower data RUD upper data Register select command 100 Main status RMG lower data RMG upper data Output mode command 101 Main status RDP lower data RDP upper data RENV lower data 110 Main status RIDL data RSPD lower data RSPD upper data 111 Main status RSTS lower data RSTS upper data RIDC data 2 PCD46x1 mode Hatching Difference from PCD45x1 mode Register Address select No 1 0 0 0 1 0 0 1 1 1 AO 0 1 1 0 1 0000 000 Main status lower data RMV middle data RMV upper data 0001 001 Main status RFL lower data RFL upper data Start mode command 0010 010 Main status RFH lower data RFH upper data Control mode command 0011 011 Main status RUD lower data RUD upper data Register select command 0100 100 Main status RMG lower data RMG upper data Output mode command 0101 101 Main status RDP lower data RDP middle data RDP upper data 0110 110 Main status RIDL data RSPD lower data RSPD upper data 0111 111 Main status RENV lower data RENV upper data RIDC data 1000 Main status RCUN lower data RCUN middle data RCUN upper data 1001 Main status RSTS lower data RSTS upper data Always 00h 1010 Main status RIOP data Always 00h Always 00h RI
16. 3 B y Ims 9000140 200to 10 0 HIGH input current 4 liH VIN VDD 1 to 1 10 to 10 LOW output current 5 6 max 8 max mA LOW output current 6 01000 6max 16max LOW output current 7 6max 16max HIGH output current 5 6 max 8 max mA HIGH output current 6 16max LOW output current VoL max 0 4 0 4 V HIGH output voltage 1uA Vpp 0 4 min Vpp 0 05 min V PC riga Vo 04min 24min Internal pull up resistor Ru 40 to 240 25 to 500 Kohm 1 Reference clock 10 MHz 4 999 390 pps output no load 2 DO to D7 0 to A3 RD WR CS CLK 4 Terminal 2 or 3 7 INT 5 3 ORG EL 50 SD STA STP U B RST 78 DO to D7 of all PCD4xx1 OTS BSY PO and 01 to 24 of PCD4x21 PCD4x41 6 OTS BSY PO 01 to 04 of PCD4x11 Memo DA70133 1 5E 79 March 18 2015 No DA70133 1 5E
17. Old speed lt new speed Make RFH smaller during accelerating the motor decelerates until the speed reaches the corrected speed and operates at the constant speed Current speed lt new speed lt old speed Make RFH smaller during accelerating the motor decelerates until the speed reaches the corrected speed RFL lt new speed lt current speed Make RFH smaller during accelerating the motor decelerates to the FL speed and decelerates to the new speed again New speed lt RFL larger after accelerating is complete the motor accelerates until the speed reaches the corrected speed Make RFH smaller after accelerating is complete the motor decelerates until the speed reaches the corrected speed 47 DA70133 1 5E 11 Function description 11 1 Reset This LSI is reset if longer than 3 clocks of reference clock are input with making RST terminal LOW level All registers and all output terminals status are not determined until reset from power on After reset the LSI becomes the default setting as follows Description Default Condition Start mode command 00 h Control mode command 40 h Register select command 80 h Output mode command CO h RMV RFL RFH RUD RMG RDP RIDL RENV RCUN RIOP registers 0 Main status MSTS 37 h Register WR buffer 000000 h Register RD buffer 000000 h RSTS register 0 11 x001 1 xxxx X varies
18. 023 W R W RW RDP Set a ramping down point 24 0 to 16 777 215 R W R W RIDL Set idling pulses 3 0 to 7 W R W RW Set environmental data 16 0000 h to FFFF h RAW RAW RCUN Current position counter 24 0 to 16 777 215 or R W 8 388 608 to 8 388 607 RSTS Extended status monitor 24 000000 h to R R FFFFFF h RIOP Set general purpose ports 6 00 h to 3F h R W RSPD Current speed monitor 13 O to 8 191 R RAW Both reading and writing are possible W Only for writing R Only for reading Neither treading nor writing are possible Note 1 Among the registers added in PCD 46x1 RENV register can also be used in PCD4500 mode and PCD45x1 mode Note2 The length of register RUD to set acceleration deceleration rate is extended from 10 bits to 16 bits The length of register RDP to set ramping down points is extended from 16 bits to 24 bits Registers in PCD4500 mode and PCD45x1 mode are also extended If you use PCD 46x1 with software for PCD4500 or PCD45x1 please make sure that extended bits 0 when register is written 67 Appendix C Status list Main status 7 6 5 4 3 2 1 It Extended status 7 6 5 4 3 2 1 Ie 15 14 13 12 11 10 9 8 rri RIDC monitor 23 22 12 20 19 ISTP Interrupt request when a motor stops 0 Making a request ISDP Ramping down point interrupt request 0 Making a request ISTA External start interrupt request 0 Making a request BUS
19. 3 2 1 0 This value becomes FFFFFF h after counting backward from 000000 h and becomes 000000h after counting forward from FFFFF h The register counts every pulse output when RENV PSTP 0 and does not count RENV PSTP 1 This register count forward in direction operation and count backward in direction operation with RENV PREV 0 With RENV PREV 1 the count direction is reverse With RENV ORRS 1 this counter is reset automatically at origin point in origin return operation For detail see 9 2 Origin return mode 29 DA70133 1 5E 8 2 10 RSTS monitor RD select 10 1001 46 1 mode This is an extended status for only reading 16 bit The reading value from bit 23 to 16 becomes 00 h The setting value is disabled when the LSI is writing 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SINT SOTS SPPO SMPO SPH4 SPH3 SPH2 SPH1 SPHZ SPSD SMSD i SSTA SSTP SORG SPEL SMEL Bit Bit name Description 0 SMEL EL terminal status monitor 0 OFF HIGH level 1 ON LOW level 1 SPEL EL terminal status monitor 0 OFF HIGH level 1 ON LOW level 2 SORG ORG terminal status monitor 0 OFF HIGH level 1 ON LOW level 3 SSTP STP terminal status monitor 0 OFF HIGH level 1 ON LOW level SSTA STA terminal status monitor 0 OFF HIGH level 1 ON LOW level SMSD SD terminal status monitor 0 OFF HIGH level 1 O
20. 6 7 0 0 1 0 1 02 2 2 03 03 111 L 1 04 04 SPHZ H L L L H SPHZ H L L L L L L LIH Operation direction Operation direction gt Note SPHZ means RSTS SPHD and it is excitation origin monitor signal to be confirmed as status With Output mode command OCM2 1 all 21 to 04 outputs become L level Timing for excitation sequence change When pulse train output signal changes ON to OFF a sequence signal changes BSY PO PO 91104 X X Y Excitation origin monitor lt RSTS SPHZ gt RSTS register READ 0 Sequence output 01 to 04 step is not an excitation origin position 7 0 1 Sequence output 01 to 04 step is an excitation origin position n pex RS o 1 Excitation sequence signal monitor lt RSTS SPH1 4 gt RSTS register READ Bit 11 04 10 93 92 21 monitor 15 8 0 L level 1 H level mn Mask of excitation sequence signal lt OCM2 gt Output mode command WRITE 0 Outputs sequence signal from terminals 1 to 04 7 0 1 Make all terminals 01 to 04 L level cipe pee 50 DA70133 1 5E 11 7 External mechanical input control The following five signals c
21. 7 to 0 0000 23 to 16 RMV 15 to 8 7 to 0 0001 Start mode command RFL 15 to 8 RFL 7 to 0 0010 Control mode command RFH 15 to 8 RFH 7 to 0 0011 Register select command RUD 15 to 8 RUD 7 to 0 0100 Output mode command RMG 15 to 8 7100 0101 RDP 23 to16 RDP 15 to 8 RDP 7 to 0 0110 RSPD 15 to 8 RSPD 7 to 0 RIDL 7 to 0 0111 RIDC 7 to 0 15 to 8 RENV 7 to 0 1000 RCUN 23 to 16 RCUN 15 to 8 RCUN 7 to 0 1001 00 RSTS 15 to 8 RSTS 7 to 0 1010 00 00 RIOP 7 to 0 1011 to 1111 00 h 00 00 23 DA70133 1 5E 8 2 1 RMV register WR select 10xx0000 RD select 10xx0000 PCD46x1 mode This is a 24 bit register to set a number of output pulses in positioning operation mode Setting range is O to 16 777 215 FFFFFF h 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 This register operates as down counter for positioning control This register counts backward every pulse output in any modes such as continuous operation origin return operation positioning operation If stop counting is selected for the setting of down count operation control for positioning with RENV DCSP 1 this register does not count The value of counter the number of residual pulses can be read during a motor is running and stopping In positioning operation mode start a motor after you set a number of output pulses in this register
22. During STP terminal is Low level operation completes without outputting pulses even though a start command is written Even in this case an INT signal can be output when a motor stops The sensitivity of the STP signal input can be selected using Output mode command OCM4 11 5 Output pulse mode There are 2 pulse mode and common pulse mode in output pulse mode and they can be selected by RENV PMD With RENV PMD 0 the selected mode is 2 pulse mode the LSI outputs pulse train signals from terminal PO PLS in direction operation and from terminal PO DIR in direction operation With RENV PMD 1 the selected mode is common pulse mode the LSI outputs pulse train signals from terminal PO PLS and direction signals from terminal PO DIR The logic of output signals can be selected by Output mode command OCMO RENV PMD OCMO direction operation direction operation PO PO H 0 0 PO H PO PO PO L 0 1 PO L PO PLS PLS 1 0 DIR H DIR _L PLS PLS 1 1 DIR _L DIR H 49 DA70133 1 5E 11 6 Excitation sequence output This LSI can generate 2 2 phase and 1 2 phase excitation sequences for 2 phase stepper motors to provide unipolar and bipolar driving Excitation sequence signal is output from four terminals g 1 P1 2 P2 3 P3 4 P4 T
23. LOW width 40 ns 12 4 2 Reset cycle trst gt RST trstM lt gt Recet processing A ESEERREFO ESIHECRFES Item Symbol Condition Min Max Unit RST signal width trst tck x ns Reset processing time trstM 3 tcik x 4 ns 12 4 3 Read cycle to WRQ DO to D7 Note Read is a virtual signal Read L only when CS Land RD L Item Symbol Condition Min Max Unit Address set up time tar 0 ns Address hold time tra 0 ns Read signal width trr tir 0 34 ns WRQ output delay time CL 40 pF 28 ns WRQ signal width trr CL 40 pF 0 tek x 3 ns Read hold time trr trr 0 34 ns Data output delay time tro CL 40 pF 34 ns Data output precedence time tos CL 40 pF 0 ns Data float delay time 40 18 ns 56 DA70133 1 5E 12 4 4 Write cycle to Write DO to D7 Note Write is a virtual signal Write L only when CS L and WR L Item Symbol Condition Min Max Unit Address set up time taw 0 ns Address hold time twa 0 ns Write signal width tww trr 0 14 ns WRQ output delay time twr CL 40 pF 28 ns WRQ signal width CL 40 pF 0 terk x 3 ns Write hold time trw CL 40 pF 14 ns Data setup time tow 14 ns Data hold time twp 0 ns Note In both read cycle a
24. are 10 There are three start commands FL constant speed start command FH constant speed start command and high start command 16 DA70133 1 5E 6 5 4 Procedure to write a start command Write a dummy 1 Adammy command is a command that only the bit 4 of the start command to be command used is changed to O i Wait internal processing time l CLK 1 cycle 2 When the WRQ output is connected to CPU put waiting time of longer than CLK 1 cycle by software Write start 3 Write a start command command Note If you write a start command without the above procedure the Start command may be ignored and it does not initiate starts With PCD4500 PCD45x1 series writing a dummy command is unnecessary Regarding only this procedure there is no compatibility with software for PCD4500 and PCD45x1 series If you try to the above procedure for PCD4500 PCD45x1 series there is nothing that matters Example Procedure to write 15h as a Start command 1 Write 05h as a dummy command 2 Wait for longer than CLK one cycle 3 Write 15h as an original Start command 17 DA70133 1 5E 7 Command Commands to control this LSI are written in the 8 bit command buffer Witten command is determined by the upper 2 bits and classified in four types and stored separately Bit 7 and 6 Command type 00 Start mode command Command about start stop such as FL constant speed start FH const
25. deceleration positioning Set a feeding amount 4000 in the RMV To output 10000 pps set a speed magnification 2 mode and RMG 300 12C h Set 500 1F4 h in the RFL so as to set initial speed 1000 pps in 2x mode Set 5000 1388 h in the RFH so as to set operation speed 10000 pps in 2x mode Calculate acceleration deceleration rate RUD setting value using acceleration deceleration time RFH RFL x RUD x 2 Reference clock frequency Hz RUD 0 3 s x 4 915 200 Hz 5000 500 x 2 163 84 Acceleration deceleration time s value is an integer 164 that is a nearest integer will be set e 45 DA70133 1 5E Acceleration deceleration time at the time is 300 29 ms 7 Set RENV ASDP 1 and 0 in automatic ramping down point setting manual setting set RENV ASDP 0 and calculate setting value as follows RFH RFL x RUD RMG x 8192 RDP setting value 50007 5007 x164 300 8192 1651 6 By rounding the above value down to an integer RDP setting value 1651 8 High speed start command 15 h is written 10 4 Changing speed patterns in operation By changing the RFL RFH and RUD registers in operation the speed and the rete of acceleration can be changed on the fly However if a ramping down point is set to automatic RENV ASDP 1 in linear acceleration deceleration positioning mode do not change the values for the RFL a
26. not have RENV register the register can be used as 16 bit register in PCD46x1 mode of PCD4500 However setting value cannot be read In reading out registers Register select command Register RD buffer RCM2 to 0 Bits 23 to 16 Bits 15 to 8 Bits 7 to 0 000 RMV 23 to 16 15 to 8 7 to 0 001 to 111 00h 00h RSTS 7 to 0 8 4 1 RMV register WR select 10xxx000 RD select 10xxx000 PCD4500 mode This is a 24 bit register to set number of output pulses in positioning operation mode Setting range is 0 to 16 777 215 FFFFFF h 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The detail is the same as 8 2 1 RMV register Down counter operation control for positioning operation control is specified by Register select command 8 4 2 RSTS monitor RD select 10xxx001 to 10xxx111 4500 mode This register is to monitor RSTS In reading 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 010 RSTS register 7 to 0 The detail of RSTS 7 to 0 is the same as 8 2 10 RSTS monitor 35 DA70133 1 5E 9 Operation mode Note PCD46x1 has a slight difference from our PCD4500 and PCD45x1 series by software See 6 5 Write and read procedures According to the compatible mode PCD4500 mode PCD45x1 mode and PCD46x1 mode the procedure may be different The followings are the case
27. or decelerating start a motor starts operation at the FL speed and accelerates to the FH speed When a deceleration stop command is written a motor starts deceleration When the speed reaches to the FL speed a motor stops The relationship between the RFL setting value and the FL speed varies with the speed magnification calculated by the RMG setting value FL speed pps RFL setting value x Speed magnification Note If FL speed is set to 0 negative logic output pulse is fixed to LOW level and a motor may not stop Make sure to set to 1 or more than 1 24 DA70133 1 5E 8 2 3 RFHregister WR select 10xx0010 RD select 10xx0010 PCD46x1 mode This is a 13 bit register to set step value of FH speed Bits 12 to 0 Setting range is 1 to 8 191 001FFF h Bits 23 to 16 are to monitor Control mode command only for reading When the LSI is writing this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Monitor of Control mode command RFH register Note Bit with is disabled during writing and O during reading In the high speed with accelerating or decelerating start a motor starts operation at the FL speed and accelerates to the FH speed The relationship between the RFH setting value and the FH speed varies with the speed magnification calculated by the RMG setting value FH speed pps RFH setting value x Speed magnification Note If FH speed is set to 0 negative outp
28. output Register select command Selected register Function Bit 3 to 0 0000 RMV register Preset feed amount confirm residual pulses 0001 RFL register Set FL speed 0010 RFH register Set FH speed 0011 RUD register Set acceleration deceleration rate 0100 RMG register Set magnification 0101 RDP register Set ramping down point 0110 RIDL register Set idling pulse 0111 RENV register Set environmental data 1000 RCUN register Current position counter 1001 RSTS monitor Extended status monitor 1010 RIOP register Set general purpose port Other Prohibited Note In PCD46x1 mode register select code is decided by 4 bits because register increases Down counter operation control for positioning control in PCD 46x1 mode is operated with RENV DCSP RENV DCSP is described as R7 2 in PCD 45 1 73 DA70133 1 5E D6 Register change D6 1 RENV Environmental data setting register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 IPM4 i IPM3 IPM2 IPM1 IOPM 0 PREV PSTP ORRS ORDS ELDS SPDS ASDP DCSP 46MD PMD Bit Bit name Contents 0 PMD Select pulse mode output from terminals PLS and PO DIR 0 direction pulse from terminal and direction pulse from terminal PO 1 Pulses are output from terminal PLC and direction signals are output from terminal DIR H direction L direction 1 46MD Select function modes Note 1 available w
29. output level control Bit 3 P4 output level control ojoj n n n Note Terminals 1 P1 to 4 P4 are output terminals 21 to 24 at default setting If you use these terminals as general purpose input please make sure that you insert a series resistor to prevent from short circuit with external output circuit More than 1 K ohm is needed to prevent from the breakage of PCD46x1 an external circuit select an appropriate resistor lest current exceeds the maximum output current of the external circuit PCD46x1 Resistor 54 prevent from the of DA70133 1 5E 12 Electrical characteristics 12 1 Absolute maximum rating Item Symbol Rating Unit Power supply voltage Voo 0 3 to 4 0 V Input voltage Vin 0 3 to 7 0 V Current consumption lour 30 mA Storage temperature Tstg 65 to 150 C 12 2 Recommended operating conditions Item Symbol Rating Unit Power supply voltage Voo 3 0 to 3 6 V Input voltage Vin 0 3 to 5 8 V Ambient temperature Ta 40 to 85 12 3 DC characteristics recommended operating conditions Item Symbol Condition Min Typ Max Unit Static consumption current Ibos VI VDD or GND VDD Max no load 35 uA Consumption current loo PCD4611 Note 1 3 mA CLK 4 9152 MHz 4621 Noe T 8 PC
30. positioning is controlled by the setting of register select 3 ASDP Select the setting of ramping down point control 0 Manual setting 1 Automatic setting 4 SPDS Select stop method by STP input 0 Stop immediately 1 Decelerate and stop 5 ELDS Select stop method by EL and EL input 0 Stop immediately 1 Decelerate and stop 6 ORDS Select stop method by ORG input 0 Stop immediately 1 Decelerate and stop 7 ORRS Set automatic reset of RCUN current position counter 0 Automatic reset OFF 1 Reset automatically at the falling edge of ORG input OFF to ON in origin return operation 8 PSTP Set operation of RCUN current position counter 0 Count every pulse output Count even when Output mode command OCM1 1 1 Stop counting 9 PREV Set a count direction of RCUN current position counter 0 Count forward in direction operation and count backward in direction operation 1 Count backward in direction operation and count forward in direction operation 10 Undefined Always set to 0 11 IOPM Select functions of terminal 21 to 04 P4 0 Use as 1 P1 to 04 sequence signals output terminals 1 Use as P1 to P4 general purpose input output port input output terminals 12 IPM1 Select specification of general purpose input output terminal P1 0 general purpose output terminal 1 general purpose input terminal Note 2 13 IPM2 Select specification of general purpose input o
31. setting 26 DA70133 1 5E 8 2 7 RSPD monitor RIDL register WR select 10xx0110 RD select 10xx0110 PCD46x1 mode 23 22 21 20 19 18 17 16 15 14 13 12 NL RSPD monitor RIDL register Note Bit with is disabled during writing and O during reading RSPD monitor This is a monitor of the current speed only for reading to shows a step number like RFL and registers The range is 0 to 8 191 The setting value is read out bits 23 to 8 When the LSI is writing the setting value of this register is disabled The RSPD monitor value becomes 0 during a motor stops The relationship between the RSPD monitor value and operation speed varies with the speed magnification calculated by the RMG setting value Operation speed pps RSPD monitor value x Speed magnification 2 RIDL register This is a 3 bit register to set number of idling pulses bits 2 to 0 The setting range is 0 to 7 Motor starts acceleration after the LSI outputs a number of pulses set in this register in high speed with acceleration deceleration start When 0 is set in this register the motor starts acceleration from the start Therefore the initial pulse cycle is shorter the cycle of FL speed When 2 or more than 2 is set the initial pulse cycle is the same as the cycle of FL speed About the detail of idling pulse output see 11 2 Idling pulse output 8 2 8 RIDC monitor RENV register WR select 10xx0111 RD selec
32. shown with hatching in the following table Item PCD46x1 standard PCD45x1 standard Power source 3 0 to 3 6 V 4 5 to 5 5 V Reference clock 4 9152 MHz standard 10 MHz Same as PCD46x1 Range of settable positioning pulses 0 to 16 777 215 pulses Same as PCD46x1 Range of settable number of steps 1 to 8 191 steps Same as PCD46x1 Recommended speed magnification range 1x to 300x when using reference clock 4 9152 MHz When 1x 1 to 8 191 pps When 2x 2 to 16 382 pps When 300x 300 to 2 457 300 pps 1 to 50x Number of registers for setting the speed Two FL and FH Same as PCD46x1 Ramping down point setting range 0 to 16 777 215 24 bit 0 to 65 535 16 bit Ramping down point setting method Manual setting or automatic setting Only manual setting Acceleration deceleration rate setting range 1 to 65 535 16 bit 2 to 1 023 10 bit Current position counter 24 bit UP DOWN counter one circuit axis None Typical operations Continuous operation Preset operation positioning Origin return operation Same as PCD46x1 Timer operation Typical functions Linear and S curve acceleration deceleration Same PCD46x1 Stop immediately or decelerate and stop except general purpose Speed change port function External start and stop function Idling pulse output function Excitati
33. to 8 Write the lower data 4 Write the lower data last to the RegWBF 7 to 0 By writing the lower data data transmission of all bits starts Wait intemal 5 When the WRQ output is not used please set not to make a next access processing time i during transmission processing time using software CLK 2 cycles When the WRQ is used automatic processing operates Write a Register 1 Write a Register select commandto COMBF select command The current register value is copied to the register RD buffer i Wait internal processing time 1 CLK 2 cycles 2 Wait copy processing time longer than CLK 2 cycles When WRQ output is connected to CPU software processing is unnecessary Read the upper Note It s duration is CLK 1 5 cycle in PCD 45x1 and CLK 2 cycles in PCD46x1 data from the RegRBF 23 to 16 3 Read out the buffer for reading from the registers In this example the upper middle and lower data are read in order Read the middle However the order to read is arbitrary data from the RegRBF 15 to 8 Read the lower data from the RegRBF 7 to 0 6 5 3 Procedure to write start mode command control mode command and output mode command After writing a command delay for 1 cycle of CLK occurs until the LSI inside is changed When you write a start command as a start mode command the following procedure is needed to process Start command is a start mode command whose bits 4 and 3
34. 05 Accelerating Accelerating 48 DA70133 1 5E 11 3 External start control This LSI can be started using an external signal Using this function multiple axes can be started simultaneously To use it make Start mode command SCM1 1 and write a start command with holding start After that hold is released at the falling edge of STA terminal a motor starts To cancel the hold an immediate stop command can also be used Input an STA signal whose width is longer than 4 reference clock cycles While Hold the start mode if an STP or EL signal of the same direction as operation is input the LSI will store the stop condition and the LSI will not start operation even if an STA signal is given The motor will not start until a next start command is given The start control bit SCM4 that is a monitor of start command in the RD buffer 23 to 16 when the LSI reads the RFL register will change from 1 to when a motor stops Start timing Hold FH constant speed start Start command monitor a a PO gt 11 4 External stop control This LSI can be stopped instantly using an external signal With this function the motor can be stopped in an emergency and multiple axes can be stopped simultaneously When the STP terminal goes Low level the motor will stop immediately or decelerate and stop Amotor stops immediately with RENV SPDS 0 and decelerates and stops with RENV SPDS 1
35. 1 Register Contents Bit Setting range Bit Setting range length length RUD Set acceleration 16 1 to 65 535 10 2 to 1 023 deceleration rate RDP Set ramping down point 24 0 to 16 777 215 16 0 to 65 535 RENV Set environmental data 16 0000 h to FFFF h 1 0 to 1 PCD4541 RCUN Current position counter 24 0 to 16 777 215 or 8 388 608 to 8 388 607 RIOP Set general purpose port 6 0 to 3F h Note Only PCD4541 has the RENV register in PCD45x1 series Accessible register varies according to compatible mode Output mode 5 RENV 46MD Compatible mode name 0 0 0 1 PCD4500 mode 1 0 PCD45x1 mode 1 1 PCD46x1 mode Register u Accessiplefinaccessible by Register description Bit length compatible mode PCD4500 PCD45x1 PCD46x1 RMV Preset feed amount 24 R W R W R W confirm residual pulses RFL Set FL speed 13 W R W RW Set FH speed 13 RW RM RUD Set acceleration deceleration rate 16 R W R W RMG Set magnification 10 W R W R W RDP Set ramping down point 24 Ww RW RM RIDL Set idling pulses 3 Ww R W R W RENV Set environmental data 16 W R W RM RCUN Current position counter 24 R W RSTS Extended status 16 R R RIDC Product cord monitor 8 R R RIOP Set general purpose ports 6 RAN RSPD Current speed monitor 13 R RAW Both reading and writing are pos
36. 1 0 Register select code 0000 to 1010 Ramping down point INT output 0 Mask reset 1 INT is output at ramping down point External start INT output 0 Mask reset 1 INT is output by external start Output mode command 7 6 5 4 3 2 1 0 PO PLS PO DIR output logic 0 Negative logic 1 Positive logic Pulse output mask 0 Pulse output 1 Pulse output is masked Excitation sequence output mask 0 Sequence signal output 1 Sequence output is masked Stop during accel decel 0 Normal operation 1 Keep the current speed with accel decel is interrupted Sensor input sensitivity 0 High sensitivity 1 Low sensitivity Monitor mode 0 Compatible with PCD4500 1 PCD45x1 PCD46x1 mode 66 DA70133 1 5E Appendix B Register list Accessible registers vary according to compatible mode Output mode command OCM5 RENV 46MD Compatible mode name 4500 compatible mode 1 0 PCD45x1 compatible mode 1 1 PCD46x1 mode Accessible inaccessible by Register ME Bit Register description Setting range compatible mode name length PCD4500 PCD45x1 PCD46x1 RMV Preset feed amount confirm 24 01016 777 215 RM RW RW residual pulses RFL Set FL speed 13 1 to 8 191 R W R W RFH Set FH speed 13 1 to 8 191 W RW R W RUD Set acceleration deceleration rate 16 1 to 65 535 W RW RW RMG Set magnification 10 2to 1
37. 1 638 200 pps When 300x 300 to 2 457 300 pps Number of registers for setting the speed Two per axis FL and FH Ramping down point setting range 0 to 16 777 215 24 bits per axis Ramping down point setting method Manual setting or automatic setting Acceleration deceleration rate setting range Linear and S curve acceleration deceleration Acceleration deceleration rate setting range 1 to 65 535 16 bits per axis Current position counter 24 bit UP DOWN counter one circuit axis Mechanical sensor input The following signals are input per axis ORG Origin EL EL End limit SD SD Ramping down Typical operations Continuous operation Positioning operation Origin return operation Timer operation Typical functions Immediate stop and decelerating stop Speed change External start and external stop function Idling pulse output function Excitation sequencing output for 2 phase stepper motor 4 bit general purpose input and output ports They also can be used as sequence output Ambient operating temperature 40 to 85 C Storage temperature 65 to 150 C Package PCD4611 48 pin QFP Mold section 7 0 7 0 mm PCD4621 64 pin QFP Mold section 10 0 10 0 mm PCD4641 100 pin QFP Mold section 14 0 14 0 mm Chip design C MOS 2 DA70133 1 5E 3 Terminal assignment diagrams 3 1 Terminal assig
38. BUSY 0 Stopping 1 Running 4 PLSZ 1 RMV 0 5 SDP 1 RMV lt RDP 6 FUP 1 Accelerating 7 FDWN 1 Decelerating Note During at least one is ON among ISTP ISDP and ISTA the INT terminal goes LOW level 6 4 3 Register WR buffer Reg WBF This is a buffer to write all bits to a register at once When the lower byte is written all bits are written to a specified register at once Therefore please write the upper byte and middle byte and then write the lower byte last 6 4 4 Register RD buffer RegRBF This is a buffer to read all bits from a register at once The contents of a specified register are copied to this buffer by writing a register select command The order to read upper middle and lower byte is arbitrary 15 DA70133 1 5E 6 5 Write and read procedures In processing to access to registers processing time is needed to transfer data at the following timing In processing to write to registers shortly after writing to the WR buffer 7 to 0 In processing to read out registers shortly after writing a Register select command 6 5 1 Procedure to write to register Write a Register 1 Write a Register select command to COMBF select command Though the current register value is copied to the register RD buffer it is not used Write the upper data to the RegWBF 23 to 16 2 Write the upper or middle data Write the middle data to the RegWBF 15 3 Write the middle or upper data
39. D46441 Noe 9 Consumption current loo PCD4611 Note 2 5 mA CLK 10 000 MHz PCD46021 Noe2 3 PCD46441 Node2 121 Input leakage current lu VDD Max VIH VDD VIL GND Note 1 1 uA VoD Max VIH VDD VIL GND Note4 90 1 High input voltage VDD Max 2 0 5 8 V Low input voltage Vi VDD Min 0 3 0 8 V High output voltage VoH VpD Min loH 6mA Vpp 0 4 V Low output voltage VoL 6 0 4 V High output current lon VDD Min VOH VDD 0 4V 6 mA Low output current VDD Min VoL 0 4V 6 mA Internal pull up resistance VI VDD GND Note 4 40 100 240 Kohm Input capacitance Ci f 1MHz VDD 0V 10 pF Output terminal capacitance Co f 1MHz VDD 0V 10 pF Input Output terminal capacitance Cio f 1MHz VDD 0V 10 pF Note1 CLK 4 9152 MHz when all axes operates in maximum speed 2 457 Mpps All output terminals have no load Note 2 CLK 10 000 MHz when all axes operates in maximum speed 4 999 All output terminals load Note 3 DO to D7 A0 to A3 RD WR CS CLK terminals Note 4 ORG EL EL SD SD STA STP B F H RST terminals 55 DA70133 1 5E 12 4 AC characteristics 12 4 1 Reference clock CLK tewL lt gt Item Symbol Condition Min Max Unit Reference clock frequency feik 10 MHz Reference clock cycle 100 ns Reference clock HIGH width tewH 40 ns Reference clock
40. DA70133 1 5E Pulse Control LSI With Sequencing Function for Stepper Motors PCD4600 Series PCD4611 PCD4621 PCD4641 User s Manual NPM Nippon Pulse Motor Co Ltd DA70133 1 5E Preface Thank you for considering our pulse control LSI the PCD4600 series Before using the product read this manual to become familiar with the product Please note that the section Handling precautions which includes details about mounting this LSI can be found at the end of this manual Cautions Copying all or any part of this manual without written approval is prohibited The specifications of this LSI may be changed to improve performance or quality without prior notice Although this manual was produced with the utmost care if you find any points that are unclear wrong or have inadequate descriptions please let us know We are not responsible for any results that occur from using this LSI regardless of item 3 above If you use it in any device that may require high quality and reliability or where faults or malfunctions may directly affect human survival or injure humans such as in nuclear power control devices aviation devices or spacecraft traffic signals fire control or various types of safety devices we will not be liable for any problem that occurs even if it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances Descriptio
41. DC monitor 23 22 21 20 19 18 17 16 Function mode monitor RENV 46MD Chip identification monitor 0001 PCD4511 0010 PCD4521 0100 PCD4541 76 1001 PCD4611 1010 PCD4621 1100 PCD4641 D8 Electrical Characteristics D8 1 Absolute maximum ratings DA70133 1 5E Item Symbol PCD46x1 PCD45x1 Unit Power supply voltage Vop 0 3 to 4 0 0 3 to 7 0 V Input voltage Vin 0 3 to 7 0 0 3 to Vpp 0 3 V Output current lin 10 mA Storage temperature Tstg 65 to 150 40 to 125 C 8 2 Recommended operating conditions Item Symbol PCD46x1 PCD45x1 Unit Power supply voltage Vop 3 0 to 3 6 34 5 to 5 5 V Ambient temperature Ta 40 to 85 to 85 C Low input voltage 1 0 3 to 0 8 0 to 0 8 V Low input voltage 2 0 3 to 0 8 0 to 1 0 High output voltage 1 Vu 2 0 to 5 8 2 2 to Vpp V High output voltage 2 2 0 to 5 8 4 0 to Vpp 1 Other than CLK input 2 CLK input 71 D8 3 DC characteristics DA70133 1 5E Item Symbol Condition PCD46x1 PCD45x1 Unit Current consumption 1 PCD4x11 5 max 17 max mA loo 421 34 00 PCD4x41 tma 65 Output leakage current loz 1 to1 10 to 10 uA Input capacitance 10 7 max pF LOW input current 2 Vin GND 1 to1 10 to 10 uA LOW input current
42. During excitation sequence output is used terminals status can be monitored Monitor of U B terminal level RIOP MUB RIOP register READ 0 U B terminal is L level 7 0 1 U B terminal is H level 0 01 n Monitor of F H terminal level lt RIOP MFH gt RIOP register READ 0 F H terminal is L level 7 0 1 F H terminal is H level 010111 1 1 1 1 53 11 9 3 Terminals 01 P1 2 P2 23 P3 04 P4 These terminals are output terminals of excitation sequence output at default setting DA70133 1 5E Therefore when excitation sequence output is not used they can be used as general purpose input ports General purpose input and general purpose output can be selected per terminal Even if general purpose output port is selected you can monitor terminal level Whether these used as output terminals of excitation sequence signals 01 to 04 or general purpose port can be selected by the setting of REVN IOPM When a general purpose port is selected RENV IOPM 1 selection between general purpose input and general purpose output is made by RENV IPM1 to IPM4 Select functions of terminal 1 P1 to 04 P4 lt gt register WRITE 0 Output terminals of excitation sequence signals 21 to 24 15 8 1 Input
43. FF h As the magnification rate becomes higher the speed setting units tend to be coarser Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows PE Reference clock frequency Hz Speed magnification times RMG x 8192 Magnification setting example when reference clock frequency 4 9152 MHz Setting value Speed Range of output speed pps Setting value Speed Range of output speed pps magnification magnificatio 600 258h 1 1to 8 191 12 00Ch 50 50to 409 550 300 12Ch 2 2to 16 382 6 006h 100 100to 819 100 120 078h 5 5to 40 955 3 003h 200 200 to 1 638 200 60 03Ch 10 10to 81 910 2 002h 300 300 to 2 457 300 30 01Eh 20 20 to 163 820 44 DA70133 1 5E RDP Ramping down point register 24 bit Specify a ramping down point in high speed with acceleration deceleration positioning operation The definition of the value to set in the RDP varies according to the setting status of the RENV register to seta ramping down point setting RENV ASDP Manual setting RENV ASDP 0 Specify a number of pulses from a ramping down point to target position in the range of O to 16 777 215 FFFFFF h The optimum value of a ramping down point is as follows 1 Linear acceleration deceleration Control mode command CCM5 0 RFH RFL x RUD RMG x 16384 Optimum value pulse 2 S curve
44. H is FL pulse cycle 19 DA70133 1 5E 7 2 Control mode command This is a command about operation mode 7 6 5 4 3 2 1 0 CCM5 4 CCM3 CCM2 CCM1 Bit Bit name Description CCMO ORG signal control 0 ORG input is ignored 1 ORG input becomes LOW level the motor stops immediately or decelerates and stops Immediate stop deceleration stop is selected by RENV ORDS 1 CCM1 SD SD signal control 0 SD SD input is ignored 1 When the signal of the operation direction goes LOW level the motor decelerates to FL speed 2 CCM2 Positioning operation control 0 Operation is not affected by the RMV setting value 1 Pulses set in the RMV are outputs and the motor stops automatically 3 CCM3 Select operation direction 0 Operation direction becomes positive 1 Operation direction becomes negative 4 CCM4 OTS output signal control 0 OTS terminal goes LOW level 1 OTS terminal goes HIGH level 5 CCM5 Acceleration deceleration characteristics 0 Acceleration deceleration characteristics are linear 1 Acceleration deceleration characteristics are S curve Example of command setting Control mode command Operation description Bit 7 to 0 01XX XXX0 ORG input is disabled ORG terminal can be monitored by RSTS SORG 01XX XXX1 When ORG input goes LOW level operation stops 01XX XXOX SD and SD inputs are disabled SD and SD terminal
45. N LOW level SPSD 50 terminal status monitor 0 OFF HIGH level 1 ON LOW level 7 SPHZ Excitation origin point monitor See 11 6 Excitation sequence output 0 OFF 1 ON Excitation origin point 8 SPH1 21 signal monitor 0 LOW level 1 HIGH level 9 SPH2 22 signal monitor 0 LOW level 1 HIGH level 10 SPH3 3 signal monitor 0 LOW level 1 HIGH level 11 SPH4 04 signal monitor 0 LOW level 1 HIGH level 12 SMPO PO DIR terminal status monitor 0 LOW level 1 HIGH level 13 SPPO PO PLS terminal status monitor 0 LOW level 1 HIGH level 14 SOTS OTS terminal status monitor 0 LOW level 1 HIGH level 15 SINT Interrupt request per axis 0 OFF 1 ON 8 2 11 RIOP register WR select 10 1010 RD select 10xx1010 PCD46x1 mode This register is use to set output level of general purpose output ports by writing Reading this register allows you to monitor status of general input output ports The reading value from bits 23 to 8 becomes 0000 The setting value is disabled when the LSI is writing 7 6 5 4 3 2 1 0 CP4 CP3 CP2 CP1 Bit Bit name Description 0 CP1 P1 terminal control In writing 21 P1 terminal status monitor In reading 0 LOW level 1 HIGH level 1 CP2 P2 terminal control In writing 2 P2 terminal status monitor In reading 0 LOW level 1 HIGH level 2 CP3 terminal control In writing 3 te
46. Register select code Selects registers to write to or read out with this 3 bits when RENV 46MD 0 Selects registers with 4 bits including RCM3 when RENV 46MD 1 For detail see 8 Register access in compatible mode 3 RCM3 Down counter operation control for positioning operation When RENV 46MD 0 0 Counts down every pulse output Normal operation 1 Stop counting Pulses are output This is the most upper bit of register select code when RENV 46MD 1 In this case down counter operation control is set by the setting of RENV DCSP 4 RCM4 Ramping down interrupt output control O INT is not output at a ramping down point INT is reset 1 INT is output at a ramping down point 5 RCM5 External start interrupt output control 0 INT is not output even though operation starts by STA input INT is reset 1 INT is output when operation starts by STA input 7 4 Output mode command This is a command about input output signals 7 6 5 4 3 2 1 0 OCM5 OCM4 OCM3 OCM2 OCM1 Bit Bit name Description 0 OCMO PO PLS PO DIR output logic 0 High level when logic of PO PO and PLS are negative and DIR is direction 1 Low level when logic of PO PO and PLS are positive and DIR is direction 1 OCM1 Pulse output mask control O Pulses are output during a motor is running Normal operation 1 Pulses output is masked and sequence output change stops Current posi
47. SD signal is enabled giving a high speed start command while the signal is ON the motor will not accelerate It will operate at FL speed While decelerating the SD signal will be ignored Regardless of the setting of Control mode command CCM1 you can monitor these signals status by RSTS SPSD and RSTS SMSD 3 ORG signal When ORG signal control is enabled origin return operation with Control mode command CCMO 1 and the ORG signal is turned ON the motor will stop immediately After that ifthe ORG signal goes OFF the motor will remain stopped With Start mode command SCM5 1 an INT signal will be output when a motor stops by the ORG signal During this signal is ON the motor cannot start even if a start command is given However an INT signal will be output when a motor stops by the ORG signal Regardless of the setting Control mode command CCMQ you can monitor this signal s status by RSTS SORG The input sensitivity of this signal can be selected like EL and EL signals 51 DA70133 1 5E 11 8 Interrupt request signal INT output This LSI can output an INT signal when a motor stops when the ramping down point is reached or when an external start signal is received To output an interrupt request signal when a motor stops use Start mode command SCM5 To output an interrupt request signal when a ramping down point is reached use Register select command RCM4 To output an interrupt request signal when an external start s
48. Y Operation status 0 Stopping PLSZ RMV residual pulses 0 RMV 0 SDP Ramping down point 0 RMV gt RDP FUP Accelerating 0 No accelerating FDWN Decelerating 0 No decelerating SMEL EL terminal monitor SPEL EL terminal monitor SORG ORG terminal monitor SSTP STP terminal monitor SSTA STA terminal monitor SMSD SD terminal monitor SPSD SD terminal monitor SPHZ Excitation origin monitor SPH1 01 signal monitor SPH2 SPH3 SPH4 4 signal monitor 2 signal monitor 0 3 signal monitor SMPO PO DIR terminal monitor SPPO PO PLS terminal monitor SOTS OTS terminal monitor SINT Interrupt request 68 S46M Monitor of RENV 46MD status IDC Product information code 1001 PCD4611 ue E cx o DA70133 1 5E No request No request No request Running RMV 0 RMV lt RDP Accelerating Decelerating Excitation origin position 0 OFF H level 1 ON L level 0 OFF H level 1 ON L level 0 OFF H level 1 ON L level 0 OFF H level 1 ON L level 0 OFF H level 1 ON L level 0 OFF H level 1 ON L level 0 OFF H level 1 ON L level 0 OFF 1 0 L level 1 H level 0 L level 1 H level 0 L level 1 H level 0 L level 1 H level 0 L level 1 H level 0 L level 1 H level 0 L level 1 H level 0 Norequest 1 Request 0 46MD 0 1010 PCD4621 1 46MD 1 1100 PCD4641
49. acceleration deceleration Control mode command CCM5 1 RFH x RUD RMG x 8192 Optimum value pulse At the timing of the number of residual pulses for positioning lt RDP setting value a motor starts decelerating Automatic setting RENV ASDP 1 Because the speed profile of acceleration characteristics and the one of deceleration characteristics are symmetric the LSI memorizes the number of pulses for acceleration and use this value as the automatic setting of a ramping down point The range of automatic setting value number of pulses for acceleration to operate correctly is 0 to 8 388 607 7FFFFFF h The RDP setting value is an offset from automatic setting value and set in the range of 8 388 608 800000 h to 8 388 607 7FFFFFF h When an offset amount is positive number a motor starts deceleration earlier and operates at FL speed after deceleration is completes When an offset amount is negative number a motor stops before the speed cannot reach to FL speed When offset is unnecessary set 0 10 3 Setting example of acceleration deceleration pattern When initial speed 1000 pps operation speed 10000 pps acceleration deceleration time 300 ms and feeding amount 4000 pulses in S curve acceleration deceleration positioning operation a setting value is calculated as follows Reference clock 4 9152 MHz gt Set Control mode command 64h S curve acceleration
50. according to input terminal RDCregster gt S 900 PCD4611 E AOR PCD4621 CO h PCD4641 RSPD register 0000 h Terminals DO to D7 High impedance Terminals INT WRQ PO PLS PO DIR BSY H level Terminal OTS L level Terminals 1 P1 2 P2 3 P3 04 P4 v v L G HLLH U terminal L U B terminal 11 2 Idling pulse output When a motor is started at FH high speed the motor will normally accelerate right after starting The idling pulse function enables the acceleration to start only after outputting some pulses at FL speed If this function is not used and the speed calculated from the initial output pulse cycle will be higher than the FL speed the motor may not start automatically even if the FL speed is set to approximately the auto start frequency To solve this problem the LSI can start acceleration after 1 to 7 pulses are output at FL speed Then the motor will secure to start from FL speed The pulses output at FL speed are referred to as idling pulses and number of pulses is set to in the RIDL register The allowable range is from 0 to 7 and this mode is available in high speed operation When this is set to 0 the motor will start as normal The timing when output pulse train PO is output in negative logic is as follows 1 When RIDL 0 BSY PO Accelerating _ 22 5 2 When RIDL 2 BSY PO 62
51. an be used as a general purpose input terminal 4 2 12 STA This is an input terminal for an external start signal DA70133 1 5E When a Hold start command is entered using a Start mode command the motor starts on the falling edge of this STA A signal shorter than 4 cycles of the reference clock is not accepted because of a noise filter 4 2 13 STP This is an input terminal for a forced stop signal When the STP signal goes LOW regardless of the direction of the motor the motor will stop immediately or decelerate and stop Even if this signal goes HIGH again the LSI will not let the motor start Ifthe STP signal is already LOW when a Start mode command is written the LSI will not let the motor start You can select between immediate stop and deceleration stop by RENV SPDS A noise filter can be applied by Output mode command OCM4 The maximum time from a signal input to stop BSY H is FL pulse cycle 4 2 14 ORG This is an input terminal for the origin position sensor signal When ORG signal control is enable origin return operation with Control mode command CCMO 1 and when this signal goes LOW the motor will stop immediately or decelerate and stop Even if this signal goes HIGH again the LSI does not start the motor When ORG signal control is disabled with Control mode command CCMO0 0 and pulse output is masked with Output mode command OCM1 1 in timer mode this signal is disabled A noise filter can be applied by Output mode comma
52. an be used as mechanical position detection signals lt Operation direction gt EL ORG SD SD EL 1 EL EL signal When an EL signal of the same direction as operation is ON Low level the motor will stop immediately Even if the signal then goes back to OFF the motor will remain stopped When you operates the LSI with Start mode command SCM5 1 INT signal can be output when a motor stops When this signal is ON the motor cannot start in the same direction as this signal even if a start command is given However an INT signal will be output Pulse output is masked with Output mode command OCM 1 and EL signals will become disabled However you can monitor these signals status by RSTS SPEL and RSTS SMEL The input sensitivity of this signal can be selected with Output mode command OCM4 When low sensitivity is selected the LSI will not accept pulse signals that are shorter than 4 reference clock cycles long approx 800 ns with 4 9152 MHz clock When high sensitivity is selected the LSI will detect pulse signals shorter than 800 ns The selection of input sensitivity is common among ORG EL EL and STP signals 2 SD SD signal When SD SD signal control is enabled with Control mode command CCM1 1 and if an SD signal of the same direction as operation is turned ON in high speed operation the motor will start decelerating If the SD signal goes OFF the motor will accelerate again When the
53. ant speed start high speed with acceleration deceleration start immediate stop and deceleration stop 01 Control mode command Command about operation mode such as continuous operation origin return operation and positioning operation 10 Register select command Command to select a register when writing to reading out an internal register 11 Output mode command Command about setting of input output signals such as output pulse logic mask of sequence output selection of sensor input sensitivity and monitor mode 1 Writing a Start mode command will make the LSI starts operation Therefore write a Control mode command first and set to a register for operation and write an Output mode command Then write a Start mode command last To write a start command see 6 5 4 Procedure to write a start command 2 When a setting value of a Control mode command and an Output mode command that you want to use is the same as the previous one writing process is Unnecessary 3 Registers other than RMV when this time value you want to set is the same as the the previous one writing process is unnecessary 4 Even if you want to repeat the same feed amount positioning operation please write feed amount to the RMV register every time 18 DA70133 1 5E 7 1 Start mode command Commands about start stop 6 5 4 3 2 1 0 SCM5 SCM4 SCM3 SCM2 5 1 SCMO Bit name Description SCMO Operatio
54. c pulse 01 to 24 X 12 5 5 General purpose port output timing 1 2 CLK WbfO P1 to P4 X Note WbfO is a virtual signal and WR signal when the LSI is writing to the register WR buffer 7 to 0 after RIOP is selected by Register select command 59 DA70133 1 5E 13 External dimensions 13 1 External dimensions of PCD4611 48 pin QFP Unit mm 0 09 to 0 20 60 DA70133 1 5E 13 2 External dimensions of PCD4621 64 pin QFP Unit mm 0 09 to 0 20 61 DA70133 1 5E Unit mm 13 3 External dimensions of PCD4641 100 pin QFP 0 17 to 0 27 0 09 to 0 20 62 DA70133 1 5E 14 Handling precautions Precaution is described above in context Precautions to be careful especially are described here again 14 1 Hardware design precautions 1 Never exceed the absolute maximum ratings even for a very short time 2 Take precautions against the influence of heat in the environment and keep the temperature around the LSI as cool as possible 3 Please note that ignoring the following may result in latch up phenomenon and may cause overheating and smoke sure that the voltage on the input terminals are not more than 5 5 V or less than GND Consider the timing when turning ON OFF the power Be careful not to introduce external noise into the LSI Hold the unused input terminals to 3 3 V or GND level Do not short circuit the outputs Protec
55. counter After the start the value of the counter decreases When the number of pulses set is output completely the counter value becomes 0 and the motor stops automatically If you set 0 to this register and write a start command this LSI does not output pulses and MSTS BUSY and BSY output signals stop immediately When INT output is set to enable when a motor stops an INT signal is output Even when operation is interrupted by input of a stop command or external signals in positioning operation the value of the down counter shows the number of residual pulses Therefore all you have to do is to input a start command to output the number of residual pulses If this LSI completes to output the number of preset pulses the value of the down counter becomes 0 Therefore when you want to operate the same number of pulses as the previous one you have to set the value in the RMV register again 8 2 2 RFL register WR select 10 0001 RD select 10xx0001 46 1 mode This is a 13 bit register to set step value of FL speed Bits12 to 0 Setting range is 1 to 8 191 001FFF h Bits 23 to 16 is to monitor Start mode command only for reading When the LSI is writing the setting value of this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Monitor of Start mode command _ RFL register Note Bit with is disabled during writing and 0 during reading In the high speed with accelerating
56. ction always open Notes in the I O column means that a pull up register is integrated and means open drain in the logic column is a terminal that the logic is changeable and the logic described here is a default 4 2 Functions of terminals 4 2 1 CLK This is an input terminal of the reference clock Ordinary clock from 4 9152 MHz crystal oscillator 3 3 V is input The accuracy of reference clock affects accuracy of output pulse It also affects start timing input sensitivity of EL EL ORG STA STP signals and timing of writing and reading 4 2 2 RST This is an input terminal for a reset signal By making this terminal LOW level and inputting or more clocks of reference clock the internal circuit of PCD46x1 is reset About the default setting after reset see 11 1 Reset 4 2 3 CS This is an input terminal for a chip select signal By making this terminal LOW level a RD signal and a WR signal are enabled and reading and writing operation from CPU becomes available 4 2 4 WR This is an input terminal for a write signal When CS terminal is LOW level the status of data bus DO to D7 is written to the internal at the timing when this signal changes from LOW level to HIGH level 4 2 5 RD This is an input terminal for a read signal By making this terminal LOW level when the CS terminal is LOW level the contents of the main status and the register a
57. e command eren e edax RET RE ETERNA 20 7 3 Register select command eei iate re 21 7 4 Output mode A LASA SAR 21 8 REGISTER ACCESS IN COMPATIBLE 22 0 1 Listof register entree CERA FARRA EE 22 8 2 Register the PCD46x1 23 0 2 1 RMV register nr ae FO tessa be E 24 8 2 2 RFL register acere edd et ede rid DA SA 24 8 2 3 442258 eb bahia deep tide AGS FORRA Edere ded 25 8 2 4 RUD register iren RA MEM 25 8 2 5 RMG register 5 ie toe beet 25 8 2 6 5 2222 2222222 225 Ut ei ode et Ue t eut E futs 26 8 2 7 RSPD monitor RIDL 27 8 2 8 RIDC monitor register iet metta 5 A Mirador Adag ta 27 8 2 9 RCUN register oo eoo peo it RPM eR ERROR 29 8 2 10 RSTS monito
58. e tasks switched during accessing 14 3 Mechanical precaution 1 When a deceleration stop has been specified to occur when the EL input turns ON with RENV ELDS 1 the motor starts deceleration when the EL input turnes ON Therefore the motor stops after the mechanical position passes over the EL position In this case be careful to avoid collisions of mechanical systems 63 DA70133 1 5E 14 4 Precautions for transporting and storing 1 515 1 Always handle 516 carefully Throwing or dropping LSIs may damage them 2 Do not store LSls a location exposed to water droplets or direct sunlight 3 not store the LSI in a location where corrosive gases are present or in excessively dusty environments 4 Store the LSls in an anti static storage container and make sure that no physical load is placed on the LSIs 14 5 Precautions for mounting 1 In order to prevent damage caused by static electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus with an appropriate resistance factor Do not allow work on a metal surface which can cause a rapid change in the electrical charge on the LSI if the charged LSI touches the surface directly due to extremely low resistance When picking up an LSI using a vacuum device provide anti static protection using a conductive rubber p
59. ection FL constant speed continuous operation 1 At the start COMBF 40 h Control mode command Speed COMBF EO h Output mode command COMBF 87 h RENV select command RegWBF 23 to 16 00 RegWBF 15 to8 lt OO h RegWBF 7 to 0 lt 02 h PCD46x1 mode COMBF lt 00 Dummy command FLI Secure waiting time longer than CLK one cycle Time COMBF lt 10 FL constant speed start command 1 2 2 At the stop COMBF lt 08 h Immediate stop command 36 DA70133 1 5E 9 1 2 Procedure example of direction FH constant speed continuous operation 1 At the start COMBF lt 48 h Control mode command Speed COMBF lt EO h Output mode command COMBF 87 h RENV select command FH h RegWBF 23 to 16 lt 00 RegWBF 15to8 lt O0 h RegWBF 7100 lt 02 PCD46x1 mode COMBF 01 h Dummy command Secure waiting time longer than CLK one cycle Time COMBF 11 h FH constant speed start command 1 2 2 At the stop COMBF lt 08 h Immediate stop command 9 1 3 Procedure example of direction FH high speed continuous operation 1 At the start COMBF lt 40 h Control mode command Speed COMBF lt EO h Output mode command COMBF lt 87 select command RegWBF 23 to 16 lt 00 h RegWBF 15 to 8 lt 00 h RegWBF 7 to 0 lt 02 h PCD46x1 mode COMBF lt 05 h Dummy command Secure wai
60. ed RFL 15 to 8 RFL 7 to 0 010 Disabled RFH 15 to 8 RFH 7 to 0 011 Disabled RUD 15 to 8 RUD 7 to 0 100 Disabled RMG 15 to 8 RMG 7 to 0 101 RDP 23 to 16 RDP 15 to 8 RDP 7 to 0 110 Disabled Disabled RIDL 7 to 0 111 00 Note 1 RENV 15 to 8 RENV 7 to 0 Note 1 Make sure to write 00 h in RENV 23 to 16 for delivery inspection Note 2 PCD4511 or PCD4521 does not register and RCD4641 have one bit length of it It can be used as 16 bit register in PCD45x1 mode of PCD46x1 Read out registers Register select command Register RD buffer RCM2 to 0 Bits 23 to 16 Bits 15 to 8 Bits 7 to 0 000 RMV 23 to 16 RMV 15 to 8 RMV 7 to 0 001 Start mode command RFL 15 to 8 RFL 7 to 0 010 Control mode command RFH 15 to 8 RFH 7 to 0 011 Register select command RUD 15 to 8 RUD 7 to 0 100 Output mode command RMG 15 to 8 RMG 7 to 0 101 RENV 7 to 0 RDP 15 to 8 RDP 7 to 0 110 RSPD 15 to 8 RSPD 7 to 0 RIDL 7 to 0 111 RIDC 7 to 0 RSTS 15 to 8 RSTS 7 to 0 8 3 1 RMV register This is a 24 bit register to set a number of output pulses in positioning operation mode WR select 10xxx000 RDselect 10xxx000 PCD45x1 mode Setting range is O to 16 777 215 FFFFFF h 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The detail is the same as described in 8 2 1 register Down counter o
61. eed start If an interrupt occurs time 100 ms is up 41 10 Speed patterns 10 1 Speed patterns Speed pattern FL constant speed operation A dummy command is omitted 1 2 FH constant speed operation f Continuous mode Write an FL constant speed start command 10 h Stop feeding by writing an immediate stop 08 h or deceleration stop 1D h command Write an FH constant speed start command 11 h Stop feeding by writing an immediate stop command 08 h DA70133 1 5E Positioning operation mode Write an FL constant speed start command 10 h Stop feeding when the positioning counter reaches zero or by writing an immediate stop 08 h or deceleration stop 1D h command Write an FH constant speed start command 11 h Stop feeding when the positioning counter reaches zero or by writing an immediate stop 08 h command 1 When the deceleration stop command 1D h is at 2 a motor decelerates and stops High speed operation f FH 1 2 Write an FH high speed start command 15 h Start deceleration by writing a deceleration stop command 1D h 42 1 2 Write high speed start command 15 h Start deceleration when a ramping down point is reached or by writing a deceleration stop command 1D h When the ramping down point setting is set to manual RENV ASDP 0 and the
62. end 4 layer printed board with a 3 3 V power layer and a GND layer We recommend that about 0 1 uF condenser is put between 3 3 V and GND near each side of this LSI 6 1 2 Unused terminal Unused input terminals should be pulled up to 3 3 V with a 5 K to 10 K ohm resistor or connected to 3 3 V Unused bi directional terminals should be pulled up to 3 3 V with a 5K to 10K ohm resistor Unused output terminals should be open no connection 6 1 3 5 V tolerant All signal terminals of this LSI have 5 V tolerant function Please note the followings Even though an output terminal is pulled up to 5 V the voltage does not become more than 3 3 V If more than 3 3 V of voltage is needed as HIGH level level conversion circuit is necessary externally When more than 3 3 V of voltage is input to an input input output terminal leakage occurs to 3 3 V through an internal pull up resistor 40K to 240K ohm and input current increases There is no diode for protection from overvoltage between terminals and 3 3 V in the input circuit When there is possibility that more than absolute maximum rating voltage is input you should add protection circuit externally 6 1 4 General purpose input output ports 01 P1 to 04 P4 General purpose terminals are output terminals for sequence signals at default to be compatible with PCD45x1 If you use these as input ports please make sure that you insert a series resistor to prevent from short ci
63. eneral purpose input output port as input output terminals 12 IPM1 Select specification of general purpose input output terminal P1 0 general purpose output terminal 1 general purpose input terminal 2 13 IPM2 Select specification of general purpose input output terminal P2 0 general purpose output terminal 1 general purpose input terminal Note 2 14 IPM3 Select specification of general purpose input output terminal P3 0 general purpose output terminal 1 general purpose input terminal Note 2 15 IPM4 Select specification of general purpose input output terminal P4 0 general purpose output terminal 1 general purpose input terminal 2 31 to16 For delivery inspection Always set to 0 Note 1 RENV 46MD setting is enabled only when Output mode command OCM5 1 extended monitor Note 2 RENV IPM1 to IPM4 setting are disabled when RENV IOPM 0 74 DA70133 1 5E D6 2 RCUN Current position counter 23 20 16 12 8 4 0 This is a 24 bit up down counter to count output pulse train This value becomes FFFFFF h after counting down from 000000 h and becomes 000000 h after counting down from FFFFFF h You can write read this resister using CPU In origin return operation you can reset the counter automatically at the origin position RENV ORRS 1 D6 3 RSTS Extended status monitor Status 2 Status 1 The contents of s
64. etting function RENV ASDP You can use this function in PCD45x1 mode of PCD46x1 series 8 3 7 RSPD monitor RIDL register WR select 10xxx110 RD select 10xxx110 PCD45x1 mode This is a register to monitor current speed RSPD and set number of idling pulses The setting value of bits 23 to 16 is disabled when the LSI is writing 23 22 21 20 19 18 17 16 15 14 13 12 Monitor of RSPD register RIDL register Note Bit with is disabled during writing and O during reading The detail of RSPD value and RIDL value is the same as 8 2 7 RSPD register RIDL register 8 3 8 RENV register RIDC monitor RSTS monitor WR select 10xxx111 RD select 10 111 45 1 mode These are registers to set operation environment RENV and to monitor RIDC and RSTS register is read by RD select 10xxx101 Bits 15 to 8 cannot be read In writing 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 register In reading 23 22 21 RIDC monitor RSTS monitor The detail of RIDC monitor register is the same as 8 2 8 RIDC monitor register The detail of RSTS is the same as 8 2 10 RSTS monitor 34 DA70133 1 5E 8 4 Registers in PCD4500 mode Registers to be written or read are specified by register select 2 to 0 In writing to register these are the same as PCD45x1 mode Though PCD4500 does
65. he start 37 DA70133 1 5E Operation direction in origin return mode lt CCM3 gt Control mode command WRITE 0 direction 7 0 1 direction 0 1 1 1 01 11 Operation direction in origin return mode with maximum feed amount control lt CCM3 gt Control mode command WRITE 0 direction 7 0 1 direction 0 1 n 1 1 sD signal control lt 1 gt Control mode command WRITE 0 SD input signal is disabled 7 0 1 Making sD input signal LOW makes the speed decelerated to FL speed ONE 15412101 Pulse output control lt OCM2 gt Output mode command WRITE 0 Output pulses 7 0 1 Does not output pulses 554 oats LES Stop method by ORG input lt Set in RENV ORDS gt RENV register WRITE 0 Stop immediately when ORG input turns ON 7 0 1 Decelerate and stop when ORG input turns ON tpm 1 qe ete RCUN automatic reset by inputting ORG Set in RENV ORRS gt register WRITE 0 RCUN automatic reset OFF 7 0 1 RCUN is reset automatically at the falling edge of ORG input TU esp ponens pcm e im Set the count operation of RCUN Current position counter Set in RENV PSTP gt register WRITE 0 Count every pulse output Count even when Output mode command OCM1 1 15 8 1 Stop counting NS e
66. hen extended monitor Output mode command 5 1 is selected 0 PCD45x1 equivalent function 1 PCD46x1 all functions 2 DCSP Control the down counter for positioning operation available only when RENV 46MD 1 0 Count backward every output pulse 1 Stop counting When RENV 46MD 0 control command CCMS setting is used 3 ASDP Select the setting of ramping down point control 0 Manual setting 1 Automatic setting 4 SPDS Select stop method by STP input 0 Stop immediately 1 Decelerate and stop 5 ELDS Select stop method by EL and EL input 0 Stop immediately 1 Decelerate and stop 6 ORDS Select stop method by ORG input 0 Stop immediately 1 Decelerate and stop 7 ORRS Set automatic reset of RCUN current position counter 0 Automatic reset OFF 1 Automatic reset ON at the falling edge of ORG input OFF to ON in origin return operation 8 PSTP Set operation of RCUN current position counter 0 Count every pulse output Count even when Output mode command OCM1 71 1 Stop counting 9 PREV Set the count direction of RCUN current position counter 0 Count forward in direction operation and count backward in direction operation 1 Count backward in direction operation and count forward in direction operation 10 Undefined Always set to O 11 IOPM Select functions of terminal 1 P1 to 4 0 Use 21 to 24 sequence signals as output terminals 1 Use P1 to P4 g
67. hese 4 terminals are also used as general purpose input and output port terminals When these are used to output excitation sequence signals set RENV IOPM 0 Switch between unipolar driving and bipolar driving is made by terminal U B This setting latches the setting level with RST L Therefore input RST after setting change Switch between 2 2 phase excitation and 1 2 phase excitation is made by terminal F H This setting is not latched You can switch during operation When switching to 2 2 phase excitation at 1 phase excitation in 1 2 phase excitation STEP 1 3 5 7 in 1 2 phase excitation in below table the next output pulse is in 2 phase excitation Excitation sequence for unipolar U B L 2 2 phase excitation F H L 1 2 phase excitation STEP 0 1 2 3 0 5 0 1 1213 415 61710 0 1 0 1 02 2 03 03 04 04 5 SPHZ H L L L L L L LIH Operation direction gt Operation direction gt Excitation sequence for bipolar U B H 2 2 phase excitation F H L 1 2 phase excitation F H H STEP 0 1 2 3 0 STEP 101112131415
68. ick up tip Anything which contacts the leads should have as high a resistance as possible When using a pincer that may make contact with the LSI terminals use an anti static model Do not use a metal pincer if possible Store unused LSls in a PC board storage box that is protected against static electricity and make sure there is adequate clearance between the LSls Never directly stack them on each other as it may cause friction that can develop an electrical charge 2 Operators must wear wrist straps which are grounded through approximately 1 M ohm of resistance Use low voltage soldering devices and make sure the tips are grounded 4 not store or use LSls or a container filled with LSIs near high voltage electrical fields such those produced by a CRT 5 heat the entire package for soldering dry the packages for 20 to 36 hours at 125 5 C The packages should not be dried more than two times e 6 To reduce heat stress we recommend far infrared or mid infrared reflow for soldering by infrared reflow Make sure to observe the following conditions and do not reflow more than two times ay IP NR SSeS N sso gt Product flow direction Far infrared heater pre heater Mid infrared heater reflow heater 64 DA70133 1 5E Package and board surface temperatures must never exceed 260 and do not keep the temperature at 250 or h
69. igher for more than 10 seconds Temperature Do not keep the temperature at 250 or higher for more than 10 seconds LL sees 200 140 r Time 60 to 120 seconds Within 60 seconds SO Recommended temperature profile ofa far mid infrared heater and hot air reflow 7 When using hot air for solder reflows the restrictions are the same as for infrared reflow equipment 8 If you will use a soldering iron the temperature at the leads must not exceed 350 degrees or higher and the time must not exceed for more than 5 seconds and more than twice per each terminal 14 6 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive gases or excessive amounts of dust we recommend applying a moisture prevention coating 2 The package resin is made of fire retardant material however it can burn When baked or burned it may generate gases or fire Do not use it near ignition sources or flammable objects 3 This LSI is designed for use in commercial apparatus office machines communication equipment measuring equipment and household appliances If you use it in any device that may require high quality and reliability or where faults or malfunctions may directly affect human survival or injure humans such as in nuclear power control devices aviation devices or spacecraft traffic signals fire control or various types of safety devices we will not be liable fo
70. ignal When you use several PCD4611 PCD4621 PCD4641s each INT terminal of each LSI can be connected in wired OR configuration Use an external pull up resistor 5 to 10 K ohms to stabilize HIGH level though a pull up resistor is built in for prevention from static electricity 4 2 9 WRQ This terminal outputs a wait request signal for CPU While this terminal is LOW level extend access cycle of CPU When WRQ is not used ensure access interval by software For the detail about access interval see 6 5 Write read procedures 4 2 10 U B This is a terminal for selecting excitation method Select unipolar excitation sequencing with a LOW or bipolar excitation sequencing with a HIGH on this terminal The setting of this terminal is latched at the cancel of reset Therefore input a RST signal after setting change About difference of sequence by excitation method see 11 6 Excitation sequence output When excitation sequence output is not used this terminal can be used as a general purpose input terminal 4 2 11 This is a terminal for selecting excitation sequence 2 2 phase and 1 2 phases are typical excitation sequences for 2 phase stepper motors Select sequence using this terminal Select 2 2 phase excitation with a LOW and 1 2 phase excitation sequencing with a HIGH For details about the sequence for reading this terminal see 11 6 Excitation sequence output When excitation sequence output is not used this terminal c
71. ignal is received use Register select command RCM5 By setting each interrupt control bit to 1 an INT signal will be output at each situation that is selected To reset the INT signal place a 0 in the respective bit When you want to mask the INT signal set control bit to When interrupt cause occurs among the control bits you set to 1 INT signal is output To determine which interrupt cause occurs check with main status MSTS ISTP MSTS ISDP and MSTS ISTA The output status of an INT signal can be check with the status RSTS SINT To use this terminal connect to pull up resistor 5 K to 10 K ohms externally When using more than one LSI each of the INT terminals can be connected in a wired OR configuration How to use the INT signal at a ramping down point Comparing a down counter value RMV to a ramping down value SDP when RMV become the same or smaller than SDP RMV lt SDP the LSI will output an INT signal When a ramping down point is set by manual setting RENV ASDP 0 SDP value RDP setting value Only in positioning operation with high speed start a motor starts deceleration with RMV lt SDP Therefore to operate positioning operation at constant speed this can be used as a comparator for residual pulses Interrupt control when a motor stops lt SCM5 gt Start
72. ing When the LSI is writing this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 j S 4 Monitor of Register select command RUD register The detail is the same as 8 2 4 RUR register 8 3 5 RMG register WR select 10xxx100 RD select 10xxx100 PCD45x1 mode This is a 10 bit register to set speed magnification Bits 9 to 0 Setting range is 2 to 1 023 0003FF h Bits 23 to 16 are to monitor Start mode command only for reading When the LSI is writing this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 EY Monitor of Output mode command RMG register Note Bit with is disabled during writing and O during reading The detail is the same as 8 2 5 RMG register 33 DA70133 1 5E 8 3 6 RENV monitor RDP register WR select 10xxx101 RD select 10 101 45 1 mode This is a 24 bit register to set a ramping down point Bits 23 to16 cannot be read These bits are used to monitor the register The setting range varies according to the method to set a ramping down point In writing 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RDP register 23 to 0 In reading 23 22 21 Niue e V T RENV register 7 to 0 RDP register 15 to 0 The detail of the RDP register setting value is the same as 8 2 6 RDP register The LSIs of PCD45x1 series does not have ramping down automatic s
73. itch signal 16 28 56 33 42 70 79 EL 1 Negative end limit switch signal 15 29 57 34 43 71 80 SD 1 Negative deceleration switch signal 14 30 58 35 44 72 81 SD 1 Negative deceleration switch signal 30 1 47 56 84 211 1 O Positive 1st phase excitation signal general purpose 1 Positive 2nd phase excitation signal 31 33 42 20 48 57 85 02 2 0 general purpose 2 Positive 3rd phase excitation signal 32 34 43 21 49 58 86 3 P3 1 0 O general purpose I O Positive 4th phase excitation signal 33 35 44 22 50 59 87 94 P4 1 0 O general purpose 4 21 36 45 23 51 60 88 PO PLS O Negative pulse common pulse signal DA70133 1 5E Terminal number bros FEDAS Terminal name I O Logic Description tole rant X Y X Y ZzZi uU 20 37 46 24 52 61 89 PO DIR O Negative pulse direction signal O 22 38 47 18 46 55 83 BSY Negative Running signal O 34 39 48 25 53 62 90 OTS Negative General purpose output signal 1 19 3 21 Power input 29 37 Ais 5 17 45 63 91 VDD 3 3 V 3 0 to 3 6 V input 45 40 59 10 11 11 16 Power GND 12 13 31 49 8 26 54 82 GND 24 35 61 62 93 94 95 96 40 48 63 64 23 _ _ Output terminal for delivery X inspe
74. mand is written during the motor stops the speed change to FH speed immediately 00010011 13 h Hold FH constant speed start INT is disabled while the motor stops 00010101 15 h FH high speed start INT is disabled while the motor stops When this command is written during the motor stops operation starts at FL speed and accelerates to FH speed When this command is written during the motor is running operation accelerates and the speed changes to FH speed 00010111 17 h Hold FH high speed start INT is disabled while the motor stops 00010100 14 h Deceleration on the way INT is disabled while the motor stops When this command is written during the motor is running operation decelerates and the speed changes to FL speed When command is written during the motor is running constant speed operation starts at FL speed 00011101 1D h Decelerate and stop INT is disabled when the motor stops When this command is written during the motor is running at FH speed operation decelerates to FL speed and stops When this command is written during a motor is running at FL speed a motor stops immediately 00111101 3D h Decelerate and stop INT is enabled when the motor stops 00001000 08 Stop immediately INT is disabled when the motor stops 00101000 28 h Stop immediately INT is enabled when the motor stops 00X11X1X Prohibited setting Note The maximum time from writing an immediate stop command to stop BSY
75. mber of general purpose ports to be used varies according to the setting of compatible mode Output mode command 5 RENV 46MD Compatible mode name 0 0 PCD4500 mode 0 1 PCD45x1 mode 1 0 1 0 PCD46x1 mode Terminal Compatible mode name Available conditions name PCD46x1 PCD45x1 PCD4500 OTS OUT OUT OUT Always available U B IN F H IN g1 P1 IN OUT Available when excitation sequence output signals is 2 P2 IN OUT unnecessary 3 P3 IN OUT 4 P4 IN OUT OUT can be used as a general purpose output port IN can be used as a general purpose input port IN OUT can be used as a general purpose input or output port 11 9 1 Terminal OTS This terminal is only for a general purpose output port Therefore it can be always used as a general purpose port regardless of the setting of compatible mode Output level can be changed by Control mode command CCM4 Control of terminal OTS level 4 Control mode command WRITE 0 Makes terminal OTS L level 7 0 1 Makes terminal OTS H level 011 11 9 2 Terminals U B F H Originally intended purpose of these two terminals is to set excitation sequence output Therefore only when excitation sequence output is not used they can be used as general purpose input ports To monitor terminals use RIOP MUB and RIOP MFH
76. mmand CCM4 1 and becomes LOW level with Control mode command CCM4 0 4 2 21 VDD GND These are power supply terminals Supply 3 0 to 3 6 V to the VDD terminals Make sure to connect all of the power supply terminals 4 2 22 Open This is an output terminal for testing Only PCD4611 has this terminal Be sure to make it open 10 5 Block Diagram CLK VDD GND RST Note AO to A3 WRQ INT INT Output control i There are the same number of blocks i Surrounded by a dotted line as the i number of axes ir 5 DA70133 1 5E Magnification rate Pulse output PO PLS i division circuit RMG control circuit PO DIR Variable division circuit RFL RFH 1 Internal register Excitation Q2 Accel decel control Sequence 3 RMV register RFL register register RUD register circuit linear generation S curve RUD circuit o4 Ui RMG register F H RDP register Seach couner RMV Current RENV register re RCUN register counter RSTS register RCUN RIDC register RSPD register RDP Command buffer Control circuit BSY General purpose port control RIOP Note Address signal input terminals vary according to the models PCD4611 to A1 PCD4621 to A2 PCD4641 to 11 DA70133 1 5E 6 CPU interface 6 1 Precaution for designing hardware 6 1 1 Printed board design To stabilize operation we recomm
77. mode and PCD45x1 mode Note2 The length of register RUD to set acceleration deceleration rate is extended from 10 bits to 16 bits The length of register RDP to set ramping down points is extended from 16 bits to 24 bits Registers in PCD4500 mode and PCD45x1 mode are also extended If you use PCD 46x1 with software for PCD4500 or PCD45x1 please make sure that extended bits 0 when register is written Accessible registers vary according to compatible modes Output mode command OCM5 RENV 46MD Compatible mode name 0 0 1 PCD4500 mode 1 0 PCD45x1 mode 1 1 PCD46x1 mode 8 1 List of register Each axis has the following registers Accessible registers vary according to compatible mode Redister Accessiple inaccessible by HORIS Register description Bit length Setting range compatible mode PCD4500 PCD45x1 PCD46x1 RMV Preset feed amount 24 0 to 16 777 215 R W R W RM confirm residual pulses RFL Set FL speed 13 1 to 8 191 RM RAN RFH Set FH speed 13 1 to 8 191 RAV RAN RUD Set acceleration deceleration rate 16 1 to 65 535 R W RW RMG Set magnification 10 2 to 1 023 W RW RW Set ramping down point 24 0 to 16 777 215 Ww R W RAW RIDL Set idling pulses 3 0to 7 W RW RW RENV Set environmental data 16 0000 h to FFFF h R W R W RCUN Current position counter 24 0 to 16 777 215 o
78. mode command WRITE 0 Does not output INT signal when a motor stops 7 0 1 Outputs INT signal when a motor stops 0 0 Interrupt control at a ramping down point lt RCM4 gt Register select command WRITE 0 Does not output INT signal at a ramping down point 7 0 1 Outputs INT signal at a ramping down point 1 0 1 11 1 1 1 Interrupt control at the external start lt RCM5 gt Register select command WRITE 0 Does not output INT signal at the external start 7 0 1 Outputs INT signal at the external start T RO 8 es ee Monitor of interrupt signal output lt RSTS SINT gt RSTS register READ 0 All ISTP ISDP and ISTA in the MSTS are OFF 15 8 1 Either ISTP ISDP or ISTA in the MSTS is ON n eem am Meet sm Interrupt monitor when a motor stops lt MSTS ISTP gt Main status READ 0 INT signal is being output when a motor stops 7 0 1 INT signal is not output when a motor stops 22 Monitor of ramping down point interrupt lt MSTS ISDP gt Main status READ 0 INT signal is being output at a ramping down point 7 0 1 INT signal is not output at a ramping down point spes E s m qoo quae ips Monitor of interrupt at the external start MSTS ISTA Main status READ 0 INT signal is being output at the external start 7 0 1 INT signal is not output at the external start 7 7 52 DA70133 1 5E 11 9 General purpose port The nu
79. n edd odi ces 57 12 5 Operation 222 54 421 4444421425544214 21414228 57 12 5 1 Accelerating decelerating operation timing Positioning operation 57 12 5 2 Start timing e itin Dre eee iD pede ote etd e 58 12 5 3 Stop o ei e RETO DER 58 12 5 4 Pulse output sequence output timing 4 4442220 59 12 5 5 General purpose port output 4 2022 0 40 59 13 EXTERNAE DIMENSIONS nr EAR UERBO eee RD HE BERE Tn Ende 60 13 1 External dimensions of PCD4611 48 pin 60 13 2 External dimensions of PCD4621 64 pin 4204 4 2 22 61 13 3 External dimensions of PCD4641 100 pin 62 14 HANDLING PREGCAUTIONS 8 2 4 ede 63 14 1 Hardware design precautions 63 14 2 Software design 63 14 3 Mechanical precaution 63 14 4 Precautions for transporting and storing LSIS
80. n speed selection 0 Operates at FL speed RFL setting speed 1 Operates at FH speed RFH setting speed SCM1 Hold start 0 Normal start 1 Hold start and start by inputting STA SCM2 Speed mode selection 0 Constant speed operation 1 High speed with acceleration deceleration start 4to3 SCM4 to 3 Start Stop control 01 Request to stop immediately 10 Request to start 11 Request to decelerate and stop SCM5 INT output control when a motor stops 0 Does not output INT when a motor stops INT output is reset when a motor stops 1 Outputs INT when a motor stops Example of command setting Start mode command Bit7toO Hex 00010000 10 h FL constant speed start INT is disabled while the motor stops When this command is written during a motor stops constant speed operation starts at FL speed When this command is written while a motor is running the speed changes to FL speed immediately 00110000 30 h FL constant speed start INT is enabled while the motor stops 00010010 12 h Hold FL constant speed start INT is disabled while the motor stops 00110010 32 h Hold FL constant speed start INT is enabled while the motor stops 00010001 11 h FH constant speed start INT is disabled while the motor stops When this command is written during the motor stops constant speed operation starts at FH speed When this com
81. nd OCM4 The maximum time from a signal input to stop BSY H is FL pulse cycle 4 2 15 EL EL These are input terminals for end limit switch signals When an EL signal which has the same direction as the operation goes LOW the motor will stop immediately or decelerate and stop The LSI will not let the motor restart even when this signal goes HIGH again Ifthe EL signal of the operation direction is already LOW when a Start mode command is written the LSI will not let the motor start When pulse output is masked with Output mode command OCM1 1 in timer mode this signal is disabled A noise filter can be applied by Output mode command OCM4 The maximum time from a signal input to stop BSY H is FL pulse cycle 4 2 16 SD SD These are input terminals for deceleration switch signals When SD and SD signals are enabled with Control mode command CCM1 1 and when this signal which has the same direction as the operation goes LOW the motor will stop immediately or decelerate and stop Then when this signal returns HIGH the motor will accelerate again 4 2 17 1 1 2 P2 3 P3 4 P4 These are output terminals of excitation sequence signals for stepper motors When sequence output is unnecessary you can use these terminals as general purpose input output terminals P1 to P4 with RENV IOPM 1 If you use these as general purpose input output terminals you can select input or output every terminal by RENV IPM1 to IPM4
82. nd RUD registers in operation The automatic setting function will not work correctly Additionally please do not change speed during accelerating decelerating in operating S curve acceleration deceleration positioning It is possible to change speed during constant speed operation The automatic ramping down point function will not work correctly Changing speed during a linear acceleration deceleration Speed 1 Make RFH larger during accelerating the motor accelerates until the speed reaches the corrected speed Old speed lt new speed 2 Make RFH smaller during accelerating the motor decelerates until the speed reaches the corrected speed Current speed lt new speed lt old speed 3 Make RFH smaller during accelerating the motor decelerates until the speed reaches the corrected speed RFL lt new speed lt current speed 4 Make RFH smaller during accelerating the motor decelerates until the speed reaches the corrected speed New speed lt RFL 5 Make RFH larger after accelerating is complete the motor accelerates until the speed reaches the corrected speed 6 Make RFH smaller after accelerating is complete the motor decelerates until the speed reaches the corrected speed 46 DA70133 1 5E S curve during a linear acceleration deceleration Speed 4 larger during accelerating the motor accelerates to the old speed and accelerates to the new speed again
83. nd write cycle WRQ signal is not output if a waiting time that is shown in 6 5 Write and read procedures is secured by software 12 5 Operation timing 12 5 1 Accelerating decelerating operation timing Positioning operation Speed i i A Time BSY Running MSTS FUP erating MSTS FDWN Decelerating MSTS SDP RMV lt RDP MSTS PLSZ RMV 0 INT U UU 57 DA70133 1 5E 12 5 2 Start timing 12 5 2 1 Command start timing cp Node WE VI N N FEN esp DAS AU AT WR BS Running MSTS FUP Accelerating A Initial pulse cycle 12 5 2 2 External start timing lt PO CLK ES ME Initial pulse cycle po m o 78 2 gt MSTS FUP 12 5 3 Stop timing 12 5 3 1 Positioning operation complete timing 0 1 2 CLK PO Last negative logic pulse i O OO s 12 5 3 2 Stop timing by STP ORG EL EL 1 2 3 CLK PO Negative logic pulse BSY J gt Stop Note 1 Stop is a virtual signal Stop Low level only when either STP ORG EL or EL 2 If low sensitivity is selected with Output mode command OCM4 1 rising of BSY delays for 4 CLK cycles than the above figure 3 When Stop becomes Low level during PO is ON BSY rises when PO is OFF 58 DA70133 1 5E 12 5 4 Pulse output sequence output timing gue uF e t PO Negative logi
84. nment diagram of PCD4611 Top View lt gt 0 3 P3 lt gt 0 2 P2 gt 1 P1 VDD _ 37 INT 138 WRQ _ 39 GND 40 RST e 41 m cas 4611 RD 44 VDD 45 9 146 0 147 GND 148 3 2 Terminal assignment diagram of PCD4621 Top View 7 gt POv PLSY o 4 gt 4 2 2 gt o 1v P1v POXPLSx e4xP4x 03 GND U By gt 48 F Hy gt 48 STAY gt 48 STPv gt 148 orcy 148 ELY gt 8 EE PCD4621 32 2941x P1x 81 C GND 30 0 29 7 4 SDx 28 7 4 ELx 27 4 SEL 26 4 ORGx 25 4 STPx 24 4 STAX 23 C 4 22 lt U Bx DA70133 1 5E DA70133 1 5E 3 3 Terminal assignment diagram of PCD4641 Top View y gt 0 14311 N kg B ER m _ gt QF 2 2 S 00 1111 1 2 1 2 A STPU ORGU ELU ELU SDu SDU GND BSYU 1U P1U 2U P2U 3U P3U PCD4641 POu PLSu POU DIRu OTSu VDD CLK 123456789 1111121111011 11101100 eS 2822285883885842 X X P gt l TANT SG 5959 5420 DA70133 1 5E 4 Terminal function description 4 1 list of terminals
85. ns of indicators that are used in this manual 1 When describing the bits in registers n refers to a bit position refers to a bit position and means that it is prohibited to write any other than 0 and this bit will always return when it is read A specified bit of a specified register is referred to as register name bit name ex RMD MSDE 2 Unless otherwise described time description affected by the reference clock frequency discussed in this manual is in the case of CLK 4 9152 MHz 3 z and u of terminal names refer to X axis Y axis Z axis and U axis respectively 4 Terminals with a bar above the name ex RST use negative logic Example TOUT means that TOUT terminal uses negative logic DA70133 1 5E Table of Contents 1 OUTLINE AND FEATURES 2 L o e Lanes deed ese ve ie es 1 Hn Te OCU ING isch AM 1 122 FC ATU NG E FES E FEE Y F E FEA 1 2 SPECIFICATIONS 2 3 TERMINAL ASSIGNMENT 85 3 3 1 Terminal assignment diagram of PCD4611 Top 4 1 3 3 2 Terminal assignment diagram of PCD4621 Top
86. of PCD46x1 mode There are the following operation modes continuous mode positioning mode origin return mode timer mode These are selected by the setting of Control mode command Output mode command and the RENV register Output mode Control mode RENV command command register Operation mode OCM1 CCM2 CCM0 PSTP 0 0 0 0 Continuous mode 0 0 1 0 Operation return mode 0 1 1 0 Operation return mode Maximum feed amount control 0 1 0 0 Positioning mode 1 1 0 1 Timer mode 9 1 Continuous mode This is an operation mode to continue operation until a stop command is written after operation starts by inputting a start command The direction of operation is set by Control mode command CCM3 0 direction 1 direction A value read out the RMV down counter value for positioning control decreases from the value at the start Operation direction in continuous mode Control mode command WRITE 0 direction 7 0 1 direction 0111 1 117101 10 Pulse output control Output mode command WRITE 0 Outputs pulses 7 0 1 Does not output pulses 1 1 1 nl Set count operation of RCUN current position counter lt Set in RENV PSTP gt RENV register WRITE 0 Count pulse output Count even when Output mode command OCM1 1 15 8 1 Stop counting 754 5 RE ES 9 1 1 Procedure example of dir
87. on sequencing output for 2 stepper motors 4 bit general purpose ports It also can be used as sequence output Ambient operating temperature 40 to 85 C 0 to 85 C Storage temperature 65 to 150 C 40 to 125 C Package PCD4611 48 pin QFP PCD4511 44 pin QFP Dimension of mold 7 0x 7 0 mm 10 0 xx10 0 mm PCD4621 64 pin QFP PCD4521 64 pin QFP Dimension of mold 10 0x10 0 mm 20 0 x14 0 mm PCD4641 100 QFP PCD4541 100 pin QFP Dimension of mold 14 0x14 0 mm 20 0714 0 mm Chip design C MOS Same as PCD46x1 70 D3 Name change of internal registers The description of register name is changed from register No to abbreviation of usage in manual DA70133 1 5E Register name PCD46x1 PCD45x1 register RO register Preset feed amount confirm residual pulses RFL register R1 register Set FL speed RFH register R2 register Set FH speed RUD register R3 register Set acceleration deceleration rate RMG register R4 register Set magnification RDP register R5 register Set ramping down point RIDL register R6 register Set idling pulse RENV register R7 register Set environmental data RCUN register Current position counter RSTS monitor Extended status monitor RIOP register Set general purpose port 71 DA70133 1 5E D4 Register Bit length is extended and registers are added PCD46x1 PCD45x
88. output terminal of general purpose input output port P1 to P4 AUAM ica Select specification of general purpose input output terminal P1 lt RENV IPM1 gt register WRITE 0 Terminal P1 is a general purpose output terminal 15 8 1 Terminal P1 is a general purpose input terminal REUE Select specification of general purpose input output terminal 2 lt RENV IPM2 gt register WRITE 0 Terminal P2 is a general purpose output terminal 15 8 1 Terminal P2 is a general purpose input terminal Tees eese Select specification of general purpose input output terminal P3 lt RENV IPM3 gt register WRITE 0 Termianl P3 is a general purpose output terminal 15 8 1 Terminal P3 is a general purpose input terminal mjs SN Select specification of general purpose input output terminal P4 lt RENV IPM4 gt register WRITE 0 Terminal P4 is a general purpose output terminal 15 8 1 Terminal P4 is a general purpose input terminal n GEA Monitor of general purpose input terminal level lt RIOP CP4 CP1 gt RIOP register READ Bit 0 Terminal P1 monitor Bit 1 Terminal P2 monitor 7 Bit 2 Terminal monitor Bit 3 Terminal P4 monitor 0101 Control of general purpose output terminals 0 L level 1 level lt RIOP CP4 CP1 gt RIOP register WRITE Bit 0 P1 output level control Bit 1 P2 output level control 7 Bit 2 P3
89. peration control for positioning is set by Register select command 32 DA70133 1 5E 8 3 2 RFL register WR select 10xxx001 RD select 10xxx001 PCD45x1 mode This is a 13 bit register to set set value of FL speed Bits 12 to 0 Setting range is 1 to 8 191 001FFF h Bits 23 to 16 are to monitor Start mode command only for reading When the LSI is writing this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 c gt Monitor of Start mode command RFL register Note Bit with is disabled during writing and O during reading The detail is the same as 8 2 2 RFL register 8 3 3 RFH register WR select 10 010 RD select 10xxx010 PCD45x1 mode This is a 13 bit register to set step value of FH speed Bits 12 to 0 Setting range is 1 to 8 191 001FFF h Bits 23 to 16 are to monitor Start mode command only for reading When the LSI is writing this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 Monitor of Control mode command RFH register Note Bit with is disabled during writing and O during reading The detail is the same as 8 2 3 RFH register 8 3 4 RUD register WR select 10xxx011 RD select 10xxx011 PCD45x1 mode This is a 16 bit register to set characteristics of acceleration and deceleration Bits 15 to 0 Setting range is 2 to 65 535 OOFFFF h Bits 23 to 16 are to monitor Start mode command only for read
90. r BA Da ei EH ed cete e edb ie te dea do ou tede deed 30 8 2 11 RIOP register io ee e Ute nt e de Le eR 30 8 3 Register in PCD45x1 nennen nnne nnne nnne nnn nnn nnn nnn nnn nnn nnn nnn nn nnn 32 8 3 1 RMV register e tee deni bte Dem 32 8 3 2 REL adir e PUER CERRO RERO DARE EPIRI UR EDO DR EU TRE 33 8 3 3 register 5 oasis ee cadet ened eves te ede eti de dd GC SA ted dee 33 8 3 4 RUD CI IC TERM n 33 8 3 5 RMG register oo e VA E DRM MM 33 8 3 6 monitor RDP 1 34 8 3 7 RSPD monitor RIDL 34 8 3 8 register RIDC monitor RSTS monitor sss 34 8 4 Registers in PCD4500 nnne nnne nnne nnn nnn nnn nnn nnn nnne nnn nnns 35 8 4 1 regista aicinn ara eot o oe dt LB ER RR Det RIDERS 35 8 4 2 RSTS monitor Ug ect gb 35 9 OPERATION ed tmr od fetten il e tm e a ette 36 9 1 Continuous mode 36 9 2 0rigm return MOG 37 9 3 Positioning mode ore e reri ON p RR inpr
91. r RW 8 388 608 to 8 388 607 RSTS Extended status 16 0000 h to FFFF h R R RIDC Product cord monitor 8 00 h to FF h R R RIOP Set general purpose ports 6 0 to 3F h R W RSPD Current speed monitor 13 0 to 8 191 R RAW Both reading and writing are possible W Only for writing R Only for reading Neither reading nor writing are possible 22 8 2 Register in the PCD46x1 mode Registers to write to or read out are specified by Register select command RCM3 to 0 DA70133 1 5E Write to registers Register select command Register WR buffer RCM3 to 0 Bit 23 to 16 Bit15 to 8 Bit 7 to 0 0000 RMV 23 to 16 15 to 8 7 to 0 0001 Disabled RFL 15 to 8 RFL 7 to 0 0010 Disabled RFH 15 to 8 RFH 7 to 0 0011 Disabled RUD 15 to 8 RUD 7 to 0 0100 Disabled RMG 15 to 8 RMG 7 to 0 0101 RDP 23 to 16 RDP 15 to 8 RDP 7 to 0 0110 Disabled Disable RIDL 7 to 0 0111 00 1 15 to 8 7 to 0 1000 RCUN 23 to16 RCUN 15 to 8 RCUN 7 to 0 1001 Disabled Disabled Disabled 1010 Disabled Disabled RIOP 7 to 0 1011 to 1111 Disabled Disabled Disabled Note 1 Make sure to write 00 the 23 to 16 for delivery inspection Read out registers Register select command Register RD buffer RCM3 to 0 Bit 23 to 16 Bit 15 to 8 Bit
92. r any problem that occurs even if it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances 65 DA70133 1 5E Appendix Appendix Command list Start mode command 7 6 5 4 3 21 0 Speed selection 0 FL speed 1 FH speed Hold start control 0 Normal start 1 Hold the start Wait for STA input Speed mode 0 Constant speed operation 1 High speed operation with Accel decel Start stop control 01 Stop immediately 10 Start 11 Decelerate and stop INT output when stopped 0 Mask reset 1 INT output when stopped Control mode command 7 6 5 4 3 2 1 0 ORG signal 0 ORG input disabled 1 ORG input enabled SD SD signal 0 SD input disabled 1 Decelerate by SD input Positioning operation 0 Disabled 1 Positioning enabled Operation direction 0 direction 1 direction OTS control 0 OTS output L 1 OTS output H Acceleration deceleration characteristic 0 Linear acceleration deceleration 1 S curve acceleration deceleration Register select command When RENV 46MD 0 7 6 5 4 3 21 0 Register select code 000 to 111 Down counter for positioning control 0 Normal count 1 Stop counting Ramping down point INT output 0 Mask reset 1 Output INT at a ramping down point External start INT output 0 Mask reset 1 Output INT when started externally When RENV 46MD 1 765 43 2
93. ramping down point value RDP is set to 0 the LSI immediately stops the motor DA70133 1 5E 10 2 Speet pattern settings Specify the speed pattern using the registers shown in the table below If the register setting to be set is the same as the previous value there is no need to write to the register again However even if you want to repeat same feed amount for positioning operation please write the feed amount to the RMV register every time Register Description Bit length Setting range RMV Set feed amount 24 0 to 16 777 215 FFFFFF h RFL Set FL speed 13 1 to 8 191 1FFF h RFH Set FH speed 13 1 to 8 191 1FFF h RUD Set acceleration deceleration rate 16 1 to 65 535 FFFF h RMG Set magnification 10 2 to 1 023 SFF h RDP Set ramping down point 24 0 to 16 777 215 FFFFFF h RIDL Set idling pulse 3 0 to 7 7 h The place where register data are used in acceleration deceleration operation f Acceleration rate Set in RUD Deceleration rate Set in RUD FH speed Set in RFH RMG Feed amount for positioning operation Set in RMV FL speed Set in RFL Number of idling pulses Set in RIDL Ramp down point for positioning operation Set in RDP RENV ASDP 0 or set automatically RENV ASDP 1 43 DA70133 1 5E RFL FL speed setting register 13 bit Specify initial speed at FL constant speed and high speed operation acceleration decelera
94. rcuit with external output circuit If you use these as output ports a series resistor is unnecessary However please note that the default condition is output level of sequence signals PCD46x1 P1 IN Resistor More than 1 k ohm is needed to prevent from breakage of PCD46x1 To prevent from breakage of an external circuit select a value of resistors so as that the current is less than the maximum output current of the external circuit 6 1 5 Interrupt processing When an interrupt occurs during write read processing to registers and access to registers is made in interrupt routine the content of the register WR RD buffer is changed Therefore hold an interrupt processing during write read processing to registers 12 DA70133 1 5E 6 2 Examples of CPU interfaces R5F562N Renesas RX600 3 3 V PCD4641 NPM Reset Note1 When PCD4621 is used connection to the A3 terminal signal is unnecessary Note 2 When PCD4611 is used connection to the and A2 terminal signals is unnecessary Note 3 Set as follows with CPU software Select 8 bit bus space for external bus width External wait is permitted Select Low for IRQ detection 13 6 3 Address map Four address areas are occupied per axis in PCD46x1 1 byte address Therefore 4 address areas in PCD4611 8 address areas in PCD4621 16 address areas in PCD4641 are occupied COMBF MSTS RegWBF RegRBF Command buffer
95. re output to the data bus DO to D7 DA70133 1 5E 4 2 6 A0 A1 A2 A3 These are input terminals of address signals The LSI uses A0 and A1 terminals to assign access address to the upper middle and lower of the Command buffer COMBF the Register RD buffer RegRBF and the Register WR buffer RegWBF Normally the LSI connects to the lowest bit of CPU address bus On the PCD4621 and 4641 terminals A2 and A3 are used to select axes to control The AO terminal is the lowest bit 4 2 7 DO to D7 These are input and output terminals for the tri state data bus The DO terminal is the lower bit LSB and the D7 terminal is the upper bit MSB 4 2 8 INT This is an output terminal for sending an interrupt request signal to a CPU This terminal will go LOW when an interrupt condition occurs With reset by a command of interrupt condition setting this terminal returns to HIGH level This terminal can also be masked By setting the Start mode command the LSI can output an INT signal when a motor stops Using this terminal you can call for an interrupt when positioning operation is complete or when operation is stopped by an ORG signal EL or EL signal or STP signal An interrupt can also be requested by an immediate stop command or a deceleration stop command Using the setting of Register select command an INT request signal can be output when a motor starts deceleration by a ramping down point setting or when a motor starts by an external s
96. rection FH constant speed origin return operation with maximum feed amount control 1 At the start COMBF lt 45 h Control mode command COMBF lt EO h Output mode command COMBF lt 87 select command RegWBF 23 to 16 lt 00 h RegWBF 15 to 8 lt 00 RegWBF 7 to 0 lt 02 h PCD46x1 mode COMBF lt 80 h RMV select RegWBF 23 to 16 lt 00 h 20 000 pulses max Time RegWBF 15 to 8 lt 4E h RegWBF 7 to 0 lt 20 COMBF lt 01 Dummy command Secure waiting time longer than CLK one cycle COMBF lt 11 FH constant speed start command 2 A motor stops automatically by outputting the setting pulses or turning ORG signal ON 39 DA70133 1 5E 9 3 Positioning mode This is a mode to operate positioning specified by pulse number and direction The direction of operation is specified by Control mode command CCM3 If output pulse number is set in the register and operation starts the value read out the decreases When the value reaches to 0 a motor stops The RMV setting value becomes 0 when positioning operation is complete You have to set a value even if the value you want to set is the same as the previous setting With RMV setting value 0 a motor does not start even if a start command is written However when INT signal is set to be output when a motor stops INT signal is output
97. rminal status monitor In reading 0 LOW level 1 HIGH level 3 CP4 P4 terminal control In writing 04 P4 terminal status monitor In reading 0 LOW level 1 HIGH level 4 MUB U B terminal status monitor disabled in writing 0 LOW level 1 HIGH level 5 MFH F H terminal status monitor disabled in writing 0 LOW level 1 HIGH level 30 DA70133 1 5E Four terminals 01 P1 2 P2 3 e4 P4 can be used as sequence signal output terminals and general purpose input output port terminals These are sequence signal output terminals with RENV IOPM 0 and general purpose input output port terminals with RENV IOPM 1 If you select them as general purpose input output port terminals select input or output every terminal with the setting of RENV IPM1 to IPM4 When the LSI was writing to this register terminals set as output ports among 1 to 4 changes Monitor values of RSTS SPH1 to SPH4 are output signal monitor of the circuit to generate sequence signals Note that these are different from the level status of terminals 21 P1 to e4 PA 31 8 3 Register in PCD45x1 mode Registers to be written or read are specified by register select 2 to 0 Write to registers DA70133 1 5E Register select command Register WR buffer RCM2 to 0 Bits 23 to 16 Bits 15 to 8 Bits 7 to 0 000 RMV 23 to 16 15 to 8 7 to 0 001 Disabl
98. s can be monitored by RSTS SPSD and RSTS SMSD 01XX XX1X When SD or SD input of operation direction goes LOW level during FH high speed operation the motor decelerates to FL speed When the input returns to HIGH level the motor accelerates to FH speed This command is disabled during FL constant speed operation and FH constant speed operation 01XX XOXX Does not operate positioning by the RMV setting value 01XX X1XX Operates positioning by the RMV setting value 01XX OXXX Operates in direction 01XX 1XXX Operates in direction 01X0 XXXX Makes OTS terminal LOW level 01X1 XXXX Makes OTS terminal HIGH level 010X XXXX Linear acceleration deceleration 011X XXXX S curve acceleration deceleration 01XX Continuous operation mode Controls start stop by commands 01XX 1 Origin return mode Starts a motor by command and stops it by the ORG input 01XX X1X1 Origin return mode with the maximum feed amount setting After pulses set in the RMV are output the motor stops even though the ORG signal is not output 01XX X100 Positioning operation mode After pulses set in the RMV are output the motor stops 20 DA70133 1 5E 7 3 Register select command This is a command to select registers to write to or read out mainly 7 6 5 4 3 2 1 0 0 RCM5 4 RCM3 RCM2 RCM1 RCMO Bit Bit name Description 200 200
99. sible W Only for writing R Only for reading Neither reading nor writing are possible Note 1 Among the registers added in PCD 46x1 RENV register can also be used in PCD4500 mode and PCD45x1 mode Note2 In PCD46x1 the length of register RUD to set acceleration deceleration rate is extended from 10 bits to 16 bits The length of register RDP to set ramping down points is extended from 16 bits to 24 bits Registers in PCD4500 mode and PCD45x1 mode are also extended If you use PCD 46x1 with software for PCD4500 or PCD45x1 please make sure that extended bits are 0 when register is written 12 D5 Command DA70133 1 5E Bit definition of Register select command varies according to the setting RENV 46MD 0 PCD45x1 mode 1 PCD46x1 mode The default setting is PCD45x1 mode 1 When PCD45x1 mode is used RENV 46MD 0 Register select code No 0 to 7 Preset counter operation control 0 Count every output pulse 1 Stop counting INT output control at ramping down point 0 INT is not output 1 INT is output INT output control at the external start 0 INT is not output 1 INT is output 2 When PCD46x1 mode is used RENV 46MD 1 Register select code No 0 to 10 INT output control at ramping down point Same as PCD45x1 mode 0 INT is not output 1 INT is output INT output control when external start is enabled 0 INT is not output Same as PCD45x1 mode 1 INT is
100. t 10xx0111 PCD46x1 mode 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RIDC monitor RENV register 1 RIDC monitor This is used to monitor of production information cord for only reading 8 bit The setting value is disabled during writing 22 21 20 Bit Bit name Description 16 S46M This is a monitor of the setting value of RENV 46MD 19to 17 Undefined Always set to 000 23to 20 IDC3to 0 Product information code 1001 PCD4611 1010 PCD4621 1100 PCD4641 2 2 RENV register This is an environmental setting register to set a basic operation specification 15 14 13 DA70133 1 5E 12 11 10 9 8 7 6 5 4 3 2 1 0 4 IPM3 IPM2 IPM1 IOPM 0 PSTP ORRS ORDS ELDS SPDS ASDP DCSP 46MD PMD Bit Bit name Contents 0 PMD Select pulse mode output from the PO PLS and PO DIR terminals 0 Outputs direction pulse from the PO terminal and direction pulse from the PO terminal 1 Outputs pulses from the PLC terminal and direction signals are output from the DIR terminal H direction L direction 1 46MD Select function modes 0 PCD45x1 equivalent function 1 PCD46x1 all functions Note 1 2 DCSP Control the down counter for positioning available when RENV 46MD 1 0 Count backward every output pulse 1 Stop counting When RENV 46MD 0 the down counter for
101. t the LSI from inductive pulses caused by electrical sources that generate large voltage surges and take appropriate precautions against static electricity 4 Provide external circuit protection components so that overvoltage caused by noise voltage surges or static electricity is not fed to the LSI 5 All signal terminals have TTL level interface and can be connected to 3 3 V CMOS TTL and LVTTL devices However even if the output terminals are pulled up to 5 V more than 3 3 V is not realized Input terminals are not equipped with an over voltage prevention diode for the 3 3 V lines If overvoltage may be applied due to a reflection ringing or to inductive noise we recommend inserting a diode to protect against over voltage 14 2 Software design precautions 1 If you use interrupt processing and access to 46 1 in interrupt processing be careful about the followings If during accessing to PCD46x1 in normal program non interrupt program an interrupt request occurs interrupt program starts and PCDA46x1 is accessed in interrupt program the contents of register RD buffer and register WR buffer are changed If LSI processing returns to normal in this situation writing value to register may change or read wrong value from register Therefore during accessing to PCD46x1 in normal program make sure not to start up the interrupt program 2 When you access to PCD46x1 from numeral tasks in multi task processing make sure not to mak
102. tatus 1 and 2 are the same as those of PCD45x1 D6 4 RIOP General purpose port setting register When excitation output signal 01 to 04 is not used terminal 21 to 4 can be used as input output ports and the terminal U B and the terminal F H can be used as general purpose input terminals with RENV IOPM 1 When terminal 1 P1 is a general purpose output When terminal 22 P2 is a general purpose output When terminal 23 is a general purpose output When terminal 04 P4 is a general purpose output U B input terminal L 1 H F H input terminal 0 L 1 H O L 1 H O L O L 1 H O L A A A A Note When RENV IOPM 0 01 to 4 signal output is selected writing to the RIOP is disabled When RENV IOPM 1 in writing only data of general output terminals that are set as output port in RENV IPM 1 to 4 is enabled among bit O to 3 In reading status of 6 terminals can be read without any reference to the setting of RENV IOPM and RENV IPMn Because 0 to 4 value of RSTS SPH 1 to 4 are always to monitor excitation signal LSI s internal signals those do not show status of terminal 1 to 4 with RENV IOPM 1 75 D7 Internal monitor PCD45x1 mode Hatching Difference from PCD46x1 mode 1 DA70133 1 5E Register Address select No A1 0 A0 0 A1 0 0 1 1 1
103. ting time longer than CLK one cycle COMBF lt 15 h FH high speed start command 1 2 2 At the stop COMBF lt 1D h Deceleration stop command 9 2 Origin return mode After the start a motor operates until an origin signals ORG turns ON Operation direction is set by Control mode command CCM3 0 direction 1 direction Even when a start command is written with ORG terminals ON LOW Level a motor does not start However when an INT signal is set to be output when a motor stops an INT signal is output You can control the maximum feed amount using positioning control with Control mode command CCM2 1 In this case you can set the maximum feed amount in the RMD to prevent from endless operation that is caused by breakage of origin switch At the FH high speed start this LSI inputs an SD signal and decelerate operation to FL speed and stops by an ORG signal With RENV ORRS 1 RCUN current position counter is reset automatically at the falling edge of ORG signal input With RENV ORRS 1 and RENV ORDS 1 RCUN current position counter is reset at the falling edge of ORG signal input automatically and operation starts deceleration After the speed reaches to FL speed a motor stops The stop position is not the origin point However the difference from the origin point can be controlled by RCUN value SD sensor can be omitted A value read out RMV Down counter value for positioning control decreases from the value at t
104. tion counter is operating 2 OCM2 Excitation sequence output mask control 0 Sequence signals are output Normal operation 1 Sequence output terminals 21 to 24 are fixed to LOW level masked Because sequence output terminals become general purpose terminals with RENV IOPM 1 terminals conditions are not changed by this setting RSTS SPH1 to SPH4 are changed 3 OCM3 Stop control during acceleration deceleration operation 0 Acceleration and deceleration is available Normal acceleration and deceleration 1 Acceleration and deceleration stop on the way fixed to a speed on the way during acceleration or deceleration Making this bit to 1 during acceleration and deceleration maintains the speed at the time and making this bit to O continues acceleration deceleration 4 OCM4 Select sensitivity of ORG EL EL STP input 0 High sensitivity responds to longer than one cycle width pulse input of reference clock 1 Low sensitivity responds to longer than four cycle width pulse input of reference clock 5 OCM5 Select monitor mode 0 PCD4500 compatible mode 1 PCD45x1 compatible mode or PCD46x1 mode selected by RENV 46MD 21 DA70133 1 5E 8 Register access in compatible mode PCD46x1 has a slight difference from our PCD4500 and PCD45x1 series by software See 6 5 Write and read procedures Note 1 Among the registers added in PCD 46x1 RENV register can also be used in PCD4500
105. tion operation in the range of 1 to 8 191 1FFF h The speed pps is the product of multiplying the magnification rate by the RMG setting value FL speed pps RFL x magnification rate RFH FH speed setting register 13 bit Specify operation speed at FH constant speed and high speed operation acceleration deceleration operation in the range of 1 to 8 191 1FFF h In high speed operation acceleration deceleration operation specify a value larger than the RFL setting value The speed pps is the product of multiplying the magnification rate by the RMG setting value FH speed pps RFH x magnification rate Acceleration deceleration rate register 16 bit Specify the acceleration deceleration characteristics when high speed operation acceleration deceleration operation is selected in the range of 1 to 65 535 OFFFF h Relationship between the value entered and the acceleration deceleration time will be as follows 1 Linear acceleration deceleration Control mode command CCM5 0 RFH RFL x RUD Reference clock frequency Hz Acceleration deceleration time s 2 S curve acceleration deceleration Control mode command CCM5 1 RFL RUD x 2 Reference clock frequency Hz Acceleration deceleration time s Speed magnification rate register 10 bit Specify the relationship between the RFL and settings and the speed in the range of 2 to 1 023 O3
106. tomatic ramping down point setting COMBF lt 80 h select RegWBF 23 to 16 lt 00 h 1000 pulses 3E8h RegWBF 15 to 8 lt 03 RegWBF 7 to 0 lt E8 h RegWBF 7to0 lt OA h COMBF 05 h Dummy command Secure waiting time longer than CLK one cycle COMBF lt 15 h high speed start command 2 At the stop A motor stops at the position of 1000 pulses 40 DA70133 1 5E 9 4 Timer mode This is a mode to use operation time as a timer with masking pulse output Output mode command OCM1 1 by positioning operation Setting time Pulse cycle of setting speed x number of setting pulses In timer mode a motor stops when an STP signal becomes ON or a stop command is written A motor does not stop even when the EL signal or ORG signal becomes ON 9 4 1 Procedure example to use this mode as a 100 ms timer The time to output 100 pulses at 1000 pps is 100 ms Therefore after you set the speed to 1000 pps set as follows COMBF lt 44 h Control mode command Positioning operation COMBF C2 h Output mode command Pulse output is masked COMBF 80 h Register select command lt lt RMV select RegWBF 23 to 16 lt 00 h RegWBF 15 to 8 lt 00 h 000064 h 100 lt lt RegWBF 7 to 0 lt 64 h COMBF lt 20 h Dummy command Secure waiting time longer than CLK one cycle COMBF 30 h Start command FL constant sp
107. tting and automatic setting This is selected by RENV ASDP The definition of the setting value to this register varies with the method to set a ramping down point 1 Manual setting RENV ASDP 0 The timing to start deceleration is set by a number of residual pulses Setting range is O to 16 777 215 FFFFFF h When RPLS number of residual pulses lt RDP setting value deceleration starts 2 Automatic setting RENV ASDP 1 Set a correction value with sign against an automatic setting value When a positive number is set a motor starts decelerations earlier After deceleration is complete a motor operates at FL speed and stops When negative number is set a motor starts deceleration later Before the speed reaches to FL speed a motor stops The automatic setting value is 0 at the start and increases by counting pulses output during acceleration If you want to use an automatic setting value you set to 0 The setting range of a correction amount is 8 388 608 800000 h to 8 388 607 7FFFFF h When RPLS number of residual pulses lt automatic setting value RDP setting value deceleration starts Automatic setting value is 0 at the start and increases by counting pulses output during acceleration It decreases by counting pulses output during deceleration If the above condition to start deceleration is met at the start a motor operates at the FL speed without acceleration in both manual setting and automatic
108. ttlecatecCernateteleceseseesedes iuensnetneectarteecneec s 50 11 7 External mechanical input control 51 11 8 Interrupt request signal INT 52 11 9 General purpose port oues ritenere contu Eee e E Si a mau S 53 11 9 1 Terminal e te doo 53 11 9 2 Termirials tout fa o acca shine 53 11 9 3 Terminals 01 P1 22 2 23 P3 0417 2 04044 000 54 12 ELECTRICAL 8 8 55 12 1 Absolute maximum rating 222 2 222 2 2 2 ence yeas cededeccendevedevedeseceendovecevadeyeceendeyecevadeveccendayecs 55 12 2 Recommended operating conditions 55 12 3 DC characteristics in recommended operating conditions 2 55 12 4 5 eere C VANC exa ANR era a Rape ASA EUR 56 12 4 1 Reference clock eI ce ee d eee elei L e e cese ena sue de aua e ede SLA A 56 12 4 2 Reset cycle ot gne ep ee bg etit e RARA ARRIR bg thay 56 12 4 3 Read cycle A USO E m ong mU e bu eae 56 12 4 4 Write cycle 2 iei idc cedit Loin ce dot Eoi Dino ee eet eet ce eee ci Di
109. ut pulse is fixed to LOW level and a motor may not stop Make sure to set to 1 or more than 1 8 2 4 RUD register WR select 10 0011 RD select 10xx0011 46 1 mode This is a 16 bit register to set characteristics of acceleration and deceleration Bits15 to 0 Setting range is 1 to 65 535 OOFFFF h Bits 23 to 16 are to monitor Register select command only for reading When the LSI is writing this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 pe P 2 5 Monitor register select command RUD register The relationship between the RUD setting value and the time of acceleration deceleration is as follows 1 During linear acceleration deceleration Time of acceleration deceleration s RFH setting value RFL setting value x RUD setting value Reference clock frequency Hz 2 During S curve acceleration deceleration Time of acceleration deceleration s RFH setting value RFL setting value x RUD setting value x 2 Reference clock frequency Hz 8 2 5 RMG register WR select 10xx0100 RD select 10xx0100 PCD46x1 mode This is a 10 bit register to set speed magnification Bits 9 to 0 Setting range is 2 to1 023 0003FF h Bits 23 to 16 are to Output mode command only for reading When the LSI is writing this register is disabled 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
110. utput terminal P2 0 general purpose output terminal 1 general purpose input terminal 2 14 Select specification of general purpose input output terminal P3 0 general purpose output terminal 1 general purpose input terminal Note 2 15 IPM4 Select specification of general purpose input output terminal P4 O general purpose output terminal 1 general purpose input terminal 2 31 to16 For delivery inspection Always set to 0 Note 1 RENV 46MD setting is enabled when Output mode command OCM5 1 extended monitor Note 2 RENV IPM1 to IPM4 setting is disabled when RENV IOPM 0 28 DA70133 1 5E Note Terminals 21 P1 to 4 P4 are output terminals 1 to 04 at default setting If you use these as input ports please make sure that you insert a series resistor to prevent short circuit with external output circuit More than 1 K ohm is needed to prevent from the breakage of PCD46x1 To prevent from the breakage of an external circuit select a resistor value so that the current is less than the maximum output current of the external circuit PCD46x1 of A Hl Resistor 8 2 9 RCUN register WR select 10xx1000 RD select 10xx1000 PCD46x1mode This is a 24 bit current position counter Setting range is O to 16 777 215 FFFFFF h or 8 388 608 800000 h to 8 388 607 7FFFFF h and varies according to number control of control software 23 22 21 20 11 10 9 8 19 18 17 16 15 14 13 12 7 6 5 4

User`s Manual - Nippon Pulse

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