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MCX514 User`s Manual

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1. Driving start Fig 2 6 8 Example 1 Synchronous Action Program Example Drive setting constant speed driving at 1000 PPS WRG 1200h Write WR7 007Ah Write WRO 0104h Write WRG 03 8 Write Drive speed WR7 lt 0000h Write WRO 0105h Write WR6 lt 0000h Write WR7 lt 0000h Write WRO 0109h Write MRO setting WR6 3A98h Write WR7 0000h Write WRO 0110 Write MRO Multi purpose register mode setting WR6 0000h Write D1 DO D3 D2 WRO 0120h Write PIO signal setting 1 WR6 0003h Write D1 DO WRO lt 0121h Write signal setting 2 WR6 0070h Write 00 D6 D4 WRO 0122h Write Synchronous action setting Synchronous action SYNCO setting WR6 0091h Write D3 D0 D8 D4 WRO 0126h Write SYNCO Enable WRO 0181h Write Start driving WRO 0152h Write Initial speed 8M PPS maximum in specification 1000 PPS Logical position counter 0 15000 00 MOT1 0 MRO Comparative object Logical position counter 00 0 MRO Comparison condition 11 0 1 0 PIOO signal Synchronous action output 0 POL PIOO Logical level of pulse signal Positive logic 111 PW2 0 Pulse width 1 at CLK 16MHz 0001 PREV3 0 Activation factor MRO object changed to True 01001 ACT
2. 125 3 4 4 Issue of Interpolation Driving 126 3 4 5 Termination of a a aap a EEEa aA A E EAEE A REE AE EREA 126 3 4 6 Check Available Space of 2 nnne nnn 127 3 4 7 Interruption of Interpolation Driving eese meme enne nnne 127 3 48 Example of Bit Pattern Interpolation nnn nnn nnn nnn 128 3 5 Constant Vector 129 3 5 1 Constant Vector Speed 130 3 6 Short Axis Pulse 2 131 3 6 1 Short Axis Pulse Equalization 131 3 6 2 Notes on Using Short Axis Pulse 2 1 132 3 7 Gontinuous InterpolatiOn iiie eodein n dn diee nadie cited eines 133 3 7 1 How to Perform Continuous Interpolation nennen nnne nnne 134 3 7 2 Continuous Interpolation by Using Interrupt eesssesseeeneennn nennen nnne 136 3 7 8 Errors during Continuous 137 3 7 4 Attention for Continuous Interp
3. a 36 L b Details of Section A 2 Installation Face TTT ea Section E me 5 A Package Size 20 20 1 4 mm Size mm hes Symbol Description Min Standard Max 1 7 Height from seating plane to the top end of package main unit 0 1 Height from seating plane to the bottom end of package main unit A2 1 4 Height from the top end to the bottom end of package main unit b 0 17 Ex 0 27 Pin width 0 09 0 2 Pin thickness D 21 8 22 22 2 Overall length including pin length D1 19 8 20 20 2 Length of package main unit E 21 8 22 22 2 Overall width including pin length E1 19 8 20 20 2 Width of package main unit e 0 5 Pin pitch L 0 3 0 75 Length of the pin flat section contacting seating plane 0 0 107 Angle of the flat section to seating plane 0 08 Uniformity of the bottom of pins permissible value in the vertical direction 260 NOVA electronics Inc MCX514 261 13 Storage and Recommended Installation Conditions 13 1 Storage of this IC Note the following items in regard to the storage of this IC 1 Do not throw or drop the IC Otherwise the packing material could be torn damaging the airtightness 2 Store
4. 25 2 2 5 Non symmetrical S Curve Acceleration Deceleration 2 2 31 2 2 0 Pulse Width and Speed 33 2 9 Position COntrol ett REED 34 2 3 1 Logical Position Counter and Real position 34 2 3 2 Position CombparisOn ence ener eeepc M etr wee ti exe de eue hate eco Se 34 2 9 3 zSoftware Elmil oer reete HR Drs EE 34 2 34 Position Co nter Variable Ring ura ce ere ie pe ir e e pe e et e dedos 35 2 4 Multi Purpose Register 36 2 4 1 Comparative Object and Comparison nnne 36 2 4 2 Usage Of Comparison Result teet taie Rob ud Ree TARR 37 2 4 8 Load Save of Parameters by Synchronous 2 eene 40 2 5 Automatic Home 41 2 54 Operation OF Each 42 2 5 2 Deviation Counter Clearing Signal 45 2 5 3 Timer Between Steps IUS etse ep rte Pb xe det Ea i E akana 45 2 5 4 Setting a Search Speed and a Mode sssssssssssssseeeeeeee 46 2 5 5 Execution of Automatic Home
5. 114 3 2 2 Toggle of Interpolation AXIS dois aian tub ttu b dabei dub ea ule iss 114 3 2 8 Example for CW Circular 114 3 9 Aee Oa s oot eo 7 1 115 3 3 1 Interpolation Axis Setting nen vie inne 116 3 3 2 Interpolation Speed Setting isis ctt tetti et 116 3 3 8 Helical Rotation Number 116 3 9 4 Position 5 117 3 3 5 Helical Calculation Exec tion inier eere Dee v de ee ee 118 3 36 Helical Interpolation Execution nn nh nnne n nnn nnn 119 3 3 7 Current Helical Rotation Number 119 3 3 8 Position Drift in Helical emm emere 120 3 3 9 Examples of Helical 121 3 4 Bt Paten Interpolation cete c mle ccm ete tere nere tle cia 124 3 4 1 Designation of Interpolation 125 3 4 2 etur E taie tulere 125 3 43 BitPattern Data Writing
6. The data is binary and 2 5 complement is used for negative numbers 185 NOVA electronics Inc 7 Commands 7 1 Command Lists Commands for Writing Data MCX514 186 Code Command Symbol Data Range Data Length byte JK 1 1 073 741 823 pps sec 4 Acceleration increasing rate on Deceleration increasing rate B 1 1 073 741 823 pps sec 4 setting 02 Acceleration setting AC 1 536 870 911 pps sec 4 03 Deceleration setting DC 1 536 870 911 pps sec 4 04 Initial speed setting Sv 1 8 000 000 pps 4 05 Drive speed setting DV 1 8 000 000 pps 4 TP 2 147 483 646 2 147 483 646 1 4 Finish point setting Manuel deceleration point Dp 0 4 204 967 292 4 setting 08 Circular center point setting CT 1 073 741 823 1 073 741 823 4 09 Logical position counter setting LP 2 147 483 648 2 147 483 647 4 OA Real position counter setting RP 2 147 483 648 2 147 483 647 4 OB Software limit setting SP 2 147 483 648 2 147 483 647 4 oc Software limit setting SM 2 147 483 648 2 147 483 647 4 Acceleration counter offsetting AO 32 768 32 767 2 GE Logical position counter EX 1 2 147 483 647 FFFFh 4 maximum value setting Or FFFF FFFFh Real position counter maximum RX
7. MR3 MR3 MR2 MR2 MR1 MR1 MRO MRO comparison comparative comparison comparative comparison comparative comparison comparative condition object condition object condition object condition object NOVA electronics Inc 514 37 Table 2 4 1 Setting of Comparative Object Table 2 4 2 Setting of Comparison Condition k 0 3 n 0 3 MkT1 bit MRm Comparative Object MkC1 bit MRm Comparative Object 0 0 Logical position counter LP 0 0 Comparative object 2 MRm 0 1 Real position counter RP 0 1 Comparative object gt MRm 1 0 Current drive speed value CV 1 0 Comparative object MRm 1 1 Current timer value CT 1 1 Comparative object lt MRm Note e When the comparative object is set to current drive speed value CV and comparison condition is set to comparative object MRm if the acceleration deceleration exceeds 4 194 304 400000h pps sec in linear and S curve acceleration deceleration driving the comparison result may not become TRUE active When the comparative object is current drive speed value CV and the acceleration deceleration is more than this value set the other conditions such as comparative object 2MRm comparative object Example Comparison with Logical Position Counter When the logical position counter value of X axis is larger than 500 000 and if the user wants the comparison result is TRUE set as follows WR6 A120h WR7 0007h
8. ss sehen 153 4 1 1 Pull up Resistor Rp eene retentu 153 44 2 Reset sinister ee e e de i c e de i De poe e e A e e d ea 154 4 2 2 Bus Transmitting and 0 154 4 2 1 Writing ODGratiorz ote uso ttr teorie ete dite eie eee eee 155 42 2 Reading Operation aestu e ete Pu erc dn Fere eren up 156 4 2 3 Notes on Using 2 Serial 158 4 2 4 Gonnection Examlple mereri it 158 4 2 5 GOntrol clues 159 5 Pin Assignments and Signal Description 162 5 1 PIN Assignments I e e e n nn nn nnn nnn nn nn nnn nn nnn nn n nnn nn nnn n nnns nnn 162 5 2 Signal Descriptio Niina a eee eee eee eee E E E ae eee aaa 163 5 9 IAPUUOUTPUE Lodis eee Ret eee Sete tuta tete beta Pese ba 169 5 4 Remarksof Logic Designs sieht te ees e e ees 170 P A 6 1 Register Address by 16 bit Data 171 6 2 Register Address by 8 bit Data eene nn nnn nnn nnns 173 6 3 Register Address by 2 Serial Interface Bus 173 6 4 GCommand Registers 2 2 dd da dd de add de dnas 174 6 5 Mode Register WR1 ooo ccc e eee e teen I I I e nn nennen 1
9. 197 7 2 21 Home Search Speed nennen nennen nnne nenne nnn 197 7 2 22 Speed Increasing Decreasing Value 197 7 2 23 Timer Val e Setting oo cp e er E e ce a ead ee ae v eer eC ee ve ga 198 72 24 Split Pulse Settitig 17 5 e FU CORR TIER IRR RE FER AER RU ERAS t 198 72 2957 Split P lse Setting 2 e tet e ret de edel dade 198 7 2 26 Interpolation Finish Point Maximum Value 199 7 2 27 Helical rotation number setting secessit nent nn then n nnn nh nnn nnn 199 7 2 28 Helical calculation setting sani 238 ii Eee etes 199 7 3 Commands for Writing 200 7 3 1 Multi Purpose Register Mode 200 VES MEM TIS ECHTE EST Tero e Es 201 7 39 8 PIO Signal Setting 2 Other Settings eiecti tente ipee Deed directe demde Hio rece Da enin 203 7 3 4 Automatic Home Search Mode Setting 1 nennen nnne nnn 204 7 3 5 Automatic Home Search Mode Setting 2 eene nnn 205 7 3 6 Input Signal Filter Mode 207 7 8 7 Synchronous Action SYNCO 1 2 3 208 7 9 8 Interpolationi Mode Setting tete edite ere De ende diete cete Mantes de 210 7 4 Commands for Reading
10. input F nPIO4 input Hi input Hi nPIO6 input Hi nPIO7 input Hi 10 and nPIOO input and nPIO1 input and nPIO2 input and input 0 NOP 11 Description 1 MRm object changed to True It is activated when the comparative object of a multi purpose register MRm register meets the comparison condition As shown in the table the MRm register corresponding to 4 synchronous action sets is fixed The comparative object and comparison condition can be set by multi purpose register mode setting command 20h For instance when the comparative object of MRO register is set to the logical position counter LP and comparison condition is set to comparative object 2 MRm if the value of the logical position counter is equal to or larger than MRO value it will be activated If comparison condition is already True when the synchronous action is enabled the synchronous action is not activated at that time After it returns to False and then if it again changes to True the synchronous action will be activated Description 2 The internal timer is up It is activated when the internal timer is up The timer value can be set by timer value setting command 16h The timer can be started by timer start command 73h or the other synchronous action sets Description 3 Change of driving state As shown below it is activated when the change of a driving state occurs during the driving Acceleration Deceleration Driving
11. lt 03 8 0000h 0105h ro Drive start holding WRO 0177h Write Segment1 OBB8h 0000h 0106h 0000h 0000h 0206h 0061h Tet Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write CCW circular Write Write Write Write Write Write Write Write Write Write Write Write Write 2 axis linear Finish Center Center Set X Y axes 2 axis high accuracy constant vector speed mode 1000 PPS Finish Finish Finish point Y 0 2 axis Finish point X 0 point X 500 point Y 500 point Y 500 point X 3000 514 138 Set drive speed to main axis Drive start holding to main axis point setting command 138 Segment Finish Finish Center Center Number point X point Y point X point Y 51 2 axis linear 3000 0 52 CCW circular 500 500 0 500 S3 CW circular 500 500 500 0 54 2 axis linear 2000 0 55 CW circular 500 500 0 500 S6 circular 500 500 500 0 57 2 axis linear 1000 0 S8 CW circular 1000 1000 0 1000 59 2 axis linear 0 2000 510 CW circular 1000 1000 1000 0 11 2 axis linear 3000 0 12 circular 500 500 0 500 513 CW circular 500 500 500 0 514 2 4000 0 515 CW circular 500 500 0 500 516 circula
12. Bz LLL passing through the position A passing through the position B Activation Factor Activation Factor Action Timer start Internal Timer Action Save the timer value Fig 2 6 4 Example 4 of Synchronous Action Normally such synchronous actions can be performed by coding a program on the CPU side However this function is useful when no delay caused by CPU interrupt handling or program execution time is allowed The synchronous action of this IC is a function that executes a specified action immediately when a specified activation factor occurs This linked action is performed without CPU intervention achieving high precision synchronous control One synchronous action set means that performs a specified action when a specified activation factor occurs MCX514 has independent 4 synchronous action sets in each axis It can perform 4 synchronous action sets independently in addition can perform them in cooperation among axes Each synchronous action set SYNCO 3 has 15 types of activation factors in each axis the user selects one and configures it by the code And about actions that are activated 24 types of actions are provided Synchronous Action Set 0 Synchronous Action Set 2 SYNCO SYNC2 Activation Activation Factor Factor Synchronous Action Set 1 Synchronous Action Set 3 SYNC1 SYNC3 Activation Activation Action Action Factor Factor Fig 2 6 5 Synchronous Action Set NOVA electroni
13. Se ij uM Select pulse width nPIO3 Pulse signal logic nPIO2 Pulse signal logic nPIO1 Pulse signal logic nPIOO Pulse signal logic PkL k 0 3 Pulse signal logic 0 Outputs positive logic pulse 1 Outputs negative logic pulse PW2 PW1 Pulse width CLK 16MHz 0 0 0 125nsec 0 0 1 312nsec 0 1 0 1 0 1 1 4usec 1 0 0 16usec 1 0 1 64usec 1 1 0 256ysec 1 1 1 1msec Specify the logical level of nPIOm signal that is used to DO to D3 bits POL P3L of WR6 register 0 outputs the positive logic pulse and 1 outputs the negative logic pulse The bit corresponding to the unused signal should be set to either 0 or 1 And the pulse width shown above must be set to D4 to D6 bits PWO PW3 of WR6 register The settings of WR6 register will be determined by writing PIO signal setting 2 Other settings 22h into WRO register The setting of pulse width is common in nPIOO nPIO3 all signals It cannot be set to each signal individually If the synchronous pulse output is activated continuously when the user tries to activate the next during the synchronous pulse output the synchronous pulse does not become inactive and it will output a specified pulse width again from when the next is activated NOVA electronics Inc 514 66 Description 4 Start of relative absolute position driving using MRm value At the start of driving the value of MRm register is se
14. Split pulse output can be started and stopped by a synchronous action or YSPLTP 84 Output A a command ZSPLTP 103 Split length pulse width and pulse number can be set by a command And USPLTP 122 _ output logic with or without starting pulse can be set as commands Universal Input7 general purpose input signal Gets the input value by MOS general purpose input value reading command 48h Low level is 0 and Hi Bi directional PIN7 MPLS 132 C level is 1 When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Universal Input6 general purpose input signal Reading is the same as Bi directional PIN7 PIN6 MERR 133 ae When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Universal Input5 general purpose input signal Reading is the same as Bi directional PIN7 5 134 E B E When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Universal Input4 general purpose input signal Reading is the same as Bi directional PIN7 PIN4 MCLK 135 C When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Universal Input3 general purpose input signal Reading is the same as Bi directional
15. byte 20h Multi purpose register mode setting MRM 2 21 PIO signal setting 1 P1M 2 22 PIO signal setting 2 Other settings P2M 2 23 Automatic home search mode setting 1 H1M 2 24 Automatic home search mode setting 2 H2M 2 25 Input signal filter mode setting FLM 2 26 Synchronous action SYNCO setting SOM 2 27 Synchronous action SYNC1 setting S1M 2 28 Synchronous action SYNC2 setting S2M 2 29 Synchronous action SYNC8 setting 53 2 2 Interpolation mode setting I PM 2 Note When parameters are written the total data length should be completely filled Commands for Reading Data MCX514 187 Data Code Command Symbol Data Range Length byte 3 Oh Logical position counter reading LP 2 147 483 648 2 147 483 647 4 3 1 Real position counter reading RP 2 147 483 648 2 147 483 647 4 32 Current drive speed reading 0 8 000 000 pps 4 au Current acceleration deceleration ET 0 536 870 911 bosse 4 reading 34 Multi purpose register 0 reading MRO 2 147 483 648 2 147 483 647 4 35 Multi purpose register 1 reading MR 1 2 147 483 648 2 147 483 647 4 36 Multi purpose register 2 reading MR2 2 147 483 648 2 147 483 647 4 37 Multi purpose register 3 reading 2 147 483 648 2 147 483 647 4 38 Current timer value reading CT 0 2 147 483 647 u sec 4 Interpolation Finish point maximu
16. 212 7 4 1 Logical Position Counter Reading essesssssseseeeeeeennn nnn nnern nnne 212 7 4 2 Real Position Counter Reading tite etu ie ei be ed t Ede tue tur eo DR Eo Ae 212 7 4 8 Current Drive Speed 0 nennen nennen nnns seres nennen nennen 212 7 4 4 Current Acceleration Deceleration 213 7 4 5 Multi Purpose Register 0 Reading 213 7 4 6 Multi Purpose Register 1 Reading 213 7 47 Multi Purpose Register 2 Reading a a 213 7 4 8 Multi Purpose Register 0 2 ene nnne e enne nene ene enne nnne 214 7 4 9 Current Timer Value Reading 214 7 4 10 Interpolation Finish point maximum value Reading sss 214 7 4 11 Current Helical Rotation Number 214 7 4 12 Helical Calculation Value 215 7 4213 WRT Setting ecce eee ce ea ede uen 215 7 4 14 WR2 Setting Value 2 215 7 4 15 WRS3 Setting Value Reading 22 0 000 215 7 4 16 Multi Purpose Register Mode Setting 216 TAAT PIO Signal Setting 1 Reading ertet aeu ve rete c
17. D1 DO 00 1 0 PIOO signal General purpose Synchronous input Select X axis D12 1 SYNCO When synchronous action SYNCO is activated Synchronous action SYNCO setting WR6 lt 005 Write WRO 0126h Write SYNCO Enable WRO 0181h Write Start driving WRO 0152h Write D3 D0 1010 PREV3 0 Activation factor XPIOm input f 08 D4 00101 ACT4 0 Action Save LP MRm Starts direction continuous pulse driving SYNCO is activated and interrupt occurs Read logical position counter value saved in MRO WRO 0134h Write RR6 Read RR7 Read From chapter 2 6 7 a delay from the occurrence of an activation factor is from 0 minimum to ICLK maximum and a delay up to the action is so the delay time of this synchronous action is from a minimum of 62 5nsec up to 2CLK 125nsec NOVA electronics Inc MCX514 74 Example 3 Calculates the time passing through from position A 10000 to position B 55000 during X axis driving T usec HZ 77772277770 passing through the position passing through the position B Activation Factor Activation Factor Action Timer start Internal Timer Action Save the timer value Fig 2 6 9 Example 3 Synchronous Action Program Example Drive setting constant speed driving at 10K PPS WR6 1200h Write Init
18. BRE nenta 254 10 2 4 ce te ext eu teet ster cron ees dunt dore ede ea 254 10 2 5 General Purpose Input Output Signals 07 0 nennen 255 10 2 6 Split Pulse cone hee en e eni a i en ed ee Ed tee a 255 10 27 EC Serial B nin dette eei bee pendet testudo 256 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 12 13 Timing of Input Output Signals 257 Power di ates ate ata ui doen ts 257 Fixed Pulse or Continuous Pulse 257 Interpolation Driving eene NANENANE enne nenne enne 258 Start Driving after Hold 258 EE Em 258 isi EE 259 Detailed Timing of Split 259 Package DIMENSIONS 260 Storage and Recommended Installation 261 13 1 Storage 261 viii 13 2 Standard Installation Conditions Soldering Iron 18 3 Standard Installation Conditions by Solder Reflow NOVA electronics Inc MCX514 i Revision History Istedition 2014 08 01 Newly created 2nd edition 2014 1
19. Data Data Data Data Data Data Data Data Data Data Data return SetData MCX514 CMD15 IV Axis Data long Data return SetData MCX514_CMD16_TM Axis Data long Data Data Datal lt lt 16 Data2 SetSpliti int Axis unsigned short Data unsigned short Data2 return SetData MCX514 CMD17 SP1 Axis Data 243 MCX514 243 Jerk setting Deceleration increasing rate setting Acceleration setting Deceleration setting Drive pulse number Finish point setting Manual deceleration point setting Logical position counter setting Real position counter setting Software limit setting Software limit setting Acceleration counter offsetting Home search speed setting Logical position counter maximum value setting Real position counter maximum value setting Multi purpose register 0 setting Multi purpose register 1 setting Multi purpose register 2 setting Multi purpose register 3 setting Speed increasing decreasing value setting Timer value setting Split pulse setting 1 NOVA electronics Inc MCX514 244 int SetSplit2 int Axis long Data Split pulse setting 2 return SetData MCX514 CMD18 SP2 Axis Data int SetTPMax long Data Interpolation Finish point maximum value setting return SetData MCX
20. Error check of interpolation axes Interpolation error check Write RR3 Pagel display command to any of interpolation axes Example X Error check of multichip interpolation transfer error Write error clear command to interpolation axes Error clear check of interpolation axes Error clear check of interpolation Error clear check of multichip interpolation transfer error Error check of interpolation in RR2 register to any of interpolation axes Error check of interpolation axes nterpolation error check Write Pagel display command to any of interpolation axes Example X Error check of multichip interpolation transfer error Error check of main axis in main chip Write error clear command to interpolation axes Error clear check of interpolation axes Error clear check of interpolation Error clear check of multichip interpolation transfer error Reading RRO register of main chip RRO 7 D4 Read Error clear check of main axis in main chip 150 NOVA electronics Inc MCX514 151 Example 2 Continuous Interpolation in Multichip Interpolation The following example A B C and ERROR handling are the same as Example 1 Program Example Interpolation mode setting of main and sub chips Writing to main chip WR6 0403h Write Main chip Designation of X Y Interpolation axis WRO 002Ah Write Writing to sub WR6 0803h
21. Notel Even if the output signals of output A and Bi directional A B are pulled up to 5V through resister Hi level output voltage cannot raise to Hi level input voltage of 5V type CMOS Please don t design the logic like this 169 NOVA electronics Inc MCX514 170 5 4 Remarks of Logic Design About TESTI 2 Pins Make sure that TESTI 2 141 142 pins are connected to GND If set to Hi it will not work correctly at all due to running the internal test circuit b About Unused Input Pins Make sure that unused input pin A is connected to GND or VDD If the unused pin is open the signal level of the pin will be unstable and may cause malfunction Input pin B can be open c About Unused Bi directional Pins Make sure that unused bi directional pins Bi directional A D E are connected to VDD or GND through high impedance about 10k 100 If these pins are directly connected to GND or VDD the IC may be damaged by overcurrent in case of such as a programming mistake causes the output state Bi directional pins B C can be open d De coupling Capacitor Please connect VDD and GND with two or three De coupling capacitors about 0 1uF e Ringing noise by Terminal Induction Ringing noise may occurred by inductance and load capacity of the output pin The user can add a capacitor 10 100pF to pins to reduce the noise f Reflection on Transfer Path The load capacity for outputting types A B and bi directional A
22. change of speed is too often in the trapezoidal acceleration deceleration fixed pulse driving NOVA electronics Inc 514 18 Speed is changed during the driving in the non symmetry trapezoidal acceleration deceleration and S curve acceleration deceleration fixed pulse driving e Acceleration deceleration jerk acceleration increasing rate and deceleration increasing rate are set individually for S curve acceleration deceleration fixed pulse driving non symmetry S curve acceleration deceleration e Circular interpolation bit pattern interpolation and continuous interpolation are performed in acceleration deceleration To perform manual deceleration mode please set DO bit of WR3 register to 1 and use manual decelerating point setting command 07h to set a deceleration point As to other operations the setting is the same as those of fixed pulse driving Offset Setting for Acceleration Deceleration Driving The offset function can be used for compensating the pulses when the decelerating speed does not reach the setting initial speed during acceleration deceleration fixed pulse driving MCX514 will calculate the acceleration deceleration point automatically and arrange the output pulses of deceleration phase that is equal to those of acceleration phase When setting the offset for deceleration MCX514 will start deceleration early for the offset The greater positive value is set for the offset the closer the automatic
23. 0150h Write Starts relative position driving Timer stop WRO 0174h Write Timer stop Disable synchronous action SYNC1 WRO 0192h Write Disables synchronous action SYNC1 NOVA electronics Inc MCX514 95 Example 3 Performs decelerating stop in acceleration deceleration driving of X axis after driving at constant speed for 10msec After acceleration deceleration driving starts a timer starts from the start of constant speed area for 10msec and when time is up it performs decelerating stop This is performed by the function of a synchronous action Speeda Program Example Acceleration deceleration driving setting WR6 WR7 WRO WR6 WR7 WRO WR6 WR7 WRO 0064h Write 0000h Write 0104h Write A120h Write 0007h Write 0105h Write E848h Write 000 1 h Write 0102h Write Timer setting Single timer WRO 011 Write WR3 0000h Write pps 500K Timer value setting WR6 2710h Write WR7 lt 0000h Write WRO 0116h Write Constant Speed 10 00msec p Acceleration Start Deceleration Fig 2 9 6 Example 3 Timer Operation Initial speed 100 PPS Drive speed 500 PPS Acceleration 125K PPS SEC Select X axis 014 0 Timer operation Once Timer value 10000 sec Synchronous action setting Synchronous action SYNCO setting WR6 0154h Write WRO 0126h Write D3 DO
24. 98 2 11 1 Setting of Input Signal Filter nennen nnnm nnne nennen nenne 99 2 11 2 Example of Setting Input Signal Filters ine enne 100 2 2 9th er unctione om oett et t ttt 101 2 12 1 Driving By External Puls6s eee nee et s eM cL 101 2 12 2 P ls Outp t Type Selection coit ceti te t E epe ton eee ge e EL CREER de De Lb adele 104 2 12 3 Encoder Pulse Input Type Selection eene 105 2 12 4 Hardware Limit Signals rr e RT REM 106 2 12 5 Interface to Servo Motor Driver 107 2 12 6 Emergency Stop ber repe eere pce Feb a e Uude 107 2127 Status Output i ue qe deine rg ainda Uere poi dep Uer eee ire Dre uer eee npe ehe 108 3 InterpolatlOD LOG 3 1 va inen 111 3 1 1 Maximum Finish eh ee ede eruere Podere o dee dee o ee erue 111 3 1 2 Examples of Linear i i ii nnne nn nnn nennen nennen nnn 111 3 2 Circular Intenpolationy 113 3 2 1 Finish Point Checking of Circular
25. F Universal Input Output7 Acceleration Descend Compare MR3 general purpose input output signals PIO7 acceleration decreasing status output signal ADSND MR3 comparison output CMP3 share the same pin The signal to use can be set as commands General purpose input signal PIO7 status can be read XPIO7 YPIO7 from RR4 register and ZPIO7 UPIO7 from RR5 register General purpose output signal PIO7 can set Hi Low by writing the 1 0 data XPIO7 YPIO7 to WR4 register and ZPIO7 UPIO7 to WR5 register For synchronous action it can be used as the input signal of an activation factor Acceleration decreasing status output ADSND becomes Hi while the driving command is executed and when acceleration decrease MR3 comparison output CMP3 becomes Hi when it satisfies the comparison condition of multi purpose register MR3 XPIO6 ACNST CMP2 YPIO6 ACNST CMP2 ZPIO6 ACNST CMP2 UPIO6 ACNST CMP2 57 76 95 114 Bi directional B F a Universal Input Output6 Acceleration Constant Compare MR2 general purpose input output signals PIO6 acceleration constant status output signal ACNST MR2 comparison output CMP2 share the same pin The signal to use can be set as commands About general purpose input output signals PIO6 it is the same as PIO7 For synchronous action it can be used as the input signal of an activation factor Acceleration constant status output ACNST becomes Hi while the dri
26. Table 2 11 2 Time Constant and Removable Maximum Noise Width CLK 16MHz Time Removable maximum noise constant Input signal delay time width 1 Hex 0 437 5nsec 500 n sec 1 875nsec 1usec 2 1 75 2usec 3 3 5usec 4usec 4 7 8 5 14 16usec 6 28 32 f Fouse 1 Noise width 8 112usec 128usec 9 224usec 256usec Noise width A 448 512ysec Ih B 896 1 024msec C 1 792msec 2 048msec Noise duty ratio I D 3 584msec 4 096msec E 7 168msec 8 192msec It requires that the noise duty ratio time ratio under which noise is generated in the signal must be 1 4 or less F 14 336msec 16 384msec At reset all input signal filter functions are disabled through NOVA electronics Inc MCX514 100 2 11 2 Example of Setting Input Signal Filters For the input signals belong to the filter time constant A set 128psec delay filter to EMGN XLMTP XLMTM XSTOPO XSTOPI input signals and set through to other input signals XECB XSTOP2 input signals belong to the filter time constant B are through Program Example nput output signal filter mode setting WR6 0807h Write D15 D12 0000 Filter time constant B Filter delay 500nsec D11 D8 01 D6 D5 D4 D3 02 DI 00 WRO 0125h Write O 1000 Filter time constant A Filter delay 128 sec XECA XECB signal Filter time c
27. Write bit data of 16 bit in the direction to WR6 register and write bit data of 16 bit in the direction to WR7 register The 16 bit data will be output as drive pulse from DO bit to the upper bit in turn When drive pulse number finish point setting command 06h is written with axis assignment in WRO register BP data is stored in pre buffer which is applied to all interpolation axes D15 DO WRE 1111111111100100 nPP direction pulse D15 DO w71 000000000000000 0 nPM irection pulse D11 D8 BP setting command j l Axis assignment Fig 3 4 3 Bit Pattern Data Writing 125 NOVA electronics Inc MCX514 126 3 4 4 Write of Interpolation Driving Command After writing bit pattern data of all axes write bit pattern interpolation driving command to WRO register It can interpolate from 2 axes to 4 axes The codes of interpolation driving commands are as follows Table 3 4 1 Bit Pattern Interpolation Command Interpolation command Code 2 axis bit pattern interpolation driving 66h 3 axis bit pattern interpolation driving 67h 4 axis bit pattern interpolation driving 68h Axis assignment is not necessary When a command is written in WRO register a stage of pre buffer is updated stack counter is counted up by 1 and interpolation driving is performed immediately If the user wants to start interpolation after storing a certain amount of bit pattern data in pre buffer set drive sta
28. 0 Activation factor MRm object changed to True D8 D4 00111 ACT4 0 Action Save CT MRm WRO 0127h Write NOVA electronics Inc 514 75 SYNCO 1 Enable WRO 0183h Write Start driving WRO 0152h Write Starts direction continuous pulse driving SYNC1 is activated and interrupt occurs Read timer value saved in MR1 WRO 0135h Write RR6 Read RR7 Read Timer stop WRO 0174h Write NOVA electronics Inc MCX514 76 2 6 7 Synchronous Action Delay Time A synchronous action delay is a total of the delay from the occurrence of an activation factor to an action as shown in the tables below W Delay from the occurrence of an activation factor 1CLK 62 5nsec 16 2 Table 2 6 8 Delay from the Occurrence of an Activation Factor Activation factor Definition of the start of delay Delay time CLK Min Standard Max MRm comparison Logical position From 1 of the driving pulse when the LP value 1 changed to True counter satisfies the comparison condition with MRm value Real position From 1 of the nECA B input signal when the RP counter value satisfies the comparison condition with MRm 2 3 value Current drive From when the current drive speed satisfies the 1 speed comparison condition with MRm value Current timer From when the current timer value satisfies the 1 value comparison condition with MRm v
29. 012Ch Write finish point of X axis 300 300 200 111 WR7 WRO WR6 WR7 WRO WRO electronics Inc lt 0000h 0106h FF38h FFFFh 0206h lt 0061h Write Write Write Write Write Write MCX514 112 finish point of Y axis 200 2 axis linear interpolation driving W Example of linear interpolation for 3 axes Executes linear interpolation for X Y and Z axes from the current position to the finish position X 15 000 Y 16 000 Z 20 000 The initial speed 500PPS acceleration deceleration 40 000PPS SEC drive speed 5 000PPS WRG WRO WR6 WRO WR6 WR7 WRO WR6 WRO WR6 WR7 WRO WR6 WRO WR6 WR7 WRO WRO WRO 0007h 002Ah lt 9 40 0000h 0102h lt 01F4h 0000h 0104h 1388h lt 0000h 0105h 3A98h lt 0000h 0106h lt 3 80 0000h 0206h lt 4 20 lt 0000h 0406h lt 006Dh 0062 Write Write Wr ite Wr ite Wr ite Wr ite Wr ite Write Write Write Write Write Write Write Write Write Write Write Write map interpolation axis X Y Z 24 15000 16000 20000 40 000 5 5 set accel speed to main axis 20000 500 PPS set initial speed to main axis dd 5000 PPS set drive speed to main axis 600 finish point of X axis 15 000 0 X 15000 finish point of Y axis 16
30. 514 28 Example of Parameter Setting Symmetry S Curve Acceleration Deceleration The figure shown below is the example of S curve acceleration that reaches from the initial speed 100pps to the drive speed 40kpps 0 4 seconds Speed DV _ 5 2 DV SV 2 SV Acceleration time 7 t 0 4sec time Fig 2 2 11 Example of Symmetry S Curve Acceleration Deceleration Driving At acceleration acceleration is increased on a straight line based on a specified jerk JK The integral value area indicated by diagonal lines is the increased value of the speed from the initial speed SV Find the jerk JK to produce the result where the speed reaches a half DV SV 2 of the drive speed DV from the initial speed SV within a half 5 2 of the acceleration time t 0 4sec Use the following expression to find a value of JK since the area indicated by diagonal lines which uses JK in the left hand member is equal to the right hand member 2 Dv sv 2 2 2 Jerk JK pps sec Drive speed DV pps 4 DV SV Initial speed SV pps JK ae t Acceleration time t sec 4 40000 100 JK 0 4 997 500 pps sec Therefore the parameters for S curve acceleration deceleration driving with the acceleration as shown in Fig 2 2 11 are as follows Mode Setting WR3 0004h Mode setting of WR3 register Jerk JK 997500 Accelerat
31. 8 Setting of software Sets software limit value to compare register Sets software limit value to a dedicated register limit value COMP COMP SLMT SLMT Because of this when using compare register as software limit the other function of compare register cannot be used 9 Stop type of Only decelerating stop Selectable from decelerating stop or instant software limit stop 10 Trapezoid triangle At reset Disabled At reset Enabled form prevention 11 Acceleration counter offsetting At reset 8 1 At reset 0 NOVA electronics Inc MCX514 C 2 12 Command code and Differs from MCX300 series mode setting bit 13 Position and speed When interpolation driving is performed Before interpolation driving be sure to set parameters setting continuously and if parameters are the same as position and speed parameters When for interpolation previous values it is not necessary to set them parameters are the same as previous values it driving again is necessary to set them again 14 How to set 2 axis Mode setting Set to WR5 D8 D9 Mode setting constant vector speed Speed range setting Set the value that multiplies the range of main axis by 1 414 to the range of second axis 2 Interpolation mode setting command 2Ah Set to WR6 D6 D7 Not required
32. 84 94 A4 85 95 A5 86 96 6 87 97 A7 88 98 8 89 99 A9 8 9 8 9B AB 8 9C AC 8D 9D AD O O O 8E 9E AE 8F 9F AF Enabled when enable setting command is executed and disabled when disable setting command is executed and activated when activation command is executed The state does not change when enable disable setting command is executed And not activated when activation command is executed NOVA electronics Inc MCX514 70 2 6 4 Synchronous Action Execution Execution steps of synchronous action Synchronous action is performed as follows D Set the activation factor and action by synchronous action SYNCm setting command 26h 29h Enable the synchronous action set by synchronous action enable setting command 81h 8Fh 8 The synchronous action is activated when the activation factor that is set occurs W Activation by synchronous action activation command The synchronous action can also be activated by a command which is the synchronous action activation command Alh Ah Multiple synchronous action sets can be activated simultaneously by a command code For the command code and corresponding synchronous action SYNC3 0 see table 2 6 7 To activate a synchronous action by a synchronous action activation command the user must enable a specifi
33. MCX514 77 1CLK 62 5nsec 16 2 Table 2 6 9 Delay up to an Action Action Definition of the end of delay Delay time CLK Load MRm DV Until the MRm value is loaded into DV 1 Load MRm TP Until the MRm value is loaded into TP 1 Load MRm SP1 Until the MRm value is loaded into SP1 1 Load MRm LP SYNCO Until the MRm value is loaded into LP SYNCO RP SYNC1 RP SYNC1 SV SYNC2 SV SYNC2 AC SYNC3 1 AC SYNC3 Save LP MRm Until the LP value is saved to MRm 1 Save RP MRm Until the RP value is saved to 1 Save CT gt MRm Until the CT value is saved to Mam 1 Save CV SYNCO CA SYNC1 Until the CV SYNCO CA SYNC1 values are saved to MRm 1 MRm Synchronous pulse nPlOm output Until 1 of the synchronous pulse nPlOm signal 1 Start of relative position driving Until of the 1st driving pulse 3 Start of counter relative position Until 1 of the 1st driving pulse 2 driving Start of absolute position driving Until 1 of the 1st driving pulse 3 Start of direction continuous Until 1 of the 1st driving pulse 8 pulse driving Start of direction continuous Until 1 of the 1st driving pulse 3 pulse driving Relative position driving by drive Until of the 1st driving pulse pulse number of MRm value Absolute position driving to the Until of the 1st driving pulse 4 finish point of MRm value Decelerating stop Until the sta
34. NOVA electronics Inc MCX514 202 k 0 7 PkM1 0 0 0 PkM1 0 0 1 PkM1 0 1 0 PkM1 0 1 1 nPlOm Signal 5 Pin Number General Purpose Input General Purpose Drive Status Output Synchronous Pulse Output Note Output True MRm Comparison Output X axis RR4 D0 X axis WR4 DO APIOUISS Y axis RR4 D8 Y axis WRA D8 YP100 82 Z axis RR5 DO Z axis WR5 DO Drivin SK 2 00 101 U axis RR5 D8 U axis WRS D8 9 Synchronous pulse output UPIOO 120 signal level reading value output X axis RR4 D1 X axis WR4 D1 tiis pun RR4 D9 12 WR4 D9 xis xis TET 2 3 RR5 D1 2 _ WR5 D1 E idend axis axis rror ZPIO1 100 U axis RR5 D9 U axis WR5 D9 Synchronous pulse output UPIO1 119 i signal level reading value output X axis RR4 D2 X axis WR4 D2 APIS TE Y axis RR4 D10 Y axis WR4 D10 xis xis YPIO2 80 ai SYNC2 Z axis RR5 D2 Z axis WR5 D2 Accelerating ZPIO2 99 Synchronous pulse output UPIO2 118 U axis RR5 D10 U axis WR5 D10 signal level reading value output X axis RR4 D3 X axis WR4 D3 XF 109 60 Y axis RR4 D11 Y axis WR4 D11 YPIO3 79 RN P Constant speed SYNC3 Z axis RR5 D3 Z axis WR5 D3 ps ZPIOS 98 driving Synchronous pulse output UPIO3 117 U axis RR5 D11 U axis WR5 D11 signal level reading value output X axis RR4 D4 X axis WR4 D4 XPIO4 59 Y axis RR4 D12 Y axis WR4 D12 I Z axis RR5 D4 Z axis WR5
35. Other SYNC Activation Activate SNC 1 WRO 0127h Write SYNC2 0 Enable WRO 0187h Write Start driving WRO 0150h Write Starts relative position driving In this case if split pulse is set to output at the timing of position 4 999 it actually starts to output from positon 5 000 Note e this case while operating split pulse the user must use caution with changing a split length and pulse width by such as synchronous action Because split pulses around the change may cause unexpected behavior due to the timing of change NOVA electronics Inc 514 87 2 8 General Purpose Input Output Signal 514 has 8 general purpose input output pins in each axis nPIO7 0 When not using the input signal that has a specific function disable its function and it can be used as a general purpose input signal 2 8 1 nPlOm Signal nPIOm signal can be used as input output signals for various purposes as shown below 1 General purpose input signal 2 General purpose output signal 3 Input signal as the activation factor of a synchronous action 4 Synchronous pulse output signal as the action of a synchronous action 5 Output signal to output drive status 6 Output signal to output the comparison result of a multi purpose register 7 Input signal for driving by external signals W nPlOm signal function setting The function of nPIOm signals can be set by PIO signal setting 1 command 21h Dib 14
36. Quadrature pulse and quad edge evaluation Quadrature pulse and double edge evaluation are selectable Positive Negative logical level selectable Drive Pulse Output Pin Possible to pin inversion Encoder Input Input Pulse Input Type Quadrature pulses input and quad edge evaluation Quadrature pulses input and double edge evaluation Quadrature pulses input and single edge evaluation Up down pulse input are selectable Input Pin Possible to pin inversion NOVA electronics Inc 514 12 Position Counter Logical Position Counter Count Range 2 147 483 648 2 147 483 647 drive pulse 25 Real Position Counter Count Range 2 147 483 648 2 147 483 647 drive pulse 5 Variable Ring Possible to set the count maximum value of each counter Software Limit Setting Range 2 147 483 648 2 147 483 647 pulse Stop Mode Decelerating Instant stop selectable Multi Purpose Bit Length 32 bit length Register Number of Registers 4 registers per axis Uses Compare with position speed and timer value load data such as position and speed and save data such as current position speed and timer value Timer Number of timers 1 per axis Setting Range 1 2 147 483 647usec Split Pulse Number of signals 1 per axis Split Length 2 65 535 drive pulse 6 Split Pulse Width 1 65 534 drive pulse Split Pulse Number 1 65 535 or up to infinity Automatic Home Sequence STEP1 h
37. 0 not disable at the error 1 disable at the error When this bit is set to 1 and when n ERR bit of RRO register becomes 1 synchronous action SYNC3 0 is all disabled immediately When n ERR bit of RRO register is 1 synchronous action SYNC3 0 cannot be enabled again Clear the error bit by such as the error finishing status clear command 79h and then set the synchronous action enable setting Error status and enable disable setting of synchronous action SYNC3 0 can be checked by Page 1 of RR3 register D9 8 EXOP1 0 Setting the external input signals nEXPP nEXPM for driving D9 EXOP1 Driving mode by external signals 0 Driving disabled by external signals 0 Continuous driving mode 1 Relative position driving mode 1 Manual pulsar mode 203 NOVA electronics Inc MCX514 204 D10 SPLL The logical level of split pulse output 0 positive logical pulse 1 negative logical pulse Positive Logical Pulse Negative Logical Pulse D11 SPLBP With or without starting pulse of split pulse output 0 without starting pulse 1 with starting pulse D15 DO will be set to 0 at reset DI5 D12 should always be set to 0 7 3 4 Automatic Home Search Mode Setting 1 Command Data Length byte Automatic home search mode setting 1 2 is the parameter setting the automatic home search mode Enable disable of each step for automatic home search search direction stop signal selectable enable disable of d
38. 0104h Write D3 Split pulse setting Split length pulse width setting WR6 0008h Write WR7 lt 0005h Write WRO 0117h Write Split pulse number setting WR6 0000h Write WRO 0118h Write Split pulse logic starting pulse setting WR6 0800h Write D10 D11 WRO 0122h Write Synchronous action setting Synchronous action SYNCO setting WR6 0174h Write D3 DO 08 D4 D15 WRO 0126h Write Split pulse number Initial speed 10 PPS Drive speed 4000 PPS Acceleration 536870911 maximum Jerk 893K PPS SEC2 Drive pulse number 40000 Logical position counter 0 1 SACC S curve acceleration deceleration Split length 8 Pulse width 5 Infinite 0 SPLL Pulse logic Positive 1 SPLBP With starting pulse 0100 PREV3 0 Activation factor 10111 ACT4 0 Action 0 REP Repeat Start constant speed driving start of split pulse must be disabled NOVA electronics Inc MCX514 84 Synchronous action SYNC1 setting WR6 0185h Write 03 D0 0101 PREV3 0 Activation factor Finish constant speed driving D8 D4 11000 ACT4 0 Action termination of split pulse D15 0 REP Repeat must be disabled WRO 0127h Write SYNCO 1 Enable WRO 0183h Write Start driving WRO 0150h Write Starts relative position driving NOVA electronics Inc Example 4 position 10 000 514 85 Starts
39. 0111h Write NRI MR2 WR6 WR7 WRO setting 0004h Write 0002h Write 0112h Write Split Pulse Multi purpose register mode setting WR6 0000h Write D1 DO D3 D2 D5 D4 D7 D6 WRO 0120h Write speed 1000 PPS Logical position counter pulse number length 10 width 5 pulse number ng Initial speed 8M PPS maximum 0 12000 800 0 SPLL Pulse logic Positive 1 SPLBP With starting pulse MRO 4999 10000 length 4 width 2 00 MOT1 0 00 MOC1 0 00 MIT1 0 00 MIC1 0 Logical position counter gt MRO Comparative object MRO Comparison condition gt MR1 Comparative object Logical position counter MR1 Comparison condition NOVA electronics Inc MCX514 86 Synchronous action setting Synchronous action SYNCO setting WR6 0171h Write D3 D0 0001 PREV3 0 Activation factor MRm object changed to True D8 D4 10111 ACT4 0 Action start of split pulse WRO 0126h Write Synchronous action SYNC1 setting WR6 0201h Write D3 D0 0001 PREV3 0 Activation factor MRm object changed to True D8 D4 00000 ACT4 0 Action Di1 D9 001 SNC 3 2 1 Other SYNC Activation Activate SNC 1 WRO 0127h Write Synchronous action SYNC2 setting WR6 0030h Write D3 DO 0001 PREV3 0 Activation factor D8 D4 00011 ACT4 0 Action Load SP1 011 D9 001 SNC 3 2 1
40. 245 Relative position driving Counter relative position driving NOVA electronics Inc int int int int int int int int ExeDRVVP int Axis return ExeCmd MCX514_CMD52_DRVVP ExeDRVVM int Axis return ExeCmd MCX514 CMD53 DRVVM ExeDRVAB int Axis return ExeCmd MCX514 CMD54 DRVAB ExeDRVSBRK int Axis return ExeCmd MCX514 CMD56 DRVSBRK ExeDRVFBRK int Axis return ExeCmd MCX514 CMD57 DRVFBRK ExeDIRCP int Axis return ExeCmd MCX514 CMD58 DIRCP Axis ExeDIRCM int Axis return ExeCmd 514 CMD59 DIRCM Axis ExeHMSRC int Axis return ExeCmd MCX514 CMD5A HMSRC Axis MCX514 246 Direction continuous pulse driving Direction continuous pulse driving Absolute position driving Decelerating stop Instant stop Direction signal setting Direction signal setting Automatic home search execution Interpolation command functions int ExeLHK1 void multichip return ExeCmd MCX514 CMD60 LHK1 MCX514 AXIS int int int int int int int int int int int int
41. 9998 2 5000 Fig 2 3 3 Operation of Position Counter Ring Maximum Value 9999 Note e tis possible to set the value within the range of 1 2 147 483 647 1 7FFF FFFFh as the maximum value of the variable ring function The signed negative value 8000 0000h FFFF FFFEh of a 32 bit register cannot be set e When setting values to the logical position counter LP and real position counter RP the values out of the range of the logical position counter maximum value LX and the real position counter maximum value RX cannot be set NOVA electronics Inc 514 36 2 4 Multi Purpose Register 514 has four signed 32 bit multi purpose registers MR3 0 per axis Multi purpose register can be used to compare with the current position speed and timer and then can read out the status which represents comparison result and can output as a signal In addition it can activate a synchronous action according to comparison result and can generate an interrupt As an action of a synchronous action it can load the values pre set in multi purpose registers as a new speed or drive pulse number and can save the current position or speed in multi purpose registers Multi purpose registers can be written read anytime by using each multi purpose register setting command 10h 13h and multi purpose register reading command 34h 37h The values of multi purpose registers are undefined at reset 2 41 Comparative Object and Comparison Conditio
42. MCX514_AXIS_ALL 0 Logical position counter Clear WriteReg3 MCX514 AXIS ALL 0x0004 Specifies S curve acceleration deceleration driving ExeDRVRL MCX514 AXIS Relative position driving waitdrive MCX514 AXIS Waiting for termination of driving 250 NOVA electronics Inc Synchronous action 514 251 Performs Example 3 Calculates the time passing through from position A 10000 to position 55000 during X axis driving in 2 6 6 Examples of Synchronous Action void sync void Constant speed driving at 10kpps SetStartSpd MCX514 AXIS X 8000000 SetSpeed MCX514 AXIS X 10000 SetLp MCX514 AXIS X 0 SetPulse 514 AXIS X 60000 SetMRO MCX514 AXIS X 10000 SetMR1 MCX514_AXIS_X 55000 SetTimer MCX514_AXIS_X 2147483647 Wr iteReg1 MCX514_AXIS_X 0x2000 SetModeMRm MCX514 AXIS X 0x0000 SetModeSyncO MCX514 AXIS X 0x0151 SetModeSync1 0 514 AXIS X 0x0071 Initial speed 8Mpps maximum in specification Drive speed 10Kpps Logical position counter 0 Drive pulse number 60000 MRO 10000 MR1 55000 Timer value maximum in specification WR1 Synchronous action set 1 activation Compares MRO with LP Comparison condition Compares MR1 with LP Comparison condition SYNCO setting Activation factor MRm object changed to True Action Timer start SYNC1 setting Activation f
43. SDA signal 252 Other input pins NOVA electronics Inc 514 253 10 2 AC Characteristics Ta 40 85 C 3 3V 10 Output load condition D15 DO INTN 85pF SDA 400pF Others 50pF 10 2 1 Clock CLK Input Signal CLK tCYC CLK Cycle CLK Hi Level Width CLK Low Level Width 10 2 2 Read Write Cycle Read Cycle Write Cycle The figure shown above is used for 16 bit data bus accessing H16L8 Hi For 8 bit data bus H16L8 Low the address signals shown in the figure become A3 0 and data signals become D7 DO Address Setup Time to RDN CSN Setup Time to RDN Output Data Delay Time from RDN 1 Output Data Hold Time from RDN f CSN Hold Time from RDN 1 Address Hold Time from RDN 1 Address Setup Time to CSN Setup Time to WRN Low Level Pulse Width Setup Time of Input Data to WRNT Hold Time of Input Data from WRN CSN Hold Time from WRN Address Hold Time from WRN 253 NOVA electronics Inc MCX514 254 10 2 3 CLK Output Signal Timing The following output signals are synchronized with CLK signal The level will be changed at CLK CLK Output Signal tDD Output signals nPP nPM nDCC nSPLTP nPIO7 0 according to the function selected Symbol Item Min Max Unit tDD CLK T Output Signal 1 Delay
44. The pin number for this bit does not change even though the pin inversion of hardware limit input WR3 D12 LMINV is set Displaying the input status of hardware limit input signal nLMTM 69 88 109 128 The pin number for this bit does not change even though the pin inversion of hardware limit input WR3 DI2 LMINV is set The home search execution state indicates the operation currently executed while the automatic home search is performed See chapter 2 5 5 Indicates RR3 is displaying Page 0 and becomes 0 It becomes 1 when SYNC3 0 is active To enable a synchronous action write a synchronous action enable command 8F 81h To disable a synchronous action written a synchronous action disable command 9F 91h It becomes 1 at acceleration ares in acceleration deceletration driving Speed It becomes 1 at constant speed area in acceleration deceletration driving LLASND 1 CNST 1 L DSND 1 Time A It becomes 1 at deceleration ares in Acceleration EN Acceleration Deceleration acceleration deceleration driving Deceleration In S curve it becomes 1 when acceleration deceleration increases MSND 1 ACNST TJADSND 1 1 ACNST 1 ADSID 1 In S curve it becomes 1 when acceleration deceleration keeps constant In S curve it becomes 1 when acceleration deceleration decreases It becomes 1 when the timer is in operation It becomes 1 when the split pulse is in operation It be
45. The triangle form prevention function prevents a triangle form in linear acceleration deceleration fixed pulse driving even if the number of output pulses does not reach the number of pulses required for accelerating to a drive speed The triangle form indicates the speed curve that shifts to deceleration during the acceleration phase in linear acceleration deceleration driving When the number of pulses that were utilized at acceleration and deceleration exceeds 1 2 of the total number of output pulses during acceleration this IC stops acceleration and keeps that driving speed and then decelerates automatically Therefore even if the number of output pulses is less in fixed pulse driving 1 2 of the number of output pulses becomes constant speed area and can make the triangle form into the trapezoidal form Speed Accelerating P 2x Pa Pd Output pulse number in fixed driving Pa Number of pulses utilized at acceleration Pd Number of pulses utilized at deceleration Pd time Fig 2 2 5 Triangle Prevention of Linear Acceleration Driving The triangle form prevention function in linear acceleration deceleration fixed pulse driving is enabled from a reset And it can be disabled by setting D13 bit of WR3 register to 1 If the decelerating stop command is performed during acceleration the triangle form prevention does not work As shown in Fig 2 2 3 deceleration starts from when the decelerating
46. The value at reset is FFFF FFFFh When the variable ring function is not used the value should be default 195 NOVA electronics Inc MCX514 196 7 2 17 Multi Purpose Register 0 Setting Code Command Symbol Data Range Data Length byte 10h Multi purpose register 0 setting MRO 2 147 483 648 2 147 483 647 4 MRO is the parameter setting the value of multi purpose register 0 Multi purpose register is used for comparison of position speed timer value and large or small and load save of each parameter as a synchronous action Comparison result is used for comparative signal output synchronous action activation and generating an interrupt A multi purpose register MRO setting value can be written anytime and read by multi purpose register 0 reading command 34h anytime 7 2 18 Multi Purpose Register 1 Setting Code Command Data Range Data Length byte 11h Multi purpose register 1 setting 2 147 483 648 2 147 483 647 4 MRT is the parameter setting the value of multi purpose register 1 Multi purpose register is used for comparison of position speed timer value and large or small and load save of each parameter as a synchronous action Comparison result is used for outputting of comparison output signal synchronous action activation and generating an interrupt A multi purpose register MR1 setting value can be written anytime and read by multi purpose register 1 reading comm
47. WriteRegO Axis lt lt 8 514 CMD7B RR3P1 WriteRegO Axis lt lt 8 MCX514_CMD1F_NOP Axis assignment return ReadReg volatile unsigned short REG_ADDR MCX514 Data int ReadReg4 unsigned short Data Reads out RR4 register return ReadReg volatile unsigned short REG_ADDR MCX514_RR4 int ReadReg5 unsigned short Data Reads out RR5 register return ReadReg volatile unsigned short REG ADDR MCX514 RR5 Data int ReadReg6 unsigned short Data Reads out RR6 register return ReadReg volatile unsigned short REG ADDR MCX514 RR6 Data int ReadReg7 unsigned short Data Reads out RR7 register return ReadReg volatile unsigned short REG ADDR MCX514 RR7 Data MUI B M B I P g P P P ll Ml I IL lb V l gL ll Functions of commands for writing data MILI B M B B M I P Lg L L l LI LL LG TTT 3 int SetStartSpd int Axis long Data Initial speed setting return SetData MCX514 004 SV Axis Data int SetSpeed int Axis long Data Drive speed setting return SetData MCX514 0 005 DV Axis Data 242 514 242 NOVA electronics Inc int int int int int int int int int int int int int int int int int int int int int SetJerk int Axis SetDJerk int Axis SetAcc int Axis SetDec int Axis SetPulse int Axi
48. YPIO3 CNST ZPIOS CNST UPIOS CNST 60 79 98 117 Bi directional B PON F pem Universal Input Output3 Constant general purpose input output signals PIOS constant speed driving status output signal CNST share the same pin The signal to use can be set as commands About general purpose input output signals PIOS it is the same as PIO7 For synchronous action it can be used as the input signal of an activation factor or the output signal of synchronous pulses of the action The logical level of synchronous pulses and pulse width can be set as commands Constant speed driving status output CNST becomes Hi while the driving command is executed and when in constant speed driving XPIO2 ASND YPIO2 ASND ZPIO2 ASND UPIO2 ASND 61 80 99 118 Bi directional B am F Universal Input Output2 Ascend general purpose input output signals PIO2 acceleration status output signal ASND share the same pin The signal to use can be set as commands About general purpose input output signals PIO2 it is the same as PIO7 About synchronous action it is the same as PIOS Acceleration status output ASND becomes Hi while the driving command is executed and when in acceleration XPIO1 ERROR YPIO1 ERROR ZPIO1 ERROR UPIO1 ERROR 62 81 100 119 Bi directional B Seah F ami Universal Input Output1 Error general purpose input output signals PIO1 error status output signal ERRO
49. disable state of synchronous action SYNC3 0 can be checked by Page 1 of RR3 register When resetting all of SYNC3 0 will be disabled Note e using PIO signal setting 2 other settings command 22h when the synchronous action activated by an error is disabled by the setting D7 ERRDE bit 1 and when an error occurs n ERR bit of RRO register is 1 this command cannot be set to enable the synchronous action Write the synchronous action enable setting command after clearing n ERR bit by such as error finishing status clear command 79h 228 NOVA electronics Inc MCX514 229 7 7 2 Synchronous Action Disable Setting Command Synchronous action disable setting This command sets to disable each synchronous action set which is specified by the lower 4 bit of the command code Once the synchronous action is set to disable it cannot be activated by an activation factor or synchronous action activation command Example To disable the synchronous action sets SYNC1 and SYNC3 in X axis write 019Ah into WRO The enable disable state of synchronous action SYNC3 0 can be checked by Page 1 of RR3 register When resetting all of SYNC3 0 will be disabled 7 7 8 Synchronous Action Activation Command Synchronous action activation This command sets to activate each synchronous action set which is specified by the lower 4 bit of the command code Before the synchronous action is activated the mode
50. it performs instant stop If a limit signal is used as a detection signal it becomes the limit signal of a search direction Home or Limit Sensor Step1 High speed home search gt Once Exit search gt Step2 Low speed home search When the same direction is specified in Step1 and 2 Fig 2 5 2 Example 2 of Automatic Home Search This IC provides several mode settings in response to these various home search operations NOVA electronics Inc 2 5 1 Operation of Each Step MCX514 42 In each step the user can specify execution non execution the search direction and a detection signal by mode setting If non execution is specified it proceeds with next step without executing that step W Step 1 High speed home search Drive pulses are output in a specified direction at the speed set in the drive speed DV until the specified detection signal becomes active The user can specify any one of nSTOPO 5 and limit signals as the detection signal If a limit signal is selected it becomes the limit signal of a search direction To perform high speed search operation set the drive speed DV higher than the initial speed Acceleration deceleration driving is performed and when the specified signal becomes active the operation stops by deceleration Irregular operation D A specified detection signal is already active before Step 1 starts 2 When nSTOPO or nSTOPI is specified as a
51. of execution axis in RRO register becomes 1 The error factor will be displayed in D6 DO bits of RR2 register as shown below H D15 Di4 12 Dii DIO D9 08 D7 D6 05 D4 D3 D2 DI DO HOME EMG ALARM HLMT SLMT SLMT RR2 For more details of each error factor see chapter 6 13 D14 D9 bits HSST5 0 of register PageO indicate the automatic home search execution state by number The user can check the operation currently being executed H L D15 Di4 Di2 DIO D9 08 D7 D6 D5 D4 D3 D2 DI DO RR3 55 5 5574 HSST3 HSsT2 HSST1 HSSTO Automatic Home Search Execution State Table 2 5 9 Automatic Home Search Execution Status Execution state Execution step Operation details Waits for automatic home search execution command 3 Step 1 Waits for activation of a detection signal in the specified search direction 6 The timer is running between Step 1 and Step 2 3 Waits for activation of a detection signal in the direction opposite to the specified search direction irregular operation 138 Step 2 Waits for deactivation of a detection signal in the direction opposite to the specified search direction irregular operation 18 The timer is running after irregular operation 20 Waits for activation of a detection signal in the specified search direction d The timer is running betwee
52. xc yc that is set in MCX514 The radius and execution time are calculated by the following formula Radius of circular arc r 4 xc yc Execution time t 1X10 xXn 2 Note execution time is multiplied by 8 times in short axis pulse equalization mode 118 NOVA electronics Inc MCX514 119 3 3 6 Helical Interpolation Execution Before performing helical interpolation set the position data that is set in 3 3 4 again and then helical interpolation will be performed by CW helical interpolation driving command 69h or CCW helical interpolation driving command 6Ah Write CW helical interpolation driving command 69h in WRO register when to rotate the circular arc on the XY plane in the CW direction and write CCW helical interpolation driving command 6Ah in WRO register when to rotate it in the CCW direction and then helical interpolation will be performed Table 3 3 5 Helical Interpolation Command Helical Interpolation Command code Helical Interpolation 69h CW helical interpolation 6Ah CCW helical interpolation Before starting helical interpolation all the necessary data must be set For more details of setting items see chapter from 3 3 1 to 3 3 5 3 3 7 Current Helical Rotation Number Reading During helical interpolation the user can read the current rotation number by current helical rotation number reading command 3Ah The helical rotation number is counted up at the timing when it re
53. 000 finish point of Z axis 20 000 deceleration enabling Lut 3 axis linear interpolation driving 112 NOVA electronics Inc MCX514 113 3 2 Circular Interpolation ax2 Any 2 axes of the 4 axes can be set for circular interpolation CCW circular interpolation In the orthogonal coordinates on the right figure 2 axes are each set to the axl axis horizontal axis and ax2 axis vertical axis in order of priority X gt Y gt Z gt U the higher priority axis is set to ax1 axis and the lower priority Finish point Start point axis is set to ax2 axis The right direction of ax1 horizontal axis is Center point axi direction and the upper direction of ax2 vertical axis is direction Finish point Start point If X and Y axes are selected X axis becomes ax horizontal axis and Y axis becomes ax2 vertical axis The user can reverse the axes by interpolation mode setting CW circular interpolation To execute circular interpolation set center point coordinates of a Fig 3 2 1 CW CCW circular interpolation circular arc and the finish point coordinates relative to the present point coordinates start point and write CW or CCW circular interpolation driving command then circular interpolation will be performed The center and finish point coordinates must be set by the relative value to the present point coordinates In Fig 3 2 1 CW circular interpolation it explains the definition of CW and CCW c
54. 1 10 Continuous Pulse Driving Direction continuous pulse driving command 52h and Direction continuous pulse driving command 53h are available To perform acceleration deceleration continuous pulse driving parameters except drive pulse number TP must be set as well as fixed pulse driving NOVA electronics Inc 514 19 Table 2 1 3 Setting Parameters Continuous Pulse Driving Parameter Symbol Comment No need to set deceleration when acceleration and Acceleration Deceleration AC DC deceleration are equal Initial speed SV Drive speed DV Changing Drive Speed during the Driving Override The drive speed can be changed freely during continuous pulse driving which can be altered by changing a drive speed parameter DV or issuing a speed increase decrease command In S curve acceleration deceleration driving it will be invalid if the speed is changed in the middle of acceleration deceleration In fixed pulse driving under the symmetry trapezoidal acceleration deceleration and constant speed a drive speed DV can be changed during the driving However if a speed of fixed pulse driving is changed at linear acceleration deceleration some premature termination may occur So please note when using the IC with low initial speed In fixed pulse driving automatic deceleration mode under the non symmetry trapezoidal acceleration deceleration and S curve acceleration deceleration the drive speed
55. 1F NOP OOFF Command reset MCX514 189 Note Please do not write the codes not mentioned above The unknown situation could happen due to IC internal circuit test 189 NOVA electronics Inc MCX514 190 7 2 Commands for Writing Data Commands for writing data is used for setting driving parameters such as acceleration drive speed drive pulse number When more than one axis is specified it is possible to set the same data in specified axes simultaneously If the data length is 2 bytes WR6 register can be used If the data is 4 bytes the high word data can be written into register WR7 and the low word into register WR6 Then the axis assignment and command code will be written into register WRO for execution Writing data for registers WR6 and WR7 is binary and 2 s complement is used for negative numbers Each data should be set within the permitted data range If the setting data is out of range operation cannot be done correctly Note e It requires 125 nSEC maximum to access the command code when CLK 16MHz Please do not write the next command or data during the period of time e Except acceleration offset AO logical position counter maximum value LX and real position counter maximum value RX other parameters are unknown at reset So please set proper values for those driving related parameters before the driving starts e The unit described in each speed parameter and timer value is for when input clock CLK
56. 47h Split pulse setting 1 reading 4 Pulse width 1 65 534 The value set by Split pulse setting 1 command 17h is set in read registers RR6 and RR7 The split length is set in RR6 and the pulse width is set in RR7 When MRm value is loaded to split pulse setting 1 SP1 by a synchronous action that value will be read out 7 4 24 General Purpose Input Value Reading Code Command Data Range Data Length byte RR7 Lower byte PIN7 0 48h General purpose input value reading RR6 2 bytes D15 0 120 communication The axis assignment is not necessary for this command In PC serial interface bus mode the signal levels of D15 0 pin number 12 8 117 18 are set to read register RR6 If not in PC serial interface bus mode read register RR6 will be 0 When PIN7 0 pin number 132 139 are used as the general purpose input the signal levels of PIN7 0 are set to the lower 8bits of read register RR7 The upper 8bits are 0 5 Di4 D3 2 1 Dio Do 08 ne 05 pa D Di no RR6 pis pi4 pi3 012 Dit 010 Do Da D7 D6 D5 v4 D3 D2 Di DO H L 5 4 D13 D2 D11 DIO D9 08 D7 06 D5 D4 D3 D2 Di DO RR go lo lo o o o o pine Pins pi PING PIN2 PIN1 PINO When the signal is Low level 0 is displayed and when the signal is Hi level 1 is displayed 218 NO
57. 8 shows the operation of S curve acceleration deceleration driving where acceleration and deceleration are symmetrical Section a When driving starts the acceleration increases on a straight line at a specified jerk In this case the speed data forms a quadratic curve Section b If the difference between a specified drive speed and the current speed becomes less than the speed that was utilized at acceleration increasing the acceleration starts to decrease on a straight line at a specified jerk The decrease ratio is the same as the increase ratio In this case the rate curve forms a parabola of reverse direction Section c When the speed reaches a specified drive speed or the acceleration reaches 0 the driving keeps that speed In fixed pulse driving of S curve acceleration deceleration where acceleration and deceleration are symmetrical when the rest of output pulses becomes less than the number of pulses that were utilized at acceleration deceleration starts automatic deceleration Section d e Also in deceleration the speed forms a S curve by increasing decreasing deceleration in a primary linear form The same operation is performed in acceleration deceleration where the drive speed is changed during continuous pulse driving However in S curve acceleration deceleration driving change of a drive speed during acceleration deceleration is invalid Speed a Drive Speed b e d Initial S
58. 9 Direction Signal Settlrigi er EE REESE SOLEO 222 7 5 10 Automatic Home Search Execution nnns 222 7 6 Interpolation 223 7 6 1 1 axis Linear Interpolation Driving Multichip ecce 223 7 6 2 2 Linear Interpolation Driving esee mme nennen enne 223 7 6 3 3 Linear Interpolation Driving eee nnne nnn nnn nnn nnne nnne nnn 223 7 6 4 4 axis Linear Interpolation Driving cesses meme 224 7 6 5 CW Gircular Interpolation Driving si teret ret t tecto i Dude tel a 224 7 6 6 Circular Interpolation 2 nnn 224 7 6 7 2 Bit Pattern Interpolation 224 7 6 8 3 Axis Bit Pattern Interpolation 0 225 7 6 9 4 Axis Bit Pattern Interpolation meme 225 7 6 10 CW Helical Interpolation 225 7 6 11 CCW Helical Interpolation 225 7 6 12 CW Helical Galc lation ii iter Renee LU eee orte die LU ve en eed a vun dco is 226 7 6319 GOW Helical Galculatiori 2 2 i tee e ee HR e EP PE i e EE 226 7 0 14 Deceleration Enab Nguso ae ve ERROR eI XE eR ea c
59. AO 3 3V Fig 4 1 1 Connection Example of I C Serial Bus 4 1 Pins used in I2C Bus Mode To use MCX514 in bus mode it is necessary to connect the following pins correctly Table 4 1 1 Pins in IC Bus Mode Signal Pin No Description BUSMOD 32 Sets the bus mode Setting Low level becomes in 2 bus mode A2 A0 22 24 Address signals A2 A0 22 24 are used as chip address setting pins Low level is 0 and Hi level is 1 514 chips can be connected up to 8 chips at a maximum on the same bus SDA 25 SDA signal pin in IC bus which must be pulled up SCL 26 SCL signal pin in 1 C bus which must be pulled up It is shared with CSN signal When I C bus mode it is used as SCL signal input I2CRSTN 31 Reset signal for 2 control section Setting Low level in CLK asynchronous input will reset Keep on Low 1 or more It is shared with H16L8 signal 4 1 1 Pull up Resistor Rp SDA and SCL signals of the bus line need pull up resistor Rp and the value of pull up resistor depends on the data transfer rate and load capacity of the bus For more details please refer to I2C bus specification from NXP 153 NOVA electronics Inc MCX514 154 4 1 2 I2CRSTN Reset W Atinitial setting In the initial state of the system noise may be occurred in SCL and SDA signals by switching PC pin mode of the host CPU and then the data transfer may not be performed corre
60. CW CCW Interpolation segment Jerk Deceleration increasing rate 2 s complement Creep Premature termination nPlOm SYNCm MRm The function of a signal is the state of being enabled Action to output pulses for rotating a motor to the driver drive unit of a pulse type servo motor or setepping motor Drive that outputs specified pulses Three types of drives relative position drive counter relative position drive and absolute position drive are available Drive that outputs pulses up to infinity unless a stop factor becomes active Clockwise direction abbreviation of clockwise Counter clockwise direction abbreviation of counter clockwise Each interpolation driving that comprises continuous interpolation Acceleration increasing decreasing rate per unit time This term includes a decreasing rate of acceleration Jerk Deceleration increasing decreasing rate per unit time This term includes a decreasing rate of deceleration 2 s complement is used to represent negative numbers in binary Example In 16 bit length 1 is FFFFh 2 is FFFEh 3 is FFFDh 32768 is 8000h In deceleration of acceleration deceleration fixed pulse driving output of specified driving pulses is not completed even if the speed reaches the initial speed and the rest of driving pulses is output at the initial speed Creep In deceleration of acceleration deceleration fixed pulse driving output of specified dr
61. Constant vector speed 2 axis 3 axis simple mode 2 axis high accuracy mode selectable Continuous interpolation Data buffering by 8 stages preregister Single step interpolation Multichip axes linear interpolation Drive Pulses Output Drive Speed Range 1 pps 8 000 000 pps When CLK 20MHz up to 10 000 000 pps Initial Speed Range 1pps 8 000 000 pps Pulse Output Accuracy 0 1 or less according to the setting speed Acceleration Range 1 pps sec 536 870 911pps sec Acceleration Increasing Decreasing Rate Range 1 pps sec 1 073 741 823 pps sec 1 Acceleration Deceleration Curve Constant speed Symmetrical non symmetrical linear acceleration deceleration Symmetrical non symmetrical parabola S curve acceleration deceleration Drive Pulse Range Relative position driving 2 147 483 646 2 147 483 646 pulse E Absolute position driving 2 147 483 646 2 147 483 646 drive 2 pulse Position Driving Automatic deceleration stop Manual deceleration stop Decelerating Stop Mode Override Output pulse number and drive speed are changeable during the 4 driving Driving Commands Relative Absolute position driving t direction continuous driving Triangle Form Prevention Drive Pulse Output Type Drive Pulse Output Logic Can be used both in linear and S curve acceleration deceleration Independent 2 pulse 1 pulse 1 direction
62. D Write axis assignment to WROH HI 2 Write data reading command to WROL HH 9 Read from RR6 7 161 NOVA electronics Inc 5 Pin Assignments and Signal Description 5 1 Pin Assignments ZLMTM ZSTOP2 ZSTOP1 ZSTOPO UP107 ADSND CMP3 UP106 ACNST CMP2 UP105 EXPM AASND CMP1 UP104 EXPP DSND CMPO UP103 CNST UP102 ASND UPIO1 ERROR UPIOO DRIVE UDCC USPLTP UINPOS UALARM VDD GND ULMTP ULMTM USTOP2 USTOP1 USTOPO PIN7 MPLS PING MERR PINS MINP MOLK PINS MDT3 PIN2 MDT2 PINI MDT1 PINO MDTO EMGN TEST1 TEST2 VDD GND ea ea cz O O oma oma 2 azaoa lt a V e V Lo Lu Oe gt Qa EUA gt 0 Q C 020 0 2M 02 0 2 gt lt gt lt gt lt gt lt 0003 CA LLI C5 LLI LL x O LLI zx O LLI LL c gt gt gt gt gt Shor merele elele elelee era a 1 251 0 225116 O gt NNNNNNNNNN NNN gt gt gt oo gt gt gt gt gt gt gt gt gt gt lt gt lt NOVA elec 514 Pin 1 Mark wt LO cO r WRN RDN RESETN EXPLSN BUSMOD INTON INTIN MCX514 162 X XPIOO DRIVE XPIO1 ERROR XP102 ASND XP
63. D3 U EN U In multichip interpolation the user can also specify 1 axis only Note e In multichip interpolation short axis pulse equalization mode cannot be used Be sure to set D8bit to 1 2 Speed parameter setting for the main axis of the main chip It sets the speed parameters to the main axis of the main chip for interpolation driving There is no need to set to other interpolation axes of the main and sub chips The following parameters must be set to the main axis of the main chip based on the acceleration deceleration Table 3 10 4 Speed Parameters for the Main Axis of Main Chip O need to set Speed parameters for the main axis of main chip Acceleration Deceleration Jerk Acceleration Deceleration Initial Speed Drive Speed Costant speed driving Trapezoidal driving Non symmetry trapezoidal driving S curve symmetry driving 146 NOVA electronics Inc MCX514 147 Note e maximum drive speed is 4MPPS in multichip interpolation Set the drive speed lower than 4MPPS e setting drive speed is applied to the axis that has the maximum number of the drive pulse in all axes of multiple axes linear interpolation The setting speed is not necessarily applied to the main axis of the main chip e When performing trapezoidal or S curve acceleration deceleration driving deceleration enabling command 6Dh must be written to the main chip before i
64. D4 Deceleratin MRO comparison output Zone U axi RR5 D12 U axi WR5 D12 pue xis xis UPIO4 116 A pra signal level reading value output X axis RR4 D5 X axis WR4 D5 XPIO5 58 Y axis RR4 D13 Y axis WR4 D13 YPIO5 77 Acceleration MR1 comparison output Z axis RR5 D5 Z axis WR5 D5 f U axis RR5 D13 U axis WR5 D13 AES UPIO5 115 y f signal level reading value output X axis RR4 D6 X axis WR4 D6 XPIO6 57 Y axis RR4 D14 Y axis WR4 D14 6 76 Z axis RR5 D6 Z axis WR5 D6 Acceleration MR2 comparison output 2812903 RR5 D14 U axis WR5 D14 Constant reim hi UPIO6 114 f 5 signal level reading value output X axis RR4 D7 X axis WR4 D7 XPIO7 56 Y axis RR4 D15 Y axis WR4 D15 3 7 75 d Acceleration MR3 comparison output Z axis RR5 D7 Z axis WR5 D7 U axis RR5 D15 U axis WR5 D15 a UPIO7 113 j signal level reading value output See chapter 2 8 General Purpose Input Output Signals for details of nPIO7 0 signals Note e When nPIO7 0 signals are general purpose input mode 0 0 0 it can be used as activation factor of a synchronous action See chapter 2 6 for more details e When nPIO4 5 signals are general purpose input mode PkM 1 0 0 0 it can be used as input signals nEXPM input for driving by external signals See chapter 2 12 1 for more detai
65. D4 bit D10 bit D15 bit 0 Non execution Specified Bit S1EN 52 S3EN S4EN 1 Execution Search direction of each step Specify the search direction of a detection signal in each step 0 direction 1 direction The specified bit for a search direction in each step is shown in the table below Table 2 5 4 Search Direction Specified Bit in Each Step Step Search Direction D1 bit D5 bit D11 bit 0 direction Specified Bit S1DR S2DR S3DR 1 direction NOVA electronics Inc 514 47 9 Detection signal of each step Step 1 can be selected from nSTOPO nSTOPI and limit signals Step 2 can be selected from either nSTOPI or limit signals Step 3 is fixed to nSTOP2 signal The same signal can be set in Step 1 and Step 2 The detection signal specification in Step 1 and Step 2 is shown in the table below Table 2 5 5 Detection Signal Specification in Step 1 and Step 2 Step 1 Step 2 D3 bit D2 bit D6 bit Detection signal Detection signal 5191 5190 1 5250 7 0 0 nSTOPO 0 nSTOP1 nSTOP1 1 Limit signal 1 0 Limit signal 1 a aAlo If a limit signal is specified as a detection signal the limit signal in the search direction specified by D1 bit S1DR in Step 1 or D5 bit S2DR in Step 2 are selected If the search direction is direction it becomes nLMTP signal and If direction it becomes nLMTM signal The logical level of an input signal that is detected must be set to Hi active or Low activ
66. Data Length byte 3 8h Current timer value reading 0 2 147 483 647 4 The value of current timer value in operation is set in read registers RR6 and RR7 While timer stops 0 will be read out The unit of the setting value is u sec which is the same as Timer value setting TM 7 4 10 Interpolation Finish point maximum value Reading Code Command Data Range Data Length byte Interpolation Finish point maximum 39h 1 1 073 741 823 4 value reading The maximum value of the finish point of each axis in linear interpolation is set in read registers RR6 and RR7 The axis assignment is not necessary for this command The read values differ before and during interpolation driving Before interpolation driving the finish point maximum value at the interpolation segment being inputted will be read During interpolation driving the finish point maximum value at the interpolation segment currently being executed will be read 7 4 11 Current Helical Rotation Number Reading Code Command Data Range Data Length byte Current helical rotation number 3 Ah CHLN 0 65 535 2 reading The value of current helical rotation number in operation is set in read register RR6 The axis assignment is not necessary for this command 214 NOVA electronics Inc MCX514 215 7 4 12 Helical Calculation Value Reading Code Command Data Range Data Length byte 3 Bh Helical calculation value reading 1 2 14
67. Di1 8 FLO3 00 time constant of the input signal filter specified by D5 D0 5 0 to Filter Time Constant D15 12 FL13 10 Set the time constant of the input signal filter specified by D7 D6 FE7 6 to Filter Time Constant B When CLK 16MHz Time Constant Removable maximum noise width Input signal delay time 0 437 5 sec 500 n sec 1 875 n sec 1usec 2 1 75 2 3 3 5usec 4usec 4 7 8 5 14 16usec 6 28 32usec 7 56ysec 64usec 8 112usec 128 9 224usec 256 448 512usec B 896usec 1 024msec C 1 792msec 2 048msec D 3 584msec 4 096msec E 7 168msec 8 192msec F 14 336msec 16 384msec As for EXPLSN PIN7 0 input signals filter function is not available See chapter 2 11 for details of input signal filter function D15 DO will be set to 0 at reset 207 NOVA electronics Inc MCX514 208 7 3 7 Synchronous Action SYNCO 1 2 3 Setting Code Command Symbol Data Length byte 26h Synchronous action SYNCO setting SOM 2 27h Synchronous action SYNC1 setting S1M 2 28h Synchronous action SYNC2 setting S2M 2 29h Synchronous action SYNC3 setting S3M 2 These parameters are used to set the synchronous action SYNCO 1 2 3 mode The activation factor of each synchronous action set actions the activation of other synchronous action sets the activation of another axis SYNCO and the setting for whether
68. Direction direction in this case direction by irregular operation and then if nSTOPI signal becomes Hi level that is it escapes nSTOPI active section operation stops After that it drives Step2 at a low speed of 500pps the direction specified by Step 2 v and if nSTOP1 signal becomes Low level again operation stops Fig 2 5 14 Operation of Example 1 Automatic Home Search In Step 1 in the case when it passes through nSTOP1 active section and then stops by deceleration as the dash line shown in the figure above it returns in the opposite direction once and escapes active section then search operation is performed in the specified direction by Step 2 This operation is applied to only when a detection signal and search direction is the same in Step 1 and Step 2 When the automatic home search starting position is in point A as shown in the figure above the function performs irregular operation D of Step 2 without executing Step 1 When the starting position is in point B the function performs irregular operation 2 of Step 2 after setting the limit in the search direction in Step 1 For more details of the irregular operation 2 see chapter 2 5 1 In this example suppose that a home search is performed without an encoder such as a stepping motor and Z phase search is not performed in Step 3 In Step 4 offset driving is performed to the operation home position up to 3500
69. E is 20 50pf So the reflection will happen if the PCB wiring is more than 60cm Please shorten the PCB wiring length as shorter as you can g Example of Connection between MCX514 5V type IC The input output of MCX514 is 5V tolerant But its output can connect with TTL level input only It cannot connect with CMOS level input MCX514 5V Type IC CMOS Level or TTL Level Output Input A B Output A TIL Level Input 5V 10K Output B TTL Level Input TTL Level Bi direction Bi directional A B 170 NOVA electronics Inc 6 Register MCX514 171 This chapter describes the user how to access all the registers in MCX514 and what are the mapping addresses of these registers 6 1 Register Address by 16 bit Data Bus As shown in the table below when 16 bit data bus is used the access address of read write register is 8 bit B Write Register in 16 bit Data Bus All registers are 16 bit length Address Symbol Register Name Contents 2 1 0 000 WRO Command Register for axis assignment and setting command XWR1 X axis Mode register 1 for setting the valid invalid of interrupt YWR1 Y axis Mode register 1 o ZWR1 Z axis Mode register 1 UWR1 U axis Mode register 1 XWR2 X axis Mode register 2 for setting the logical levels and enable disable of external YWR2 Y axis Mode register 2 decelerating stop 010 ZWR2 Z axis Mode register 2 for setting the
70. EXPLSN has to be longer than the setting speed cycle of the main axis The Low level pulse of EXPLSN is repeated until the interpolation driving is finished If the user wants to stop single step interpolation on the way write instant stop command 57h to the main axis and wait for more than 1 pulse cycle and then input the Low level pulse of EXPLSN again driving will stop Or the user can software reset The Low level pulse of EXPLSN input after the termination of interpolation driving will be disabled 3 9 3 Attention for Single step Interpolation e ESPLSN signal does not have the filter function When generating Low pulses of EXPLSN at a mechanical contact point prevent the malfunction caused by chattering e In single step interpolation short axis pulse equalization mode cannot be used 144 NOVA electronics Inc MCX514 145 3 10 Multichip Interpolation This is the function that performs multiple axes linear interpolation by using multiple IC chips Fig 3 10 1 shows the connection example of 12 axes linear interpolation with 3 chips Since the main chip plays a role to send the synchronous pulse for interpolation driving set the interpolation speed parameter to the main axis in the main chip As shown in the figure 8 signals for multichip interpolation MPLS MCLK MERR MINP MDT3 0 are each connected among chips and pull up with impedance of about 3 3KQ These signals cannot be used as general purpose input because
71. H Dib Di4 2 Dii DIO D9 18107 D6 05 D4 D3 D2 DI DO WR2 SLm m sLM 0 SLN E HLM L ALM E ALM L INP E INP L SP2 E SP2 L SP1 E SP1 L SPO E SPO L 04 2 0 SPk L The bit for setting enable logical levels for driving stop input signal nSTOPk k 2 0 0 active on the Low level 1 active on the Hi level In automatic home search the logical level of the nSTOPk signal that is used is set in these bits 05 3 1 SPk E The bit for setting enable disable of driving stop input signal nSTOPk k 2 0 0 disable 1 enable Once nSTOP2 nSTOPO are active and then driving starts when nSTOPk signal becomes active level the decelerating stop will be performed during acceleration deceleration driving and the instant stop will be performed during constant speed driving In automatic home search the enable disable bits of nSTOPk that are used should be set to disable D6 INP L Setting logical level of in position input signal nINPOS from a servo driver 0 active on the Low level 1 active on the Hi level D7 INP E Setting enable disable of nINPOS input signal 0 disable 1 enable When it is enabled the DRIVE bit of RRO main status register does not return to 0 until nINPOS signal is on its active level after the driving is finished D8 ALM L Setting active level of servo alarm input signal nALARM 0 active on the Low level 1 active on the Hi level D9 ALM E Setting enable d
72. Jerk setting Deceleration increasing rate setting Acceleration setting Deceleration setting Initial speed setting Drive speed setting Drive pulse number Finish point setting Manual deceleration point setting Logical position counter setting Real position counter setting Software limit setting Software limit setting Acceleration counter offsetting Logical position counter maximum value setting Real position counter maximum value setting Multi purpose register 0 setting Multi purpose register 1 setting Multi purpose register 2 setting Multi purpose register 3 setting Mome search speed setting Speed increasing decreasing value setting Timer value setting Split pulse setting 1 Split pulse setting 2 Interpolation Finish point maximum value Helical rotation number setting Helical calculation value setting Multi purpose register mode setting PIO signal setting 1 PIO signal setting 2 Other settings Automatic home search mode setting 1 Automatic home search mode setting 2 Input signal filter mode setting Synchronous action SYNCO setting Synchronous action SYNC1 setting Synchronous action SYNC2 setting Synchronous action SYNC3 setting Interpolation mode setting Logical position counter reading Real position counter reading Current drive speed reading Current acceleration de
73. MCX514 CMD11 MR1 MCX514 CMD12 MR2 MCX514 CMD13 MCX514 CMD14 HV MCX514 CMD15 IV MCX514 CMD16 TM MCX514 CMD17 SP1 MCX514 CMD18 SP2 MCX514 CMD19 TX MCX514 CMD1A HLN MCX514 CMDIB HLV Commands for writing mode itdef ine itdef ine itdef ine itdef ine itdef ine itdef ine itdef ine itdef ine itdef ine itdef ine itdef ine MCX514 0 020 MR MCX514 CMD21 P1 MCX514 CMD22 P2 MCX514 CMD23 1 MCX514 CMD24 H2 MCX514 CMD25 FL MCX514 CMD26 SO MCX514 CMD27 51 MCX514 CMD28 52 MCX514 CMD29 S3 MCX514 CMD2A IPM omo oL Commands for reading data def def i defi defi defi defi defi def i defi defi ne ne ne ne ne ne ne ne ne ne MCX514_CMD30_LP MCX514_CMD31_RP MCX514 CMD32 CV MCX514 CMD33 CA MCX514 CMD34 MCX514 CMD35 MCX514 CMD36 MR2 MCX514 CMD37 MCX514 CMD38 CT MCX514 CMD39 TX 0x0000 0x0001 0x0002 0x0003 0x0004 0x0005 0x0006 0x0007 0x0009 0x000A 0x000B 0x000C 0x000D 0x000E 0x000F 0x0010 0x0011 0x0012 0x0013 0x0014 0x0015 0x0016 0x0017 0x0018 0x0019 0 001 0 001 0 0020 0 0021 0 0022 0 0023 0 0024 0 0025 0 0026 0 0027 0 0028 0 0029 0 002 0 0030 0 0031 0 0032 0 0033 0 0034 0 0035 0 0036 0 0037 0 0038 0 0039 239
74. PIN7 PIN3 MDT3 136 TX M C When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Universal Input2 general purpose input signal Reading is the same as Bi directional PIN7 PIN2 MDT2 137 e E C When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Universal Input1 general purpose input signal Reading is the same as Bi directional PIN7 PIN1 MDT1 138 Leere C When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Universal Input0 general purpose input signal Reading is the same as Bi directional PIN7 PINO MDTO 139 D DES C When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3kO impedance Emergency Stop input signal to perform the emergency stop for all axes When this signal is set to Low level during the driving driving of all axes EMGN 140 Input B including interpolation driving stops immediately and EMG bit of RR2 F gt register becomes 1 When the filter function is disabled the low level pulse width must be more than 2CLK Note For this signal its logical level cannot be selected TEST1 Test input terminal for internal circuit test TEST2 141 142 Make sure that both pins are open or connected to GND This is pulled down
75. Range Data Length byte 05h Drive speed setting 1 8 000 000 4 DV is the parameter determining the speed of constant speed period in trapezoidal driving constant speed driving the drive speed is the initial speed The unit of the setting value is pps Drive speed DV pps If the drive speed is set a lower value than the initial speed the acceleration deceleration will not be performed and the driving is constant speed If the user wants to perform instant stop immediately after the signal is detected during such as the encoder Z phase search at a low peed driving the drive speed must be set lower than the initial speed A drive speed can be altered during the driving When the drive speed of next constant speed period is newly set the acceleration or deceleration is performed to reach the new setting speed then a constant speed driving starts In automatic home search this drive speed is used for high speed search speed of Step 1 and high speed drive speed of Step 4 Note e In fixed pulse S curve acceleration deceleration driving when in auto deceleration mode or in fixed pulse non symmetrical linear acceleration deceleration driving when in auto deceleration mode there is no way to change the drive speed during the driving e In continuous S curve acceleration deceleration driving the drive speed be changed in the constant speed period during the driving but changing the drive speed dur
76. Reading Code Command Data Range MCX514 216 Data Length byte Multi purpose register mode settin 40h duis 5 R Bit data reading The value set by multi purpose register mode setting command 20h is set in read register RR6 Read register RR7 is set to 0 7 4 17 PIO Signal Setting 1 Reading Code Command Data Range 2 Data Length byte 41h PIO signal setting 1 reading Bit data The value set by PIO signal setting 1 command 21h is set in read register RR6 Read register RR7 is set to 0 7 4 18 PIO Signal Setting 2 Other Settings Reading Code Command Data Range 2 Data Length byte PIO si setting 2 Oth tti Pe Signa setting 2 er settings Bit data reading The value set by PIO signal setting 2 other settings command 22h is set in read register RR6 Read register RR7 is set to O 216 2 NOVA electronics Inc MCX514 217 7 4 19 Acceleration Setting Value Reading Code Command Data Range Data Length byte 4 3h Acceleration setting value reading 1 536 870 911 4 The value set by acceleration setting command 02h is set in read registers RR6 and RR7 The unit of the setting value is pps sec When MR3 value is loaded to acceleration setting value AC by a synchronous action that value will be read out 7 4 20 Initial Speed Setting Value Reading Code Command Data Range Data Length byte 44h Initial speed setting value readi
77. See chapter 2 5 for details of automatic home search 222 NOVA electronics Inc 514 223 7 6 Interpolation Commands Interpolation commands consist of the commands for 2 3 4 axes linear interpolation CW CCW circular interpolation 2 3 4 axes bit pattern interpolation CW CCW helical interpolation and other related commands The axis assignment to D11 8 bits in command register WRO is not necessary for interpolation commands set 0 to those bits Before the interpolation command is executed be sure to check the following a interpolation accessing axes assignment set in interpolation mode setting b speed parameter setting for main axis In interpolation driving n DRV bit of interpolating axis in main status register RRO becomes 1 and will return to 0 when the driving is finished Note e Itrequires 125nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 7 6 1 1 axis Linear Interpolation Driving Multichip Command l axis linear interpolation driving multichip This is available during multichip interpolation It uses when 1 axis is set for interpolation in main or sub chip 7 6 2 2 Linear Interpolation Driving Command 2 axis linear interpolation driving This command performs 2 axis interpolation from present point to finish point Before driving the finish point of the 2 corresponding axes should be set
78. Setting Command Direction signal setting This command is used to set the direction signal DIR to the active level of the direction before driving when the pulse output type is 1 pulse 1 direction As shown in 11 2 once the driving is started in the 1 pulse 1 direction type the first pulse of drive pulses will be output after from when the direction signal is determined This command can be used to determine the direction signal in the direction when the user needs to take longer time than time to set up the direction signal for drive pulses 221 NOVA electronics Inc MCX514 222 7 5 9 Direction Signal Setting Command Direction signal setting This command is used to set the direction signal DIR to the active level of the direction before driving when the pulse output type is 1 pulse 1 direction As shown in 11 2 once the driving is started in the 1 pulse 1 direction type the first pulse of drive pulses will be output after ICLK from when the direction signal is determined This command can be used to determine the direction signal in the direction when the user needs to take longer time than time to set up the direction signal for drive pulses 7 5 10 Automatic Home Search Execution Command Automatic home search execution This command executes automatic home search Before execution of the command the automatic home search mode and correct parameters must be set
79. Status register 1 Table 2 4 6 Interrupt Enable and Check Bit corresponding to Comparison Result of Multi purpose Register Multi purpose Register Interrupt Enable Bit Interrupt Factor Check Bit MRO 1 00 1 RR1 D0 1 MR1 WR1 D1 1 RR1 D1 1 MR2 1 02 1 402 1 1 03 1 03 1 For more details of the interrupt see chapter 2 10 Example Interrupt When the real position counter value is passing through 30 000 an interrupt occurs in X axis WR6 7530h WR7 lt 0000h Set 30 000 1 Setthe value to MR3 WRO lt 0112h WR6 0060h D15 D14 1 0 Comparison condition 013 012 0 1 Comparative object a Set comparative object and comparison Real position counter RP condition of MR3 WRO 0120h Writes multi purpose register mode setting WRO 011Fh Assign X axis NOP command 1 Setthe interrupt factor WR1 0008h Interrupt Factor Enable MR3 comparison changed to True NOVA electronics Inc 514 40 2 4 3 Load Save of Parameters by Synchronous Action By using the synchronous action the user can load the value pre set in a multi purpose register as a new speed or drive pulse number and save the current position and a speed to a multi purpose register Activation Factor External signal is input ET Action Save the current position MRPO register Fig 2 4 3 Usage Example of Saving Parameters There are
80. Time 7 30 ns Output signals INTON Symbol Item Min Max Unit tDD INTON INTIN Signal Delay Time 12 22 ns 10 2 4 Input Pulses Quadrature Pulses Input Mode A B phases Count up Count down nECA nECB Up Down Pulses Input Mode nPPIN nPMIN a In quadrature pulses input mode when nECA nECB input pulses are changed the value of real position counter will be reflected in the value of after a maximum of 4 CLK cycles b In UP DOWN pulses input mode the value of real position counter will be reflected in the value of after a maximum of 4 CLK cycles from nPPIN nPMIN input 1 nECA nECB Phase Difference Time 20 nPPIN nPMIN Hi Level Width tCYC 20 nPPIN nPMIN Low Level Width tCYC 20 nPPIN nPMIN Cycle tCYC x2 20 nPPIN lt nPMIN between Time tCYC x2 20 tCYC is a cycle of CLK 254 NOVA electronics Inc 514 255 10 2 5 General Purpose Input Output Signals 7 0 The figure shown at the lower left hand side illustrates the delay time when nPIO7 0 input signals are read through RR4 5 registers The IC built in filter is disabled The figure shown at the lower right hand side illustrates the delay time when writing nPIO7 0 output signals data into WR4 5 registers Input Signal WRN RDN D15 0 D15 0 PIO7 0 100 Symbol Item Min Max Unit tDI Input Signal Data Delay Time 17
81. WR3H 0111 RR3H 1000 WR4L 1000 RR4L i 0 0 1 WR4H 1001 RR4H 1010 WR5L 1010 RR5L 1011 WR5H 1011 RR5H 1100 WR6L 1100 RR6L 1101 WR6H 1101 RR6H 1110 WR7L 1110 RR7L WR7H 1111 RR7H 6 3 Register Address by 12C Serial Interface Bus Mode When MCX514 is used in PC serial interface bus the user can access a register address by slave address control Follow the same way to specify a register address as described in chapter 6 2 dividing the 16 bit data bus into high and low word byte For more details of serial interface bus see chapter 4 173 NOVA electronics Inc MCX514 174 6 4 Command Register WRO Command register is used for axis assignment and command registration for each axis in 514 The register is composed of the bit for axis assignment and setting command code After command code has been written to this register the command will be executed immediately The data writing command such as a drive speed setting must be written to registers WR6 and WR7 first Otherwise when the reading command is engaged the data will be written and set through IC internal circuit to registers RR6 and RR7 When using the 8 bit data bus the user must write the high word byte H first and the low word byte L next A command will be executed to the axis to be prior assigned immediately after writing the low word byte It requires 125nsec maximum to access the command code when CLK 16MHz Please don t write
82. X 0 0800 Home signal logical setting STOP1 Low active Enables hardware limit SetModeFilter 0 514 AXIS X OxOAOF STOP1 Enables the filter Filter delay 512usec SetModeHMSrchi MCX514 AXIS X 0x8037 Step4 Execution Step3 Non execution Step2 Execution Detection signal STOP1 Search direction direction LP RP clear Disable DCC clear Disable Step1 Execution Detection signal STOP1 Search direction direction SetModeHMSrch2 MCX514 AXIS X 0x0000 Timer between steps Disable At the termination of home search LP RP clear Disable SetAcc 514 AXIS X 95000 Acceleration 95 000 pps sec SetStartSpd MCX5b14 AXIS X 1000 Initial speed 1000pps SetSpeed MCX514 AXIS X 20000 Speed of step 1 and 4 20000pps SetHomeSpd MCX514 AXIS X 500 Speed of step 2 500pps SetPulse MCX514 AXIS X 3500 Offset driving pulse count 3500 ExeHMSRC 514 AXIS X Automatic home search execution waitdrive MCX514 AXIS Waiting for termination of driving 11 axes S curve acceleration deceleration driving void drive void SetStartSpd MCX514_AXIS_ALL 10 Initial speed 10pps SetSpeed MCX514_AXIS_ALL 40000 Drive speed 40Kpps SetAcc MCX514_AXIS_ALL 536870911 Acceleration maximum in specification SetJerk MCX514_AXIS_ALL 89300 Jerk 89 3Kpps sec2 SetPulse MCX514_AXIS_ALL 70000 Drive pulse number 70000 SetLp
83. a low speed to increase the home search position precision Set a value lower than the initial speed to stop the operation immediately when an input signal becomes active For the encoder Z phase search of Step 3 the relationship between the Z phase signal delay and the home search speed HV becomes important For instance if a total of the photo coupler delay time of the Z phase signal path and delay time of the integral filter incorporated in the is the maximum 500 sec the home search speed must be set so that the encoder Z phase output is ON for more than 1msec W Step 3 Z phase search starting position In the Z phase search of Step 3 the function stops search driving when the Z phase signal nSTOP2 changes from inactive to active Therefore the Step 3 starting position that is Step 2 stop position must be stable and different from this change point Normally adjust mechanically so that the Step 3 starting position becomes the 180 opposite side to the encoder Z phase position Software limit Disable the software limit during the execution of automatic home search If software limit is enabled the automatic home search is not performed correctly After the automatic home search is finished correctly set a software limit after setting the real logical position counter W Logical setting of each input signal Use the bits WR2 D0 D2 D4 of WR2 register for the active logical setting of the input signal nSTOPO 1 2 that
84. access The following is the example of SH microcomputer int ReadReg volatile unsigned short Adr unsigned short Data Data reg read Adr return 0 248 NOVA electronics Inc Common function of commands for writing data Data can be written by writing data into WR6 WR7 and then writing a command into WRO int SetData unsigned short Cmd int Axis long Data long mask data OxOO00ffff unsigned short write data Writes the lower 16 bit of data into WR6 write data unsigned short Data amp mask data WriteReg6 write data Writes the upper 16 bit of data into WR7 write data unsigned short Data gt gt 16 Wr iteReg7 write data Writes a command into WRO WriteRegO Axis lt lt 8 Omd return 0 Common function of commands for writing mode Data can be written by writing data into WR6 and then writing a command into WRO int SetModeData unsigned short Cmd int Axis unsigned short Data Writes the lower 16 bit of data into WR6 Wr iteReg6 Data Writes a command into WRO WriteRegO Axis lt lt 8 return 0 Common function of commands for reading data Data can be read by writing a command into WRO and then read RR6 RR7 int GetData unsigned short Cmd int Axis long Data unsigned short rdatal rdata2 long retdata 0x00000000 if Data NULL return 0 Writes a command into WRO WriteRegO A
85. action see chapter 2 6 Used as input signal for driving by external signals Relative position driving or continuous pulse driving can be activated by nPIOm signal and but a command Perform by using nPIO4 nPIOS signals and driving will be activated by the input state or input change of these signals For more details of driving by external signals see chapter 2 12 1 General purpose output Set 2 bits corresponding to nPIOm signal that is used to 0 1 and set by PIO signal setting 1 command 21h Writing into nPIOm signal is performed by writing into WR4 5 registers X axis is to D7 DO bits XPIO7 XPIOO of WR4register Y axis is to D15 D8 bits YPIO7 YPIOO of WR4register Z axis is to D7 D0O bits ZPIO7 ZPIOO of WRSregister and U axis is to DI5 D8 bits UPIO7 UPIOO WRSregister The values written in each bit are output to PIO7 0 signals in each axis When 0 is written in the bit it is Low level output and when 1 is written it is Hi level output Dib 14 013 12 D10 9 D8 D7 06 D5 D4 L p3 D2 DI DO WR4 YPIO7 YPIOG YPIOS ve1oa veros YPIO2 YPIOT YPIOO XPIO7 XP106 XP105 xP104 xP103 XP102 XP101 XP100 H L Dib Di4 DI2 Dii DIO 09 08 D7 06 D5 D4 D3 D2 Di DO WRS UPIO7 UPIOG UPIOS 0 03 02 00 2 107 7 106 2 105 zP104 zP103 ZP102 ZP101 ZP100 Drive status output Drive status c
86. and command setting of next segment The next interpolation segment must be loaded before the current interpolation segment is finished When the current interpolation segment is finished before loading and if driving command of next interpolation segment is written it stops and then performs continuous interpolation However when the writing error of interpolation data interpolation error occurs continuous interpolation is terminated e In continuous interpolation the user cannot set the data that does not output pulses such as the finish points of all axes for linear interpolation or the center points of both axes for circular interpolation are 0 If set interpolation cannot be performed appropriately e When circular interpolation is included in continuous interpolation circular interpolation may have 1LSB error of the short axis value of finish point from true value Be sure to make continuous interpolation not to accumulate errors of each segment checking each circular finish point It is impossible to perform the different axis number of continuous interpolation like from 3 axis to 2 axis Interpolation axis cannot be changed during continuous interpolation e When driving is stopped by an error be sure to check the error type and clear the error by issuing error finishing status clear command 79h Interpolation driving cannot be performed unless the error is cleared e When driving is stopped by stop command during continuous inte
87. and U axes have the same circuit as X axis The time constant of a filter is determined by the T oscillation circuit in the diagram This IC has two time constants A and B and it is determined by the kind of an input signal which ofthe time constants A or B is used Enable disable of a filter and a time constant can be set by input signal filter mode setting command 25h D15 Di4 D13 12 pii DIO D9 D8 D7 D D5 D4 D3 D2 DI DO Internal Register FL13 FL12 FL11 FL10 FLO3 FLO2 FLO1 FLOO FE7 FEG FES FE4 FE2 FEO Filter Time Constant B Filter Time Constant A Y T Oscillation Circuit EMGN o o XLMTP L9 T FLT 4 XLMTM o oo XSTOPO o oo T XSTOP1 o zb 2 T 5 XINPOS Ur 9 o 3 XALARM o XPI00 3 gait O 6 04 70 e o XSTOP2 95 FLT XECA ti 2o FLT OI XECB t d FLT Fig 2 11 1 Concept of X axis Input Signal Filter Circuit NOVA electronics Inc MCX514 99 2 11 1 Setting of Input Signal Filter Function The filter function of each input signal can be set by input signal filter mode setting command 25h D15 14 013 pi2P pii DIO D9 08 D7 D6 D5 D4 L p3 D2 DI DO W
88. and driving stops If direction software limit comparative position counter lt SLMT value then error and driving stops Driving commands for the direction in which software limit error occurs will not be executed D14 SLM 0 Setting the object of software limit to real position counter or logical position counter 0 logical position counter 1 real position counter D15 SLM M The bit for controlling stop type when software limit function is enabled 0 decelerating stop 1 instant stop Note that the bit 0 1 is opposite of the bit for controlling stop type of hardware limit signals D15 D0 will be set to 0 at reset 6 7 Mode Register3 WR3 Each axis has mode register WR3 individually The host CPU specifies the mode register of which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Mode register WR3 is used for setting 1 manual deceleration 2 acceleration deceleration mode symmetry non symmetry linear acceleration deceleration S curve acceleration deceleration 3 drive pulse output mode 4 encoder input mode 5 limit signal pin inversion 6 trapezoid triangle form prevention function 7 repeat timer H Dib Di4 2 Dil DIO D9 08 D7 D6 D5 D4 D3 D2 DI DO WR3 0 TMMD AVTRI PI L PIMD1 PIMDO DP INV DIR L DP L DPMD1 DPMDO SACC DSNDE D
89. and then enable the synchronous action set by using synchronous action enable setting command 81h 8Fh Table 2 4 5 Synchronous Action Set and Setting Command Corresponding to Multi purpose Register dam Synchronous Action Setting Command to set Activation Factor MRO SYNCO Synchronous action SYNCO setting command 26h MR1 SYNC1 Synchronous action SYNC1 setting command 27h MR2 SYNC2 Synchronous action SYNC2 setting command 28h MR3 SYNC3 Synchronous action SYNC3 setting command 29h In addition to the activation factor synchronous action SYNCO 1 2 3 setting commands set other actions and repeat behavior for NOVA electronics Inc 514 39 synchronous actions For more details of the synchronous action functions and settings see chapter 2 6 Example Synchronous Action Activation While 10 seconds timer is running to activate relative position driving in X axis after 5 seconds from timer start by synchronous action SYNC2 set as follows The timer activates the synchronous action after 5 seconds from timer start and is up after 10 seconds WR6 4B40h WR7 lt 004681 2 Set 5 000 000 lt Set the value to MR2 WRO lt 0112h 5 seconds 5 000 000usec WR6 9680h WR7 0098h Timer Set 10 000 000 lt I Set10 seconds to the timer value WRO 0116h 10 seconds 10 000 000 WR6 0300h D11 D10 0 0 Comparison condition Z D9 D8 1 1 Comparative object 1 Set comparative obj
90. axis The user can check the termination of driving by RR2 register For more details of RR2 register see chapter 6 13 110 NOVA electronics Inc MCX514 111 3 1 Linear Interpolation Any 2 or 3 axes or all the 4 axes be set Y 20 9 Short axis for linear interpolation To execute linear interpolation set the finish point coordinates relative to the present point coordinates and write the linear interpolation driving command based on the number of interpolation axis then linear interpolation 30 5 LSB max will be performed The finish point coordinates should be set in aa output pulse number of each axis by the 0 5 10 15 20 x 2 Long axis relative value to the present point coordinates Fig 3 1 1 Position Accuracy for Linear Interpolation Fig 3 1 1 shows an example of 2 axis interpolation where linear interpolation is performed from the current coordinates to the finish point coordinates As shown in the figure the calculation accuracy of position to the ideal line is within 0 5 LSB As shown in Fig 3 1 2 it is an example for pulse output of the linear xe Long axis interpolation driving We define the XPM longest distance movement in LR SHEET Short axis interpolation is the long axis YPM And
91. axis from the mechanical home position to the operation home position If a limit signal is selected as a detection signal it is used to keep the operation home position away from the limit a little bit If the limit signal of a drive direction becomes active before Step 4 starts or during execution the operation stops due to an error and 1 is set in the search direction limit error bit D2 or D3 of RR2 register Automatic home search ends 2 5 2 Deviation Counter Clearing Signal Output In Step2 or Step3 when a specified detection signal fixed to nSTOP2 in Step 3 rises to active it is possible to output the deviation counter clear signal nDCC And the logical level of deviation counter clear pulses and pulse width can be set For more details see chapter 2 5 4 Active Step2 3 Detection Signal Step2 3 Driving Deviation Counter Clear nDCC 10 u 20msec Fig 2 5 10 Deviation Counter Clearing Signal Output Deviation counter clearing output becomes active at the termination of search operation in Step 2 or Step 3 and next step starts after the completion of deviation counter clear nDCC pulses output 2 5 3 Timer Between Steps Each step for an automatic home search has the setting which reverses the motor If the motor reverses suddenly it may overload the mechanical system The timer between steps helps to reduce the load on the mechanical system This IC can use the timer between steps at the end
92. becomes 0 and the segment data after the data already written and interpolation command will be all disabled It cannot proceed after clearing the error Data writing error The writing error of interpolation data is occurred when it failed to set the data of next segment after the current interpolation segment In continuous interpolation when the writing of the next segment data before the falling edge positive logic of the last pulse of interpolation driving in the last segment and interpolation driving command are completed there is no problem While driving this segment after the falling edge of the last pulse if interpolation driving command for next segment is written the data cannot be handled At this time the segment will not be executed and the stack counter of pre buffer will not be counted D7 bit interpolation error of the main axis RR2 register becomes and interpolation driving is terminated by the error This error can be cleared by issuing error finishing status clear command 79h to all the interpolation axes 3 7 4 Attention for Continuous Interpolation e Set the necessary data such as finish point for each interpolation segment first and then set interpolation driving command Otherwise it does not work properly maximum drive speed is 4MPPS when CLK 16MHz in continuous interpolation e time to drive all the interpolation segments should be longer than that for error checking and the data
93. becomes active This is useful for when the user wants to generate an interrupt only by an activation factor NOVA electronics Inc MCX514 67 2 6 3 Synchronous Action Settings There are SYNCm settings Enable setting and Disable setting for synchronous action settings and by configuring these settings a synchronous action is performed SYNCm Setting It sets 4 synchronous action sets by synchronous action SYNCm setting command 26h 27h 28h 29h which sets the activation factor actions the activation of other synchronous action sets the setting for whether the synchronous action is performed once or repeatedly Write the settings into WR6 register and then write synchronous action setting command Dib D14 013 D12 pii D10 19 08 07 16 05 D4 2 D3 D2 DI DO WR6 REP 153 152 15 ifSNC 3 SNC 2 SNC t ACT3 ACT2 ACT1 ACTO PRV3 PRV2 PRV1 PRVO Activation Factor IL JL Other SYNC Activation SYNCO Activation L Repeat Action Activation factor setting Specify the activation factor by 4 bits D3 0 PRV3 PRVO For instance to set Start of driving as the activation factor specify the code 3h that is D3 0 is 0011 For more details of the activation factor see chapter 2 6 1 Action setting Specify the action by 5 bits D8 4 ACT4 ACTO For instance to set Start of split pulse as the action specify the code 17h that is D
94. by incremental value 7 6 3 3 axis Linear Interpolation Driving Command 3 axis linear interpolation driving This command performs 3 axis interpolation from present point to finish point Before driving the finish point of the 3 corresponding axes should be set by incremental value 223 NOVA electronics Inc MCX514 224 7 6 4 4 Linear Interpolation Driving Code Command 63h 4 axis linear interpolation driving This command performs 4 axis interpolation from present point to finish point Before driving the finish point of the 4 corresponding axes should be set by incremental value 7 6 5 Circular Interpolation Driving Command CW circular interpolation driving This command performs 2 axis clockwise circular interpolation based on center point from present point to finish point Before driving the finish t and the center point of the 2 corresponding axes should be set by incremental value A full circle will come out if the finish position is set 0 0 7 6 6 CCW Circular Interpolation Driving Command CCW circular interpolation driving This command performs 2 axis counterclockwise circular interpolation based on center point from present point to finish point Before driving the finish and center point of the 2 corresponding axes should be set by incremental value A full circle will come out If the finish position is set 0 0 7 6 7 2 Bit Patt
95. can set to enable disable the timer between steps and timer time To enable disable the timer between steps set D7 bit HTME to 0 Disable 1 Enable Timer time can be set by D10 7 bits 2 and the interval of the timer between steps is shown in the table below Table 2 5 8 The Interval of the Timer between Steps WR6 D10 WR6 D9 WR6 D8 Timer Time HTM2 HTM1 HTMO CLK 16MHz 0 0 0 1 msec 0 0 1 2 msec 0 1 0 10 msec 0 1 1 20 msec 1 0 0 100 msec 1 0 1 200 msec 1 1 0 500 msec 1 1 1 1000 msec 0 Real logical position counter clear at the end of automatic home search At the end of an automatic home search real logical position counter clear can be set To clear the real position counter set D1 bit RCLR to 0 Non clear 1 Clear To clear the logical position counter set D2 bit LCLR to 0 Non clear 1 Clear AND stop condition for encoder Z phase signal nSTOP2 and home signal nSTOP1 This is the function to stop driving when a home signal nSTOP1 is active and an encoder Z phase signal nSTOP2 changes to active in Step 3 Set DO bit SAND to 1 and driving will stop when a home signal 15 is active and an encoder Z phase signal nSTOP2 changes to active Note e Use this function only when nSTOPI is selected as the detection signal in Step 2 When a limit signal is selected as the detection signal in Step 2 set to 0 or the operation does not work correctly NOVA
96. cannot escape from the limit area by circular helical and bit pattern interpolation Please escape it by driving the axis alone Clear axis assignment of interpolation When interpolation driving is finished be sure to clear the axis assignment of interpolation by using interpolation mode setting command 2Ah If normal driving is performed with the axis assignment of interpolation driving may not be performed correctly in position Signal for Servo Motor During interpolation driving case of the in position signal nINPOS of each axis being enabled nINPOS signals of all axes become active after interpolation driving is finished and then the drive bits of all axes that perform RRO main status register interpolation return to 0 W Stop of interpolation driving by synchronous action When interpolation driving is stopped by synchronous action be sure to write error finishing status clear command 79h to the interpolation axis The user can check the termination of driving by synchronous action by using D8 bit of RR2 register For more details of synchronous action see chapter 2 6 and details of RR2 register see chapter 6 13 W Interpolation driving after driving stops by nSTOPO nSTOP1 or nSTOP2 signal When interpolation driving is performed by using the stopped axis after the driving except nterpolation is stopped by nSTOPO nSTOP1 or nSTOP2 signal be sure to write error finishing status clear command 79h to the interpolation
97. curve acceleration the triangle form prevention function works in both cases and keeps a speed curve smooth lt The Prevention of Triangle Driving Profile in Fixed Pulse Driving gt In fixed pulse driving of S curve acceleration deceleration where acceleration and deceleration are symmetrical when the number of output pulses does not reach the number of pulses required for accelerating to a drive speed the following method is applied to keep a speed curve smooth Speed Initial Speed Acceleration 4 Deceleration Acceleration Deceleration t time Fig 2 2 9 Rule of 1 12 of S curve Acceleration Deceleration If the initial speed is 0 and the acceleration is increased up to the time t at a constant jerk a in the section of acceleration increasing the speed v t in the time t can be expressed as follows v t at a coefficient related to speed Therefore the total number of pulses p t utilized during the time from 0 to t is the integral of the speed v t from the time 0 to t 1 p t E at This value indicates 1 3 of at Xt the number of pulses of one square on the figure regardless of the value of the jerk In fixed pulse driving the acceleration is increased from the time 0 to at a specified jerk and is decreased from the time t at the same jerk When the acceleration reaches 0 and if the deceleration is al
98. detection signal and a limit Over Run Limit in the Specified Signal Search Direction Active Active Normal Operation Section Section Specified Search Irregular Direction gt T Irregular Irregular Fig 2 5 3 Operation of Step 1 Proceeds with Step 2 Proceeds with Step 2 signal in the search direction is already active before Step 1 starts 2 When nSTOPO or nSTOPI is specified as a detection signal and a limit signal in the search direction is activated during execution Other operations in Step 1 Stops driving and proceeds with Step 2 At the end of Step 1 the timer between steps can be used For more details see chapter 2 5 3 Note e Since Step 1 performs a high speed search if the user specifies a limit signal as a detection signal the limit stop mode must be set to decelerating stop mode WR2 D12 1 For more details of the WR2 register see chapter 6 6 NOVA electronics Inc 514 43 W Step 2 Low speed home search Drive pulses are output in a specified direction at the speed set in the home search speed HV until the specified detection signal becomes active The user can specify either nSTOPI or limit signal as a Specified Signal mM EET Normal Operation i detection signal If a limit signal is selected it becomes the limit P MET ignal of h direction fi low d h tion us o signal of a search direction To perform low speed search operat
99. direction by driving commands Usually set the positive pulses to the drive pulse number TP When the user needs to drive in the direction write relative position driving command 50h and when to drive in the direction write counter relative position driving command 51h In driving when one pulse of direction drive pulses is output the logical position counter will count up 1 and when one pulse of direction drive pulses is output the logical position counter will count down 1 Before writing the driving command the user should set the parameters for the outputting speed curve and the drive pulse number appropriately 7 5 8 Direction Continuous Pulse Driving Command Direction continuous pulse driving Until the stop command or specified external signal becomes active pulse numbers will be output through the output signal nPP continuously When the pulse output type is independent 2 pulse In driving when one pulse of drive pulses is output the logical position counter will count up 1 Before writing the driving command the user should set the parameters for the outputting speed curve appropriately 7 5 4 Direction Continuous Pulse Driving Command Direction continuous pulse driving Until the stop command or specified external signal becomes active pulse numbers will be output through the output signal nPM continuously When the pulse output type is independent 2 pulse In drivin
100. driving is finished the deceleration disabling command 6Eh is written or the reset is performed Deceleration enabling disabling only works during interpolation driving When driving each axis individually automatic and manual deceleration is always enabled 7 6 15 Deceleration Disabling Command Deceleration disabling This command disables the automatic or manual deceleration in interpolation 226 NOVA electronics Inc 514 227 7 6 16 Interpolation Interrupt Clear Single step Interpolation Code Command 6Fh Interpolation interrupt clear Single step interpolation Interpolation interrupt clear command clears the interrupt generated in continuous interpolation Single step interpolation command performs 1 pulse each step output in interpolation driving For details of interrupt see chapter 2 10 and for details of single step interpolation see chapter 3 9 22 NOVA electronics Inc 514 228 7 7 Synchronous Action Operation Commands Synchronous action operation commands are used to enable disable or activate a synchronous action There are 4 synchronous action sets SYNCO 1 2 3 and any of synchronous action sets can be enabled disabled or activated at the same time For synchronous action operation commands set the operation command code to the four D7 D4 bits of WRO command register and set the synchronous action set which the user wants to operate to
101. driving space So the user first needs to perform automatic home search to determine the logical position counter before driving Home 20 000 10 000 0 10 000 20 000 Absolute coordinates gt 2 TP 20 000 4 TP 20 000 Current position Fig 2 1 3 Example of Specifying Finish Point TP in Absolute Position Driving Absolute position driving performs constant speed driving or acceleration deceleration driving as well as relative position driving Command code for absolute position driving is 54h To perform absolute position driving in linear acceleration deceleration the following parameters must be set Table 2 1 2 Setting Parameters Absolute Position Driving Parameter Symbol Comment No need to set deceleration when acceleration and Acceleration Deceleration AC DC deceleration are equal Initial speed SV Drive speed DV Drive pulse number me TP Set the destination point by absolute coordinates Finish point 2 1 8 Counter Relative Position Driving Counter relative position driving performs the driving by setting the direction and drive pulse number to the destination point based on the current position Unlike relative position driving driving is performed in a direction opposite to the sign of the pulse number that is set in drive pulse number TP This is useful for when the user wants to determine a drive direction using a driving command by setting the prede
102. factor of SYNCI 2 must be set to NOP and only set the action In addition they must be enabled by synchronous action enable setting command NOVA electronics Inc 514 68 Activation of other synchronous action sets in other axes This bit is used to activate simultaneously in cooperation with the action of synchronous action set 0 SYNCO in another axis when the activation factor is activated by the synchronous action set Specify by D14 12 bits AXIS3 AXISI To activate the action of synchronous action set 0 SYNCO in another axis specify 1 and not to activate specify 0 The specified bit and the activation of synchronous action set 0 SYNCO in another axis are shown in the table below Table 2 6 6 Activation of Other Synchronous Action Sets in other axes Self axis D14 AXIS3 D13 AXIS2 D12 AXIS1 X U axis SYNCO activation Z axis SYNCO activation Y axis SYNCO activation Y X axis SYNCO activation U axis SYNCO activation Z axis SYNCO activation 2 Y axis SYNCO activation X axis SYNCO activation U axis SYNCO activation U Z axis SYNCO activation Y axis SYNCO activation X axis SYNCO activation This function allows to perform more complex synchronous actions because it can activate multi actions in other axes simultaneously to one activation factor For example suppose the X axis synchronous action set is SYNCO and if the user wants to activate the actions of SYNCO in Y and Z axes when the activation factor of SYN
103. for interpolation driving It does not need axis assignment Dib 14 013 D12 pii DIO D9 08 D7 D6 05 04 L D2 DI DO WR6 INTA 0 STEP LMDF SPD1 SPDO 0 CXIV U EN 7 Y EN X EN D3 0 U EN X EN Axis assignment for interpolation driving The axis corresponding to the bit is shown in the table below 0 not used as interpolation axis 1 used as interpolation axis Axis Bit X DO Y D1 2 D2 U D3 Main axis priority is X EN gt Y EN gt Z EN gt U EN in order and the bit1 1 is selected D4 CXIV Specify whether interpolation is performed by exchanging the interpolation axis when circular interpolation is performed 0 not exchange the interpolation axis 1 exchange the interpolation axis 07 6 SPD1 0 Setting constant vector speed mode for interpolation driving D7 SPD1 D6 SPDO Constant Vector Speed Type 0 0 invalid 0 1 2 axis simple 1 0 3 axis simple 1 1 2 axis high accuracy D8 LMDF Setting short axis pulse equalization mode for interpolation driving 0 disable 1 enable D9 STEP Setting the external signal single step command for interpolation driving 0 disable 1 enable When this bit is 1 interpolation driving becomes the single step mode controlled by the external signal EXPLSN or single step interpolation command 6Fh 011 10 0 Setting multichip interpolation D11 MLT1 D10
104. gt Start of driving After 17 35 msecs Fig 2 9 1 Example 1 of Timer Operation W Designated drive pulses are output with a specified time period correctly Drive Pulse 1 1 000 5 a 1 000ms 1 000ms J Fig 2 9 2 Example 2 of Timer Operation W Performs decelerating stop after driving at constant speed for a specified time in acceleration deceleration driving Speeda pps 500K Constant Speed 10 00msec Acceleration Start Deceleration Time Fig 2 9 3 Example 3 of Timer Operation 2 9 1 Timer Operation 514 has a 31 bit length timer counter When a timer is started it counts up from 0 in increments of lusec and when the count reaches the value specified by the timer value the time is up then the timer stops When the operation mode of a timer is set to once the timer operation is finished when the timer expires When the operation mode of a timer is set to repeat the count starts to count up from 0 again after the timer expires And it repeats the operation unless the timer is stopped by timer stop command or a synchronous action Expiring of a timer can be set as the activation factor of a synchronous action and various operations such as the start of driving or output of an external signal can be performed For more details of the synchronous action see chapter 2 6 In addition when a timer expires the user can generate a
105. in parallel In multiple axes linear interpolation the maximum values to the finish points of all axes that perform interpolation are required for interpolation calculation However MCX514 does not need to set these maximum values When a host CPU writes finish point data of each axis into IC respectively the data will be sent to each IC through the multichip signal line and then the maximum value of finish point will be calculated automatically in IC Drive Pulse CO First Axis Host CPU MCX514 C 05 Second Axis C T Third Axis Motor CO Fourth Axis Driving Circuit CO Fifth Axis C Sixth Axis Drive Pulse 514 C Seventh Axis CQ Eighth Axis Multichip Interpolation Signal 8 lines Fig 1 1 4 Example of Multichip Interpolation NOVA electronics Inc MCX514 3 Short Axis Pulse Equalization Mode for Interpolation In interpolation driving all of axes that perform interpolation do not always output drive pulses at regular intervals during driving As shown in the figure below in 2 axis linear interpolation the axis long axis that has longer moving distance pulse outputs pulses continuously however the axis short axis that has shorter one sometimes outputs and sometimes does not output pulses depending on the result of interpolation calculation and these uneven pulses could be a problem When performing interpolation in a stepper motor if the user tries to perform interpolation at hig
106. in read registers RR6 and RR7 7 4 8 Current Drive Speed Reading Code Command Data Range Data Length byte 3 2h Current drive speed reading 0 8 000 000 4 The value of current drive speed is set in read registers RR6 and RR7 When the driving stops the value becomes 0 The unit of the setting value is pps which is the same as Drive speed setting DV During interpolation driving calculated pulse speed of the main axis can be read other axes cannot be read 212 NOVA electronics Inc MCX514 213 7 4 4 Current Acceleration Deceleration Reading Code Command Data Range Data Length byte Current acceleration deceleration 3 3h 0 536 870 911 4 reading In acceleration deceleration driving the value of current acceleration speed during acceleration and current deceleration speed during deceleration is set in read registers RR6 and RR7 While driving stops 0 will be read out The unit of the setting value is pps sec which is the same as Acceleration setting AC and Deceleration setting DC Note e In linear acceleration deceleration driving symmetrical the acceleration setting value will always be read out during the driving e In S curve acceleration deceleration driving the current acceleration deceleration reading value will be invalid at the constant speed area 7 4 5 Multi Purpose Register 0 Reading Code Command Data Range Data Length byte 3 4h Multi purpose registe
107. instruments computers office equipment household electrical goods and so on This IC is not intended for the use in high performance and high reliability equipment whose failure or malfunctioning may directly cause death or injuries atomic energy control equipment aerospace equipment transportation equipment medical equipment and various safety devices and the operation for such use is not guaranteed The customer shall be responsible for the use of this IC in any such high performance and high reliability equipment Japanese Foreign Exchange and Foreign Trade Act and other export related laws and regulations must be observed and complied with Do not use this IC for the purpose of the development of weapons such as mass destruction weapons and any military purposes This IC shall not be used in equipment that manufacture use and sale are prohibited by domestic and foreign laws and regulations Information in this manual is subject to change without notice for continuous improvement in the product You can download the latest manual and software from our web site http www novaelec co jp eng Please also feel free to contact us directly for any inquiries or questions Operating Precautions Before using the MCX514 please read this manual thoroughly to ensure correct usage within the scope of the specification such as the signal voltage signal timing and operation parameter values Operation is not verified in all combinations
108. is 16MHz Please see Appendix B for parameter calculation formula when input clock CLK is other than 16MHz 7 2 1 Jerk Setting Code Command Data Range Data Length byte OOh Jerk setting 1 1 073 741 823 4 A jerk setting value is a parameter that determines the acceleration increasing decreasing rate per unit in S curve acceleration deceleration The unit of the setting value is pps sec Jerk JK pps sec In S curve acceleration deceleration driving WR3 D1 0 where acceleration and deceleration are symmetrical this jerk is also used at deceleration 7 2 2 Deceleration Increasing Rate Setting Code Command Data Range Data Length byte Oth Deceleration Increasing Rate Setting 1 1 073 741 823 4 This deceleration increasing rate value is a parameter used to determine a deceleration speed increase decrease rate per unit time in S curve acceleration deceleration driving WR3 D1 1 where acceleration and deceleration are non symmetrical The unit of the setting value is pps sec Deceleration Increasing Rate DJ pps sec In S curve acceleration deceleration driving WR3 D1 0 where acceleration and deceleration are symmetrical the deceleration increasing rate value is not used 190 NOVA electronics Inc MCX514 191 7 2 3 Acceleration Setting Code Command Symbol Data Range Data Length byte O2h Acceleration setting AC 1 536 870 911 4 An acceleration setting value is a
109. is enabled Set interpolation mode WR6 01C3h Write XY axes interpolation 2 axis high accuracy constant vector speed mode Short axis pulse equalization mode enabling WRO 002Ah Write Interpolation mode setting command Set drive speed to main axis WR6 03 8 Write Initial speed 1000pps WR7 lt 0000h Write WRO 0104h Write WRG 03 8 Write Drive speed 1000pps WR7 lt 0000h Write WRO 0105h Write Set Finish point WR6 03 8 Write Finish point X 1000 WR7 0000h Write WRO 0106h Write WRG 0190h Write Finish point Y 400 WR7 0000h Write WRO 0206h Write Start interpolation driving WRO 0061h Write 2 axis linear interpolation driving 130 NOVA electronics Inc 3 6 Short Axis Pulse Equalization MCX514 131 Usually in interpolation driving all of axes that perform interpolation do not output drive pulses at regular intervals during driving As shown in Fig 3 6 1 a below in 2 axis linear interpolation the axis long axis that has longer moving distance pulse outputs pulses continuously however the axis short axis that has shorter one sometimes outputs and sometimes does not output pulses depending on the result of interpolation calculation In a stepper motor these uneven pulses may increase mechanical vibration Short axis pulse equalization mode is the function to improve this problem Even in the axis has sh
110. is output or not in the signal detection of step 2 0 non output 1 output D8 S2RC Setting for whether the real position counter is cleared or not in the signal detection of step 2 0 non clear 1 clear D9 S2LC Setting for whether the logical position counter is cleared or not in the signal detection of step 2 0 non clear 1 clear D10 S3EN Setting for whether low speed Z phase search of step 3 in the automatic home search is executed or not 0 non execution 1 execution 011 S3DR The search direction of step 3 0 direction 1 direction 012 5300 Setting for whether the deviation counter clear nDCC signal is output or not in nSTOP2 signal detection of step 3 0 non output 1 output D13 S3RC Setting for whether the real position counter is cleared or not in nSTOP2 signal detection of step 3 0 non clear 1 clear D14 S3LC Setting for whether the logical position counter is cleared or not in nSTOP2 signal detection of step 3 0 non clear 1 clear D15 S4EN Setting for whether high speed offset drive of step 4 in the automatic home search is executed or not 0 non execution 1 execution For more details of the automatic home search see chapter 2 5 and 2 5 4 D15 DO will be set to 0 at reset 7 3 5 Automatic Home Search Mode Setting 2 Command Data Length byte Automatic home search mode setting 2 2 H2M is the parameter setting the automatic home search mode The stop condition for auto
111. is used for setting driving parameters such as multi purpose register automatic home search synchronous action and interpolation driving When more than one axis is specified it is possible to set the same data in specified axes simultaneously Interpolation mode setting does not need axis assignment The data length of commands for writing mode is all 2 bytes Set an appropriate value in each bit of WR6 register and write a command code in WRO register As a result the data of WR6 register will be set in each mode setting register in the IC At reset all the bits of each mode setting register in the IC are cleared to 0 Note e It requires 125 nSEC maximum to access the command code when CLK 16MHz Please do not write the next command or data during the period of time 7 3 1 Multi Purpose Register Mode Setting Command Data Length byte Multi purpose register mode setting 2 MRM is the parameter setting the comparative object with multi purpose register MR3 0 and the comparison condition The user can set the comparative object and comparison condition for each MR3 0 individually Comparison result can be used for comparative signal output the factor of synchronous action activation and an interrupt Dib 14 013 D12 pii D10 19 18107 016 D5 D4 pa 02 DI DO WR6 M3C1 M3CO M3T1 mact M2CO M2T1 M2TO M1C1 M1CO MITT M1TO MOC1 MOCO MOT1 MOTO M
112. it counts Up Down at the rising edge 1 and falling edge of A phase signals When single edge evaluation is set it counts Up Down at the rising edge 1 of A phase signals XECA PPIN XECB PMIN Quadrature pulses and quad edge evaluation 00000000 Quadrature pulses and double edge evaluation O ASIN Quadrature pulses and Ox x x Ox x x single edge evaluation X X XQ x O0 O Count up O Count down X Not count up X Not count down Fig 2 12 5 Example of X axis Quadrature Pulse Input Up down pulse input nECA PPIN is for count up input and nECB PMIN is for count down input The counter counts up when the positive pulses go up T when the positive logic is set XECA PPIN l LJ XECB PMIN m LLLI L L Count up Count down Fig 2 12 6 Example of X axis Up Down Pulse Input 105 NOVA electronics Inc MCX514 106 W Encoder Pulse Input Type Setting Encoder pulse input type can be set by D8 9 bits PIMDO 1 of WR3 register H L DIS D14 2 Dii DIO D9 08 D7 06 D5 D4 03 D2 Di DO WRS priw P1 00 Encoder pulse input type Logical level of encoder input signal Replacing input pins of encoder input signal The encoder pulse input type corresponding to each bit is as follows Table 2 12 4 Encoder pulse input typ
113. of 16 bit 8 bit Bus Mode Connection Example of Connection with SH 4CPU and 16 bit Bus Mode Example of 16 bit Bus Mode Connection SH4 SH7760 MCX514 16MHz lock Generator RD WEO CST A3 Al Vindicates high resistance pull up DI5 DO 13 3V TRI2 3 3 From reset circuit of the system SH 4 SH7760 Examples of Waiting Control Bus Clock 66 664MHz Setup Waiting 1 cycle insert Resister set WCR3 A1S0 1 Access Waiting 2 cycles insert Resister set WCR2 A1W2 A1W1 A1WO0 010 Hold Waiting 1 cycle insert Resister set WCR3 A1H1 1 01 235 NOVA electronics Inc 514 236 8 2 Example of Connection 2 Bus Mode Example of Connection with H8SX1655CPU 2 Bus Mode Example of 12C Bus Mode Connection 85 1655 MCX514 3 9V 43 3V 3 3k 3 3k SCLO 87 La SDAO 86 SDA H8SX1655 Examples of Register Setting Register Address Setting value 8 bit D7 DO ICCRA 0 H FFEBO 10101001 D7 I2C Bus Interface Enable Setting 1 enables transfer operation D5 selectable from master slave 1 set to master D4 selectable from send receive 1 is master receive mode and 0 is master send mode example is 0 D3 D0 select transfer clock In this case it is 200kbps when 16M 236 NOVA electronics Inc 8 3 Connection Example 514 237 The figure be
114. of logical position counter Logical position counter counts Up Down according to the direction pulse output A logical position counter setting value can be written anytime and read by logical position counter reading command 30h anytime 7 2 11 Real Position Counter Setting Code Command Symbol Data Range Data Length byte OAh Real position counter setting RP 2 147 483 648 2 147 483 647 4 RP is the parameter setting the value of real position counter Real position counter counts Up Down according to encoder input pulse A real position counter setting value can be written anytime and read by real position counter reading command 31h anytime 7 2 12 Software Limit Setting Code Command Data Range Data Length byte OBh Software limit setting 2 147 483 648 2 147 483 647 4 SP is the parameter setting the value of direction software limit SLMT register Enable disable an object to set and stop mode of software limit can be set by WR2 register A software limit SLMT register setting value can be written anytime 194 NOVA electronics Inc MCX514 195 7 2 13 Software Limit Setting Code Command Symbol Data Range Data Length byte OCh Software limit setting SM 2 147 483 648 2 147 483 647 4 SM is the parameter setting the value of direction software limit SLMT register Enable disable an object to set a
115. of modes and parameters The user should fully verify and evaluate the operation with a combination of the mode and parameter that is used before using this IC Treatment of unused pins that are not pulled up in the IC Make sure that unused input pins are connected to GND or VDD If these pins are open the signal level of pins will unstable and may cause malfunction Make sure that unused bi directional pins are connected to VDD or GND through high impedance about 10k 100 If these pins are directly connected to GND or VDD the IC may be damaged by overcurrent in case of such as a programming mistake causes the output state About Reset Make sure to reset the IC when the power is on This IC will be reset if RESETN signal is set to Low for more than 8 CLK cycles when a stable clock has been input Please note that the IC will not be reset if the clock is not input Note on S curve Acceleration Deceleration Driving This IC is equipped with a function that performs decelerating stop for fixed pulse driving in S curve deceleration with the symmetrical acceleration deceleration However when the initial speed is set to an extremely low speed slight premature termination or creep may occur Before using S curve deceleration driving make sure that your system allows premature termination or creep NOVA electronics Inc MCX514 iii Terms and Symbols used in the Manual Active Drive Fixed pulse drive Continuous pulse drive
116. of trapezoidal driving 2 2 3 Triangle form prevention of non symmetrical trapezoidal driving Correction of the following errors about changing drive speed during interpolation driving 3 Interpolation Set interpolation speed 3 7 1 How to Perform Continuous Interpolation 3 7 4 Attention for Continuous Interpolation 7 2 6 Drive Speed Setting Correction of the following errors about short axis pulse equalization 3 6 2 Notes on Using Short Axis Pulse Equalization 3 7 4 Attention for Continuous Interpolation Correction of the following errors 52 Signal Description Description D15 DO 7 4 24 General Purpose Input Value Reading 5th edition 2015 10 15 Add the following about EMGN signal input signal 2 11 1 table2 11 1 Add the setting of 3X EMGN signal 2 12 6 Emergency stop Add 4 axes all axes 5 2 Signal description Add axes about EMGN 1 3Temperature for driving Operation Temperature Power Voltage for driving Operation Power Voltage 10 1 Ambient Temperature Operation temperature NOVA electronics Inc MCX514 ii Introduction In general semiconductor products sometimes malfunction or fail to function When incorporating this IC in a system make sure that a safe system is designed to avoid any injuries or property damage caused by malfunctioning of this IC This IC is designed for application in general electronic devices industrial automation devices industrial robots measuring
117. signal activation position to the mechanical limit position b The automatic home search position is not beyond the limit signal active section in the search direction B in Fig 2 5 16 The operation steps of an automatic home search this case are shown in the table below The mode setting in Steps 1 and 2 when a search direction is specified the direction and a limit signal is specified as a detection signal the limit signal of the direction is determined nLMTM Table 2 5 13 Automatic Home Search Example 2 Operation Execution Detection Step Operation Signal level Search direction Search speed Non execution signal 1 High speed search Execution direction 20 000pps nLMTM Low active 2 Low speed search Execution direction 500pps 3 Z phase search Non execution 4 Offset drive Execution direction 20 000pps The operation from Step 1 to Step 4 is the same as the operation using a home signal nSTOP1 described above Over Run Limit in the Search Direction When the automatic home search starting position is in point A as shown in the RN right side figure the function performs irregular operation D of Step 2 Section 5 2 without executing Step 1 And it escapes in the reverse direction from the limit Step1 Search me g signal active section once and then search operation is performed in the m 28 E specified directio
118. speed can be within 0 2 or less and it will considerably improve the speed accuracy in interpolation driving The figure below is each graph of speed deviation of circular interpolation driving with radius 10 000 pulses when performed in the existing constant vector speed mode and when performed in MCX514 2 axis high accuracy constant vector speed mode 10 5 10 Speed deviation 7 at a maximum Speed deviation 0 2 or less 45 90 135 190 225 210 315 360 1 45 9 135 180 205 270 315 360 DE E VU D Vi Ly Fi t vi A 7 Existing constant vector speed mode 1 2 axis high accuracy constant vector speed mode Fig 1 1 6 Speed Deviation in Constant Vector Speed Mode NOVA electronics Inc MCX514 4 Speed Range Free MCX514 is a new motion control IC that has no multiple of speed Range Setting to set the drive speed This will enable us to freely set the speed from 1 pps up to 8 Mpps in increments of 1 pps When using the multiples of speed to set the speed by existing method there are restrictions as described below e For the detailed speed setting of low speed less multiples of speed must be set As a result driving cannot be shifted to high speed perform the high speed driving larger multiples of speed must be set gt As a result the detailed setting of drive speed cannot be configured 514 brings solutions to the inconvenience described above by Speed range free which makes
119. split length and pulse width For more details of these functions see chapter 2 6 2 7 4 Interrupt by Split Pulse An interrupt related to split pulse operation can be generated Set to D10 D11 bits of WRI register When D10 bit SPLTP is 1 an interrupt occurs at the 1 of a pulse in each split pulse when the split pulse logic is positive When D11bit SPLTE is 1 an interrupt occurs when operation of split pulse is finished For more details of the interrupt function see chapter 2 10 2 7 5 Notes on Split Pulse e When with starting pulse is enabled only the first pulse is different in the timing of output For more details see chapter11 7 e While operating split pulse if it stops by such as a command before output of specified split pulses is finished and then restarts split pulse again it starts to count the split pulse number from 1 NOVA electronics Inc MCX514 81 2 7 6 Examples of Split Pulse W Example 1 pulse starts from the start of X axis driving After issuing start of split pulse command driving starts and split pulses are output with driving WRN Issue start of split pulse command Write driving command XPP XPM XSPLTP Start split pulse from the first driving pulse Fig 2 7 3 Timing of Split Pulse Output by Start of Driving Program Example Drive setting constant speed driving at 1000 PPS WR6 1200h Write Initial speed 8M PPS maximum in specification WR7 lt 00
120. stop is performed Note e When changing a drive speed during the driving set the triangle form prevention function to disable WR3 D13 1 NOVA electronics Inc 514 23 2 2 3 Non Symmetrical Trapezoidal Acceleration If an object is to be moved using stacking equipment there will be a need to change acceleration and deceleration of vertical transfer since gravity acceleration is applied to the object This IC can perform automatic deceleration in non symmetrical linear acceleration deceleration fixed pulse driving where acceleration and deceleration are different It is not necessary to set a manual deceleration point by calculation in advance Fig 2 2 6 shows the case where the deceleration is greater than the acceleration and Fig 2 2 7 shows the case where the acceleration is greater than the deceleration In such non symmetrical linear acceleration the automatic deceleration start point is calculated by the IC based on the number of output pulses in fixed pulse driving and each rate parameter Speed i pps Drive Speed DV 30k Deceleration Rate DC 145kpps sec Acceleration Rate L AC 36 25kpps sec Initial Speed SV 1k 0 8 1 2 1 4 time sec Fig 2 2 6 Non Symmetrical Linear Acceleration Driving acceleration lt deceleration Speed i pps Drive Speed DV 30k Deceleration Rate Acceleration Rate DC 36 25kpps sec AC 145kpps sec Initial Speed SV 1k 0 2
121. the IC sealed damp proof package in the temperature 30 C or lower and humidity 85 RH or lower and use the IC within 12 months 3 If the IC usage date has expired remove any dampness by baking it at the temperature 125 C 5 C for 20 hours more and 36 hours or less The number of baking must not exceed two times If damp proofing is damaged before expiration also apply damp removal processing 4 Protect the device from static electricity before applying damp removal processing 5 After opening the damp proof package store the IC in the temperature 30 C or lower and humidity 70 RH or lower and install it within seven days If the allowable storage period described above has been exceeded baking must be applied before installation of the IC 13 2 Standard Installation Conditions by Soldering Iron The standard installation conditions for the IC by soldering iron are as follows 1 Installation method Soldering iron heating pin section 2 Installation conditions The temperature of the pin 350 C or lower Time 5 seconds or less Number of times 2 times or less 13 3 Standard Installation Conditions by Solder Reflow The standard installation conditions for the IC by solder reflow are as follows 1 Infrared Mounting Method 2 Hot air 3 Infrared and Hot air Maximum reflow temperature package surface temperature 260 C or less Time of over 250 C 10 seconds or less Time of over 220 C 60 second
122. the external when passing through a specified position during the driving Action Output the pulse signal to the external nPI00 Activation Factor 7 Axis is passing through the position 15 000 cr cs 1 ZZ 7 777777777777777777777777777777777777777777770 7 77777777777777777777777777777777777777777777777777774 Driving start Fig 2 6 1 Example 1 of Synchronous Action Example 2 Saves the current position to a specified register when an external signal is input during the driving Activation Factor External signal is input Action ET Save the current position of the axis to the register NNI L L BH 2 Driving start MRO register 562 490 Fig 2 6 2 Example 2 of Synchronous Action Example 3 Outputs N split pulses from a specified position to the external during the driving 2 3L Action start to output split pulses Activation Factor axis is passing through the position 5 000 p ZA Driving start Fig 2 6 3 Example 3 of Synchronous Action NOVA electronics Inc 514 60 Example 4 Measures the time to pass through from the position to the position B during the driving 4 T usec
123. the four D3 DO bits of WRO That is when the user wants to enable the synchronous action set 8h to D7 D4 and when to disable it set 9h to D7 D4 and when to activate it set Ah to D7 D4 D3 DO are corresponding to four synchronous action sets SYNC3 SYNC2 SYNC1 SYNCO and set 1 to the bit corresponding to the synchronous action set H L D15 Di4 Di2 Dii DIO 09 08 D7 D6 D5 D4 D3 D2 DI DO WRO SYNC3 SYNC2 SYNC1 il il Axis Assignment Synchronous action Designation of SYNC3 0 operation command code 1 Set 8h Enable 9h Disable Ah Activation These commands are without writing data and executed by writing the axis assignment and command code into WRO command register Note e It requires 125 nSEC maximum to access the command code of synchronous action operation commands when CLK 16MHz Please write the next command after this period of time 7 7 1 Synchronous Action Enable Setting Command Synchronous action enable setting This command sets to enable each synchronous action set which is specified by the lower 4 bit of the command code Before the synchronous action enable setting the mode setting for the synchronous action set which the user wants to enable must be set by synchronous action SYNC3 0 setting command 29h 26h Example To enable the synchronous action sets SYNCO and SYNC2 in X axis write 0185h into WRO The enable
124. the next command during the period of time 5 Di4 D3 Di2 pi Dio Dn s 06 ps 04 pa D Di Do WRO o lolo Axis Assignment Command Code 07 0 Command code setting 011 8 Axis assignment When the bits of the axis are set to 1 the axis is assigned The assignment is not limited only for one axis but for multi axes simultaneously It is possible to write the same parameters also However for data reading assign only one axis Whenever the interpolation is commanded the bits of the assigned axis axes should be set 0 Other bits must be set to 0 otherwise the unknown situation could happen due to IC internal circuit test 6 5 Mode Register1 WR1 Each axis has mode register WR1 individually The host CPU specifies the mode register of which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Mode register WR1 is used for setting each interrupt factor to enable disable Each bit is set 1 enable 0 disable H Dib Di4 12 Dil DIO D9 08 D7 D6 D5 D4 D3 D2 DI DO WR1 syncs sYNc2 sYNCI synco SPLTE SPLTP TIMER H END D END C END C STA D STA CMR3 CMR2 CMR1 CMRO Interrupt Enable Disable D3 0 CMR3 0 Interrupt occurs when the comparison result of multi purpose register MR3 0 with a comparative object changes to
125. the other is short axis The long axis outputs an average pulse train The driving pulse of the short axis depends on the long axis and the relationship of the two axes Fig 3 1 2 Example of Pulse Output at Finish Point X220 Y 9 When constant vector speed mode is disabled the speed of the drive pulse in long axis becomes the drive speed for the main axis The range for each axis is a 31 bit signed counter from 1 073 741 823 1 073 741 823 signed 31 bit 2LSB 3 1 1 Maximum Finish Point The absolute value of the finish point in long axis is called the maximum finish point At the reset initial state of IC the maximum finish point is automatically calculated but the user can set it manually by interpolation mode setting command 2Ah If in manual setting the user can specify the arbitrary value as the maximum finish point For more details of interpolation mode setting command 2Ah see chapter 7 3 8 3 1 2 Examples of Linear Interpolation W Example of linear interpolation for 2 axes Executes linear interpolation in X and Y axes from the current position to the finish position X 300 Y 200 The interpolation drive speed is constant 1000PPS WR6 0003h Write map interpolation axis X Y WRO 002Ah Write WRG lt O3E8h Write initial speed 1000 PPS WR7 lt 0000h Write 100 WRO 0104h Write WR6 O3E8h Write drive speed 1000 PPS WR7 lt 0000h Write WRO 0105h Write 200 WR6
126. to GND with 50kQ inside the IC 10 20 36 Ground 0V Terminal GND 55 72 90 All of the pins must be connected to OV 108 126 144 167 NOVA electronics Inc MCX514 168 Signal Name Input Output Signal Description 9 19 35 3 3V Power Terminal VDD 53 71 89 All of the pins must be connected to each power without fail 107 125 143 168 NOVA electronics Inc MCX514 169 5 3 Input Output Logic Input A Input B LVTTL Schmitt trigger input which is high impedance because there is no pull high resister for those signals in this IC Input is 5V tolerant 3 3V and 5V type output CMOS level and TTL level can be connected The user should connect to GND or VDD if the input is not used LVTTL Schmitt trigger input which is pulled up with 50kQ in the IC Input is 5V tolerant 3 3V and 5V type output CMOS level and TTL level can be connected The user should be Open or connect to VDD if the input is not used The signal with F symbol has an integral filter circuit in the internal input column of this IC Output A It is 3 3V type CMOS level output 6mA driving buffer Hi level output current VOH 2 6Vmin Low level output current IOL 6mA VOL 0 4Vmax When in Hi level output do not apply voltage more than the output voltage from outside 5V type input can be connected when the other input is TTL level If the other input is 5V type CMOS level it cann
127. transmits an instruction whether to read from which RR register of which chip to 514 It transmits 8 bit slave address synchronized with SCL shown below and receives ACK Low from MCX514 in the 9th bit The slave address is composed of chip address of 3 bits D7 DS register address of 4 bits D4 D1 and the bit DO for reading writing SCL SDA ee 0 Low outputted by MCX514 Reading 1 Hi Writing 0 Low Start Chip address Register address Condition Fig 4 2 3 Slave Address 156 NOVA electronics Inc MCX514 157 Specify the address set by A2 22 Al 23 AO 24 pins of MCX514 to CA2 CAO of chip address Low is 0 and Hi is 1 As for a register address specify the register address that the user wants to read referring to the following table Although RR register is 16 bit configuration but 1 data transfer must be specified in bytes Table 4 2 2 Register Address for Reading Regi egister Address RRn Register RA3 RA2 RA1 RAO 0 0 0 0 RROL 0 0 0 1 RROH 0 0 1 0 RR1L 0 0 1 1 RR1H 0 1 0 0 RR2L 0 1 0 1 RR2H 0 1 1 0 RR3L 0 1 1 1 RR3H 1 0 0 0 RR4L 1 0 0 1 RR4H 1 0 1 0 RR5L 1 0 1 1 RR5H 1 1 0 0 RR6L 1 1 0 1 RR6H 1 1 1 0 RR7L 1 1 1 1 RR7H RRnL is the low byte 7 0 of RRn RRnH is the high byte D15 D8 of RRn The last bit DO for writing of slave address is the bit to designate reading writing When re
128. type nDIR direction signal is on valid level while Hi level pulse is being output and the period of 1CLK cycle before and after the output when drive pulse is positive logic 11 4 Start Driving after Hold Command CLK L WRN L Start driving after hold command 1st Pulse 2nd Pulse nDRIVE a The first pulses nPP nPM and nPLS of each axis will be output after a maximum of 4 CLK cycles from WRN 1 when a start driving after hold command is written b nDRIVE will become Hi level after a maximum of 2 CLK cycles from WRN when a driving command of each axis is written 11 5 Instant Stop The following figure illustrates the timing of instant stop Instant stop input signals are EMGN nLMTP M When setting the instant stop mode and nALARM When an instant stop input signal becomes active or an instant stop command is written the output of pulses will be stopped instantly after the output of pulses being outputted Instant stop signal Instant stop command WRN LI 1114 14 nDRIVE l An instant stop input signal requires a pulse width of 2 CLK cycles or more even if the input signal filter is disabled When the input signal filter is enabled the input signal will be delayed according to the time constant of the filter 258 NOVA electronics Inc 514 259 11 6 Decelerating Stop The following figure illustrates the timing of decelerating stop Decelerating sto
129. value Counter relative position driving When executed it drives specified pulses in Specifies output pulse number as positive the direction value and when executed it drives specified pulses in the direction This is a driving command corresponding to direction fixed pulse driving of MCX300 series Absolute position driving As the finish point of driving specifies logical position counter value that is a destination point 6 RR2 register Error Even though driving stops if error factor If error factor becomes active during the driving information display becomes active error information bit becomes or error factor is active at the start of driving Software limit and 1 And when error factor is cleared error error information bit becomes 1 and will keep 1 hardware limit information bit returns to 0 even after error factor is cleared signal alarm signal If error factor becomes active while driving from a servo driver Stops it does not error and emergency All the bits of RR2 return to 0 by error finishing stop signal status clear command 79h or the start of next driving However when an error occurs during interpolation driving it is necessary to write error finishing status clear command 79h 7 Enable disable of Function of hardware limit signals nLMTP and Function of hardware limit signals nLMTP and hardware limit nLMTM LMT and LMT in MCX305 cannot be nLMTM can be enabled disabled function disabled
130. 0 1 8 000 000 Acceleration Deceleration A D 1 67 108 863 1 536 870 911 Finish point P 134 217 728 134 217 728 1 073 741 823 1 073 741 823 Center point of arc 134 217 728 134 217 728 1 073 741 823 1 073 741 823 3 6 1 Short Axis Pulse Equalization Setting Short axis pulse equalization can be set by D8 bit of interpolation mode setting command 2Ah Dib D14 D13 12 11 Dio D9 08 D7 06 D5 D4 L p3 D2 Di DO WR6 LMDF When 1 is set short axis pulse equalization is enabled and when 0 is set it is disabled 131 NOVA electronics Inc 514 132 3 6 2 Notes on Using Short Axis Pulse Equalization e Short axis pulse equalization cannot be used in the following driving S curve acceleration deceleration driving Multichip interpolation Single step interpolation BP interpolation Continuous interpolation driving Comparing operation of current drive speed using a multi purpose register Synchronous action that sets the current speed of driving and acceleration deceleration to a multi purpose register e When Short axis pulse equalization is used in circular interpolation or helical interpolation and if the start and finish points of a circular arc are not on the X or Y axis the finish points of both axes may deviate by 1 pulse And this deviation may be accumulated in helical interpolation For this reason in this case the user ne
131. 0 6 1 4 time sec Fig 2 2 7 Non Symmetrical Linear Acceleration Driving acceleration gt deceleration To perform non symmetry linear acceleration deceleration driving using automatic deceleration bits D2 to 0 of WR3 register and the following parameters must be set Table 2 2 4 Mode Setting Non symmetry Linear Acceleration Deceleration Mode Setting Bit Symbol Setting Comment WR3 DO MANLD 0 Automatic deceleration WR3 D1 DSNDE 1 When in deceleration deceleration setting value is used WR3 D2 SACC 0 Linear acceleration deceleration Table 2 2 5 Setting Parameters Non symmetry Linear Acceleration Deceleration Parameter Symbol Comment Acceleration AC Deceleration DC Initial speed SV Drive speed DV Drive pulse number Finish point TP Not required for continuous pulse driving NOVA electronics Inc 514 24 Note In non symmetry linear acceleration deceleration driving when acceleration gt deceleration Fig 2 2 7 the following condition is applied to the ratio of acceleration and deceleration DC Deceleration pps sec AC Acceleration pps sec Where 16MHz DV Drive speed pps DV Do CAS 0E For instance if the driving speed DV 100kpps deceleration DC must be greater than 1 80 of acceleration AC The value must not be less than 1 80 of acceleration In non symmetry linear acceleration deceleration driving if acceleration gt deceleration Fi
132. 00h 0206h 006Ch Read 0000h 0000h 0108h 2710h 0000h 0208h F25Eh FFFFh 0106h 4BC5h 0000h 0206h OBB8h 0000h 0406h 0190h 0000h 0806h 006Ah Read Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr i Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr Wr ite ite ite ite ite ite ite ite te ite ite ite ite ite ite ite ite ite ite ite ite ite ite ite ite te ite ite ite ite ite ite ite ite ite ite ite Set initial speed to main axis X 1000 PPS Set drive speed to main axis X Helical rotation number 1 Circle center X 0 ircle center Y 10000 ircle finish point X 0 ircle finish point Y 0 CCW helical calculation calculation time About 56ms Waits for termination of calculation DO bit 0 waiting Circle center X 0 Circle center Y 10000 Circle finish point X 0 Circle finish point Y 0 Feed amount of 7 3000 Feed amount of U 400 Starts CCW helical interpolation driving Waits for termination of interpolation DO bit 0 waiting 123 XY axes Circular arc Z U axes 2 axis high accuracy constant vector speed mode Short axis pulse equalization Disable 1000 PPS NOVA electronics Inc 3 4 Bit Pattern Interpolation MCX514 bit pattern interpolation is the operation tha
133. 0100 PREV3 O0 Activation factor Starts driving at constant speed area D8 D4 10101 ACT4 0 Action Timer start Synchronous action SYNC1 setting WR6 0112h Write WRO 0127h Write SYNC1 0 Enable WRO 0183h Write Start driving WRO 0152h Write D3 D0 0010 PREV3 0 Activation factor Timer is up D8 D4 10001 ACT4 0 Action Decelerating stop Starts direction continuous pulse driving NOVA electronics Inc MCX514 96 2 10 Interrupt 514 has 2 kinds of interruptions one is the interruption generated from each X Y Z and U axis and the other is the interruption generated during continuous interpolation driving The interrupt signal to the host CPU has also 2 signals INTON signal generated from each X Y Z and U axis and INTIN signal generated during continuous interpolation driving interrupt factors can be set to enable disable At reset all interrupt signals are disabled 2 10 1 Interrupt from X Y Z and U axes Factors that generate an interrupt from X Y Z and U axes are as follows Table 2 10 1 Factors of Interrupt from X Y Z and U axes Enable Disable Status RR1 3 Factors of Interrupt WR1 Register Register The comparison result of multi purpose register MRO with a comparative object DO CMRO DO changed to meet the comparison condition The comparison result of multi purpose register MR1 with a compara
134. 013 D12 pti DIO D9 18107 06 05 D4 L p3 D2 DI 00 WR6 P7M1 P7MO P6M1 Psm P5MO PAM1 PAMO P3M1 P3MO P2M1 P2MO P1M1 P1MO POM1 POMO nPIO7 nPIO6 nPIO5 4 nPIO2 nPIO1 0 Signal Signal Signal Signal Signal Signal Signal Signal Set 2 bits corresponding to each nPIOm signal of WR6 register according to purposes The functions corresponding to 2 bits of each nPIOm signal are shown in the table below Table 2 8 1 nPlOm Signal Function Setting 0 7 1 bit bit Function General purpose input nPIO7 0 signals become an input state 0 0 In synchronous action it can be activated by the signals 1 or In driving by external signals relative position driving or continuous pulse driving can be activated by nPIO4 5 signals General purpose output nPIO7 0 signals become an output state Drive status output nPIO7 0 signals become an output state and output the drive status Synchronous pulse MRm comparison output 1 1 nPIO7 0 signals become an output state 0 output synchronous pulses and nPIO7 4 output MRm comparison value NOVA electronics Inc MCX514 88 nPlOm signal reading The signal levels of nPIOm signals can be read by RR4 RRS registers anytime regardless of input output X axis is from D7 DO bits XPIO7 XPIOO of register Y axis is from D15 D8 bits YPIO7 YPIOO Z axis is f
135. 0h pps sec in acceleration deceleration driving the comparison result may not become active When the comparative object is current drive speed value CV and the acceleration deceleration is more than this value set the other conditions such as comparative object Z MIRm and not comparative obj D15 D0 will be set to 0 at reset 200 NOVA electronics Inc MCX514 201 7 3 2 PIO Signal Setting 1 Code Command Symbol Data Length byte 21h PIO signal setting 1 P1M 2 is the parameter setting the function of nPIO7 0 signals 7 0 signals be used for the general purpose input output signals synchronous input signals synchronous pulse output signals drive status output signals MRm comparison output signals and driving by external signals Dib 14 013 D12 pti D10 19 18107 D6 D5 D4 L p3 D2 DI DO WR6 P7M1 P7MO P6M1 Psm P5MO PAMO P3M1 P3MO P2M1 P2MO P1M1 P1MO POM1 POMO nP107 106 105 nPI04 nP103 nP102 01 100 signal signal signal signal signal signal signal signal D1 0 1 0 Setting the nPIOO signal function D3 2 P1M1 0 Setting the nPIO1 signal function D5 4 P2M1 0 Setting the nPIO2 signal function 07 6 P3M1 0 Setting the nPIO3 signal function D9 8 PAM 0 Setting the nPIO4 signal function 011 10 P5M1 0 Setting the nPIOS signal function D13 12 P6M1 0 Setting the nPIO
136. 0h 1FFFh 4AABh FFDOh 0000h Y_PlusBPdata m Y axis 0111111100100000 0000000000000000 0000000000000000 0000000000000000 0000001111111111 direction data 7F20h 0000h 0000h 0000h O3FFh Y MinusBPdata m WR6 0043h Write Xaxis and Yaxis 2 axis simple constant vector speed mode WRO lt 002Ah Write Set interpolation mode WR6 lt 03 8 Write Xaxis main axis Set speed parameters WR7 0000h Write Initial speed 1000 PPS WRO 0104h Write WR6 O3E8h Write Drive speed 1000 PPS WR7 lt 0000h Write WRO 0105h Write m 1 Data pointer 1 Loop WR6 X PlusBPdata m Write Xaxis direction BP data WR7 X MinusBPdata m Write Xaxis direction BP data WRO 0106h Write WR6 Y PlusBPdata m Write Yaxis direction BP data WR7 Y MinusBPdata m Write Yaxis direction BP data WRO 0206h Write WRO 0066 Write 2 axis BP interpolation command Starts interpolation driving by the first execution of this step m m 1 Data pointer is incremented If m 26 it is terminated RRO Read Checks free space of pre buffer W Bit pattern interpolation by interrupt The interrupt signal INTIN for continuous interpolation is provided This signal becomes active Low level when the stack If RRO D11 1 jump to Loop and if 0 go to RRO Read counter of pre buffer changes from 8 to 7 or from 4 to 3 After the interrupt signal is generated the host CPU can write the next BP dat
137. 1 2 147 483 647 IFFF FFFFh 4 value setting Or FFFF FFFFh 10 Multi purpose register 0 setting MRO 2 147 483 648 2 147 483 647 4 11 Multi purpose register 1 setting MR 1 2 147 483 648 2 147 483 647 4 12 Multi purpose register 2 setting MR2 2 147 483 648 2 147 483 647 4 13 Multi purpose register 3 setting 2 147 483 648 2 147 483 647 4 14 Home search speed setting HV 1 8 000 000 pps 4 E Speed Increasing decreasing 25 1 1 000 000 pps 4 value setting 16 Timer value setting TM 1 2 147 483 647 4 Split length 2 65 535 127 Split pulse setting 1 SP 1 Pulse width 1 65 534 4 18 Split pulse setting 2 SP2 Split pulse number 0 65 535 2 Interpolation Finish point 171 073 741 823 19 TX 4 maximum value setting 1A Helical rotation number setting HLN 0 65 535 2 TE DP calculation value fta 1 2 147 483 646 4 setting X1 However the range of interpolation finish point data is 1 073 741 823 1 073 741 823 Note When parameters are written the total data length should be completely filled The units described in speed parameters and the timer value are only applied to when input clock CLK is 16MHz When input clock CLK is other than 16MHz please see Appendix B for parameter calculation formula 186 NOVA electronics Inc Commands for Writing Mode Code Command Symbol Date
138. 103 CNST XP104 EXPP DSND CMPO XP105 EXPM AASND CMP1 XP106 ACNST CMP2 XP 107 ADSND CMP3 GND CLK VDD UECB PMIN UECA PPIN ZECB PMIN ZECA PPIN YECB PMIN YECA PPIN XECB PMIN XECA PPIN UPM DIR PB UPP PLS PA ZPM DIR PB ZPP PLS PA YPM DIR PB YPP PLS PA XPM DIR PB XPP PLS PA See chapter 10 for the 144 pin plastic QFP package 20x20mm external package 22x22mm pin pitch 0 5mm 162 NOVA electronics Inc 5 2 Signal Description MCX514 163 See chapter 5 3 for description of input output logic The input signals with symbol indicates that an integral filter circuit is available in the internal input column of this IC Signal Name Pin No Input Output Signal Description Clock clock signal for internal synchronous loop of MCX514 CLK 54 Input A The standard frequency is 16 MHz This signal is for drive speed acceleration deceleration and jerk If the frequency setting is not 16 MHz the setting values of speed and acceleration deceleration are different Data Bus 015 00 3 state bi direction 16 bit data bus When CSN Low and RDN Low these signals are for outputting 01500 1 8 Bi directional Otherwise they are high impedance inputs If 8 bit data bus is used and 11718 A D15 D8 are not used they should be connected to VDD or GND through high impedance about 10K 100 In mode be used as general purpose input signals Address address signal for
139. 2 15 Correction of the following errors 1 3 Specification Table over limit signal signal name 3 Interpolation each interpolation speed 7 4 24 General Purpose Input Value Reading data range of general purpose input value reading 9 Example Program description of interpolation command functions 3rd edition 2015 02 12 Correction of the following errors about the finish point range of interpolation 3 1 Linear Interpolation range of coordinates 3 2 Circular Interpolation range of center and finish point coordinates 3 6 Short Axis Pulse Equalization settable range of center and finish points 7 1 Command Lists Commands for Writing Data data range of Drive pulse number Finish point setting Circular center point setting Interpolation Finish point maximum value setting Commands for Reading Data data range of Interpolation Finish point maximum value reading Drive pulse number Finish point setting value reading 7 2 7 Drive pulse number Finish point setting data range 7 2 9 Circular Center Point Setting data range 7 2 26 Interpolation Finish Point Maximum Value Setting data range 7 4 10 Interpolation Finish point maximum value Reading data range 7 4 22 Drive Pulse Number Finish Point Setting Value Reading data range Correction of the following error 5 2 Signal Description VDD Pin No 4th edition 2015 04 17 Correction of the following errors about triangle form prevention 2 2 2 Triangle form prevention
140. 2 2 Example of X axis Continuous Pulse Driving by External Signal 102 NOVA electronics Inc MCX514 103 W Manual pulsar mode Set D9 8 bits of PIO signal setting 2 Other settings 22h to 1 1 and set the appropriate speed parameters for driving and drive pulse number Connect the A phase signal of an encoder to nEXPP input and the B phase signal to nEXPM input When nEXPM signal is on the Low level direction relative position driving is activated at the rising edge 1 of nEXPP signal When nEXPM signal is on the Hi level direction relative position driving is activated at the rising edge of nEXPP signal When the drive pulse number is set to 1 one drive pulse is output at the each rising edge 1 of nEXPP signal If drive pulse number is set to TP the TP number of drive pulses is output XEXPP A phase XEXPM B phase XPP XPM XEXPP A phase XEXPM B phase XPP XPM Normal rotation Reverse rotation El d 2 ____ _ o er Fig 2 12 3 Example of X axis Driving Drive Pulse Number 1 by Manual pulsar Normal rotation Reverse rotation e Eoo lll EL es us an Fig 2 12 4 Example of X axis Driving Drive Pulse Number 2 by Manual pulsar Set the speed parameter in the following conditions to complete output of the TP number of drive pulses with a period from the rising edge 1 of nEXPP signal to
141. 4 0 Action synchronous pulse output Starts direction continuous pulse driving NOVA electronics Inc MCX514 72 PP PM LP 14999 15000 00 Match the comparison with MRO Delay of 2CLK Fig 2 6 7 Timing of Example 1 Synchronous Action From chapter 2 6 7 a delay from the occurrence of an activation factor is and a delay up to the action is so the delay time of this synchronous action is 2CLK 125nsec NOVA electronics Inc Example 2 514 73 When external signal is input during the driving X axis save the position data Activation Factor External signal is input Action Save the current position of the axis to the register gt ju 22 222224 Driving start Program Example Drive setting constant speed driving at 1000 PPS WRG WR7 WRO WR6 WR7 Pas DE ee WRO WR6 WR7 WRO 1200h Write 007Ah Write 0104h Write O3E8hWr i te 0000h Write 0105h Write 0000h Write 0000h Write 0109h Write PIO signal setting 1 WR6 0000h Write WRO 0121h Write Interrupt setting WRO O11Fh Write WR1 1000h Write Synchronous action setting MRO register 562 490 Fig 2 6 8 Example 2 Synchronous Action Initial speed 8M PPS maximum in specification Drive speed 1000 PPS Logical position counter O0
142. 4 Axes Motor Control IC with High Functions MCX514 User s Manual 2014 08 01 Ver 1 0 2014 12 15 Ver 2 0 2015 02 01 Ver 3 0 2015 04 17 Ver 4 0 2015 10 15 Ver 5 0 NOVA electronics 1 1 Main Features of 4 1 1 2 Functional Block 9 1 8 Specification 11 2 Descriptions of Functions 15 2 1 Fixed Pulse Driving and Continuous Pulse 15 2 1 1 Relative Positiori Brivirig i dt t te e e a d deer 15 2 1 2 Absolute Position Driving oriente reor reb d gerere bo eee rubo gear eb strage edge rare Da sooo a 16 2 1 8 Counter Relative Position 16 2 14 Gontituous Pulse Drivings sc 18 2 2 Acceleration and 2000 20 2 2 1 Gonstant Speed epe pe SERE Ea E a 20 2 2 2 Trapezoidal Driving 21 2 2 8 Trapezoidal Acceleration 2 23 2 2 4 S curve Acceleration Deceleration Driving
143. 4 CMD38 CT Axis Data int GetMRO int Axis long Data Multi purpose register 0 reading 244 NOVA electronics Inc return GetData MCX514 CMD34 Axis Data int GetMR1 int Axis long Data return GetData MCX514_CMD35_MR1 Axis Data int GetMR2 int Axis long Data return GetData MCX514_CMD36_MR2 Axis Data int GetMR3 int Axis long Data return GetData MCX514 CMD37 MR3 Axis Data int GetTX long Data reading return GetData MCX514_CMD39_TX MCX514 AXIS NONE Data int GetCHLN long Data return GetData MCX514_CMD3A_CHLN MCX514 AXIS NONE Data int GetHLV long Data return GetData MCX514 CMD3B 514 AXIS NONE Data int GetWR1 int Axis long Data return GetData MCX514_CMD3D_WR1 Axis Data int GetWR2 int Axis long Data return GetData MCX514_CMD3E_WR2 Axis Data int GetWR3 int Axis long Data return GetData MCX514_CMD3F_WR3 Axis Data int GetMRM int Axis long Data return GetData MCX514_CMD40_MRM Axis Data int GetPIM int Axis long Data return GetData 514 CMD41 Axis Data int GetP2M int Axis long Data return GetData MCX514_CMD42_P2M Axis Data int GetAc int Axis long Data return GetData MCX514_CMD43_AC Axis Data int GetStartSpd int Axis long Data return GetData MCX514 CMD44 SV Axis Data in
144. 4 S curve Acceleration Deceleration Driving Terminate constant speed driving Start constant Speed driving Start constant Speed driving Terminate constant speed driw m 4 Time Driving finish m 1 4 Driving start Driving finish Driving start Fig 2 6 6 Activation Factor regarding Driving State NOVA electronics Inc 514 62 Note e constant speed area the area that driving is performed at a constant speed may be slightly generated at the termination of driving in acceleration deceleration driving Description 4 Split pulse About Start of split pulse a synchronous action is activated when split pulse is started by start of split pulse command 75h or the other synchronous action sets About Termination of split pulse a synchronous action is activated when output of the last split pulse is finished About Output of split pulse a synchronous action is activated when split pulse is output when rising or falling to the valid level If a synchronous action is set to repeat it is activated every split pulse Drive Pulse Lee Split Pulse 9606 i Last pulse Output Split Pulse Paget 011 Split Pulse is in operation Start Split Pulse Terminate Split Pulse Fig 2 6 7 Activation Factor of Split Pulse Description 5 The change of when general purpose input signal is
145. 5 1 jump to ERROR main chip Go to error handling Execute the handling B WR6 0005h Write Finish point Y 5 WR7 lt 0000h Write WRO 0206h Write Execute the handling C Execute the handling B Writing to sub 2 WR6 0019h Write Finish point X 25 WR7 lt 0000h Write WRO 0106h Write Execute the handling C Execute the handling WR6 FFF4hWrite Finish point Y 12 WR7 FFFFhWrite WRO 0206h Write Execute the handling C Execute the handling 149 NOVA electronics Inc MCX514 150 Write interpolation command in the order of sub chip and main chip Writing to sub WRO lt 0061h Write Writing to sub chip2 WRO lt 0061h Write Writing to main chip WRO lt 0061h Write ERROR handling main chip WRO 011Fh Write Example X RRO D4 5 Read RR2 D7 Read WRO 017Bh Write 7 Di2 Read WRO 0179h Write RRO D4 5 Read RR2 07 Read 012 Read ERROR handling sub chip WRO O11Fh Write Example X RRO D4 5 Read RR2 07 Read WRO 017Bh Write 7 012 Read Reading RRO register of main chip RRO 7 D4 Read WRO 0179h Write RRO 04 5 Read RR2 D7 Read 012 Read 2 axis linear interpolation 2 axis linear interpolation 2 axis linear interpolation Error check of interpolation in RR2 register to any of interpolation axes
146. 514_CMD6A_HLCCW def ine MCX514_CMD6B_HLPCW def ine MCX514_CMD6C_HLPCCW def ine MCX514_CMD6D_DECEN def ine MCX514_CMD6E_DECDIS def ine MCX514_CMD6F_CLRSTEP interpolation Synchronous action operation commands def ine MCX514_CMD81_SYNCOEN itdef ine MCX514 CMD82 SYNCTEN itdef ine MCX514 CMD84 SYNC2EN itdef ine MCX514 CMD88 SYNCSEN def ine MCX514 CMD91 5 0015 def ine MCX514 CMD92 SYNCIDIS itdef ine MCX514 CMD94 SYNC2DIS itdef ine MCX514_CMD98_SYNC3DIS itdef ine MCX514_CMDA1_SYNCOACT def ine MCX514_CMDA2_SYNC1ACT def ine MCX514_CMDA4_SYNC2ACT def ine MCX514_CMDA8_SYNC3ACT 0x003A 0x003B 0x003D 0x003E 0x003F 0x0040 0x0041 0x0042 0x0043 0x0044 0x0045 0x0046 0x0047 0x0048 0x0050 0x0051 0x0052 0x0053 0x0054 0x0056 0x0057 0x0058 0x0059 0x005A 0x0060 0x0061 0x0062 0x0063 0x0064 0x0065 0x0066 0x0067 0x0068 0x0069 0x006A 0x006B 0x006C 0x006D 0x006E 0x006F 0x0081 0x0082 0x0084 0x0088 0x0091 0x0092 0x0094 0x0098 0x00A1 0x00A2 0x00A4 0x00A8 240 MCX514 240 Current helical rotation number reading Helical calculation value reading WR1 setting value reading WR2 setting value reading WR3 setting value reading Multi purpose register mode setting reading PIO signal setting 1 reading PIO signal setting 2 Other settings reading A
147. 5b14 CMD39 TX MCX514 AXIS NONE Data int SetHLNumber unsigned short Data Helical rotation number setting return SetData MCX514 CMD3A CHLN MCXb14 AXIS NONE long int SetHLValue long Data Helical calculation value setting return SetData MCX514_CMD3B_HLV MCX514_AXIS_NONE Data Functions of commands for writing mode int SetModeMRm int Axis unsigned short Data Multi purpose register mode setting return SetModeData 514 CMD20 Axis Data int SetModeP101 int Axis unsigned short Data PIO signal setting 1 return SetModeData 514 CMD21 Axis Data int SetModePIO2 int Axis unsigned short Data signal setting 2 Other settings return SetModeData 514 CMD22 P2M Axis Data int SetModeHMSrchl int Axis unsigned short Data Automatic home search mode setting 1 return SetModeData 514 CMD23 Axis Data int SetModeHMSrch2 int Axis unsigned short Data Automatic home search mode setting 2 return SetModeData 514 CMD24 H2M Axis Data nt SetModeFilter int Axis unsigned short Data Input signal filter mode setting return SetModeData 514 CMD25 FLM Axis Data int SetModeSyncO int Axis unsigned short
148. 6 signal function 15 14 P7M1 0 Setting the nPIO7 signal function Each function is shown as follows k 0 7 PkM1 bit PkMO bit Function General purpose input nPIO7 0 signals become an input state The signal level of each axis can be read by the following register X axis from D7 0 of RR4 Y axis from D15 8 of RR4 Z axis from 0 0 D7 0 of RR5 and U axis from D15 8 of RR5 register In synchronous action it can be activated by the signals 1 or In driving by external signals relative position driving or continuous pulse driving can be activated by nPIO4 5 signals General purpose output nPIO7 0 signals become an output state The values of WR4 5 registers are output to the following bit of each axis respectively 07 0 of WR4 are output to PIO7 0 of X axis D15 8 of WR4 to PIO7 0 of Y axis D7 0 of WR5 to PIO 7 0 of Z axis and D15 8 of WRS5 to PIO7 0 of U axis When the value is 0 it is Low level output and when is 1 it is Hi level output Drive status output 1 0 nPIO7 0 signals become an output state and each signal outputs the drive status as shown in the following table Synchronous pulse comparison output nPIO7 0 signals become an output state nPIO3 0 output synchronous pulses and nPIO7 4 output comparison value The comparative object and comparison condition can be set by multi purpose register mode setting command 20h The function of each nPIOm signal is shown as follows 201
149. 7 483 646 4 It reads the result of helical calculation by helical calculation command 6Bh 6Ch The helical calculation value is set in read registers RR6 7 The axis assignment is not necessary for this command For details of helical interpolation see chapter 3 3 7 4 13 WR1 Setting Value Reading Code Command Data Range Data Length byte 3 Dh WR1 setting value reading Bit data 2 The setting value of WR1 register is set in read register RR6 WRI setting value cannot be read by accessing WR1 register address To check and read out the WR1 setting value use this command Read register RR7 is set to 0 7 4 14 WR2 Setting Value Reading Code Command Symbol Data Range Data Length byte 3 Eh WR2 setting value reading WR2 Bit data 2 The setting value of WR2 register is set in read register RR6 WR2 setting value cannot be read by accessing WR2 register address To check and read out the WR2 setting value use this command Read register RR7 is set to O 7 4 15 Setting Value Reading Code Command Data Range Data Length byte 3 WR3 setting value reading Bit data 2 The setting value of WR3 register is set in read register RR6 WR3 setting value cannot be read by accessing WR3 register address To check and read out the WR3 setting value use this command Read register RR7 is set to O 215 NOVA electronics Inc 7 4 16 Multi Purpose Register Mode Setting
150. 7 kinds of parameters that are loadable from the multi purpose register by using the synchronous action and 5 kinds of parameters that can be saved in the multi purpose register Load save of parameters will be executed to the multi purpose register according to the synchronous action SYNC3 0 activation To load save the parameters by using the synchronous action the user needs to set the action code for the action of the synchronous action set which the user wants to use by executing synchronous action SYNC3 0 setting command 26h 27h 28h 29h And the synchronous action set which the user wants to use must also be enabled by synchronous action enable setting command 81h 8Fh Table 2 4 7 Parameter Loaded Saved by Synchronous Action Actor Cede Loadable Parameter Load Acton 86 Save the Current Value Save Hex Hex 01 Drive speed DV 05 Logical position counter LP 02 Drive pulse number Finish point TP 06 Real position counter RP 03 Split pulse setting 1 SP1 07 Current timer value CT Logical position counter LP SYNCO Current drive speed CV SYNCO Real position counter RP SYNC1 08 Current acceleration deceleration CA 04 SYNC1 Initial speed SV SYNC2 Acceleration AC SYNC3 OF Set drive pulse number TP and start relative position driving 10 Set finish point TP and start absolute position driving Action Code Hex Code that is set to the data writing register of
151. 74 6 6 Mode Register2 2 Ie nen n enhn nn enn nnn nnn n nnn nnn 175 6 7 Mode Register3 176 6 8 Output Register 4 178 6 9 Output Register 5 179 6 10 Data Register 179 6 11 Main Status Register 180 6 12 Stat s Register 1 RR 181 6 13 Status Register 2 2 182 6 14 Status Register 3 183 6 15 PIO Read Register 1 RR4 00000000 000000 185 6 16 PIO Read Register 2 5 rise nennt 185 6 17 Data Read Register RR6 RR 7 185 7 14186 71 Command 1155 186 7 2 Commands for Writing Data 190 Ye ete 190 7 2 2 Deceleration Increasing Rate Setting 190 7 0 3 Acceleratiori Setting ini ene eet erp onec ete dif 191 7 2 4 B celeration Setting oe ted bie ee best vege hber be speeds 191 7 2 5 Anitial Speed Setti
152. 7Ah Write WRO 0104h Write WRG 03 8 Write Drive speed 1000 PPS WR7 lt 0000h Write WRO 0105h Write WR6 0000h Write Logical position counter 0 WR7 lt 0000h Write WRO 0109h Write Split pulse setting Split length pulse width setting WR6 0009h Write Split length 9 WR7 lt 0005h Write Pulse width 5 WRO 0117h Write Split pulse number setting WR6 000 Write Split pulse number 10 WRO 0118h Write Split pulse logic starting pulse setting WR6 0800h Write D10 0 SPLL Pulse logic Positive D11 1 SPLBP With starting pulse WRO 0122h Write Start split write start of split pulse command before starting the drive WRO 0175h Write Start driving WRO 0152h Write Starts direction continuous pulse driving After starting the drive the first driving pulse becomes the starting drive pulse of split pulse After start of split pulse command is written split pulses are not output unless driving starts but D11 bit SPLIT of RR3 register Pagel becomes 1 at the timing of when start of split pulse command is written NOVA electronics Inc MCX514 82 B Example 2 pulse starts from position 5 000 in X axis After starting the drive split pulse starts from when the logical position reaches to 5 000 This is performed by the function of a synchronous action XPP XPM XLP XSPLTP LPZMRO Start split pulse Fig 2 7 4 Ti
153. 8 4 is 10111 For more details of the action see chapter 2 6 2 Activation of other synchronous action sets This bit is used to activate simultaneously with the action of the other synchronous action set when the activation factor is activated by the synchronous action set Specify by 011 9 bits SNC 3 SNC 1 To activate the action of the other synchronous action set specify 1 and not to activate specify 0 The specified bit and the activation of other synchronous action sets are shown in the table below Table 2 6 5 Activation of Other Synchronous Action Sets Self synchronous action set SYNCO D11 SNC 3 SYNCS3 activation D10 SNC 2 SYNC2 activation D9 SNC 1 SYNC1 activation SYNC1 SYNCO activation SYNCS3 activation SYNC2 activation SYNC2 SYNC1 activation SYNCO activation SYNCS3 activation SYNC3 SYNC2 activation SYNC1 activation SYNCO activation This function allows to perform more complex synchronous actions because it can activate multi actions simultaneously to one activation factor For example suppose the self synchronous action set is SYNCO and if the user wants to activate the actions of SYNC1 2 when the activation factor of SYNCO is activated set D9 and D10 bits to 1 based on the table above By these settings when the activation factor of SYNCO is activated the actions of SYNCI 2 will be activated with the action of SYNCO At this time the activation
154. A nPB pulses changes the logical position counter is up down In quadrature pulse and double edge evaluation when output of nPA pulses changes the logical position counter is up down Table 2 12 2 Example of X axis Drive Pulse Output Type Pulse Output Type Signal Driving in the direction Driving in the direction LP 0 1 2 3 4 4 3 2 1 0 Independent 2 pulse XPP mese APES gel ee ea emi 8 XDIR 1 pulse 1 direction XPA Quadrature pulses and quad edge evaluation XPB Quadrature pulses and XPA ERA IM RU BR double edge evaluatio E XPB E LL Pulse output type can be set by D4 3 bits DPMDI 0 of WR3 register H L 5 4 013 02 Dii DIO D9 08 D7 D6 D5 D4 D3 D2 Di DO WR3 DPINV DIR L DP L DPMD1 DPMDO Pulse Output Type Drive pulse logic Drive direction signal logic Drive pulse pin inversion The mode setting for driving corresponding to each bit is as follows Table 2 12 3 Drive Pulse Output Type D4 DPMD1 D3 DPMDO Pulse Output Type 0 0 Independent 2 pulse 1 pulse 1 direction Quadrature pulse and quad edge evaluation Quadrature pulse and double edge evaluation 4 0 1 0 1 Please refer to chapter 11 2 for the timing of output pulse signal nPLS and direction signal
155. A electronics Inc MCX514 199 7 2 26 Interpolation Finish Point Maximum Value Setting Code Command Data Range Data Length byte Interpolatopn Finish point maximum 19h 1 1 073 741 823 4 value setting TX is the parameter setting the maximum value of finish point in linear interpolation It does not require axis assignment and should be set with an unsigned 31 bit value The linear interpolation is calculated based on the value set by this command When using this command the linear interpolation maximum value must be manually set by interpolation mode setting command 2Ah 7 2 27 Helical rotation number setting Code Command Data Range Data Length byte 1Ah Helical rotation number setting 0 65 535 2 HLN is the parameter setting the helical rotation number during helical interpolation It does not require axis assignment The helical rotation number during helical interpolation can be read by current helical rotation number reading command 3Ah 7 2 28 Helical calculation setting Code Command Symbol Data Range Data Length byte 1Bh Helical calculation setting HLV 1 2 147 483 646 4 HLV is the parameter setting the helical calculation value during helical interpolation It does not require axis assignment See chapter 3 3 for details of helical interpolation 199 NOVA electronics Inc MCX514 200 7 3 Commands for Writing Mode Commands for writing mode
156. At the start of split pulse set with or without starting pulse and the logical level of split pulse output to D10 D11 bits of WR6 register D15 014 013 01211 011 D10 9 D8 D7 06 D5 pa D2 DI DO sPLBP Split pulse mode setting bit Set the split pulse logic to D10 bit SPLL As shown below when O is set it is positive logic pulse and when 1 is set it is negative logic pulse Positive logic pulse Negative logic pulse Fig 2 7 2 Split Pulse Logic Set with or without starting pulse to D11 bit SPLBP When 1 is set to D11 bit SPLBP it starts with starting pulse and when 0 is set it starts without starting pulse When with starting pulse is specified after the start of split pulse split pulses are output from next driving pulse When without starting pulse is specified after the start of split pulse the first split pulse is output after a split length of driving pulses is output 2 7 2 Start Termination of Split Pulse Start of split pulse Split pulse is started by start of split pulse command 75h or a synchronous action When a command is written or the action of a synchronous action is started next driving pulse is the starting drive pulse of split pulse W Termination of Split Pulse Output of split pulse is terminated by any one of the following 3 behaviors When output of specified split pulses is finished When requested to stop by termin
157. CO in X axis is activated set D12 and D13 bits to 1 as shown in the table above By these settings when the activation factor of SYNCO in X axis is activated the actions of SYNCO in Y and Z axes will be activated with the action of SYNCO in X axis At this time the activation factor of SYNCO in Y and Z axes must be set to NOP and only set the action In addition they must be enabled by synchronous action enable setting command Synchronous action set repeat setting The user can specify whether the synchronous action set is disabled or not after that is invoked once To enable the repeat setting set D15 bit REP to 1 and to enable only once set it to 0 When the repeat setting is enabled the synchronous action is invoked every activation of the activation factor When it is enabled only once the synchronous action is invoked at the first activation of the activation factor Note e When the repeat setting is enabled if the activation factor sets Termination of driving and the action sets Start of relative position driving the operation from the termination to the start of driving loops infinitely This can be stopped by synchronous action disable setting command cannot be stopped by termination command W Enable setting Each synchronous action set can be enabled by synchronous action enable setting command 81h 8Fh When the synchronous action set is enabled the action is invoked by when the activation factor is activated 4 s
158. Circular Interpolation Driving The range of the center and finish point coordinates is 1 073 741 823 1 073 741 823 from the current position The position tolerance for the specified circular curve is 1 LSB within the entire interpolation range The interpolation speed is within the range from 1PPS to 8MPPS 113 NOVA electronics Inc MCX514 114 3 2 1 Finish Point Checking of Circular Interpolation ax2 n In the circular interpolation it assumes that the current position start point is 0 0 The radius is determined depending on the value of the center point coordinates and then the circular tracking will start The maximum error range of interpolation is with in 1LSB Because of the 1LSB error range the designated finish point may not on the circular track When the current point is same or over the finish point of short DUE Center point axis this circular interpolation is finished in the quadrant where the 200 500 gt finish point is If the current point cannot reach the finish point of short axis this circular interpolation is finished in the end of the quadrant Finish point where the current point reaches 702 299 Interpolation will be finished Fig 3 2 5 shows an example of CCW interpolation with the start point when 2 299 in the 4th 0 0 center point 200 500 and finish point 702 299 The finish quadrant point is in quadrant 4 and ax2 is the short axi
159. DC deceleration time td and pulse number for deceleration Pd respectively Note above calculation formula is an ideal expression and slight differences will be made in the actual IC operation 1 NOVA electronics Inc MCX514 A 2 A 2 Case of S curve Acceleration Deceleration Driving CLK 16MHz Speed pps i DV feces DV Drive speed pps SV Initial speed pps JK Jerk pps sec Sr ta Acceleration time sec ta 2 ta Time sec Pa Pulse number for acceleration Acceleration Deceleration pps sec Deceleration Time sec Acceleration AC is fixed to 1FFF FFFFh Calculation Formula of jerk JK when initial speed SV drive speed DV and acceleration time ta are given Jerk JK 4 SV pps sec a Calculation Formula of acceleration time ta when initial speed SV drive speed DV and jerk JK are given Acceleration time ta 2 sec Calculation Formula of pulse number for acceleration Pa when initial speed SV drive speed DV and jerk JK are given DV SV Pulse number for acceleration Pa DV SV m Deceleration increasing rate DJ deceleration time td and pulse number for deceleration Pd can be calculated by replacing jerk JK acceleration time ta and pulse number for acceleration Pa with deceleration increasing rate DJ deceleration time td and pulse number for deceleration Pd respectively Note e above calculation formula
160. Data Synchronous action SYNCO setting return SetModeData 514 CMD26 SOM Axis Data int SetModeSyncl int Axis unsigned short Data Synchronous action SYNC1 setting return SetModeData 514 CMD27 S1M Axis Data int SetModeSync2 int Axis unsigned short Data Synchronous action SYNC2 setting return SetModeData 514 CMD28 S2M Axis Data int SetModeSync3 int Axis unsigned short Data Synchronous action SYNC3 setting return SetModeData 514 CMD29 S3M Axis Data int SetModeIPM unsigned short Data Interpolation mode setting return SetModeData MCX514 CMD2A IPM 514 AXIS NONE Data Functions of commands for reading data int GetLp int Axis long Data Logical position counter reading return GetData MCX514 CMD30 LP Axis Data int GetRp int Axis long Data Real position counter reading return GetData MCX514 CMD31 RP Axis Data int GetCV int Axis long Data Current drive speed reading return GetData MCX514 CMD32 CV Axis Data int GetCA int Axis long Data Current acceleration deceleration reading return GetData MCX514 CMD33 CA Axis Data int GetCT int Axis long Data Current timer value reading return GetData MCX51
161. Deceleration time Request for Deceleration Stop Deceleration starts when Acceleration becomes 0 Fig 2 2 10 Triangle Prevention of S curve Acceleration Deceleration by Decelerating Stop Constraints for S curve Acceleration Deceleration Driving a The drive speed cannot be changed during S curve acceleration deceleration fixed pulse driving In S curve acceleration deceleration fixed pulse driving if the drive pulse number is changed during deceleration the S curve profile cannot be exactly tracked In S curve acceleration deceleration fixed pulse driving if an extremely low value is set as the initial speed premature termination output of specified driving pulses is completed and terminated before the speed reaches the initial speed or creep output of specified driving pulses is not completed even if the speed reaches the initial speed and the rest of driving pulses is output at the initial speed may occur The drive speed can be changed during S curve acceleration deceleration continuous pulse driving However the command to change the drive speed during acceleration deceleration will be invalid To change the speed in S curve acceleration deceleration continuous pulse driving make sure to change it during constant speed driving RR3 register Pagel CNST 1 Speed increase speed decrease 70h 71h commands and speed change by synchronous action will also be invalid NOVA electronics Inc
162. EC XPP YPM Fig 3 9 1 Example of Single step Interpolation 500PPS by External Signal EXPLSN Dib 14 D12 pii DIO 19 08 07 D6 05 04 L p3 D2 DI DO WR6 Single step interpolation by external signal command 3 9 1 Command Controlled Single step Interpolation Single step interpolation command 6Fh is provided for single step interpolation The operating procedure is shown as follows a Set 09 bit 1by interpolation mode setting command 2Ah It will enable the single step interpolation b Set the same value to the initial and drive speeds of interpolation main axis When the same value is set to the initial and drive speeds driving becomes constant speed This speed value must be faster than the writing cycle of single step interpolation command If the host CPU writes single step command at most 1mSEC the user should set both speeds faster than 1000PPS c Set interpolation data finish point center point d Write interpolation command Although the interpolation segment is enabled there is no pulse output because the single step is command controlled e Write the single step interpolation command 6Fh The driving pulses result from the interpolation calculation will be output from each axis Single step interpolation command 6Fh is written until the interpolation driving is finished If the user wants to stop single step interpolation on the wa
163. ER ERE RERU ERR FRE shes 80 27 6 Examples Or Split Pulse s tec rt t eh ate Meh eh aaron hah ning 81 2 8 General Purpose Input Output 87 2 8 1 ees aed eatin Baldi el ee ee eve ak 87 2 8 2 Other pu t Signals uen dur e e Ree PRA EN 90 2 95 CE C on 91 2 931 Timer Operation s etat tette ttam tained AO irepl oh Gira Me un Gia Mc b inis ES 91 2 9 2 Timer Settirigi i ipe ED pee ope ER i ee ec de Eee pet be p At Pepe esci a ali ERE heheh dations 92 2 93 Timier Start ede er Ee cree ede HE ERR Zo MEE 92 2 9 4 Timer and Synchronous 92 2 9 5 Timer Operating State and Current Timer Value 92 2 9 6 gt i i oov ME 92 2 9 7 Examples of coo eoe eee d ee d erede eere ueste s 93 2 10 I E 96 2 10 1 Interrupt from X Y Z and U axes 1 0 nnn rens sten ninh nnn rese 96 2 10 2 Interrupt during Continuous 97 2 11 Input Signal
164. ExeLHK2 void return ExeCmd MCX514 CMD61 LHK2 514 AXIS NONE ExeLHK3 void f return ExeCmd MCX514 CMD62 LHK3 514 AXIS ExeLHK4 void f return ExeCmd MCX514 CMD63 LHK4 514 AXIS ExeCHKCW void return ExeCmd MCX514 CMD64 CHKCW MCX514_AXIS_NONE ExeCHKCCW void return ExeCmd MCX514_CMD64_CHKCCW MCX514_AXIS_NONE ExeBHK2 void return ExeCmd MCX514_CMD66_BHK2 ExeBHK3 void return ExeCmd MCX514_CMD67_BHK3 ExeBHK4 void return ExeCm ExeHLCW void return ExeCm ExeHLCCW void return ExeCm ExeHLPCW void return ExeCm ExeHLPCCW void return ExeCm d MCX514 CMD68 BHK4 d MCX514 CMD69 MCX514 AXIS MCX514 AXIS MCX514 AXIS NONE MCX514 AXIS NONE d MCX514 CMD6A HLCCW 514 AXIS d MCX514 CMD6B HLPCW 514 AXIS d MCX514 CMD6C HLPCCW 514 AXIS 246 1 axis linear interpolation driving 2 axis linear interpolation driving interpolation driving 3 axis linear interpolation driving 4 axis linear CW circular interpolation driving CCW circular interpolation driving 2 axis bit pattern interpolation driving 3 axis bit pattern interpolation driving 4 axis bit pattern interpolation driving WW helical interpolation driving COW h
165. F position the axis advances to Step 2 without executing Step 1 nSTOPO 1 sensor and wiring high speed home search path Kept OFF Operation stops in Step 1 high speed home search by setting the limit and proceeds with irregular operation of Step 2 The home search result is correct however the operation is not normal Failure in the device of the Kept ON The axis moves in the opposite direction in Step 2 low speed home search Step2 detection signal with and stops by setting the limit At the termination the error bit RR2 D3 or nSTOP1 sensor and wiring D2 of the limit in the opposite direction is set to 1 path Kept OFF The axis moves in the opposite direction after setting the limit in the specified direction in Step 2 low speed home search and terminates by setting the limit in the opposite direction At the termination the error limit RR2 D3 or D2 of the limit in the opposite direction is set to 1 Failure in the device of the Kept ON Operation stops due to an error in Step 3 low speed Z phase search Z phase nSTOP2 sensor RR2 D6 is set to 1 and wiring path Kept OFF Operation stops in Step 3 low speed Z phase search by setting the limit in the specified direction The error bit of the limit in the specified direction RR2 D3 or D2 is set to 1 at the termination NOVA electronics Inc 514 52 2 5 7 Notes on Automatic Home Search W Search speed A home search speed HV must be set to
166. In partial S curve acceleration deceleration the initial speed SV should be the value more than a square root of acceleration AC Thus with the acceleration as shown in Fig 2 2 13 parameter setting of partial S curve acceleration deceleration driving is shown below Mode setting WR3 0004h Mode setting of WR3 register Jerk JK 500000 Set jerk for the section of parabolic acceleration S curve Acceleration AC 100000 Set Acceleration for the section of linear acceleration Initial speed SV 400 Drive speed DV 40000 Drive pulse number TP 40000 Set when fixed pulse driving is performed NOVA electronics Inc MCX514 31 2 2 5 Non symmetrical S Curve Acceleration Deceleration In S curve acceleration deceleration driving a non symmetrical S curve can be created by setting a jerk and a deceleration increasing rate individually However in non symmetry S curve acceleration deceleration fixed pulse driving a deceleration point must be specified manually because automatic deceleration is not available Since a triangle form prevention function 1 12 rule does not work either a drive speed must be set according to the acceleration deceleration increasing rate and the number of output pulses for fixed pulse driving Speed Drive Speed Initial Speed time Acceleration Am Deceleration Acceleration increasing rate JK we Deceleration increasing rate DJ Acceleration RM T tim
167. M bits of RR2 register become 1 The status of these input signals from a servo motor driver can be read out from register Page0 anytime W Deviation counter clear output signal A Deviation counter clear signal nDCC is available as a servo motor driver output signal The logical level of a deviation counter clear signal nDCC and pulse width can be set by D3 6 bits of automatic home search mode setting 2 command 24h For more details of the automatic home search mode setting 2 command 24h see chapter 7 3 5 When deviation counter clear output command 72h is written deviation counter clear pulses are output based on the logical level of pulses and pulse width set by automatic home search mode setting 2 command 24h In the case of using the deviation counter clear signal nDCC in automatic home search see chapter 2 5 2 and 2 5 4 2 12 6 Emergency Stop 514 has the input signal EMGN that can perform the emergency stop function during the driving of all 4 axes Normally this signal is kept on the Hi level When it falls down to the Low level all axes which drive will stop immediately and D5 EMG and D15 EMO bits of RR2 register become 1 Please note that there is no way to select the logical level of EMGN signal There are the following methods to perform the emergency stop to function for 4 axes from the host CPU a Write an instant stop command to 4 axes Specify all 4 axes to WRO register and then write instant
168. MLTO Operation of multichip interpolation 0 0 invalid 0 1 Main chip 1 0 Sub chip 1 1 When using multichip interpolation set main chip to 01 and others sub chip to 10 When not using multichip interpolation set to 00 210 NOVA electronics Inc MCX514 211 D12 MAXM Specifies the setting of the linear interpolation maximum value 0 Automatic setting 1 Manual setting When using manual setting set the finish point maximum value by interpolation finish point maximum value setting command 19h D15 14 INTB A Setting an interrupt during continuous interpolation driving Use when the user wants to generate an interrupt in response to a change of pre buffer stack counter D15 INT1 D14 INTO Interrupt during Interpolation 0 0 Invalid 0 1 stack counter 4 3 1 0 stack counter 8 7 1 1 stack counter 8 7 stack counter 4 3 When an interrupt occurs interpolation interrupt output signal INTIN becomes Low level After cleared by interpolation interrupt clear command interpolation execution command for next node or at the timing continuous interpolation driving is finished interpolation interrupt output signal returns to non active level Note When terminating interpolation driving write 0 in WR6 register and write this mode setting command then be sure to clear interpolation mode Otherwise driving will not work properly D15 DO will be set to 0 at reset D5 13 should al
169. MRO Set 500 000 1 Set the value to MRO WRO lt 0110h WR6 0000h D3 D2 0 0 Comparison condition gt D1 D0 0 0 Comparative object 1 Set comparative object and comparison Logical position counter LP condition of MRO WRO 0120h Writes multi purpose register mode setting Comparative object Condition LP lt 500000 LP 2500000 Logical position counter MRO Comparison condition is not met Comparison condition is met MRO 500000 Comparison result False Comparison result True 4 a ee ew E ee eee ee M 400000 450000 500000 550000 600000 Logical position counter LP Fig 2 4 2 Comparison Example of Multi Purpose Register with Logical Position Counter 2 4 2 Usage of Comparison Result The user can use the comparison result of comparative object with a multi purpose register as a comparison output signal synchronous action activation and interruption factor The functions to use the comparison result and actions are as follows Table 2 4 3 Usage of Comparison Result and Actions Function Object Action nPIO7 4 Output signals When comparison result is TRUE output signal is Hi Synchronous action SYNC3 0 When comparison result changes to TRUE synchronous action is activated Interrupt function When comparison result changes to TRUE interrupt occurs Comparison output signal Synchronous action activation Interruption factor NOVA electronics Inc 514 38 Comparison Output Sign
170. O MANLD Setting manual automatic deceleration for fixed pulse acceleration deceleration driving 0 automatic deceleration 1 manual deceleration The decelerating point DP should be set if the manual deceleration mode is engaged D1 DSNDE Setting decelerating rate whether to use the rate of the acceleration symmetry or an individual decelerating rate non symmetry Set whether jerk symmetry or an individual deceleration increasing rate non symmetry is used as a deceleration increasing rate at S curve deceleration 0 symmetry acceleration deceleration 1 non symmetry acceleration deceleration Automatic deceleration cannot be performed for non symmetrical S curve acceleration deceleration fixed pulse driving In this case the DO MANLD bit must be set to 1 and a manual deceleration point DP must be set D2 SACC Setting the speed curve to either linear driving or S curve driving during acceleration deceleration driving 0 linear driving 1 S curve driving Before S curve driving is engaged jerk JK deceleration increasing rate DJ must be set 176 NOVA electronics Inc MCX514 177 04 3 05 06 07 09 8 DPMD1 0 DP L DIR L DPINV PIMD1 0 Setting pulse output type DA4 DPMD1 D3 DPMDO Pulse Output Type 0 0 Independent 2 pulse 1 pulse 1 direction 0 1 1 0 Quadrature pulse and quad edge evaluation 1 1 Quadrature pulse and double edge evaluation When independent 2 pulse
171. PIO signal setting 2 Other settings 22h to 1 0 and set the appropriate speed parameters for relative position driving and drive pulse number positive value Once nEXPP falls down to the Low level direction relative position driving will start by of it Similarly once nEXPM falls down to the Low level direction relative position driving will start by of it The Low level width of each signal must be larger than 4 CLK cycles Before the driving is finished if the signal falls down from the Hi to Low level again it will be invalid Fig 2 12 1 Example of X axis Relative Position Driving Drive Pulse Number 5 by External Signal W Continuous Pulse Driving Mode Set D9 8 bits of PIO signal setting 2 Other settings 22h to 0 1 and set the appropriate speed parameters for continuous pulse driving Once nEXPP falls down to the Low level the direction driving pulses will be output continuously during the low level If nEXPP returns from Low level to Hi level decelerating stop will be performed in trapezoidal driving and instant stop will be performed in constant speed driving Similarly nEXPM will output direction driving pulses continuously during the low level If the other input signal of nEXPP nEXPM signals falls down from the Hi to Low level the driving in the other direction will start immediately after the driving in the current direction is finished Low period XEXPM Low period Fig 2 1
172. R share the same pin The signal to use can be set as commands About general purpose input output signals PIO1 it is the same as PIO7 About synchronous action it is the same as PIOS Error status output ERROR becomes Hi while an error occurs XPIOO DRIVE YPIOO DRIVE ZPIOO DRIVE UPIOO DRIVE 63 82 101 120 Bi directional B F Universal Input OutputO Drive general purpose input output signals PIOO drive status output signal DRIVE share the same pin The signal to use can be set as commands About general purpose input output signals PIO1 it is the same as PIO7 About synchronous action it is the same as PIOS Drive status display output DRIVE is set to High level while drive pulses are output At execution of automatic home search this signal is set to High level The DRIVE signal is set to High level until INPOS becomes active when INPOS signal for the serve motor is enabled by mode selection 166 NOVA electronics Inc MCX514 167 Signal Name Pin No Input Output Signal Description XDCC 64 Deviation Counter Clear deviation counter clear output signal YDCC 83 A deviation counter clear output DCC signal is output for a server motor utpu ZDCC 102 driver The signal can be output by mode setting in automatic home UDCC 121 search It can also be output by a command Split Pulse Outputs split pulses XSPLTP 65 tue
173. R3 MR3 MR2 MR2 MR1 MR1 MRO MRO comparison comparative comparison comparative comparison comparative comparison comparative condition object condition object condition object condition object 01 0 MOT1 0 Setting the comparative object with MRO k 0 3 MkT1 bit MkTO bit MRm comparative object D3 2 MOC1 0 Setting the comparison condition with MRO 0 0 Logical position counter LP 0 1 Real position counter RP D5 4 0 Setting the comparative object with 1 0 Current drive speed value CV 1 1 Current timer value CT D7 6 M1C1 0 Setting the comparison condition with MRI D9 8 M2T1 0 Setting the comparative object with MR2 k 0 3 MkC1 bit MkCO bit MRm comparison condition 011 10 M2C1 0 Setting the comparison condition with MR2 0 0 comparative object MRm 0 1 comparative object gt MRm 013 12 M3T1 0 Setting the comparative object with MR3 1 0 comparative object MRm 1 1 comparative object lt MRm 015 14 M3c1 0 Setting the comparison condition with MR3 Regardless of the comparison condition 0 bits set by multi purpose register mode setting the comparison result of large or small the MR3 0 with each comparative object can be checked by RR4 register See chapter 2 4 for details of multi purpose register Note e When the comparative object is set to current drive speed value CV and comparison condition is set to comparative object MRm if the acceleration deceleration exceeds 4 194 304 40000
174. RG FL13 FL12 FL11 FL10 FLO2 FLO1 FLOO FE7 FE6 FES FEA FE2 FE1 FEO Filter Time Constant B Filter Time Constant A Enable Disable of Each Input Signal Filter The user can set whether the IC built in filter function is enabled or the signal is passed through to D7 0 bits FE7 FEO of each input signal Set 1 to enable the filter function and 0 to disable through Input signals corresponding to each bit is shown in the table 2 11 1 The time constant A or B applied to each input signal is determined Table 2 11 1 Input Signal and Corresponding Time Constant Specified bit Input signal Applied time constant DO FEO EMGN D1 FE1 nLMTP nLMTM D2 FE2 nSTOPO nSTOP1 Filter Time Constant A D3 FE3 nINPOS nALARM D4 FE4 nPIO3 0 D5 FE5 nPIO7 4 D6 FE6 nSTOP2 2 Filter Time Constant B D7 FE7 nECA nECB Note EMGN signal is set in DO bit of WR6 register of X axis Use D11 D 8 bits FL03 FLO0 for setting the filter time constant and D15 D12 bits FL13 FL10 for setting the filter time constant B Select a filter time constant from 16 stages shown in the table 2 11 2 When a time constant is increased the removable maximum noise width increases however the signal delay time also increases Therefore set an appropriate value Normally set Ah or Bh for the time constant A The time constant B FL13 10 is provided for an encoder input signal
175. RR6 Data reading register 1 low word of data register D15 DO 1 1 RR7 Data reading register 2 high word of data register D31 D16 As with Write Register each axis has RR2 and RR3 status registers which will be read by the same address The host CPU specifies which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Regarding RR3 register there are 2 kinds Page 0 and Pagel The page can be specified by writing RR3 page display command 7 Ah 7Bh It will be Page 0 at reset 172 NOVA electronics Inc 514 173 6 2 Register Address by 8 bit Data Bus In case of the 8 bit data bus access the 16 bit data bus can be divided into high and low word byte As shown in the table below xxxxL is the low word byte D7 D0 of 16 bit register xxxx xxxxH is the high word byte D15 8 of 16 bit register xxxx To the command register WROL WROH make sure to first write the high word byte WROH and next write the low word byte WROL Write Register 8 bit Data Bus E Read Register in 8 bit Data Bus Address Write Register Address Read Register A3 A2 A1 A0 A3 A2 A1 A0 0000 WROL 0000 RROL 0 0 0 1 WROH 00 01 RROH 0010 WR1L 0010 RR1L 00 1 1 WR1H 0011 RR1H 0100 WR2L 0100 RR2L 0101 WR2H 0101 RR2H 0110 WR3L 0110 RR3L 0 1 1 1
176. S Page 0 9 EE Pre Forbes Deer EO pd 233 7 8 12 ARS Page Display Hee aie EMO ain He Hie shee ee vey 233 7 83 Maximurn finish point clear ie LE CREER Er re CE EE REEL E rU LEE Fer CE Ra 233 7 8 14 gt ees 233 73 15 Command Resets sah aieo dare Pea gee tee oM rau ae 234 8 Connection Examples 235 81 Example of 16 bit 8 bit Bus Mode Connection 235 8 2 Example of Connection I2C Bus 3 32 nemen nnne nnne nennen snnt 236 8 3 Connection 237 8 4 Pulse Output 237 8 5 Connection Example for Input nennen nennen 238 8 6 Connection Example for Encoder eene nnne nnne 4 238 9 Example Program sees 239 10 Electrical Characteristics 252 10 1 26 AO E LCD 252 10 2 AG Gharacteristies s este e utet dts 253 e RE ER cg e eget i e o ep Dep e die apte 253 10 222 Read Write Cycle ede tee etae eiue eer ei 253 10 2 3 GLK 7 Output Signal Timing s iecit e Re EE ERES EU es ECRIRE CU
177. Search and the 50 2 5 6 Errors Occurring at Automatic Home 8 51 2 5 7 Notes on Automatic Home 52 2 5 8 Examples of Automatic Home 53 2 6 Synchronous 59 2 6 1 Activation Factor REN 61 2 6 2 A HU HU RL 63 2 6 3 Synchronous Action Settings cete 67 2 6 4 Synchronous Action 70 2 6 5 Interrupt by Synchronous 70 2 6 66 Examples of Synchronous Action 71 2 6 7 Synchrorious Action Delay Tite anneren Wess e Ee e e e etd re ots ER C ee ie 76 2 7 gt Pulse A Bene E 78 2fA eti e 78 2 7 2 Start Termination of Split a 79 2 7 8 Split Pulse in Synchronous Action 22 80 2 7 4 Interr pt by Split Pulse rem eren Ant e aree RR dies teins cech Ded 80 2 7 5 Notes on Split PUlSe t e e RR ERO R
178. Sensor nSTOP1 Home Fig 2 5 17 Connection of Example 3 Automatic Home Search Note The encoder Z phase input must be connected to nSTOP2 of the IC The line receiver or the high speed photo coupler is appropriate to the interface circuit for a rapid response Table 2 5 14 Automatic Home Search Example 3 Operation Execution Detection Step Operation Signal level Search direction Search speed Non execution signal 1 High speed search Execution direction 20 000pps nSTOP1 Low active 2 Low speed search Execution direction 500pps 3 Z phase search Execution nSTOP2 Low direction 500pps 4 Offset drive Execution direction 20 000pps The operation from Step 1 to Step 2 is the same as the operation using a home signal nSTOP1 described above When nSTOPI input becomes Low in Step 2 Step 2 ends and it proceeds with Step 3 In Step 3 a home search Step Step3 Step4 is performed at a speed of 500pps in nSTOP1 Home Input the direction until nSTOP2 Z phase signal detects Low level and if it detects Low level operation nSTOR2 Z phase Input stops instantly nDCC deviation counter clear is output by the of nDCC Output nSTOP2 input signal In this case Deviation Counter Clear 100 sec nDCC signal is set to output Hi pulses of 100 sec Fig 2 5 18 Operation of Example 3 Automatic Home Search In addition when the nSTOP2 Z phase sig
179. VA electronics Inc MCX514 219 7 5 Driving Commands Driving commands include the commands for drive pulse output for each axis and other related commands After the command code is written with axis assignment in command register WRO the command will be executed immediately In driving the n DRV bit of main status register RRO becomes 1 When the driving is finished n DRV bit will return to 0 If nINPOS input signal for a servo driver is enabled the n DRV bit of main status register RRO will not return to 0 until nINPOS signal is on its active level after the driving is finished Note e It requires 125 nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 7 5 1 Relative Position Driving Command Relative position driving The signed drive pulse number that is set will be output from the direction drive pulse signal nPP or the direction drive pulse signal nPM When the drive pulse number is positive it will be output from the output signal nPP and when it is negative it will be output from the output signal nPM When the pulse output type is independent 2 pulse In driving when one pulse of direction drive pulses is output the logical position counter will count up 1 and when one pulse of direction drive pulses is output the logical position counter will count down 1 Before writing the driving command the user should set the parameters fo
180. WR1 WR2 WR3 WR4 and WRS are cleared to 0 at reset 171 NOVA electronics Inc B Read Register 16 bit Data Bus MCX514 172 All registers are 16 bit length Address Symbol Register Name Contents 2 1 0 driving status and error status 000 RRO Main status register ready for interpolation quadrant for circle interpolation and continuous interpolation pre buffer stack counter SC XRR1 X axis Status register 1 interrupt message YRR1 Y axis Status register 1 NS ZRR1 Z axis Status register 1 URR1 U axis Status register 1 XRR2 X axis Status register 2 error message d du YRR2 Y axis Status register 2 finishing status ZRR2 Z axis Status register 2 URR2 U axis Status register 2 X axis Status register 3 Page 0 Y axis Status register 3 input signal status XRR3 Z axis Status register 3 automatic home search execution state YRR3 U axis Status register 3 Page 1 Boro ZRR3 enable disable of synchronous action set URR3 acceleration deceleration status increase decrease status of acceleration deceleration status of timer and split pulse operation finish point data transfer error during multichip interpolation RR4 PIO read register 1 X axis general purpose input output signal status Y axis general purpose input output signal status 101 RR5 PIO read register 2 Z axis general purpose input output signal status U axis general purpose input output signal status 1 1 0
181. WRO 0208h Write WR6 lt 1388h Write finish point of X 5000 WR7 0000h Write WRO 0106h Write Finish point 5000 5000 WR6 lt EC78h Write finish point of Y 5000 WR7 FFFFh Write WRO 0206h Write WRO 0064h Write CW circular interpolation driving 114 NOVA electronics Inc MCX514 115 3 3 Helical Interpolation Helical interpolation operates to move another axis in synchronization with the circular interpolation in the XY plane orthogonal coordinates The figure shown below is an example to move Z axis in the direction corresponding to the circular interpolation on the XY plane The figure 3 3 1 illustrates the helical interpolation under one rotation and the figure 3 3 2 illustrates the helical interpolation in a plurality of rotations MCX514 can perform both interpolation Z 4 Finish point Finish point Y X X Start point Start point Fig 3 3 1 Helical interpolation under one rotation Fig 3 3 2 Helical interpolation one rotation or more As an application of helical interpolation it is possible to operate normal control that rotates another axis by a constant angle corresponding to the circular interpolation on the XY plane The figure 3 3 3 shows an example of the operation that an object such as a camera or nozzle on a pedestal is directed to the center of circular interpolation mounting a rotating axis on the pedestal that performs circul
182. Write Sub chip Designation of X Y Interpolation axis WRO 002 Write Writing to sub chip2 WR6 0803h Write Sub chip Designation of X Y Interpolation axis WRO 002Ah Write Driving parameters setting to main axis of main chip 2M PPS constant speed driving WR6 1200h Write Initial speed 8M PPS maximum in specification WR7 lt 007Ah Write WRO 0104h Write WR6 8480h Write Drive speed 2M PPS WR7 lt 001 Write WRO 0105h Write Write drive start holding command to main axis of main chip WRO 0177h Write Writing of finish point data and Receiving error check Segl Writing to main chip WR6 0014h Write Finish point X 20 WR7 lt 0000h Write WRO 0106h Write Execute the handling A Execute the handling B WRG 000 Write Finish point Y 10 WR7 lt 0000h Write WRO 0206h Write Execute the handling Execute the handling B Writing to sub WR6 FFF6h Write Finish point X 10 WR7 FFFFh Write WRO 0106h Write Execute the handling C Execute the handling B WR6 0005 Write Finish point Y 5 WR7 lt 0000h Write WRO 0206h Write Execute the handling C Execute the handling B Writing to sub chip2 WR6 0019h Write Finish point X 25 WR7 lt 0000h Write WRO 0106h Write Execute the handling C Execute the handling WR6 FFF4hWrite Finish poi
183. XIS ALL All axes define MCX514 AXIS NONE 0x00 No axis Address definition define REG ADDR 0 0000 Basic address Write register Read register definition define 514 WRO 0x00 H define 514 0x02 H define 514 WR2 0x04 H define MCX514_WR3 0x06 H define MCX514_WR4 0x08 define 514 WR5 0x0a H define 514 WR6 0 0 H define 514 WR7 0x0e H define 514 RRO 0x00 H define MCX514_RR1 0x02 H define 514 RR2 0x04 H define 514 0 06 H define 514 RR4 0 08 H define 514 RR5 0x0a H define 514 RR6 0 0 define 514 RR7 0 0 unsigned short reg read unsigned short n define write n c volatile unsigned short n volatile c define read n volatile unsigned short Common functions definition int WriteReg volatile unsigned short Adr unsigned short Data Common function of writing WR register int ReadReg volatile unsigned short Adr unsigned short Common function of reading RR register int SetData unsigned short int Axis long Da
184. XPI0O0 D15 D0 will be set to 0 at reset 178 NOVA electronics Inc 514 179 6 9 Output Register WR5 This register is used for setting the Z axis general purpose input output signals ZPIO7 0 and U axis general purpose input output signals UPIO7 0 as general purpose output It is Low level output when the bit is set 0 and Hi level output when the bit is set 1 D15 14 013 12 DIO 19 D8 D7 16 D5 04 L p3 D2 DI DO WR5 UPIO7 UPIOG UPIOS 0 03 02 00 2 107 7 106 7 105 7 104 7 103 2 102 2 101 2 100 D15 DO will be set to 0 at reset 6 10 Data Register WR6 WR7 Data registers are used for setting the data of commands for writing data The low word data writing 16 bit WD15 WDO is for register WR6 setting and the high word data writing 16 bit WD31 WD106 is for register WR7 setting H L Di5 Di4 12 Dil DIO 19 08 D7 D6 D5 D4 D3 D2 DI DO WR6 wo1s wo14 Wb13 wort WD10 WD9 WD8 WD7 WD6 WD5 WD3 WD2 WD1 WDO H L Di5 Di4 Dis 012 DIO D9 78107 D6 D5 D4 D3 D2 DI DO WR7 WD31 WD30 WD29 1026 w27 WD26 WD25 WD24 WD23 WD22 WD21 w20 WD18 WD17 WD16 The user can write command data with a designated data length into t
185. YNC2 SYNC1 SYNCO Page 0 The input signal status bit of each signal is 0 if the input is on the Low level and 1 if the input is on the Hi level When the functions of D8 DO input signals are not used they can be used as general purpose input signals In the description below the number in brackets after signal name indicates the pin number from X axis to U axis in order D2 0 STOP2 0 Displaying the input status of external stop signals nSTOP2 70 91 110 129 nSTOP1 73 92 111 130 nSTOP0 74 93 112 131 D3 ECA Displaying the input status of encoder input pulse signal nECA PPIN 45 47 49 51 The pin number for this bit does not change even though the pin inversion of encoder pulse input WR3 DII PIINV is set 04 ECB Displaying the input status of encoder input pulse signal nECB PMIN 46 48 50 52 The pin number for this bit does not change even though the pin inversion of encoder pulse input WR3 D11 PIINV is set 183 NOVA electronics Inc MCX514 184 D5 INPOS D6 ALARM D7 LMTP D8 LMTM 014 9 55 5 0 015 PAGE Page D3 0 SYNC3 0 04 ASND D5 CNST D6 DSND D7 AASND D8 ACNST D9 ADSND 010 D11 SPLIT D12 MCERR D15 PAGE Displaying the input status of in position input signal for a servomotor nINPOS 66 85 104 123 Displaying the input status of servo alarm input signal nALARM 67 86 105 124 Displaying the input status of hardware limit input signal nLMTP 68 87 106 127
186. a split length of driving pulses is output Drive pulse to start split pulse Fig 2 7 1 Example of Split Pulse 2 7 1 Split Pulse Setting To perform the split pulse the following parameters and mode setting must be set W Split length and pulse width setting A split length and pulse width can be set by split pulse setting 1 command 17h Set a split length to WR6 register and a pulse width to WR7 register The unit of split length and pulse width is the number of drive pulses Because of the function of split pulse set split length gt pulse width A split length can be set within the range of 2 65535 and a pulse width can be set within the range of 1 65534 The user can check the settings by split pulse setting 1 reading command 47h A split length cycle and pulse width can be altered while the split pulse is in operation W Split pulse number setting The split pulse number can be set by split pulse setting 2 command 18h Set the split pulse number to WR6 register It can be set within the range of 0 65535 If 0 is set it becomes infinite After starting it continues to output split pulses until termination of split pulse command is written or driving is stopped The split pulse number can be altered while the split pulse is in operation NOVA electronics Inc 514 79 W Split pulse mode setting The operating mode of split pulses can be set by PIO signal setting 2 Other settings command 22h
187. a until the stack counter becomes 8 while CNEXT bit is 1 It means that the host CPU can write the next BP data of 1 stage when selected from 8 to 7 and 5 stages continuously when selected from 4 to 3 The interrupt signal INTIN will return to inactive by writing interpolation command such as 2 3 4 axis bit pattern interpolation command after BP data is written And it will return to inactive forcibly when interpolation driving is finished 128 NOVA electronics Inc MCX514 129 3 5 Constant Vector Speed Vector speed is the driving speed of the tip of a locus performing interpolation driving and it is also called Head speed In operations such as machining or coating workpieces during interpolation driving it is important to keep this vector speed constant 514 provides 2 axis simple constant vector speed mode and 2 axis high accuracy constant vector speed mode for 2 axis interpolation In addition it provides 3 axis simple constant vector speed mode for 3 axis interpolation Fig 3 5 1 shows the locus of 2 axes interpolation in the AY orthogonal XY plane Each axis outputs drive pulses according to Speed becomes the basic pulse of the main axis And as shown in the figure when 1 414 times faster both axes output drive pulses it moves 1 414 times longer distance than that of 1 axis output If not using constant vector speed mode when both axes outputs drive pulses the speed will be 1 414 times faster eve
188. ach axis before interpolation driving starts In helical interpolation set the center and finish points of a circular arc and moving distance in the Z and U direction Note e Even though interpolation driving that has the same position data is performed continuously be sure to set position data Start interpolation driving After necessary speed and position parameters for interpolation are set if interpolation driving command is written interpolation driving will start In bit pattern interpolation the user can infinitely draw an arbitrary drive locus continuously by filling bit data during interpolation driving Wait for termination of interpolation driving During interpolation driving n DRV bits of all axes that perform RRO main status register interpolation become 1 And after interpolation driving is finished the bits return to 0 Error check During interpolation driving hardware and software limit error works in each driving axis When the limit of any axis becomes active during interpolation driving the interpolation stops If stopped by an error the error bit of the axis designated interpolation in RRO main status register will become 1 If the bit is 1 the user can identify the cause of the error by reading RR2 error register of the axis Note e Incircular helical and bit pattern interpolation the hardware or software limit of either direction becomes active the interpolation may stop In this case the user
189. actor MRm object changed to True Action Save CT MRm 2 ExeSYNC MCX514_AXIS_X MCX514_CMD81_SYNCOEN MCX514 CMD82 SYNCIEM ExeDRVRL MCX514 AXIS X waitdrive MCX514 AXIS X Split pulse SYNCO 1 Enable Relative position driving Waiting for termination of driving Performs Example 1 Split pulse starts from the start of X axis driving in 2 7 6 Examples of Split Pulse void split void Constant speed driving at 1000pps SetStartSpd MCX514 AXIS X 8000000 SetSpeed MCX514 AXIS X 1000 SetLp MCX514 AXIS X 0 SetSpliti MCXb14 AXIS X 5 9 SetSplit2 MCX5b14 AXIS X 10 SetModePI02 MCX514 AXIS X 0x0800 ExeSPSTA MCX514 AXIS ExeDRVVP MCX514_AXIS_X waitspl it MCX514_AXIS_X ExeDRVFBRK MCX514_AXIS_X wai tdr i ve MCX514_AXIS_X Main functions void main void ExeSRST 0 homesrch drive sync 0 splitQ Initial speed 8Mpps maximum in specification Drive speed 1000pps Logical position counter Split length 9 Pulse width 5 Pulse number 10 Pulse logic Positive With starting pulse Split pulse start direction continuous pulse driving Waiting for termination of split pulse Instant stop Waiting for termination of driving Command reset Automatic home search S curve acceleration deceleration driving Synchronous action Split pulse 251 NOVA electro
190. ading set it to 1 If the slave address is sent by SSCL MCX514 returns ACK to SDA signal in the 9th SCL When it receives 8 bit slave address correctly MCX514 corresponding to the chip address returns Low open drain output is turned ON When it is not received correctly or the chip addresses do not match not return Low Read data Then perform data reading The data for reading is outputted from RRn register specified by the slave address to the SDA line byte by byte From only one byte to multiple bytes continuously can be read In the 9th SCL after receiving 1 byte if the CPU correctly receives it is necessary to return ACK signal of Low level to the SDA line However in the last data that comes stop condition next return ACK signal of Hi level 22324567801 293245617891 223456 789 SCL D7 D6 05 D3 D2 D1 DO 07 06 05 D3 D2 D1 DO SDA Start Slave address Reading data of Reading data of Stop register address n register address 1 Fig 4 2 4 Data Reading Generate stop condition To stop data reading the user needs to generate stop condition When SCL signal is Hi and SDA signal changes from Low to Hi it becomes stop condition Whenever sending and receiving the host CPU must generate this stop condition at the end 157 NOVA electronics Inc 514 158 4 2 3 Notes on Using I2C Serial Bus e When writing to WRO register the high byte H must be written first followed
191. al The user can output the comparison result of a multi purpose register as a comparison output signal When the comparison result of a multi purpose register meets a specified comparison condition the comparison output signal outputs Hi level and when does not meet it the comparison output signal outputs Low level The comparison results of multi purpose registers MR3 0 are output to each corresponding comparison output signal nPIO7 4 nPIO7 4 signals share the other signals such as the general purpose input output signals To use them as comparative output pins the user needs to set the function of nPIO7 4 signals to the comparison output signal by using PIO signal setting 1 command 21h in advance Table 2 4 4 Comparison output signal and Bit corresponding to Multi purpose Register Multi purpose Comparison PIO signal setting 1 command 21h register output signal Setting bit of WR6 register MRO nPlO4 WR6 D9 8 1 1 MR1 5 WR6 D11 10 1 1 MR2 6 WR6 D13 12 1 1 MR3 nPIO7 WR6 D15 14 1 1 For more details of the general purpose nPIOm signal see chapter 2 8 Example Comparison Output Signal When the current drive speed exceeds 5 000pps during the driving of X axis Hi is output to XPIOS output signal and when it is 5 000pps or less Low is output to XPIOS output signal WR6 1388h WR7 0000h MR1 Set 5 000 lt a Set the value to MR1 WRO 0111h WR6 0060h D7 D6 0 1 Compari
192. al purpose input signal signal Function a the input signal Bit of RRS register Page0 Pin number in each Axis XSTOPO 74 status display YSTOFO 93 Driving stop signal DO bit 5 INS ZSTOPO 112 1 Hi level USTOPO 131 XSTOP1 73 YSTOP1 92 ZSTOP1 111 USTOP1 130 XSTOP2 70 YSTOP2 91 ZSTOP2 110 USTOP2 129 XECA 45 Driving stop signal D1 bit STOP1 Driving stop signal D2 bit STOP2 Encoder A phase signal D3 bit ECA Encoder B phase signal D4 bit ECB XINPOS 66 YINPOS 85 ZINPOS 104 UINPOS 123 XALARM 67 YALARM 86 ZALARM 105 UALARM 124 XLMTP 68 YLMTP 87 ZLMTP 106 ULMTP 127 XLMTM 69 YLMTM 88 ZLMTM 109 ULMTM 128 In position input signal from a servo driver D5 bit INPOS Alarm signal from a servo driver D6 bit ALARM direction hardware limit signal D7 bit LMTP direction hardware limit signal D8 bit LMTM NOVA electronics Inc MCX514 91 2 9 Timer 514 is equipped with one timer in each axis which set with the range of 1 2 147 483 647usec in increments of 1 usec at CLK 16 2 By using with synchronous action various operations which combine a motor drive and timer functions can be performed precisely The followings are some of examples After the termination of driving driving starts after the elapse of a specified time Timer Time Termination of driving
193. alue Timer is up From when the current timer value reaches a 0 specified value Start of driving From 1 of the WRN signal at writing of a driving 5 3 command Start of driving at constant speed area in From 1 of the CNST signal 0 acceleration deceleration driving Termination of driving at constant speed area From of the CNST signal 0 in acceleration deceleration driving Termination of driving From Low level termination of the last driving pulse 1 Start of split pulse From 1 of the 1st nSPLTP signal when starting pulse is enabled A Termination of split pulse From of the last nSPLTP signal positive logic 2 Output of split pulse From 1 of the nSPLTP signal positive logic 0 nPlOm input From 1 of the nPlOm signal when the built in filter is 0 1 disabled nPlOm input From of the nPlOm signal when the built in filter is 0 1 disabled input Low and nPlO m 4 t From 1 of the nPlO m 4 signal when the built in 0 1 filter is disabled input Hi and nPlO m 4 t From 1 of the nPlO m 4 signal when the built in 0 1 filter is disabled nPlOm input Low and 4 From of the nPlO m 4 signal when the built in 0 1 filter is disabled input Hi and nPlO m 4 From of the nPlO m 4 signal when the built in 0 1 filter is disabled Activation command From 1 of the WRN signal at writing of a synchronous 1 2 action activation command NOVA electronics Inc W Delay up to an action
194. an be output to nPIOm signal Set 2 bits corresponding to nPIOm signal that is used to 1 0 and set by PIO signal setting 1 command 21h Drive status such as driving accelerating and decelerating is output from nPIOm signal For more details of the status output see chapter 2 12 7 NOVA electronics Inc Synchronous pulse gt MRm comparison output Set 2 bits corresponding to nPIOm signal that is used to 1 1 and set by PIO signal setting 1 command 21h Used as synchronous pulse output signal As the action of a synchronous action synchronous pulses can be output to nPIOO nPIO3 signals For more details of the synchronous action see chapter 2 6 Used as MRm comparison output signal The comparison result of MRm register can be output to nPIOm signal MRO MR3 comparison output is output from nPIO4 nPIO7 signals For more details of the MRm register see chapter 2 4 MCX514 89 NOVA electronics Inc 514 90 2 8 2 Other Input Signals As shown in the table below about input signals other than nPIOm signals when the functions of those signals are not used they can be used as a general purpose input signal The signal levels of input signals are displayed register Page0 When the signal is Low level 0 is displayed and when the signal is Hi level 1 is displayed Input signals that can be used as a general purpose input signal are shown in the table below Table 2 8 2 Input signals be used as gener
195. and 35h anytime 7 2 19 Multi Purpose Register 2 Setting Code Command Data Range Data Length byte 12h Multi purpose register 2 setting 2 147 483 648 2 147 483 647 4 MR2 is the parameter setting the value of multi purpose register 2 Multi purpose register is used for comparison of position speed timer value and large or small and load save of each parameter as a synchronous action Comparison result is used for outputting of comparison output signal synchronous action activation and generating an interrupt A multi purpose register MR2 setting value can be written anytime and read by multi purpose register 2 reading command 36h anytime 196 NOVA electronics Inc 514 197 7 2 20 Multi Purpose Register 3 Setting Code Command Symbol Data Range Data Length byte 13h Multi purpose register 3 setting 2 147 483 648 2 147 483 647 4 MR3 is the parameter setting the value of multi purpose register 3 Multi purpose register is used for comparison of position speed timer value and large or small and load save of each parameter as a synchronous action Comparison result is used for outputting of comparison output signal synchronous action activation and generating an interrupt A multi purpose register MR3 setting value can be written anytime and read by multi purpose register 3 reading command 37h anytime 7 2 21 Home Search Speed Setting Cod
196. ar interpolation and feed amount of Z and U axes 7 Perform helical interpolation Perform helical interpolation 1 Interpolation axis setting must be done at first Then perform 2 4 in no particular order and then perform 5 helical calculation After performing 5 helical calculation perform 6 position data setting The center and finish points for circular interpolation must be set again And last of all perform 7 helical interpolation If these procedures are not followed then interpolation may not be performed properly When the identical helical interpolation is performed continuously there is no need to set and perform 1 4 and 5 but the other operations must be set and performed again 115 NOVA electronics Inc MCX514 116 3 3 1 Interpolation Axis Setting In helical interpolation the axes to perform circular interpolation are fixed in X and Y axes which mean that the other axes cannot be used to perform circular interpolation Z and U axes can be specified as the axes to move in synchronization with circular interpolation and either one of Z and U axes or both axes can be moved or rotated Consequently for instance a camera nozzle or edged tool can be performed helical interpolation using Z axis in the vertical direction to the circular interpolation plane and the user performs rotation of a pedestal using U axis and normal control of a head The interpolation axis can be set by interpolation mod
197. ar interpolation on the XY plane Fig 3 3 3 Example of XY axes Circular Interpolation and Z axis Normal Control It describes the procedures to perform helical interpolation This is the helical interpolation to move Z axis in synchronization with circular interpolation MCX514 uses the total number of output pulses for circular interpolation and the drive pulse number of Z axis in order to perform moving of Z axis uniformly The drive pulse number of Z axis is predetermined but it is hard to find out precisely the total number of output pulses in advance from the center and finish points for circular interpolation that is operated on the XY plane For this reason MCX514 performs helical calculation to find out the total number of output pulses for circular interpolation before executing helical interpolation driving The procedures to perform helical interpolation are as follows Table 3 3 1 Operating Procedures to Perform Helical Interpolation Operation Description 1 Set interpolation axis Set the axis to perform helical interpolation 2 Set interpolation speed Set the speed for circular interpolation 3 Set helical rotation number Set how many times to rotate 4 Set position data Set the center and finish points for circular interpolation 5 Perform helical calculation Find out the total number of output pulses for circular interpolation 6 Set position data Set the center and finish points for circul
198. are fixed If nPIOm input signal is already Hi level and nPIOk input signal is Low level when the synchronous action is enabled the behavior is the same as the description 6 Description 11 NOP It uses when the user does not set the condition of activation factor For instance when the other SYNC activation is used in mode setting the activation factor of a synchronous action set to be activated should be set to NOP 2 6 2 Action Activated actions are shown in the table below Actions of code 01 09h OFh 10h are different depending on the synchronous action set 0 to 4 Table 2 6 2 Actions Code Hex Synchronous action Synchronous action Synchronous action Synchronous action Description set 0 SYNCO set 1 SYNC1 set 2 SYNC2 set 3 SYNC3 01 MRO DV MR1 DV MR2 DV DV 1 02 MRO TP MR1 TP MR2 TP TP 1 03 MRO SP1 MR1 SP1 MR2 SP1 SP1 1 04 MRO LP MR1 RP MR2 SV AC 1 05 LP MRO LP MR1 LP MR2 LP 2 06 RP MRO RP MR1 RP MR2 RP MR3 2 07 CT MRO CT MR1 CT MR2 CT MR3 2 08 CV MRO MR1 2 09 nPIOO signal pulse nPIO1 signal pulse 2 signal pulse signal pulse 3 output output output output 0A Start of relative position driving 0B Start of counter relative position driving 0C Start of absolute
199. ase of real position counter RP Count UP when the A phase is advancing 0 5 Count DOWN when the B phase is advancing Lech Downi 2 Count UP at nPPIN pulse input p p Count DOWN at nPMIN pulse input DET EE Count UP when the B phase is advancing 3 2 P Count DOWN when the A phase is advancing Count UP at nPMIN pulse input Up Down pulse input P Count DONW at nPPIN pulse input D12 LMINV Replaces input pins of hardware limit input signals between nLMTP and nLMTM 0 initial setting 1 pin inversion When this bit is set to 1 nLMTP signal is used as a limit signal for the direction and nLMTM signal is used as a limit signal for the direction D13 AVTRI Setting enable disable of triangle form prevention function in linear acceleration fixed pulse driving The triangle form prevention function is enabled at reset 0 enable 1 disable D14 TMMD Setting once repeat timer 0 once 1 repeat D15 DO will be set to 0 at reset D15 should always be set to 0 6 8 Output Register WR4 This register is used for setting the X axis general purpose input output signals XPIO7 0 and Y axis general purpose input output signals YPIO7 0 as general purpose output It is Low level output when the bit is set 0 and Hi level output when the bit is set 1 D15 14 013 12 DIO 19 08 D7 D6 D5 D4 L p3 D2 DI DO WR4 YPIO7 YPIOG YPIOS ve1oa vetos YPIO2 YPIOT1 YPTOO XPIO7 XP10G 5 XPIOA4 XP 103 XP102 XPIOT1
200. ation driving this command will be invalid even if written during acceleration deceleration Make sure to use it during constant speed driving Pagel of D5 CNST 1 The drive speed setting value DV is not updated by this command This command cannot be used in interpolation driving 7 8 2 Speed Decrease Command Speed decrease This command decreases a speed by the value of the speed increasing decreasing value setting during the driving The speed increasing decreasing value must be set by speed increasing decreasing value setting command 15h in advance This command can be used during continuous pulse driving and cannot be used during fixed pulse driving If this command is used frequently during fixed pulse driving premature termination or creep may occur at the termination of driving In S curve acceleration deceleration driving this command will be invalid even if written during acceleration deceleration Make sure to use it during constant speed driving Pagel of RR3 05 CNST 1 The drive speed setting value DV is not updated by this command This command cannot be used in interpolation driving 230 NOVA electronics Inc 514 231 7 8 8 Deviation Counter Clear Output Command Deviation counter clear output This command outputs deviation counter clear pulses from the nDCC output pin Before issuing this command set the logical level of pulses and pulse width b
201. ation of split pulse command or the action of a synchronous action When driving stops After output of specified split pulses is finished it will stop when the last split pulse of specified split pulses becomes OFF When split pulse is stopped by termination of split pulse command 76h or a synchronous action if the split pulse is ON it will stop after the split length of pulses is output If it is OFF it will stop at the timing of termination of split pulse command or execution of a synchronous action When output of split pulse is terminated by the stop of driving regardless of split pulse output state the split pulse becomes OFF and terminates at the timing of the stop of driving Check of Split Pulse Operation Split pulse in operation can be checked by D11 bit SPLIT of RR3 register Pagel When D11 bit SPLIT is 1 split pulse is in operation and when it is 0 split pulse is stopped NOVA electronics Inc MCX514 80 2 7 3 Split Pulse Synchronous Action Split pulse can be operated by a synchronous action As the activation factor of a synchronous action the following 3 types can be specified at the start of split pulse at the output of split pulse and at the termination of split pulse As the action of a synchronous action the following 3 types can be specified at the start of split pulse at the termination of split pulse and load the data of a multi purpose register to the split pulse data
202. ation starts when the number of pulses becomes less than the number of pulses that were utilized at acceleration and driving terminates when the output of specified drive pulses is completed Speed Driving Speed Stop Specific Output Pulse Initial Speed time Fig 2 1 2 Auto Deceleration and Stop in Relative Position Driving Command code for relative position driving is 50h To perform relative position driving in linear acceleration deceleration the following parameters must be set Table 2 1 1 Setting Parameters Relative Position Driving Parameter Symbol Comment No need to set deceleration when acceleration and Acceleration Deceleration AC DC deceleration are equal Initial speed SV Drive speed DV Drive pulse number TP Set pulse number for the direction Finish point Set pulse number for the direction NOVA electronics Inc 514 16 2 1 2 Absolute Position Driving Absolute position driving performs the driving by setting the destination point based a home logical position counter 0 The destination point can be set by absolute coordinates regardless of the current position The IC calculates drive direction and output pulse number according to the difference between the specified destination point and current position and then performs the driving In absolute position driving the destination point should be set by absolute coordinates within the range of
203. by SegCounter and interpolation command Go back to Loop Count up SegCounter by 1 and jump to Loop 139 NOVA electronics Inc MCX514 140 3 8 Acceleration Deceleration Control in Interpolation Interpolation is usually performed in constant speed driving however MCX514 can perform interpolation also in linear acceleration deceleration driving and S curve acceleration deceleration driving linear interpolation only In interpolation driving deceleration enabling 6Dh and disabling 6Eh commands are used to enable acceleration deceleration driving in continuous interpolation Deceleration enabling command 6Dh is to enable the automatic and manual deceleration in interpolation driving and deceleration disabling command 6Eh is to disable them At reset they are disabled When the user performs single interpolation driving at acceleration deceleration be sure to enable the deceleration enabling before the start of driving If deceleration enabling command is written during driving it cannot be enabled 3 8 1 Acceleration Deceleration for Linear Interpolation It is possible to perform trapezoidal and S curve acceleration deceleration driving in linear interpolation Either automatic or manual deceleration can be used for decelerating When using the manual deceleration set the maximum absolute value among the finish points of each axis coordinates as the manual deceleration point of the main axis Fo
204. by the low byte L The user cannot write 2 bytes continuously It is necessary to set and write each slave address individually If the low byte is written the command is executed immediately to the axis prior specified e When reading data as for ACK signal at reading of the last data the CPU must return Hi level of ACK signal on the SDA line If returns Low level this IC cannot terminate communication correctly e When using interrupt related to INTON signal the user cannot read RROH If reads RROH the interrupt related to INTON signal may be cleared If the user needs to read RROH when using interrupt please contact us e When reading register be sure to read 2 bytes RRIL RR1H from RRIL If reads only 1 byte of RRIL the interrupt of may be cleared e Repeat start condition is not available 4 2 4 Connection Example The connection example of this IC with CPU is as follows 3 3V 5 Host CPU PE MCX514 3 3K Port Output Example of Chip address 100 D Fix BUSMOD to GND and set 2 bus mode 2 Determine chip address by A2 1 0 signals Fix parallel bus signal floating input to GND or VCC Connect IDCRSTN as necessary which is not needed unless noise is occurred on the SCL SDA line from the CPU side at initial setting Pull up resistors are essential on the SCL SDA lines 158 NOVA electronics Inc MCX514 159 4 2 5 Control Example The foll
205. c 514 142 3 8 3 Acceleration Deceleration for Continuous Interpolation In continuous interpolation same as in circular and bit pattern interpolations only trapezoidal driving using manual deceleration is available and S curve driving and automatic deceleration cannot be used Before performing the continuous interpolation it is necessary to preset the manual deceleration point which is related to the basic pulse of the main axis output in the start segment of deceleration When setting interpolation data for the start segment of deceleration write deceleration enabling command before writing the interpolation command When driving enters the segment that deceleration is enabled the deceleration is enabled And when the output pulses that are counted from the start of the segment are larger than the manual deceleration point deceleration will start The deceleration can be performed across segments For instance to start the manual deceleration from the segment 3 in continuous interpolation with segments from 1 to 5 the procedures are shown as follows Setting interpolation mode acceleration deceleration for main axis Writing manual deceleration point Writing Deceleration disabling command 6Eh Main axis Writing drive start holding command 77h Writing segment 1 data interpolation command Writing segment 2 data interpolation command Writing Deceleration enablin
206. cally determined depending on the speed of circular interpolation and feed amount of the axis so there is no need to set it To make the interpolation speed more constant short axis pulse equalization mode and constant vector speed mode are available see chapter 3 6 and 3 5 for more details 3 3 3 Helical Rotation Number Setting When helical interpolation is performed one rotation or more the user needs to set the number of rotation If it is under one rotation set 0 Write the rotation number within the range from 0 to 65 535 in WR6 register and write helical rotation number setting command 1Ah and the number of rotation will be set Axis assignment for the command is not necessary W Regarding the rotation number of full circle in helical interpolation If the finish point is set 0 0 in both X and Y axes a full circle comes out In this case whether the helical rotation number is set 0 or 1 the number of rotation is 1 If 2 or more is set it will rotate the number being set 116 NOVA electronics Inc MCX514 117 3 3 4 Position Data Setting It sets the center point X Y and finish point of circular interpolation that is operated on the XY plane In addition if the user moves Z or U axis in synchronization with circular interpolation set the feed amount of Z or U axis respectively Table 3 3 2 Position Data Setting for Helical Interpolation Setting Data Center point of circular interpolation D
207. cannot be changed during the driving lt Speed Change by Drive Speed Setting If a drive speed parameter DV is changed by drive speed setting command 05h the setting will be immediately applied And if during acceleration deceleration driving the drive speed increases decreases to a specified drive speed Speed pps 40k 30k 25k DV 30 000 setting DV 40 000 setting DV 15 000 setting 15k Fig 2 1 11 Example of Drive Speed Change during the Driving lt Speed Change by Speed Increase Decrease Command The speed increasing decreasing value IV must be set in advance If speed increase command 70h or speed decrease command 71h is written during the driving the setting will be immediately applied And if during acceleration deceleration driving the drive speed increases decreases from the current drive speed to the value of the speed increasing decreasing value setting Speed pps Speed increasing decreasing value 10 000 40k 30k 20k 10k 4 Speed Decrease i ASpeed Increase Speed Decrease 4 Speed Increase Speed Decrease z time Fig 2 1 12 Example of Speed Change by Speed Increase Decrease Command Note e When changing a drive speed during the driving set the triangle form prevention function to disable WR3 D13 1 Stop Condition for External Input nSTOP2 to nSTOPO in Continuous Pulse D
208. cceleration setting value reading Initial speed setting value reading Drive speed setting value reading Drive pulse number Finish point setting value Split pulse setting 1 reading General purpose input value reading Relative position driving Counter relative position driving Direction continuous pulse driving Direction continuous pulse driving Absolute position driving Decelerating stop Instant stop Direction signal setting Direction signal setting Automatic home search execution 1 linear interpolation driving 2 axis linear interpolation driving 3 axis linear interpolation driving 4 axis linear interpolation driving CW circular interpolation driving CCW circular interpolation driving 2 axis bit pattern interpolation driving 3 axis bit pattern interpolation driving 4 axis bit pattern interpolation driving WW helical interpolation driving CCW helical interpolation driving OW helical calculation CCW helical calculation Deceleration enabling Deceleration disabling Interpolation interrupt clear Single step Synchronous action SYNCO enable setting Synchronous action SYNC1 enable setting Synchronous action SYNC2 enable setting Synchronous action SYNC3 enable setting Synchronous action SYNCO disable setting Synchronous action SYNC1 disable setting Synchronous action SYNC2 disable se
209. celeration reading Multi purpose register 0 reading Multi purpose register 1 reading Multi purpose register 2 reading Multi purpose register 3 reading Current timer value reading Interpolation Finish point maximum value NOVA electronics Inc reading itdef ine MCX514 CMD3A CHLN def ine MCX514 CMD3B HLV def ine MCX514 CMD3D WR1 itdef ine MCX514 CMD3E WR2 def ine MCX514 CMD3F def ine MCX514 CMD40 def ine MCX514 CMD41 itdef ine MCX514_CMD42_P2M def ine MCX514_CMD43_AC def ine MCX514_CMD44_SV def ine MCX514_CMD45_DV def ine MCX514_CMD46_TP reading def ine MCX514_CMD47_SP1 def ine MCX514_CMD48_UI Driving commands itdef ine MCX514 CMD50 DRVRL itdef ine MCX514 CMD51 DRVNR def ine MCX514 CMD52 DRVVP def ine MCX514 CMD53 DRVVM def ine MCX514 CMD54 DRVAB def ine MCX514 CMD56 DRVSBRK def ine MCX514 CMD57 DRVFBRK def ine MCX514_CMD58_DIRCP itdef ine MCX514 CMD59 DIRCM def ine MCX514 CMD5A HMSRC Interpolation commands def ine MCX514 CMD60 LHK1 multichip def ine MCX514_CMD61_LHK2 def ine MCX514_CMD62_LHK3 def ine MCX514_CMD63_LHK4 def ine MCX514_CMD64_CHKCW def ine MCX514_CMD65_CHKCCW def ine MCX514_CMD66_BHK2 def ine MCX514_CMD67_BHK3 def ine MCX514_CMD68_BHK4 def ine MCX514_CMD69_HLCW def ine MCX
210. chip and main chip Writing to sub WRO 0061h Write 2 axis linear interpolation Writing to sub chip2 WRO 0061h Write 2 axis linear interpolation Writing to main chip WRO 0061h Write 2 axis linear interpolation Repeat up to Seg8 as needed in the same way Write drive start holding command to main axis of main chip WRO 0178h Write Starts continuous interpolation driving 152 NOVA electronics Inc MCX514 153 4 2C Serial Bus This IC has PC serial interface bus in addition to the existing 8 bit 16 bit data bus as the interface to connect a host CPU PC serial bus uses only 2 lines to transfer data serial data line SDA and serial clock line SCL Three modes of data transfer rate are available Standard mode 100Kbit sec Fast mode 400Kbit sec and Fast plus mode 1Mbit sec when the load capacity of the bus is 400pF or less Compared with 8 bit 16 bit data bus the data transfer efficiency is decreased by approximately 10 to 100 times but it can be performed within 1 a few mseconds from the setting of necessary parameters drive speed drive pulse number etc up to the start of relative driving This is very suitable bus interface for the system that does not require high speed setup The following is the connection example of PC serial bus 3 3V SCL Rp Rp SDA SCL SDA SCL SDA MCX514 MCX514 Host CPU 11 2 e uses Us BUSMOD BUSMOD A2 Ai 40 A2 Ai
211. comes 1 when the finish point data transfer error occurs during multichip interpolation In this case D7 bit of RR2 register also becomes 1 Indicates RR3 is displaying Page 1 and becomes 1 184 NOVA electronics Inc MCX514 185 6 15 PIO Read Register 1 RR4 PIO read register is used for displaying the signal status of general purpose input output signals 7 0 in X axis and general purpose input output signals YPIO7 0 in Y axis The bit is 0 if the signal is on the Low level the bit is 1 if the signal is on the Hi level Dib 14 013 12 DIO D9 08 D7 06 D5 D4 D2 DI DO RR4 06 05 yp1o4lyP103 YPI02 YPIO1 YPIOO XP I07 XPI06 XPIOS XP L04 XP 03 XPIO2 XPIOT XP100 D7 0 07 0 Displaying the status of X axis general purpose input output signals XPIO7 0 When XPIO7 0 signals are set as input it indicates the input state and when set as output it indicates the output state Di5 8 07 0 Displaying the status of Y axis general purpose input output signals YPIO7 0 When YPIO7 0 signals are set as input it indicates the input state and when set as output it indicates the output state 6 16 PIO Read Register 2 RR5 PIO read register RR5 is used for displaying the signal status of general purpose input output signals ZPIO7 0 Z axis and general purpose input output signals UPIO7 0 in U axis The bit is 0 if the signa
212. cs Inc MCX514 61 2 6 1 Activation Factor 16 activation factors are provided for synchronous actions as shown in the table below Table 2 6 1 Activation Factors Code Hex Synchronous Synchronous Synchronous action Synchronous action Description set 0 set 1 set 2 set 3 SYNCO SYNC1 SYNC2 SYNC3 1 MRO object changed MR1 object changed MR2 object changed MR3 object changed 1 to True to True to True to True 2 The internal timer is up 2 3 Start of driving 3 4 Start of driving at constant speed area in acceleration deceleration driving 3 5 Termination of driving at constant speed area in acceleration deceleration driving 3 6 Termination of driving 3 7 Start of split pulse 4 8 Termination of split pulse 4 9 Output of split pulse 4 A nPIOO input signal 1 nPIO1 input signal 1 nPIO2 input signal 1 nPIO3 input signal 1 5 B nPIOO input signal nPIO1 input signal nPIO2 input signal nPIO3 input signal 6 C nPIO4 input Low nPIO5 input Low nPIO6 input Low nPIO7 input Low 7 nPIOO input 1 and input 1 and 2 input 1 input 1 D nPIO4 input Hi input Hi nPIO6 input Hi nPIO7 input Hi 8 and nPIOO input 1 and nPIO1 input 1 and 2 input 1 and input 1 E nPIO4 input Low input Low nPIO6 input Low nPIO7 input Low 9 and nPIOO input and nPIO1 input and nPIO2 input
213. ction of self synchronous action set NOVA electronics Inc 514 78 27 Split Pulse This is a function that outputs the split pulse which is synchronized with a drive pulse during the driving in each axis This function is useful for when the user wants to perform the other operation at regular pulse intervals synchronizing with rotation of a motor and axis driving And it can be output during interpolation driving as well The pulse width of a split pulse split length cycle and split pulse number can be set And the logical level of pulses and with or without starting pulse can be specified Split pulses are output from the pin shown in the table 2 7 1 Table 2 7 1 Split pulse Pin Number in each axis Axis Signal Pin Number X XSPLTP 65 Y YSPLTP 84 2 ZSPLTP 103 U USPLTP 122 While driving start of split pulse can be performed by a command or a synchronous action When using a synchronous action the user can start from a specified value of a position counter or f of an external signal Split pulse example of Split length 7 Pulse width 3 Split pulse number 5 and Positive logic 1 2 3 4 5 6 7 Drive Pulse 1 2 3 4 5 Split Pulse Pulse with starting pulse width Split length Split pulse number 1 2 3 4 5 Split Pulse d Ld Lo Lo without starting pulse gt Start after
214. ctly In this case please adjust the steps of initial setting on the CPU side order to eliminate noise If the noise is not reduced the user needs to execute Reset to MCX514 by using I2CRSTN signal after completion of PC initial setting Or the user can reset the control section by using RESETN signal that resets MCX514 At data transfer When PC communication does not work correctly such as retuning Hi from an acknowledge signal reset the control section by I2CRSTN signal Similarly to above the user can use RESETN signal as substitution 4 2 12C Bus Transmitting and Receiving From the host CPU to MCX514 the procedures of writing to WR register and reading from RR register are as follows Writing Operation Reading Operation MCX514 has only slave function 154 NOVA electronics Inc MCX514 155 4 2 1 Writing Operation 514 Writing procedures to WR register are described below Generate start condition When SCL signal is Hi and SDA signal changes from Hi to Low it becomes start condition Whenever sending and receiving the host CPU must generate this start condition at the beginning W Write slave address After making start condition the user transmits an instruction whether to write from which WR register of which chip to MCX514 It transmits 8 bit slave address synchronized with SCL shown below and receives ACK Low from MCX514 in the 9th bit The slave address is composed o
215. ctronics Inc 514 233 7 8 11 RR3 Page 0 Display Code Command 7Ah RR3 Page 0 display This command displays Page0 of register When displaying 0 D15 bit of RR3 register becomes 0 7 8 12 RR3 Page 1 Display Command RR3 Page 1 display This command displays Pagel of RR3 register When displaying Pagel D15 bit of RR3 register becomes 1 7 8 13 Maximum finish point clear Code Command 7 Maximum finish point clear In linear interpolation this command clears the maximum finish point automatically calculated to the interpolation finish point currently written The axis assignment is not necessary for this command 7 8 14 No operation is performed 233 NOVA electronics Inc MCX514 234 7 8 15 Command Reset Code Command OOF Fh Command reset This command resets the IC All the upper 8 bits D15 D8 of WRO register must be set to 0 The user cannot access the for a period of 8CLK 500nsec CLK 16MHz after the command code is written Similarly in 8 bit data bus and I2C serial interface bus this command must write to the high word byte WROH The user should write 00h into the high word byte WROH and then write FFh into the low word byte WROL Reset will be executed immediately after writing into the low word byte 234 NOVA electronics Inc 514 235 8 Connection Examples 8 1 Example
216. culation calculation time About 56ms RRO Read Waits for termination of calculation DO bit 0 waiting WR6 0000h Write Circle center X 0 WR7 lt 0000h Write WRO 0108h Write WR6 2710h Write Circle center Y 10000 WR7 0000h Write WRO 0208h Write WR6 F25Eh Write Circle finish point X 0 WR7 FFFFh Write WRO 0106h Write WR6 4BC5h Write Circle finish point Y 0 WR7 lt 0000h Write WRO 0206h Write WR6 OBB8h Write Feed amount of Z 3000 WR7 lt 0000h Write WRO 0406h Write WRO 0069h Write Starts CW helical interpolation driving RRO Read Waits for termination of interpolation DO bit 0 waiting 122 NOVA electronics Inc Example 3 Helical Interpolation with both 2 and U axes X Y Z axes It performs the radius 10000 of circular interpolation with one rotation in the CCW direction During one rotation of circular MCX514 123 interpolation move Z axis 3000 pulses and rotate U axis once 400 pulses The speed of circular interpolation is 1000PPS at constant speed WRG WRO WR6 WRO WR6 WR7 WRO WR6 WRO WR6 WR7 WRO WR6 WR7 WRO WR6 WRO WR6 WR7 WRO WRO RRO WR6 WR7 WRO WR6 WRO WR6 WR7 WRO WR6 WRO WR6 WRO WR6 WR7 WRO WRO RRO 00 002Ah O3E8h 0000h 0104h O3E8h 0000h 0105h 00007h Write 001Ah Wri 0000h 0000h 0108h 2110h 0000h 0208h F25Eh FFFFh 0106h 4BC5h 00
217. curve acceleration deceleration driving symmetry non symmetry Automatic deceleration start In position driving of linear acceleration deceleration symmetry non symmetry and S curve acceleration deceleration symmetry the IC calculates the deceleration start point when in deceleration and automatically starts deceleration This is not applied to non symmetry S curve acceleration deceleration driving S curve acceleration deceleration curve S curve acceleration deceleration uses the method which increases decreases acceleration or deceleration in a primary line and the speed curve forms a secondary parabola acceleration deceleration In addition it prevents triangle waveforms by a special method during S curve acceleration deceleration Constant Speed Driving Trapezoidal Acceleration Deceleration Driving Trapezoidal Acceleration Deceleration Driving V V Symmetry V Non Symmetry Rapid Deceleration Time Time Time Parabola S curve Acceleration Deceleration Driving Parabola S curve Acceleration Deceleration Driving Symmetry Non Symmetry V V m xX Manual Deceleration P Automatic Deceleration 5 d S P 100000 P 200000 P 400000 Rapid Acceleration 50000 22 74 Ss Time Time Fig 1 1 9 Acceleration Deceleration Drive Mode Position Control MCX514 has two 32 bit position counters one is a logical position counter that counts the number of out
218. d HV Specify either nSTOP1 or Limit Step 3 Low speed Z phase search Home search speed HV nSTOP2 Step 4 High speed offset drive Drive speed DV Generally automatic home search has various operations according to the detection signal that is used As shown in the following examples there are some cases of a home search such as using two sensors a near home signal and a home signal and using only a home signal or only one limit signal 1 Example of the home search using a near home signal nSTOPO and a home signal nSTOP1 It searches a near home signal at high speed in a specified direction and then if a near home signal is detected it performs decelerating stop Next it searches a home signal at low speed and then if a home signal is detected it performs instant stop Near Home Sensor Home Sensor Active Section Decelerating stop at detection of Near Home Step1 High speed home search gt Step2 Low speed home search 17 Instant stop at detection of Home Fig 2 5 1 Example 1 of Automatic Home Search 2 Example of the home search using only a home signal nSTOP1 or only one limit signal nLMTP nLMTM It searches a home signal or a limit signal at high speed in a specified direction and then if a signal is detected it performs decelerating stop Next it escapes in the opposite direction from the signal active section and then searches a home signal at low speed and if a home signal is detected
219. declaration point becomes for this reason creep pulses of the initial speed will increase at the termination of deceleration If a negative value is set for the offset output may stop prematurely before the speed reaches the initial speed see Fig 2 1 9 Speed Offset Pulse Initial Speed T time Fig 2 1 9 Offset for Deceleration The default value for the offset is 0 when MCX514 power on reset It is not necessary to change the shift pulse value in normal acceleration deceleration fixed pulse driving As for fixed pulse driving in non symmetrical trapezoidal acceleration deceleration or S curve acceleration deceleration if creep pulses or premature termination occurs at the termination of driving due to the low initial speed correct by setting the acceleration counter offset appropriately 2 1 4 Continuous Pulse Driving When continuous pulse driving is performed MCX514 will drive pulse output in a specific speed until a stop command or external stop signal becomes active The user can use it for home searching teaching and speed control There two stop commands is decelerating stop and the other is instant stop And three input pins nSTOPO nSTOP2 can be connected for external decelerating stop instant stop when driving under initial speed signal Enable disable and active level can be set in mode setting Speed Drive Speed Stop Command or External Stop Signal Initial Speed time Fig 2
220. diagram is the example for the encoder signal which is differential line drive output then this signal can be received through the high speed photo coupler IC which can direct it to MCX514 514 3 3V Motor Driver 3 3V 410 o EO XECA E o ECA 2066 238 NOVA electronics Inc 9 Example Program The example of C program for MCX514 is shown in this chapter This is a 16 bit bus configuration program MCX514 239 This program can be downloaded from our web site http www novaelec co jp File name MCX514Aple c Command code definition Commands for writing data def defi defi defi def i def i defi def i def i defi defi def i def i ne ne ne ne ne ne ne ne ne ne ne ne ne define define define define define define def ine def ine def ine def ine define define setting define define MCX514 CMDOO JK MCX514 CMDO1 DJ MCX514 CMDO2 AC MCX514 CMDOS3 DC MCX514 CMDO4 SV MCX514 CMDOS5 DV MCX514 CMDOG TP MCX514 0 007 DP MCX514 CMDO9 LP MCX514 CMDOA RP MCX514 CMDOB SP MCX514 CMDOC SM MCX514 CMDOD AO MCX514 CMDOE LX MCX514 CMDOF RX MCX514 CMD10
221. ding to the number of interpolation axis in each sub chip Then write the linear interpolation driving command 60h 63h corresponding to the number of interpolation axis in the main chip If the command is written to the main chip first it does not work properly When performing acceleration deceleration driving the deceleration enabling command 6Dh must be written to the main chip before the interpolation driving command Table 3 10 5 Multichip Interpolation Command Interpolation Command Code 1 axis linear interpolation driving 60h 2 axis linear interpolation driving 61h 3 axis linear interpolation driving 62h 4 axis linear interpolation driving 63h When the linear interpolation driving command 60h 63h is written to the main chip the main chip starts immediately to output the synchronous pulse of interpolation driving to each sub chip through MPLS signal and then linear interpolation starts in all axes 147 NOVA electronics Inc MCX514 148 5b Termination of driving Error check During interpolation driving the drive bits D3 0 n DRV of interpolation axis become 1 in RRO register of each chip The user can check the termination of driving whether the drive bit of the main axis returns to 0 in the main chip When in position is enabled in each axis the drive bits D3 0 n DRV of the main axis return to 0 in RRO register of the main chip after waiting for enabled nINPOS signals of all axes to become acti
222. does not hold true in partial S curve acceleration deceleration driving above calculation formula is an ideal expression and slight differences will be made in the actual IC operation 2 NOVA electronics Inc MCX514 B 1 Appendix Parameter Calculation Formula when Input Clock except 16MHz When MCX514 input clock frequency is fCLK Hz setting values of each speed and timer as follows Initial speed pps Drive speed pps Acceleration pps sec Deceleration pps sec Jerk pps sec Deceleration increasing rate pps sec Home search speed pps Speed increasing decreasing value pps Timer value usec Symbol SV Initial speed setting DV Drive speed setting AC Acceleration setting DC Deceleration setting JK Jerk setting DJ Deceleration increasing rate setting HV Home search speed setting IV Speed increasing decreasing value setting TM Timer value setting SV DV AC DC JK DJ HV IV IM x 16 x 10 16 x 10 16 x10 16 x 10 16x10 16 x 10 16 x 10 16 x 10 16 x 10 Synchronous pulse output width synchronous action deviation counter clear output signal width automatic home search timer time between steps automatic home search and input signal delay time input signal filter require corr
223. drive speed DV 40kpps in 0 2 seconds by acceleration and decreases from the drive speed DV 40kpps to the initial speed SV 100pps in 0 4 seconds by deceleration This is that drive pulse number TP is 20 000 and relative position driving Speed pps 4 40K PIU DJ 0 9975 Mpps sec pps sec 100 time sec Fig 2 2 15 Example of Non symmetry S Curve Acceleration Deceleration Driving Use the formula of the example of parameter setting symmetry S curve acceleration deceleration as described previously and find a jerk and a deceleration increasing rate Num jg 4 40000 100 0 2 3 99 Mpps sec 4 40000 100 0 42 Next set a deceleration point DP manually because automatic deceleration is not available non symmetry S curve acceleration deceleration As a manual deceleration point set the number of output pulses from the start of driving to the start of deceleration in fixed pulse driving In relative position driving it should be the value calculated by subtracting the number of pulses Pd that were utilized at deceleration from the number of drive pulses TP so first find the number of pulses Pd that were utilized at deceleration Pulses utilized at deceleration pg DV SV 40000 100 40000 100 8020 Deceleration increasing rate DJ 0 9975 Mpps sec 0 9975 x 10 If the number of pulses Pd that were utilized at dec
224. e D9 PIMD1 D8 PIMDO Encoder pulse input type 0 0 Quadrature pulses input and quad edge evaluation 0 1 Quadrature pulses input and double edge evaluation 1 0 Quadrature pulses input and single edge evaluation 1 1 Up Down pulse input And it sets the logical level of an encoder input signal by D10 bit PI L and sets whether the input pins of an encoder pulse input are replaced or not by D11 bit PIINV The increase decrease of the real position counter due to replacing input pins of an encoder input signal as shown in the table below Table 2 12 5 Increase Decrease of Real Position Counter due to Replacing Input Pins of Encoder Input Signal WR93 D11 PIINV Pulse input mode Increase decrease of real position counter Count UP when the A phase is advancing Count DOWN when the B phase is advancing Count UP at nPPIN pulse input Count DOWN at nPMIN pulse input Count UP when the B phase is advancing Count DOWN when the A phase is advancing Count UP at nPMIN pulse input Count DONW at nPPIN pulse input quadrature pulses mode Up Down pulse mode quadrature pulses mode Up Down pulse mode 2 12 4 Hardware Limit Signals Hardware limit signals nLMTP and nLMTM are used for stopping the pulse output if the limit sensors of and directions are triggered The user can set to enable disable a limit signal and set the logical level of a limit signal and set whether to perform decelerating stop or instan
225. e Fig 2 2 14 Non symmetry S Curve Acceleration Deceleration Driving To perform non symmetry S curve acceleration deceleration driving bits D2 to 0 of WR3 register and the following parameters must be set Table 2 2 8 Mode Setting Non symmetry S curve Acceleration Deceleration Mode Setting Bit Symbol Setting Comment WR3 D0 MANLD 1 Manual deceleration When in deceleration deceleration setting value and deceleration WR3 D1 DSNDE 1 A increasing rate are used WR3 D2 SACC 1 S curve acceleration deceleration Table 2 2 9 Setting Parameters Non symmetry S curve Acceleration Deceleration Parameter Symbol Comment Jerk JK Deceleration increasing rate DJ Acceleration AC Set the maximum value 536 870 911 1FFF FFFFh Deceleration DC Set the maximum value 536 870 911 1FFF FFFFh Initial speed SV Drive speed DV Drive pulse number Finish point TP Not required for continuous pulse driving Set the value calculated by subtracting the number of pulses that were utilized at deceleration from the number of output pulses in fixed Manual deceleration point DP an pulse driving Not required for continuous pulse driving NOVA electronics Inc 514 32 Example of Parameter Setting Non symmetry S curve Acceleration Deceleration The figure shown below is the example of non symmetry S curve acceleration deceleration that reaches from the initial speed SV 100pps to the
226. e Command Data Range Data Length byte 14h Home search speed setting 1 8 000 000 4 HV is the parameter setting the low speed home search speed that is applied in Steps 2 and 3 The unit of the setting value is pps Home Search Speed HV pps Set a value lower than the initial speed SV to stop driving immediately when a search signal becomes active See chapter 2 5 for details of automatic home search 7 2 22 Speed Increasing Decreasing Value Setting fn a 32 9825 Speed increasing decreasing value setting IV 1 1 000 000 is the parameter setting the value to increase decrease the current drive speed by speed increase command 70h and speed decrease command 71h during the driving The unit of the setting value is pps Speed Increasing Decreasing Value IV pps In acceleration deceleration driving the speed increase decrease command is written at constant speed area acceleration deceleration is performed until it reaches the drive speed by this speed increasing decreasing value setting and then constant speed driving will start again 197 NOVA electronics Inc MCX514 198 7 2 23 Timer Value Setting Code Command Data Range Data Length byte 16h value setting 1 2 147 483 647 4 TM is the parameter setting the time that a timer is up The unit of the setting value is psec Timer Value TM psec The current timer va
227. e acceleration es will be 20000 500 0 3 65000PPS SEC And the output pulses during acceleration will be 500 20000 X 0 3 2 23075 Thus if we set the deceleration as same as the acceleration the manual deceleration point will be 56568 3075 53493 Output Pulse During Acceleration 03 Time SEC Note e This formula is not applied to constant vector speed mode WRO 011Fh Write Select X axis WR3 lt 0001h Write Deceleration start point Manual WR6 0003h Write Set interpolation mode Specify X Y axes WRO 002Ah Write WR6 FDE8h Write Acceleration 65000 PPS SEC WR7 0000h Write WRO 0102h Write 140 NOVA electronics Inc WR6 WR7 WRO WR6 WRO WR6 WR7 WRO WR6 WR7 WRO WR6 WR7 WRO WR6 WR7 WRO WR6 WR7 WRO WRO WRO 01F4h 0000h 0104h 4E20h 0105h D8FOh FFFFh 0108h 0000h 0000h 0208h 0000h 0000h 0106h 0000h 0000h 0206h DOF5h 0000h 0107h 006Dh 0065h Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Write Initial speed 500 PPS Drive speed 20000 PPS Center point X 10000 Center point Y 0 Finish point X 0 Finish point Y 0 Manual deceleration point 53493 Deceleration enabl ing CCW circular interpolation driving 141 MCX514 141 NOVA electronics In
228. e by WR2 register For more details of the WR2 register see chapter 6 6 Deviation counter clear output and real logical position counter clear setting In Step2 and Step3 when a specified detection signal rises from inactive to active the user can specify whether to output the deviation counter clear signal nDCC or not 0 Non output 1 Output And at the end of Step 2 3 and 4 the user can clear real logical position counter 0 Non clear 1 Clear The specified bits for deviation counter clear signal nDCC output and real logical position counter clear in each step are shown in the table below Table 2 5 6 nDCC Output and Real Logical Position Counter Clear Specified Bit in Each Step Step 1 Step 2 Step 3 Step 4 Deviation counter clear signal D7 bit D12 bit 0 Non output nDCC output S2DC S3DC 1 Output Real position counter clear Da nit EE X1 S2RC S3RC 0 Non clear Logical position counter clear DM X1 S2LC S2LC X1 Real logical position counter clear at the end of Step 4 when Step 4 is executed use the setting of automatic home search mode setting 2 24h for whether or not to clear at the end of an automatic home search See mAutomatic home search mode setting 2 described as follows NOVA electronics Inc 514 48 W Automatic home search mode setting 2 Automatic home search mode setting 2 can be set by setting each bit of WR6 register as shown below and then wri
229. e real position counter can clear its counter without CPU intervention if nSTOP2 is active This function is useful for solving the problem of Z phase detection position slippage that occurs due to a delay of the servo system or the mechanical system when Z phase search drive is set to low speed When the encoder Z phase signal nSTOP2 changes to active it is also possible to output deviation counter clear signal nDCC And the timer between steps can be used at the end of Step 3 Note D If the encoder Z phase signal nSTOP2 is already active at the start of Step 3 an error occurs and 1 is set in D6 bit of RR2 register Automatic home search ends Adjust the mechanical system so that Step 3 always starts from an inactive state that the encoder Z phase signal nSTOP2 is stable Ifthe limit signal in the search direction is already active before the start of Step 3 an error occurs and 1 is set in the search direction limit error bit D2 or D3 of RR2 register Automatic home search ends If the limit signal in the search direction becomes active during execution search operation is interrupted and 1 is set in the search direction limit error bit D2 or D3 of RR2 register Automatic home search ends NOVA electronics Inc 514 45 W Step 4 High speed offset drive Drive pulses set in the drive pulse number TP are output at the speed set in the drive speed DV by relative position driving This step 4 is normally used to move the
230. e setting command 2Ah As shown below D0 D3 bits of WR6 register set 1 to the bit corresponding to the interpolation axis 1 must be set to the bits of X and Y axes and set to either bit of Z and U axes or both bits of them D15 014 013 D12 pti D10 9 D8 D7 D6 D5 D4 E D3 D2 D1 DO WR6 u EN z EN Y EN D3 D2 D1 DO Action of Axis U EN Z EN Y EN X EN 0 1 1 1 Performs circular interpolation with X and Y axes and moves Z axis in synchronization with circular interpolation 1 0 1 1 Performs circular interpolation with X and Y axes and moves U axis in synchronization with circular interpolation 1 1 1 1 Performs circular interpolation with X and Y axes and moves Z and U axes in synchronization with circular interpolation The other bits D15 D4 of WR6 register is the setting bits related to interpolation See chapter 7 3 8 and the set the appropriate values 3 3 2 Interpolation Speed Setting As the main axis of helical interpolation is X axis the user sets the speed to X axis The speed is within the range from 1PPS to 2MPPS Normally helical interpolation is performed at constant speed no acceleration deceleration the user sets the initial and drive speed to X axis The circular interpolation is performed on the XY plane with these setting speeds The speed of Z and U axes that moves rotates in synchronization with circular interpolation is automati
231. e the helical calculation result use helical calculation setting command 1Bh Write the helical calculation result in WR6 7 registers and write helical calculation setting command 1Bh in WRO register and the value will be set in IC internal register Note e sure that all bits of interpolation mode setting command 2Ah must be the same otherwise helical calculation and helical interpolation will not work properly Execution time of helical calculation The execution time of helical calculation is shown in the table below The execution time of helical calculation is determined depending on the radius of the circular arc of XY axes in helical interpolation The calculation time only takes the time to calculate the one rotation of the circular arc at a maximum When the helical rotation number is 1 or more the value the table below will be applied regardless of any value being set in the helical rotation number When it is under 1 the value will be smaller than the value in the table based on its rotation angle Table 3 3 4 Execution time of Helical Calculation Execution time t of helical calculation msec Radius r of circular I ee eo EE TE EC 4 Short axis pulse equalization mode Short axis pulse equalization mode interpolation pulse Disabling Enabling 1 000 0 7 5 6 10 000 7 56 100 000 70 565 1 000 000 707 5 656 The radius of circular interpolation can be found out from the center points
232. e timer between steps 0 disable 1 enable D10 8 2 0 The interval of the timer between steps When CLK 16MHz ple Timer Time HTM2 0 1msec 2msec 10msec 20msec 100msec 200msec 500msec 1000msec o For more details of the automatic home search see chapter 2 5 and 2 5 4 D15 DO will be set to 0 at reset DI5 D11 should always be set to 0 206 NOVA electronics Inc 514 207 7 3 6 Input Signal Filter Mode Setting Code Command Symbol Data Length byte 25h Input signal filter mode setting FLM 2 FLM is the parameter setting the enable disable of input signal filter and the time constant of 2 filters Dib 114 013 D12 D11 DIO 09 18 07 D6 D5 pa pa 02 DI 00 WR6 FL12 FL10 FLO2 FLO1 FLOO FE7 FE6 FES FE2 FEO Filter Time Constant B Filter Time Constant A Enable disable of Input Signal Filter D7 0 FE7 0 For each input signals as shown in the table below it can set whether the IC built in filter function is enabled or the signal is passed through 0 disable through 1 enable Specified bit Input signal Applied time constant DO FEO EMGN D1 FE1 nLMTP nLMTM D2 FE2 nSTOPO nSTOP1 Filter Time Constant D3 FE3 nINPOS nALARM D4 FE4 nPIO3 0 D5 FE5 07 4 D6 FE6 nSTOP2 Y Filter Time Constant B D7 FE7 nECA nECB
233. e to output deviation counter clear signal nDCC or clear the real logical position counter However during the irregular operation if the detection signal changes to active while the motor drives the axis in the direction opposite to a specified search direction these will not work For more details of the deviation counter clearing nDCC signal output see chapter 2 5 2 In addition to at the end of Step 2 the timer between steps can be used after it escapes in the opposite direction of the irregular operation D 0 Step 3 Low speed Z phase search Drive pulses are output in a specified Over Run Limit in the nSTOP2 Search Direction speed HV until the encoder Z phase signal Active nSTOP2 becomes active To perform Normal Operation Section Error Section low speed search operation set the home Specified Search Direction gt gt search speed HV lower than the the initial direction at the speed set in the home search speed SV A constant speed driving mode is applied and when the encoder Z phase Error D Error signal 15 2 becomes active driving stops instantly Fig 2 5 9 Operation of Step 3 As a search condition the AND condition of the encoder Z phase signal nSTOP2 and the home signal nSTOP1 can be applied to stop driving Other operations in Step 3 When the encoder Z phase signal nSTOP2 changes to active it is possible to clear the real logical position counter Th
234. earch encoder Z phase search offset drive Deviation counter clear pulses can be output for a servo motor driver In addition the timer between steps which sets stop time among each step is available and the operation for a home search of a rotation axis is provided Servo Motor Feedback Signals 514 has input pins for servo feedback signals such as encoder 2 phase in positioning and alarm signals An output signal for clearing a deviation counter is also available B Interrupt Signals MCX514 has 2 interrupt signals INTON INTON signal is used to generate an interrupt by various factors For example 1 at the start finish of a constant speed drive during the acceleration deceleration driving 2 at the end of driving and 3 when the comparison result of a multi purpose register with a position counter changes INTIN signal is used to request to transfer next segment data to CPU while continuous interpolation driving is performed E Driving by External Signals Driving can be controlled by external signals which are the relative position driving continuous pulse driving and manual pulsar driving This function is used for JOG feed or teaching mode reducing the CPU load and making operations smooth NOVA electronics Inc MCX514 8 Built in Input Signal Filter The IC is equipped with an integral type filter in the input step of each input signal It is possible to set for each input signal wh
235. ect and comparison Current timer value CT condition of MR2 WRO 0120h Writes multi purpose register mode setting WR6 lt 00A1h Activation factor code Oth MR2 comparison changed to True 1 Set the function of SYNC2 Action code OAh Start of relative position driving WRO 0128h Writes synchronous action SYNC2 setting WRO 0184h Synchronous action SYNC2 enable setting command X Parameters for relative position driving must be set in advance For more details of the relative position driving see chapter 2 1 1 1 Set to enable SYNC2 Generating an Interrupt The user can generate an interrupt according to the comparison result of a multi purpose register When the comparison result of a multi purpose register changes to meet a specified comparison condition an interrupt occurs If it already meets the comparison condition when an interrupt is enabled an interrupt does not occur at that time After it returns the state not to meet a specified comparison condition if the comparison result of a multi purpose register again changes to meet the specified comparison condition an interrupt will occur To generate an interrupt according to the comparison result of multi purpose register MR3 0 the user needs to set each bit of the interrupt factor of WR1 mode register 1 to enable for the multi purpose register that is used for comparison The interrupt factor of when an interrupt occurs can be checked by the interrupt factor check bit of RR1
236. ection by using 16 x 10 respectively BH NOVA electronics Inc Appendix C Differences with MCX300 series Main differences between MCX300 series and MCX514 are as follows For details of functions please refer to each description in this manual Item Treatment of unused input pins MCX300 series Can open pulled up to VDD in the IC MCX514 C 1 MCX514 There are input pins not pulled up in the IC which should be connected to VDD or GND See chapter 5 for more details 2 Width of reset signal Requires more than 4 CLK cycles Requires more than 8 CLK cycles RESETN 3 Command reset Writes 8000h D15 bit 1 into WRO register Writes OOFFh into WRO register 4 Setting of speed Speed range setting is provided No speed range setting speed range free parameter multiple 1 500 Speed parameter is set the actual value Speed parameter should be set based on the actual value and multiple 5 Fixed pulse driving Direction fixed pulse driving Relative position driving Specifies output pulse number as positive Specifies output pulse number as positive value value and when executed it drives specified When executed it drives specified pulses in pulses in the direction the direction Specifies output pulse number as negative Direction fixed pulse driving value and when executed it drives specified Specifies output pulse number as positive pulses in the direction
237. ed synchronous action set by a synchronous action enable setting command Synchronous action enable disable state The state of a synchronous action set can be checked by D3 D0 bits SYNC3 SYNCO of register Pagel 1 indicates enable of the synchronous action set 0 indicates disable of the synchronous action set Dib 14 013 D12 pii DIO 19 08 D7 16 D5 04 L p3 D2 DI DO RR3 Pagel syncs SYNC2 SYNC1 SYNCO Enable Disable state of synchronous action set 3 Enable Disable state of synchronous action set 2 Enable Disable state of synchronous action set 1 Enable Disable state of synchronous action set 0 2 6 5 Interrupt by Synchronous Action The user can generate an interrupt when a synchronous action is activated It is set to DIS D12 bits SYNC3 SYNCO of WRI register When these bits are set to 1 an interrupt occurs when the activation factor of the synchronous action set corresponding to the bit is activated For more details of the interrupt see chapter 2 10 NOVA electronics Inc 2 6 6 Examples of Synchronous Action Example 1 XPIOO 514 71 When passing through the position 15 000 during the driving in X axis output synchronous pulses to Action Output the pulse signal to the external XP100 Activation Factor Axis is passing through the position 15 000 ZZ IIIA
238. edge evaluation 1 1 Up Down pulse input When quadrature pulses input type is engaged and nECA signal goes faster 90 degree phase than nECB signal does it s count up and nECB signal goes faster 90 degree phase than nECA signal does it s count down And when quad edge evaluation is set it counts Up Down at the rising edge 1 and falling edge of both signals When double edge evaluation is set it counts Up Down at the rising edge 1 and falling edge of A phase signals When single edge evaluation is set it counts Up at the rising edge 7 of A phase signals in the Low of B phase signal and it counts Down at the falling edge of A phase signals in the Low of B phase signal nECA nECB Count Up Count Down When Up Down pulse input type is engaged nPPIN signal is for count up input and nPMIN signal is for NOVA electronics Inc MCX514 178 count down input So it will count up when the positive pulses go up 7 D10 PI L Setting logical level of an encoder input signal 0 positive logical level 1 negative logical level When Up Down pulse input type is engaged it will count at the falling edge of the negative pulses D11 PIINV Replaces input pins of encoder pulse input between nECA PPIN signal and nECB PMIN signal 0 initial setting 1 pin inversion This reverses the increase decrease of the real position counter D11 PIINV Encoder pulse input type Increase decre
239. eds to fully consider whether this deviation will be a problem or not When the start and finish points of a circular arc are on the X or Y axis this deviation does not occur 132 NOVA electronics Inc 3 7 Continuous Interpolation MCX514 133 Continuous interpolation is the operation that performs a series of interpolation processes such as linear interpolation circular interpolation linear interpolation This can only be performed when the number of the axis that executes continuous interpolation is the same and it is possible to perform continuous interpolation as shown in the table below Table 3 7 1 Executable Continuous Interpolation Executable Continuous Interpolation Continuance of 2 axis linear interpolation Operation 2 axis linear 2 axis linear 2 axis linear gt Continuance of 2 axis linear interpolation and circular interpolation 2 axis linear Circular 2 axis linear 2 linear gt Circular gt gt Continuance of 3 axis linear interpolation 3 axis linear 3 axis linear 3 linear gt Continuance of 4 axis linear interpolation 4 axis linear 4 axis linear 4 Continuous interpolation is achieved by pre buffer Before starting interpolation or during interpolation driving set interpolation data to pre buffer and continuous interpolation driving will be perfo
240. egister RR2 individually The host CPU specifies the status register of which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Status register RR2 is used for displaying the error information and the status of driving finishing When an error occurs during the driving the error information bit one of D7 to DO is set to 1 When one or more of D7 to DO bits of RR2 register are 1 n ERR bit of the axis in main status register RRO becomes 1 When one or more bits of RR2 register are 1 the bits keep 1 even though the factor of the error or driving finishing is cleared As for the error during driving except interpolation driving including automatic home search all bits will return to 0 by error finishing status clear command 79h or the start of next driving And the error during interpolation driving be sure to clear the error bit to 0 by error finishing status clear command 79h D15 D14 013 D12 pii DIO 09 08 D7 06 D5 D4 03 D2 DI DO RR2 EMG ALARMI LMTP 5 0 1 5 0 0 SYNC CERR HOME EMG ALARMJHLMT HLMT SLMT SLMT L f At Status of Driving Finishing Error Information DO SLMT During the direction driving with software limit function enabled when comparative position counter 2 SLMT value it becomes 1 and driving stops 01 SLMT During the direction driv
241. ehavior is the same as the description 5 Description 8 General purpose input signal Hi and the change of when rising About nPJOm input Hi and nPIOk input 17 it is activated when nPIOm m 4 7 input signal is Hi level and nPIOk 0 3 input signal is rising from Low level to Hi level As shown in the table the nPIOk nPIOm signals corresponding to 4 synchronous action sets are fixed If nPIOm input signal is already Hi level and nPIOk input signal is Hi level when the synchronous action is enabled the behavior is the same as the description 5 Description 9 General purpose input signal Low and the change of when falling About nPIOm input Low and nPIOk input it is activated when nPIOm m 4 7 input signal is Low level and nPIOk k 20 3 input signal is falling from Hi level to Low level As shown in the table the nPIOk nPIOm signals corresponding to 4 synchronous action sets are fixed If nPIOm input signal is already Low level and nPIOk input signal is Low level when the synchronous action is enabled the behavior is the same as the description 6 NOVA electronics Inc 514 63 Description 10 General purpose input signal Hi and the change of when falling About nPIOm input Hi and nPIOk input it is activated when nPIOm m 4 7 input signal is Hi level and nPIOk 0 3 input signal is falling from Hi level to Low level As shown in the table the nPIOk nPIOm signals corresponding to 4 synchronous action sets
242. electronics Inc 514 50 2 5 5 Execution of Automatic Home Search and the Status Execution of automatic home search An automatic home search is executed by automatic home search execution command 5Ah It will be started by writing the command code 5Ah to WRO register after correctly setting the automatic home search mode and speed parameter W Suspension of automatic home search In order to suspend automatic home search operation write decelerating stop command 56h or instant stop command 57h The step currently being executed is suspended and the automatic home search is terminated When the timer between steps is enabled and stop command is written during the timer operation the timer is also suspended and the automatic home search is terminated W Status register D3 0 bits n DRV of the main status register RRO indicate driving is in execution The bits also indicate the automatic home search is in execution When an automatic home search starts the bit of execution axis is set to 1 and the state is maintained from the start of Step 1 operation to the end of Step 4 operation At the termination of Step 4 the bit is reset to 0 D7 06 05 04 L p3 D2 Di DO U ERR Z ERR Y ERR X ERR U DRV Z DRV Y DRV X DRV Error Automatic home search is in execution Dib D14 013 D12 pti DIO 09 08 RRO If an error occurs during the execution of automatic home search D7 4 bits n ERR
243. eleration is 8 020 where the number of drive pulses TP is 20 000 in relative position driving the manual deceleration point will be as follows Manual deceleration point DP TP Pd 20000 8020 11980 Therefore parameter setting is shown below Mode setting WR3 0007h Mode setting of WR3 register Jerk JK 3990000 Deceleration increasing rate DJ 997500 Acceleration AC 536870911 Set the maximum value 1FFF FFFFh Deceleration DC 536870911 Set the maximum value 1FFF FFFFh Initial speed SV 100 Drive speed DV 40000 Drive pulse number TP 20000 Manual deceleration point DP 11980 Note above expression used for calculating the number of pulses that were utilized at deceleration is an ideal expression In the actual IC operation creep or premature termination occurs depending on the parameter values that are set NOVA electronics Inc 514 33 2 2 08 Pulse Width and Speed Accuracy Duty Ratio of Drive Pulse The period time of direction pulse driving is decided by system clock SCLK The tolerance is within 1 CLK For CLK 16MHz the tolerance is 62 5nsec Basically the duty ratio of each pulse is 50 as shown below When the parameter setting is DV 1000pps the driving pulse is 500 sec on its Hi level and 500 u sec on its Low level and the period is 1 00 msec SV 1000 DV 1000 500 sec 500 sec 1 00 msec Fig 2 2 16 High Low Level Width of Dr
244. eli pce ican 216 7 4 18 Signal Setting 2 Other Settings 216 7 4 19 Acceleration Setting Value 2 217 7 4 20 Initial Speed Setting Value 217 7 4 24 Drive Speed Setting Value 2 eene nnm nnne nnne nennen 217 7 4 22 Drive Pulse Number Finish Point Setting Value 217 7 4 23 Split Pulse Setting 1 Reading ice e ete ei e eee o aee veo ec Dae ve ad 218 7 4 24 General Purpose Input Value enne nnn nennen nnne nne 218 7 5 Driving 219 7 5 1 Relative Position Driving 219 7 5 2 Counter Relative Position 2 9 220 7 53 Direction Continuous Pulse 220 7 5 4 Direction Continuous Pulse 220 7 5 Absolute Position Driving cr rr eere e E eer tein ter oe eve ie sets 221 7 5 6 Decelerating Stopzssiibeeibesietreo Ret ate tie e ica s 221 ADT stant StOps iuc dure timete Bae unda dre aut adde due d 221 7 5 8 Direction Signals Settings iie EN Dee raster bereit pisces Fe eei bios ceret sean 221 7 5
245. elical interpolation driving WW helical calculation CCW helical calculation NOVA electronics Inc 514 247 int ExeDECEN void 21 Deceleration enabling return ExeCmd MCX514 CMD6D DECEN 514 AXIS int ExeDECDIS void Deceleration disabling return ExeCmd MCX514 CMDGE DECDIS 514 AXIS int ExeCLRSTEP void Interpolation interrupt clear Single step interpolation return ExeCmd MCX514_CMD6F_CLRSTEP MCX5b14 AXIS Synchronous action operation command function int ExeSYNC int Axis unsigned short Command related to synchronous action return ExeCmd Axis Other Commands functions MI B M M B I LL P g M I LP B g l U P MU P LG g l g l lll int ExeVINC int Axis Speed increase return ExeCmd MCX514 CMD70 VINC int ExeVDEC int Axis Speed decrease return ExeCmd MCX514 CMD71 Axis int ExeDCC int Axis Deviation counter clear output return ExeCmd MCX514 CMD72 DCC int ExeTMSTA int Axis Timer start return ExeCmd MCX514 CMD73 TMSTA int ExeTMSTP int Axis Time
246. en vetns 226 7 6 15 Deceleration Disabling eese nennen nennen nennen nene nnne enne ne enne 226 7 6 16 Interpolation Interrupt Clear Single step 227 7 7 Synchronous Action Operation 228 7 7 1 Synchronous Action Enable Setting ne nennen nennen nnn 228 7 7 2 Synchronous Action Disable Setting sssssssssssssseeeeeeee nennen nennen nennen nnn 229 7 7 8 Synchronous Action 229 7 8 Other Commands 230 7 94 cSpeed Increase rec en eret OR ERR RR RR MIS MR n MENS 230 78 2 Speed Decrease iudi ec deci ide dutem nde 230 7 8 8 Deviation Counter Clear 231 yer MER 231 7 8 5 sitmet Stops e e ie ex a Ee y du E RUE cuv rue WE ee v a nee 231 7 9 6 Startof Split Pulse on sederet eR ERE E RE RAIDER ERAT 231 137 Termination of Pulses tee Poet ec bi deu eed tide ture e net Pide ute 232 7 8 8 Drive Start epp 232 7 8 9 Drive Start Holding Release 232 7 89 10 Error Einishing zStatus Gl amp 8E s xiii i REP ERE A BER PR REA ERE RR PLANE ERES 232 vii 7 011 RR
247. equired that the value is smaller than the length of the circular arc of circular interpolation a Under One Rotation Start point gt X 1 Feed amount of 2 axi Start point b one rotation or more Fig 3 3 4 The Feed Amount of Z U axis The center and finish points for circular interpolation can be set as well as the normal circular interpolation For just one rotation set 0 0 When the user performs the rotation one or more and finishes it at the position of the start point set 0 0 When performing helical calculation it is not necessary to set the feed amount of Z and U axes 117 NOVA electronics Inc MCX514 118 3 3 5 Helical Calculation Execution It is required that the total number of output pulses for circular interpolation is found out in advance in order to perform moving of Z axis uniformly in helical interpolation Helical calculation command is to find out this total number of output pulses Before execution of helical calculation an interpolation axis interpolation speed helical rotation number and position data the center and finish points for circular interpolation must be set Helical calculation is performed based on these parameters There are two helical calculations CW helical calculation and CCW helical calculation Please be sure to execute the command in the same rotation direction of the circular arc as helical interpolation If the rotation direction is different i
248. er function is disabled the active pulse width must be 2CLK or more Enable disable YLMTM 88 Input B ZLMTM 109 decelerating stop instant stop and logical levels can be set as commands ULMTM 128 When the limit signal is enabled and this signal is in its active level during direction driving HLMT bit of RR2 register becomes 1 The signal status be read from RR3 register and this signal can be used to search the home position Inposition input signal for servo driver in position XINPOS 66 YINPOS 85 Input B ang logical level can set When enabled and after driving is finished DRIVE bit of main status register returns to 0 ZINPOS 104 after this signal becomes active UINPOS 123 The signal status can be read from register 164 NOVA electronics Inc Signal Name XALARM YALARM ZALARM UALARM Pin No 67 86 105 124 Input Output Input B 514 165 Signal Description Servo Alarm input signal for servo driver alarm Enable disable and logical level can be set as commands When enabled and when changes to active level during the driving ALARM bit of RR2 register becomes 1 and driving stops instantly The signal status can be read from register XPIO7 ADSND CMP3 YPIO7 ADSND CMP3 ZPIO7 ADSND CMP3 UPIO7 ADSND CMP3 56 75 94 113 Bi directional B
249. eration stop performs decelerating stop automatically by calculating the deceleration start point based on specified drive pulses Manual deceleration stop performs decelerating stop by setting the deceleration start point from the high order This IC can perform automatic deceleration stop except for non symmetrical S curve acceleration deceleration 4 After the start of driving output pulse number can be changed for the same direction in only relative position driving The drive speed cannot be changed during continuous interpolation driving 5 Logical position counter counts output pulses and real position counter counts encoder input pulses 6 While driving split pulses are output at specified intervals in synchronization with driving pulses 7 1 set of synchronous actions is configured with one specified activation factor and one specified action 8 Input pins for external signals share the general purpose input output pins 9 When the function is not used it can be used as general purpose input 10 Drive status output signal pins share the general purpose input output pins Bit pattern interpolation is 4Mpps or less helical interpolation is 2Mpps or less continuous interpolation is 4Mpps and multichip interpolation is 4Mpps or less NOVA electronics Inc 514 15 2 Descriptions of Functions 2 1 Fixed Pulse Driving and Continuous Pulse Driving There are two kinds of pulse output comma
250. ern Interpolation Driving Command 2 axis bit pattern interpolation driving This command performs 2 axis bit pattern interpolation Before driving the direction bit data of the two interpolating axes should be set and the setting bit data of each axis each direction is at most 16 x 8 128 bit Once the data is over than 128 bit those remaining data can be filled during the driving 224 NOVA electronics Inc 7 6 8 3 Bit Pattern Interpolation Driving Code Command 67h 3 axis bit pattern interpolation driving This command performs 3 axis bit pattern interpolation MCX514 225 Before driving the direction bit data of the three interpolating axes should be set and the setting bit data of each axis each direction is at most 16 x 8 128 bit Once the data is over than 128 bit those remaining data can be filled during the driving 7 6 9 4 Axis Bit Pattern Interpolation Driving Command 4 axis bit pattern interpolation driving This command performs 4 axis bit pattern interpolation Before driving the direction bit data of the four interpolating axes should be set and the setting bit data of each axis each direction is at most 16 x 8 128 bit Once the data is over than 128 bit those remaining data can be filled during the driving 7 6 10 CW Helical Interpolation Driving Command CW helical interpolation driving This command performs helical i
251. escription Set the center point X Y by the relative value with respect to the current position previous position before starting helical interpolation Write the value WR6 7 registers and circular center point setting command 08h with axis assignment in WRO register Finish point of circular interpolation Set the finish point X Y by the relative value with respect to the current position Write the value in WR6 7 registers and drive pulse number finish point setting command 06h with axis assignment in WRO register Feed amount of Z U axis Z Feed amount of Z axis AFinish point Y Set the feed amount of the axis in synchronization with circular interpolation by the relative value with respect to the current position When it is moved in the direction set the positive value and when in the direction set the negative value Write the value in WR6 7 registers and drive pulse number finish point setting command 06h with axis assignment in WRO register When circular interpolation is under one rotation set the feed amount up to the finish point see Fig 3 3 4 a When it is one rotation or more set the feed amount of the axis for one rotation of circular interpolation see Fig 3 3 4 b The feed amount of Z or U axis being set must be smaller than the total number of output pulses for circular interpolation the value that can be found out by helical calculation Generally it is r
252. ether the filter function is enabled or the signal is passed through A filter time constant can be selected from 16 types 500nsec 16msec 3 3V MCX514 24V nLMTP LIMIT O Fig 1 1 13 Built in Input Signal Filter Digital Processing E Real Time Monitoring During the driving the current status such as logical position real position drive speed acceleration deceleration status of accelerating constant speed driving decelerating acceleration increasing acceleration constant acceleration decreasing and a timer can be read in real time CPU Interface This IC has PC serial interface bus in addition to the existing 8 bit 16 bit data bus as the interface to connect a host CPU serial interface bus needs only 2 lines serial data line SDA and serial clock line SCL so the user can use such a PICTM microcomputer that has few terminals as a host CPU PC bus can be connected with several devices such as MCX514 or EEPROM that have bus interface on the same bus I C Drive pulse Ce Motor 5 Host CPU MCX514 Driving Ce 1 Circuit Drive pulse Ce e Motor Ce MCX514 Driving Ce 2 Circuit e Fig 1 1 14 Serial Interface Bus NOVA electronics Inc MCX514 9 1 2 Functional Block Diagram 514 functional block diagram is shown in the Fig 1 2 1 as below It comprises control sections of 4 axes X Y Z and U that have the same func
253. eve 20 tCYC is a cycle of CLK 255 NOVA electronics Inc MCX514 256 10 2 7 Serial Bus SCL Clock tSCR tSCF SCL Symbol Item Min Max Unit fSCL SOL Clock Frequency 400 KHz tSWH SCL Clock Hi Level Width 600 ns tSWL SCL Clock Low Level Width 1300 ns tSCR SCL Clock Time of rising edge 300 ns tSCF SCL Clock Time of falling edge 300 ns Start Stop Condition Start Condition Stop Condition SCL SDA Psy Symbol Item Min Max Unit tSSU Start Condition Setup Time 600 ns tSHD Start Condition Hold Time 600 ns tPSU Stop Condition Setup Time 600 ns Writing Reading SDA Data SCL SDA Input SDA Output SDA Input Hold Time SDA Input Setup Time SDA Output Delay Time 256 NOVA electronics Inc 514 257 11 Timing of Input Output Signals 11 1 Power On Reset INTON INTIN Low nSPLTP a The reset signal input to pin RESETN needs to keep on the Low level for at least 8 CLK cycles b When RESETN is on the Low level for 6 CLK cycles maximum the power on output signal is determined to the level shown in the figure above C For a maximum of 4 CLK cycles after RESETN is on the Hi level this IC cannot be read written 11 2 Fixed Pulse or Continuous Pulse Driving CLK T WRN Writing a drive com
254. eviation counter clear output and position counter clear Dib 14 D12 pii DIO 19 08 07 D6 05 04 L p3 D2 DI DO WR6 S4EN S3LC S3RC sapc 30R S3EN S2LC S2RC S2DC 5256 S2DR S2EN 5161 5100 SIDR STEN Step 4 Step 3 Step 2 Step 1 DO S1EN Setting for whether high speed search of step 1 in the automatic home search is executed or not 0 non execution 1 execution D1 S1DR The search direction of step 1 0 direction 1 direction D3 2 5101 0 The search signal of step 1 Use the WR2 register for logical setting of the input signal that is detected D3 S1G1 Search Signal 0 nSTOPO 0 nSTOP1 1 Limit signal 1 Invalid Tf a limit signal is specified the limit signal in the search direction specified by DI SIDR will be selected D4 S2EN Setting for whether low speed search of step 2 in the automatic home search is executed or not 0 non execution 1 execution D5 S2DR The search direction of step 2 0 direction 1 direction D6 5256 The search signal of step 2 Use the WR2 register for logical setting of the input signal that is detected D6 S2SG Search Signal 0 nSTOP1 1 Limit signal 204 NOVA electronics Inc MCX514 205 Tf a limit signal is specified the limit signal in the search direction specified by D5 S2DR will be selected D7 5206 Setting for whether the deviation counter clear nDCC signal
255. f chip address of 3 bits D7 DS register address of 4 bits D4 D1 and the bit DO for reading writing SCL SDA ACK O Low outputted by MCX514 Reading 1 Hi Writing O Low Start Chip address Register address Condition Fig 4 2 1 Slave Address Specify the address set by A2 22 Al 23 AO 24 pins of MCX514 to CA2 CAO of chip address Low is 0 and Hi is 1 As for a register address specify the register address that the user wants to write referring to the following table Although WR register is 16 bit configuration but data transfer must be specified in bytes Table 4 2 1 Register Address for Writing Register Address RAO WP Register o ol o o WROL 0 0 o 1 WROH 0 0 1 0 WRIL 0 0 1 1 WRiH 0 o WR2L 0 1 1 WR2H 0 1 1 0 WR3L 0 1 1 1 WR3H 1 o o WR4L 1 0 0 1 WR4H 1 0 1 0 WR5L 1 0 1 1 WR5H 1 1 0 0 WR6L 1 1 0 1 WR6H 1 1 1 0 WR7L 1 1 1 1 WR7H WRnL is the low byte D7 D0 of WRn WRnH is the high byte D15 D8 of WRn The last bit DO for writing of slave address is the bit to designate reading writing When writing set it to 0 If the slave address is sent by 8SCL MCX514 returns ACK to SDA signal in the 9th SCL When it receives 8 bit slave address correctly MCX514 corresponding to the chip address returns Low open drain output is turned ON Whe
256. g 2 2 7 the greater the ratio of acceleration AC to deceleration DC becomes the greater the number of creep pulses becomes about maximum of 10 pulses when AC DC 10 times When creep pulses cause a problem solve the problem by increasing the initial speed or setting a minus value to the acceleration counter offset E Example of Parameter Setting As shown in Fig 2 2 6 parameter setting of relative position driving in non symmetrical linear acceleration deceleration acceleration deceleration is shown below Mode setting WR3 lt 0002h Mode setting of WR3 register Acceleration AC 36250 30000 1000 0 8 36250pps sec Deceleration DC 145000 30000 1000 0 2 145000pps sec Initial speed SV 1000 Drive speed DV 30000 Drive pulse number TP 27500 Relative position driving Note e Though the triangle form prevention function works in non symmetrical linear acceleration deceleration driving if changing a drive speed during the driving set the triangle form prevention function to disable WR3 D13 1 NOVA electronics Inc 514 25 2 2 4 S curve Acceleration Deceleration Driving Symmetrical S curve acceleration deceleration driving performs acceleration and deceleration to a specified drive speed with a smooth curve that forms a secondary parabolic curve This IC creates a S curve by increasing reducing acceleration deceleration in a primary line at acceleration and deceleration of a drive speed Fig 2 2
257. g when one pulse of drive pulses is output the logical position counter will count down 1 Before writing the driving command the user should set the parameters for the outputting speed curve appropriately 220 NOVA electronics Inc MCX514 221 7 5 5 Absolute Position Driving Code Command 54h Absolute position driving This command performs the driving from present point to finish point Before driving the destination point based on a home logical position counter 0 should be set with a signed 32 bit value by drive pulse number finish point setting command 06h Before writing the driving command the user should set the parameters for the outputting speed curve and finish point appropriately 7 5 6 Decelerating Stop Command Decelerating stop This command performs the decelerating stop when the drive pulses are outputting If the speed is lower than the initial speed during the driving the driving will stop instantly During interpolation driving when decelerating stop or instant stop command is written to the main axis interpolation driving stops Once the driving stops this command will not work 7 5 7 Instant Stop Command Instant stop This command performs the instant stop when the drive pulses are outputting Also the instant stop can be performed in acceleration deceleration driving Once the driving stops this command will not work 7 5 8 Direction Signal
258. g command 6Dh Writing segment 3 data interpolation command Writing segment 5 data interpolation command Main axis Writing drive start holding release command 78h Start continuous interpolation driving In this case please note the manual deceleration point is the value for the output pulses of the main axis that are counted from the start of the segment 3 142 NOVA electronics Inc 514 143 3 9 Single step interpolation Single step is defined as pulse by pulse outputting Either command or external signal can execute the single step interpolation By using external signal interpolation driving can be performed in synchronization with an external signal but the basic pulse of the main axis When using single step interpolation main axis must be set to constant speed driving The Hi level width of the output pulse from each axis is 1 2 of the pulse cycle which is decided by drive speed of interpolation main axis The Low level width is kept until next command or external signal comes Fig 3 9 1 is the example of single step interpolation by an external signal The main axis initial speed is 500PPS the drive speed is 500PPS at constant speed driving The Hi level width of the output pulse is 1115 positive logic Set 1 bit to D9 by interpolation mode setting command 2Ah and it will enable the single step interpolation mode EXPLSN 1 i 1 mS
259. g is performed relatively slowly When D14 bit INTA is set to 1 and when the stack counter of pre buffer changes from 8 to 7 INTIN signal becomes Low active It notifies that one is free in pre buffer This is suitable for when continuous interpolation driving is performed at high speed W Interrupt processing When an interrupt is generated by INTIN signal the host CPU writes the necessary next segment data in interrupt processing routine The data is the same as the 1st to 8th segments described in 4 and 5 At the end of one segment data interpolation driving command must be written The user can write while checking the value of the stack counter by 0152 12 bits HSTC3 0 of RRO register W Clear Interrupt signal INT1N INTIN signal is cleared automatically by writing the nextinterpolation driving command and then returns to hi Z Or it can be cleared by the following operation Write interpolation interrupt clear command 6Fh Continuous interpolation driving is finished 136 NOVA electronics Inc MCX514 137 3 7 8 Errors during Continuous Interpolation There are 2 types of errors occurred during continuous interpolation the error such as limit over run and the writing error of interpolation data Error such as limit over run When an error occurs such as limit over run during continuous interpolation driving stops at the current interpolation segment If stopped by an error the stack counter of pre buffer
260. ge of 1 2 147 483 647 sec in increments of 1 at CLK 16MHz By using with synchronous action the following operations can be performed precisely V Starts driving after specified periods when the driving is finished Starts driving after specified periods after Time Time 2 C external signal is input Termination of driving Start of driving Stops continuous pulse driving after specified periods After 17 35 msecs Times from position A to position B Fig 1 1 11 Timer Function NOVA electronics Inc MCX514 7 Output of Split Pulse This is a function in each axis that outputs split pulses during the driving which synchronizes axis driving and performs various operations The split length pulse width of a split pulse and split pulse number can be set By using with synchronous action the output of split pulses can be started terminated at a specified position and the split length or pulse width of a split pulse can be changed by an external signal Split pulses can be output corresponding to an arbitrary axis during interpolation driving Drive Pulse UUW UIUC UL Split Pulse Pulse Width Split Pulse Number Fig 1 1 12 Split Pulse Output Automatic Search Function This IC is equipped with the function that automatically executes a home search sequence without CPU intervention The sequence comprises high speed home search low speed home s
261. gic D2 0 At the termination of home search LP clear D1 0 At the termination of home search RR clear DO 0 Step 2 amp 3 Writes a command High speed home search and low speed home search setting WRG 7318h Write WR7 0001h Write WRO 0102h Write WRG OSE8h Write WR7 0000h Write WRO 0104h Write WRG 4E20h Write WR7 0000h Write WRO 0105h Write WRG O1F4h Write WR7 0000h Write WRO 0114h Write Offset pulse setting WRG ODACh Write WR7 0000h Write WRO 0106h Write 95 000 PPS SEC Acceleration deceleration Initial speed 1000 PPS Speed of step 1 and 4 20000 PPS Speed of step 2 3 500 PPS Offset driving pulse count 3500 Starts execution of automatic home search WRO 015Ah Write MCX514 58 Execution Enable Enable Enable direction Execution Disable Disable Disable STOP1 direction Execution STOP1 direction Execution Disable 100 u sec Hi pulse Disable Disable Disable NOVA electronics Inc 514 59 2 66 Synchronous Action Synchronous action of this IC performs various actions in each axis among axes or between the IC and an external device during the driving such as output an external signal at a specified position or save the current position to a specified register by the external signal For instance the following actions can be performed Example 1 Outputs a signal to
262. h speed as well as independent driving the vibration of a short axis is increased due to these thinning out pulses and may step out MCX514 can improve this problem with the function short axis pulse equalization mode Even in the axis has shorter moving distance it can output drive pulses as equal as possible And if this function is used in combination with constant vector speed mode it will increase the accuracy of constant vector speed Usual Interpolation 1 9 2 Short axis pulse equalization mode x PLIFLFLFLFLFLFLELFLFLFUFLFLFLFLFUFURLFLFURUFUFLFLFELRURLFLFLIL YER EER RRR RRR RRR eee Fig 1 1 5 Pulse Output in 2 axis Linear Interpolation with Moving Distance of X 30 pulses and Y 26 pulses WB 2 Axis High Accuracy Constant Vector Speed Mode Vector speed is the driving speed of the tip of a locus performing interpolation driving and it is also called Head speed In operations such as machining or coating workpieces during interpolation driving it is important to keep this vector speed constant 514 realizes 2 axis high accuracy constant vector speed mode that increases the accuracy of constant vector speed considerably in addition to the existing constant vector speed mode In 2 axis linear interpolation circular interpolation and helical interpolation driving if the short axis pulse equalization mode described above and 2 axis high accuracy constant vector speed mode are used in combination the speed deviation of vector
263. he write register It does not matter to write WR6 or WR7 first when 8 bit data bus is used the registers are WR6L WR6H WR7L WR7H The written data is binary and 2 s complement is used for negative numbers For command data the user should use designated data length The data of WR6 and WR7 registers are unknown at reset 179 NOVA electronics Inc MCX514 180 6 11 Main Status Register RRO Main status register is used for displaying the driving and error status of each axis It also displays ready signal for continuous interpolation quadrant of circular interpolation and continuous interpolation pre buffer stack counter SC D15 14 013 12 DIO 19 D8 D7 D6 D5 04 L p3 D2 DI DO RRO HSTC3 HSTC2 HSTCT HSTCO CNEXT 20NE2 ZONE1 ZONEO U ERR Z ERR Y ERR X ERR U DRV Z DRV Y DRV X DRV D3 0 n DRV Displaying driving status of each axis When the bit is 1 the axis is outputting drive pulses and when the bit is 0 the driving of the axis is finished During execution of automatic home search or helical calculation this bit is set to 1 Once the in position input signal nINPOS for servomotor is active nINPOS will return to 0 after the drive pulse output is finished D7 4 n ERR Displaying error status of each axis If any of the error bits 7 0 of each axis RR2 register becomes 1 this bit will become 1 When an error occurs in any axis of sub chip during mult
264. hich indicates the split pulse is in operation becomes 0 by issuing termination of split pulse command When termination of split pulse command is written if the split pulse output signal is on Hi level it stops after keeping the Hi level of a specified pulse width when the positive logic is set 7 8 8 Drive Start Holding Command Drive start holding This command is to hold on the start of driving It can be used for starting multi axis driving simultaneously Write this command to the axes that the user wants to start simultaneously and then write the drive command to each axis Then if the drive start holding release command 78h is written all axes will start the driving simultaneously In continuous interpolation driving this command can be used when interpolation data of necessary segments is set to pre buffer before the start of driving For more details of continuous interpolation see chapter 3 7 7 8 9 Drive Start Holding Release Command Drive start holding release This command is to release the drive start holding command 77h and start the driving 7 8 10 Error Finishing Status Clear Command Error Finishing status clear All the error information bits and the driving finishing status bits of RR2 register and the error bits D7 4 n ERR of RRO register are cleared to 0 This command is also used to clear the error generated in interpolation driving 232 NOVA ele
265. host CPU register will be cleared from 1 to 0 and INTON will return to the Hi Z level That is the interrupt signal is automatically cleared by reading RR1 register And the information that an interrupt occurred is sent to the CPU only once by the first reading of register after the interrupt and after that if the user reads register the bit indicates O unless the next interrupt factor becomes True Read reset method W Multiple interrupts When multiple interrupt factors are enabled if the first interrupt factor becomes True the signal INTON will be on the Low and the corresponding bit of RR1 register will be set to 1 After that if the other factor becomes True before the CPU reads RR1 register the bit corresponding to the other factor will be set to 1 In this case when reading register two or more bits indicate 1 and the each interrupt factor notifies the occurrence of it NOVA electronics Inc 514 97 Interrupt 8 bit data bus When 8 bit data bus is used individually set each WRIH WRIL register to 1 enable or 0 disable When an interrupt occurs interrupt signal INTON is Low individually read each RRIL register If either register is only enabled there is no need to read another register The bits that indicate an interrupt are cleared to 0 by reading register once and RRIL register is the same as RR1H When all the bits of both registers are cleared the inte
266. hown below set 0 3 bits of WR6 register set 1 to the bit corresponding to the axis that interpolation is performed Bit pattern interpolation can be performed with from 2 axes to all 4 axes but it cannot specify only 1 axis H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR6 u EN z EN x EN The other bits 15 4 of WR6 register are the setting bit related to interpolation Please refer to 7 3 8 and set appropriate values 3 4 2 Interpolation Speed Setting It sets the drive speed for bit pattern interpolation to the main axis among interpolation axes The drive speed can be set up to 4MHz at a maximum in bit pattern interpolation mode However if the bit pattern data is more than 128 bits the maximum speed will depend on the BP data update rate of a host CPU because the CPU is required to replenish BP data to pre buffer described below during interpolation driving For example of 2 axes bit pattern interpolation the host CPU must write 16 bit data x 2 16 bit command x 2 axes interpolation driving command in order to update BP data If it takes 100psec output time of 16 bit 716 drive pulses must be longer than that Thereby interpolation drive speed must be lower than 1 100uSEC 16 160KPPS If the higher value is set replenishment of BP data does not catch up 3 4 3 Bit Pattern Data Writing It writes bit pattern data for each interpolation axis
267. ial speed 8M PPS maximum in specification WR7 lt 007Ah Write WRO 0104h Write WR6 2710h Write Drive speed 10K PPS WR7 lt 0000h Write WRO 0105h Write WR6 0000h Write Logical position counter 0 WR7 lt 0000h Write WRO 0109h Write Set a specified position to MRm register MRO setting specified position A 10000 WR6 2710h Write MRO 10000 WR7 lt 0000h Write WRO 0110h Write MR1 setting specified position 55000 WR6 D6D8h Write MR1 55000 WR7 lt 0000h Write WRO 0110h Write Timer value setting WR6 FFFFh Write Timer value 2147483647 maximum WR7 lt 7FFFh Write WRO 0116h Write Interrupt setting WRO 011Fh Write Select X axis WR1 2000h Write D13 1 SYNC1 When synchronous action SYNC1 is activated Multi purpose register mode setting WR6 0000h Write D1 DO 00 MOT1 0 MRO Comparative object Logical position counter 03 02 00 0 MRO Comparison condition D5 D4 00 1 0 MRI Comparative object Logical position counter D7 06 00 M1C1 0 Comparison condition WRO 0120h Write Synchronous action setting Synchronous action SYNCO setting WR6 lt 0151h Write D3 D0 0001 PREV3 0 Activation factor MRm object changed to True D8 D4 10101 ACT4 0 Action Timer start WRO 0126h Write Synchronous action SYNC1 setting WR6 0071h Write D3 D0 0001 PREV3
268. ical and real position counters are undefined at reset e Waveform nPP PLS PA nPM DIR PB Driving output pulse Logical Position Counter UP 32bit DOWN Real Position Counter UP Waveform nECA PPIN Read Write 32bit x ue nECB PMIN Encoder input pulse Fig 2 3 1 Position Counter Functional Block Diagram 2 3 2 Position Comparison 514 has four multi purpose registers per axis which can be used to compare with the current position of the logical and real position counters The comparison result of a multi purpose register with the logical real position counter can be read out even while driving And when it meets the comparison condition a signal can be output or an interrupt or synchronous action activation can be executed For more details of the multi purpose register comparison functions see chapter 2 4 2 3 3 Software Limit Software limit can be set to the logical position counter and real position counter in each axis The object of software limit can be set by D14 bit of WR2 register Two 32 bit registers SLMT SLMT which set the software limit must be set the software limit position of direction individually When the value of the logical real position counter that the software limit is set is larger than the value of SLMT register decelerating stop or instant stop is executed and DO bit of RR2 register becomes 1 This error status will be cleared when the direction driving command
269. ichip interpolation the error bit of main axis in main chip will become 1 During driving except interpolation driving including automatic home search this bit will return to 0 by the error finishing status clear command 79h or the start of next driving When interpolation driving is performed be sure to clear the error by the error finishing status clear command 79h Otherwise interpolation driving will not work properly after that 010 8 ZONEm Displaying the quadrant of the current position in circular interpolation D10 D9 D8 Quadrant 0 0 0 0 0 0 1 1 0 1 0 2 0 1 1 3 1 0 0 4 1 0 1 5 1 1 0 6 1 1 1 7 D11 CNEXT Displaying the writable state of next data for continuous interpolation When interpolation driving is started the bit is set to 1 during the period from 1 to 7 of pre buffer stack counter and it is possible to write interpolation data for next node parameters and interpolation commands D15 12 HSTC3 0 Displaying the value of continuous interpolation pre buffer stack counter SC D15 D14 D13 D12 Stack Counter SC 0 0 0 0 0 0 0 0 1 1 0 0 1 0 2 0 0 1 1 3 0 1 0 0 4 0 1 0 1 5 0 1 1 0 6 0 1 1 1 7 1 0 0 0 8 180 NOVA electronics Inc MCX514 181 During continuous interpolation driving when SC is 8 it indicates the pre buffer stack is the upper limit And when SC is 7 and under it is possible to write interpolation data for next node parameters and interpolation comma
270. igh speed home search gt gt STEP2 low speed home search Search STEP3 encoder Z phase search STEPA offset drive Enable Disable each step and search signal direction are selectable Deviation Counter Clear Clear pulse width within the range of 10u 20msec Output Logical level selectable Timer between Steps 1 1 000 selectable Synchronous Action Number of Sets 4 sets per axis 7 Activation Factor When multi purpose register comparison changed Comparative object logical real position counter value current drive speed current timer value Comparison condition 2 gt lt When a timer is up Start Termination of driving Start Termination of driving at constant speed area in acceleration deceleration driving Start Termination of split pulse Output of split pulse signal t nPIOm 4 signal Low and nPlOm signal 1 nPlOm 4 signal Hi and nPlOm signal 1 nPlOm 4 signal Low and nPlOm signal nPlOm 4 signal Hi and nPlOm signal m 0 1 2 3 Activation command Action Load value MRm setting value Drive speed Drive pulse number Finish point Split length Split pulse width Logical Real position counter value Initial speed Acceleration Save value MRm current value Logical Real position counter value Current timer value Current drive speed Current acceleration deceleration Synchronous pulse output to the external Start of relative absolute
271. igned 32 bit value Drive pulse number can be changed during relative position driving or counter relative position driving However it cannot be set to a different drive direction Please note that if it is set to the position already passed driving will stop immediately The finish point cannot be changed during absolute position driving In linear and circular interpolation driving it sets the finish point of each axis The finish point should be set the relative value to the current position with a signed 31 bit value In bit pattern interpolation driving it sets the bit data of each axis The lower 16 bits of 32 bits are used to set direction bit data and the upper 16 bits are used to set direction bit data In helical interpolation driving it sets the finish point of X and Y axes and the drive pulse number of Z and U axes The finish point should be set the relative value to the current position with a signed 31 bit value The drive pulse number when the rotation number is 0 it should be set the total amount of drive pulses with a signed 31 bit value and when is 1 it should be set the drive pulse number per rotation with a signed 31 bit value 7 2 8 Manual Decelerating Point Setting Code Command Data Range Data Length byte 07h Manual decelerating point setting 0 4 294 967 292 4 DP is the parameter setting the manual deceleration point in fixed pulse acceleration deceleration driving when the manual decele
272. in acceleration deceleration driving Indicates that an interrupt occurred when pulse output was finished at constant speed area in acceleration deceleration driving Indicates that an interrupt occurred when the driving was finished Indicates that an interrupt occurred when the automatic home search was finished Indicates that an interrupt occurred when the timer expires Indicates that an interrupt occurred at the of a pulse in each split pulse When the split pulse logic is set to Hi pulse Indicates that an interrupt occurred when the split pulse was finished D15 12 SYNC3 0 Indicates that an interrupt occurred when synchronous action SYNC3 0 was activated When one of the interrupt factors generates an interrupt the bit of the register becomes 1 and the interrupt output signal INTON will become the Low level If the host CPU reads register the bit of RR1 will be cleared to 0 and the interrupt signal INTON will return to the non active level Note In 8 bit data bus RR1L will be cleared by reading of RRIL register and RR1H will be cleared by reading of register RR1H will never be cleared by RR1L register and RR1L will never be cleared by register When in I2C serial interface bus do not read RRIL RR1H registers separately and be sure to read 2 bytes RRIL at one time 181 NOVA electronics Inc MCX514 182 6 13 Status Register 2 RR2 Each axis has status r
273. ination of driving V gt Time gt Start of driving After 17 35 msecs Fig 2 9 4 Example 1 Timer Operation Program Example Acceleration deceleration driving setting WR6 0190h Write Initial speed 400 PPS WR7 lt 0000h Write WRO 0104h Write WR6 9040 Write Drive speed 40K PPS WR7 0000h Write WRO 0105h Write WRG lt E848h Write Acceleration 125K PPS SEC WR7 0001h Write WRO 0102h Write WR6 9C40h Write Drive pulse number 40000 WR7 lt 0000h Write WRO 0106h Write Timer setting Single timer WRO 011Fh Write Select X axis WR3 0000h Write D14 0 Timer operation Once Timer value setting WR6 43C6h Write Timer value 17350 sec WR7 lt 0000h Write WRO 0116h Write Synchronous action setting Synchronous action SYNCO setting WR6 0156h Write D3 D0 0110 PREV3 0 Activation factor Stops driving D8 D4 10101 ACT4 0 Action Timer start WRO 0126h Write Synchronous action SYNC1 setting WR6 lt OOA2h Write D3 D0 0010 PREV3 0 Activation factor Timer is up D8 D4 01010 ACT4 0 Action Starts relative position driving WRO 0127h Write SYNC1 0 Enable WRO 0183h Write Start driving WRO 0150h Write Starts relative position driving NOVA electronics Inc MCX514 94 W Example 2 Outputs designated drive pulses to X axis every 1msec Relative
274. ing Enable Disable Enable Disable each interrupt factor is selectable External Signal for Driving Relative position Continuous driving by EXPP EXPM signals Manual pulsar encoder input quadrature pulses input and single edge evaluation 8 Single step interpolation by EXPLSN signal External Stop Signal Number of Signals 3 signals STOPO 2 per axis Enable Disable Enable Disable stop signal function is selectable 9 Logical Level Low Hi active is selectable Stop Mode When it is active decelerating stop When driving under initial speed instant stop Servo Motor Signals Each axis ALARM alarm INPOS in position DCC deviation Input Output Signal counter clear Enable Disable Enable Disable a signal is selectable Logical Level Low Hi active is selectable General Input Output Number of Signals 8 signals per axis Signal Synchronous input pins share the input pin for driving by external signals Synchronous action output multi purpose register comparison output pins share drive status output signal pins Driving Status Output Signals Driving Error Accelerating Constant speed driving Decelerating Signal Acceleration increasing Acceleration constant Acceleration 0 decreasing Drive status can also be read by status register Over Limit Signal Number of Signals 2 signals per axis for each and direction Enable Disable Enable Disable limit functio
275. ing the acceleration deceleration will be disabled e In fixed pulse symmetrical trapezoidal driving the drive speed can be changed during the driving however the frequent changes of drive speed may generate premature termination or creep The drive speed cannot be changed during interpolation driving 192 NOVA electronics Inc 514 193 The value of current drive speed during the driving be read by current drive speed reading command 32h A drive speed setting value can be read by drive speed setting value reading command 45h 7 2 7 Drive pulse number Finish point setting Code Command Symbol Data Range Data Length byte Drive pulse number Absolute position finish point OG6h Drive pulse number finish point setting TP 2 147 483 646 2 147 483 646 4 Interpolation finish point 1 073 741 823 1 073 741 823 TP is the parameter setting the drive pulse number from the current position for relative position driving When the positive pulse number is set in the drive pulse number a drive direction is toward direction and when the negative pulse number is set a drive direction is toward direction In counter relative position driving when the positive pulse number is set in the drive pulse number a drive direction is toward direction In absolute position driving the destination point based on a home logical position counter 0 should be set with a s
276. ing with software limit function enabled when comparative position counter lt SLMT value it becomes 1 and driving stops D2 HLMT During the direction driving with hardware limit signal enabled when limit signal nLMTP is on its active level it becomes 1 and driving stops D3 HLMT During the direction driving with hardware limit signal enabled when limit signal 1 is on its active level it becomes 1 and driving stops D4 ALARM During the driving with input signal for servo driver alarm enabled when the alarm signal nALARM is on its active level it becomes 1 and driving stops D5 EMG During the driving when emergency stop signal EMGN becomes Low level it becomes 1 and driving stops D6 HOME Error occurred at execution of an automatic home search When the encoder Z phase signal nSTOP2 is already active at the start of Step 3 this bit is set to 1 D7 CERR Error related to continuous interpolation It becomes 1 when writing of interpolation data for next node cannot be finished during continuous interpolation driving and then driving stops or finish point data transfer error occurs in multichip interpolation When finish point data transfer error occurs in multichip interpolation D12 bit of register Pagel also becomes 1 Note e When hardware software limit becomes active during driving the decelerating stop or instant stop is executed Unless the stop factor of driving is cleared a driving com
277. ion Specified Search Direction set the home search HV lower than the initial speed SV A constant speed driving mode is applied and when a specified signal becomes active the operation stops instantly Fig 2 5 4 Operation of Step 2 Irregular operation 5 Specified Signal DA specified signal is already active before Step 2 starts Active Behavior Section The motor drives the axis in the direction opposite to a specified search Exit in the direction at the home search speed HV until a specified signal becomes opposite direction e inactive When a specified signal becomes inactive the function executes Step 2 normal operation from the beginning Search in the specified direction gt Fig 2 5 5 Irregular Operation of Step 2 Over Run Limit in the When nSTOP1 is specified as a detection signal and Search Diesen a limit signal in the search direction is active before Active Active Section Section Step 2 starts Detect STOP1 Behavior at iudi speed M lt 4 The motor drives the axis in the direction Mine opposite direction e opposite to a specified search direction at the drive speed DV until nSTOPI signal becomes Exit in the opposite active When 5 signal becomes active the direction t motor drives in the direction opposite to a Search in the specified search direction at the home search specified direction gt speed HV until nSTOP1 signal becomes inact
278. ion AC 536870911 Set the maximum value 1FFF FFFFh Initial speed SV 100 Drive speed DV 40000 Drive pulse number 27500 Set when fixed pulse driving is performed NOVA electronics Inc 514 29 B Partial S curve Acceleration Deceleration In acceleration deceleration driving with a linear section of acceleration and deceleration it is possible to form a smooth S curve only in the start end part of acceleration or deceleration To set the speed parameter for acceleration and deceleration specify not the maximum value but the value of acceleration and deceleration in a linear section of acceleration deceleration As shown in Fig 2 2 12 section b f indicate a linear section of acceleration deceleration and section a c e g indicate S curve section of acceleration deceleration At section the acceleration increases on a straight line from 0 to the acceleration setting value and the speed curve forms a secondary parabolic curve When the acceleration reaches the acceleration setting value the acceleration keeps that value and the speed curve forms a straight line in the acceleration of section b If the difference between a specified drive speed and the current speed becomes less than the speed that was utilized at acceleration increasing the acceleration starts to decrease at a specified jerk and the speed curve forms a parabola of reverse direction at section c Also in deceleration it forms a partial S curve of decelera
279. ircular arc Z axis 2 axis high accuracy constant vector speed mode WRO 002Ah Write Short axis pulse equalization Enable WR6 lt O3E8h Write 1000 PPS WR7 lt 0000h Write WRO 0104h Write Set initial speed to main axis X WR6 O3E8h Write 1000 PPS WR7 lt 0000h Write WRO 0105h Write Set drive speed to main axis X WR6 0000h Write Helical rotation number 0 WRO 001Ah Write WR6 0000h Write Circle center X 0 WR7 lt 0000h Write WRO 0108h Write WR6 2710h Write Circle center Y 10000 WR7 0000h Write WRO 0208h Write WR6 F25Eh Write Circle finish point X 3490 WR7 FFFFh Write WRO 0106h Write WRO lt 006 Write CCW helical calculation calculation time About 56ms RRO Read Waits for termination of calculation DO bit 0 waiting WR6 0000h Write Circle center X 0 WR7 0000h Write WRO 0108h Write WR6 2710h Write Circle center Y 10000 WR7 lt 0000h Write WRO 0208h Write WR6 F25Eh Write Circle finish point X 3490 WR7 FFFFh Write WRO 0106h Write WR6 4BC5h Write Circle finish point Y 19397 WR7 lt 0000h Write WRO 0206h Write WR6 OBB8h Write Feed amount of 7 3000 WR7 0000h Write WRO 0406h Write WRO lt 0064Ah Write Starts CCW helical interpolation driving RRO Read Waits for termination of interpolation DO bit 0 waiting 121 NOVA e
280. ircular interpolations The CW circular interpolation is starting from the start point to the finish point in clockwise direction the CCW circular interpolation is in counter clockwise direction When the finish point is set to 0 0 a full circle will come out In Fig 3 2 2 it explains the long axis and short axis We define 8 quadrants in the X Y plane and put the number 0 7 to each quadrant As shown in the figure the absolute value of ax1 is always larger than that of ax2 in quadrants 0 3 4 and 7 and it is defined ax1 is the long axis and ax2 is the short axis in these quadrants In quadrants 1 2 5 and 6 ax2 is the long axis and ax1 is the short axis The short axis outputs pulses regularly and the long axis outputs or does not output pulses depending on the interpolation calculation In Fig 3 2 3 it is an example to generate a full circle of radius 11 with the center point 11 0 and the finish point 0 0 And Fig 3 2 4 shows the pulse output at that time ax2 Y 2 1 ax2 Cow 3 0 ax2 axi X ax2 4 7 ax 5 6 start point finish point axi axi e track of interpolation solid line circle with radium 11 dash line circle with radium 11 1 Fig 3 2 2 The 0 7 Quadrants And Short Axis Fig 3 2 3 Example of Circularlnterpolation XPP XPM YPP YPM Quadrant Q0 4 1 4 2 3 4 4 5 6 7 Fig 3 2 4 Example of Pulse Output in
281. irection continuous pulse driving 03 OF Relative position driving by drive pulse Load MRm SP1 number of MRm value 10 Absolute position driving to the finish point of Load MRm LP SYNCO RP SYNC1 04 MRm value SV SYNC2 AC SYNC3 11 Decelerating stop 05 Save LP 12 Instant stop 06 Save RP gt MRm 13 Drive speed increase 208 NOVA electronics Inc MCX514 209 Di1 9 SNC 3 1 014 13 AXIS3 1 D15 REP 07 Save CT MRm 14 Drive speed decrease 08 Save CV SYNCO CA SYNC1 gt MRm 15 Timer start 09 Synchronous pulse output 16 Timer stop 0A Start of relative position driving 17 Start of split pulse 0B Start of counter relative position driving 18 Termination of split pulse DV Drive speed TES Driye pulse number SP1 Split pulse setting 1 Finish point LP Logical position counter RP Real position counter SV Initial speed AC Acceleration CT Current timer value CV Current drive speed CA Current acceleration deceleration For more details of the action of synchronous action and setting code see chapter 2 6 2 It designates the other synchronous action sets activated by a synchronous action 0 disable 1 enable Self synchronous D11 SNC 3 D10 SNC 2 D9 SNC 1 action set SYNCO SYNC3 activation SYNC2 activation SYNC1 activation SYNC1 SYNCO activation SYNC3 activation SYNC2 act
282. is executed and the value of the logical real position counter is smaller than the value of SLMT register It is the same with the SLMT register of direction In direction software limit if position counterZ SLMT value software limit error occurs In direction software limit if position counter lt SLMT value software limit error occurs Fig 2 3 2 is the example of SLMT register 10000 SLMT register 1000 and software limit function is enabled NOVA electronics Inc 514 35 SLMT register SP 10000 SLMT register SM 1000 direction software limit error M direction software limit error Current position SM Current position gt SP 1000 0 10000 Fig 2 3 2 Value Setting of Software Limit and Software Limit Error Software limit function can be enabled disabled by setting D13 bit of WR2 register And there are two stop types of software limit decelerating stop and instant stop which sets D15 bit of WR2 register SLMT SLMT registers can be written anytime Software limit function will be disabled and the values of SLMT and SLMT registers will be undefined at reset 2 3 4 Position Counter Variable Ring A logical position counter and a real position counter are 32 bit up down ring counters Therefore normally when the counter value is incremented in the direction from FFFF FFFFh which is the maximum value of the 32 bit length the value is reset to 0 When the co
283. is faster than this time it is necessary to input delay in the software The maximum finish point is cleared to 0 when resetting or immediately after starting interpolation driving command Also it can be cleared by the maximum finish point clear command 7Ch And the maximum finish point can be read by the interpolation finish point maximum value reading command 39h the user can confirm whether the maximum value is correctly generated after writing finish point data of all axes Note value read by the interpolation finish point maximum value reading command 39h is different before and after interpolation driving For more details of interpolation finish point maximum value reading command 39h see chapter 7 4 10 W Finish point data transfer error In the receiving chip of finish point data it checks whether there is an error in the data sum and transfer frame or not If it is not correctly received an error occurs and D7 bit CERR of RR2 register and D12 bit MCERR of RR3 register Pagel become 1 In addition all error bits the corresponding bits of D7 4 n ERR of RRO register in interpolation axes become 1 When a receiving error occurs in the sub chip the error is sent through multichip interpolation signal MERR to the main chip and the error bit of the main axis RRO register in the main chip also becomes 1 4 Writing of interpolation command Write the linear interpolation driving command 60h 63h correspon
284. is in XY axes Circular Interpolation NOVA electronics Inc MCX514 2 8 Stages of Pre Buffer for Continuous Interpolation 514 is equipped with 8 stages of pre buffer register that stores finish point data and others in each segment in order to handle continuous interpolation driving at high speed In the case of the previous MCX314A having only 1 stage of pre buffer when performing continuous interpolation driving time of each interpolation segment must be longer than setting time of position data for next segment Therefore minimum drive pulses of each segment are restricted depend on interpolation drive speed For instance when setting time of data to CPU isTps 80 sec and interpolation drive speed is V 100Kpps minimum drive Y pulses are required at least 8 pulses or more 514 increases pre buffer to 8 stages and improves the Seg Seg4 SeglO restriction efficiently When performing continuous interpolation as shown in the right figure and when there is a short segment ego d such as Seg3 if the average driving time of 8 segments including Seg3 is longer than setting time of position data for next segment Seg6 7 Seg8 continuous interpolation can be performed x Fig 1 1 3 Example of Continuous Interpolation B Multichip Interpolation The user can perform multiple axes linear interpolation of 5 axes or more by connecting several MCX514 chips Connect each chip by using 8 multichip signal lines
285. is used by an automatic home search In an automatic home search the settings in the bits WR2 D1 D3 D5 that enable disable each signal are ignored NOVA electronics Inc MCX514 53 2 5 8 Examples of Automatic Home Search Example 1 search using a home signal MCX514 High speed and low speed home search is performed by one home Home Sensor signal and encoder Z phase search is not performed Make sure to nSTOP1 input a home signal to nSTOPI Fig 2 5 13 Connection of Example 1 Automatic Home Search The operation steps of an automatic home search are shown in the table below Table 2 5 12 Automatic Home Search Example 1 Operation Execution Detection Step Operation Signal level Search direction Search speed Non execution signal 1 High speed search Execution direction 20 000pps nSTOP1 Low active im 2 Low speed search Execution direction 500pps 3 Z phase search Non execution ES 4 Offset drive Execution direction 20 000pps In Step 1 a home search is performed at a high speed of Over Run Limit in the 20 000pps in the direction until nSTOPI signal detects Low nSTOP1 Search Direction level and if it detects Low level active operation stops by Active Active deceleration Section Section In Step 2 if nSTOPI signal is Low level active it drives at Search gt a low speed of 500pps in the direction opposite to a specified Step
286. isable of input signal nALARM 0 disable 1 enable When it is enabled it checks input signal nALARM during the driving And if it is active D4 ALARM bit of RR2 register will become 1 and the driving will stop D10 HLM L Setting logical level of hardware limit input signals nLMTP nLMTM 0 active on the Low level 1 active on the Hi level D11 HLM E Setting enable disable of nLMTP nLMTM limit input signals 0 disable 1 enable Once it is enabled if nLMTP limit input signal is active during the direction driving D2 HLMT bit of RR2 register will become 1 and if nLMTM limit input signal is active during the direction driving D3 175 NOVA electronics Inc MCX514 176 HLMT bit of RR2 register will become 1 When it becomes active level driving stops D12 HLM M The bit for controlling stop type when nLMTP nLMTM limit input signals are active 0 instant stop 1 decelerating stop When limit signal is used as the stop signal of an automatic home search set to 1 decelerating stop D13 SLM E Setting enable disable of software limit function 0 disable 1 enable Once it is enabled if direction software limit error occurs during the direction driving DO SLMT bit of RR2 register will become 1 and if direction software limit error occurs during the direction driving D1 SLMT bit of RR2 register will become 1 If direction software limit comparative position counter Z SLMT value then error
287. it set it according to the usage Notes on using limit signals e same search direction must be applied for Steps 1 and 2 For Step 3 Z phase search apply a direction opposite to the direction of Steps 1 and 2 For Step 4 also offset driving apply a direction opposite to Steps 1 and 2 and make sure that automatic home search operation stops at the position beyond the limit active section NOVA electronics Inc 514 57 Example 3 search for a servo motor In the case of the pulse input type servo driver normally an encoder Z phase signal is output from the driver a servo amplifier To perform the home search with high position precision a deviation counter in the driver must be cleared in the output timing of the encoder Z phase and a deviation counter clear signal must be input The example of the home search connecting these signals is shown below As shown in the figure below the home signal nSTOP1 is input through the interface circuit from the home sensor The encoder Z phase input nSTOP2 and the deviation counter clear output nDCC are connected to the servo driver through the interface circuit MCX514 Servo motor driver nPP Pulse Output Pulse Output nPM gt nDCC Deviation Counter Clear Encoder A phase VF nECA Euren Circuit nECB ncoder B phase E Z ph nSTOP2 neers phase qe nINPOS In position a nALARM Alarm Home
288. it possible to directly change the speed from low speed such as 1 or 2 pps to high speed such as 1 Mpps during the driving 1 000 000005 High speed driving without speed range setting Speed can be set in increments of 1 pps 163 927pps Detailed low speed setting Fig 1 1 7 Speed Range Free Easy and High Accuracy Speed Setting Since there is no need to set multiples of speed Range Setting the user can set a drive speed of output pulses as a speed parameter at CLK 16MHz Drive speed pps DV 8 000 000 4 Acceleration pps sec Acceleration pps Jerk pps sec Jerk JK Speed can be used as a parameter no need to calculate a parameter In the range of 1 pps to 8 Mpps it can output the drive speed that is set with high accuracy Speed accuracy of the pulse output is less than 0 1 which is on the assumption that there is no frequency error of input clock CLK In fact there is a frequency error of input clock CLK and speed accuracy depends on it Fig 1 1 8 Speed Parameter Setting NOVA electronics Inc MCX514 5 Various Acceleration Deceleration Drive Mode Types of acceleration deceleration driving Acceleration deceleration driving can perform the following driving Constant speed driving Linear acceleration deceleration driving symmetry non symmetry S
289. ivation SYNC2 SYNC1 activation SYNCO activation SYNC3 activation SYNC3 SYNC2 activation SYNC1 activation SYNCO activation It designates another axis SYNCO activated by a synchronous action 0 disable 1 enable Own Axis D14 AXIS3 D13 AXIS2 D12 AXIS1 X U axis SYNCO activation Z axis SYNCO activation Y axis SYNCO activation Y X axis SYNCO activation U axis SYNCO activation Z axis SYNCO activation Z Y axis SYNCO activation X axis SYNCO activation U axis SYNCO activation U Z axis SYNCO activation Y axis SYNCO activation X axis SYNCO activation Setting for whether the enable state of synchronous action set is disabled or not once the synchronous action is activated 0 disable once 1 non disable repeat When this bit is set to 0 and when the activation factor becomes active the synchronous action is activated only the first time When this bit is set to 1 the synchronous action is activated whenever the activation factor becomes active To re enable the synchronous action that is disabled write a synchronous action enable command Enable disable setting of synchronous action SYNC3 0 can be checked by RRO register For more details of the synchronous action see chapter 2 6 D15 D0 will be set to 0 at reset 209 NOVA electronics Inc MCX514 210 7 3 8 Interpolation Mode Setting Command Data Length byte Interpolation mode setting 2 IPM is the parameter setting the mode
290. ive When nSTOPI signal becomes inactive the function executes Step 2 normal operation from the beginning Fig 2 5 6 Irregular Operation 2 of Step 2 When nSTOPI is specified as a detection signal and a limit signal in the search direction becomes Over Run Limit in the active during execution nSTOP1 Search Direction Behavior Active Active Driving stops and the operation described in Section Section Irregular operation 2 is performed Limit signal is detected Detect nSTOP1 at high speed the opposite direction Exit in the opposite direction Search in the specified direction e Fig 2 5 7 Irregular Operation 3 of Step 2 NOVA electronics Inc MCX514 44 nSTOP1 or Limit n Active direction is also the same in Step 1 and Step 2 and a specified signal is Section When a detection signal is the same in Step 1 and Step 2 and a search inactive before Step 2 starts Behavior The operation described in Irregular operation 2 is performed Step1 r a Detect nSTOP1 This operation is appropriate to the home search for a rotation axis at high speed in the opposite direction Step2 Exitin the opposite direction Search in the specified direction gt Fig 2 5 8 Irregular Operation of Step 2 Other operations in Step 2 While searching in a specified direction when the detection signal of Step 2 changes from inactive to active it is possibl
291. iving e Trapezoidal acceleration deceleration driving linear acceleration deceleration Symmetry Non symmetry linear acceleration deceleration e S curve acceleration deceleration driving S curve acceleration deceleration Symmetry Non symmetry S curve acceleration deceleration 2 2 1 Constant Speed Driving Constant speed driving outputs drive pulses at a constant speed without acceleration deceleration To perform constant speed driving the drive speed must be set lower than the initial speed that is the initial speed is higher than the drive speed Constant speed driving performs the driving at the drive speed lower than the initial speed without acceleration deceleration Stop mode is instant stop If the user wants to stop immediately when the home sensor or encoder Z phase signal is active perform the low speed constant speed driving from the beginning not acceleration deceleration driving Speed Initial Speed Drive Speed time Fig 2 2 1 Constant Speed Driving To perform constant speed driving the following parameters must be set Table 2 2 1 Setting Parameters Constant Speed Driving Parameter Symbol Comment Initial speed SV Set higher than the drive speed DV Drive speed DV Drive pulse number i TP Not required for continuous pulse driving Finish point NOVA electronics Inc MCX514 21 W Example for Parameter Setting of Constant Speed The constant speed is
292. iving pulses is completed and driving is terminated before the speed reaches the initial speed This is a reverse behavior of creep The rising edge of when a signal changes its level from Low to Hi The falling edge of when a signal changes its level from Hi to Low The signal name of each axis X Y Z and U is written as This stands for X Y Zor PIO signal of each axis X Y Z and U is written as nPIOm This stands for X Y Z or U and stands for 0 7 of PIOO PIO7 Synchronous action set SYNCO SYNC3 is written as SYNCm This m stands for 0 3 of SYNCO SYNC3 Multi purpose register MRO MR3 is written as This m stands for 0 3 of MRO MR3 NOVA electronics Inc MCX514 1 1 OUTLINE 1 1 The Main Features of Functions 514 is a 4 axis motion control IC that has improved greatly in functions of previous IC such as MCX314As MCX314AL As the interpolation functions it provides the existing linear interpolation circular interpolation and bit pattern interpolation in addition it has the helical interpolation function that works to move Z axis in a vertical direction synchronizing with the circular interpolation on the XY plane 500 series motion control IC has no multiple of speed speed range free This enables us to freely set and vary the drive speed linearly from 1 pps up to 8 Mpps in increments of 1pps without changing the range MCX 514 be connec
293. iving Pulse Output 1000pps In acceleration deceleration driving the Low level pulse length is shorter than that of Hi level pulse during the acceleration the Low level pulse is longer than that of Hi level pulse during the deceleration Acceleration Area sis Constant Speed Area J Deceleration Area tHA tLA ree tHA gt tLA tHC tLC tHD lt tLD Fig 2 2 17 Comparison of Drive Pulse Length in Acceleration Deceleration The Accuracy of Drive Speed The circuits to generate drive pulses on MCX514 operate with input clock CLK If CLK input is standard 16MHz the user had better drive the pulse speed in an exact multiple of CLK period 62 5nsec However in this case the frequency speed of driving pulse can only be generated by an exact multiple of CLK For instance double 8 000 MHz triple 5 333 MHz quadruple 4 000 MHz five times 3 200 MHz six times 2 667 MHz seven times 2 286 MHz eight times 2 000 MHz nine times 1 778 MHz 10 times 1 600 MHz Any fractional frequencies cannot be output Therefore MCX514 uses the following method to output any drive speed For instance in the case of the drive speed DV 980kpps since this period is not an integral multiple of CLK period pulses of 980kpps cannot be output under a uniform frequency Therefore as shown in the figure below MCX514 combines 16 times and 17 times of CLK period in a rate of 674 326 to generate an average 980kpps Fig 2 2 18 The Dr
294. iving Pulse of 980kpps According to this method MCX514 can generate a constant speed driving pulse in a very high accuracy And speed accuracy of pulse output is 0 1 or less Using oscilloscope for observing the driving pulse we can find the jitter about 1CLK 62 5nsec This is no matter when putting the driving to a motor because the jitter will be absorbed by the inertia of motor system NOVA electronics Inc 514 34 2 3 Position Control 514 has two 32 bit up and down counters per axis for controlling the current position logical position counter and real position counter which can compare with the current position by presetting a value to a multi purpose register In addition the software limit function and variable ring function can be set to the logical and real position counters 2 3 1 Logical Position Counter and Real position Counter The logical position counter counts driving pulses in MCX514 When one direction pulse is output the counter will count up 1 and when one direction pulse is output the counter will count down 1 The real position counter counts input pulse numbers from external encoder The type of input pulse can be selected from either quadrature pulses type or Up Down pulse type See chapter 2 12 3 The host CPU can read or write these two counters anytime The counting range is between 2 147 483 648 2 147 483 647 and 2 s complement is used for negative numbers The values of the log
295. l is on the Low level the bit is 1 if the signal is on the Hi level Dib 14 013 12 DIO 19 D8 D7 16 D5 D4 L D2 DI DO RRS UPIO7 UPIOG UPIOS 0 03 02 00 2 107 7 106 2 105 7 104 7 103 2 102 2 01 2 100 D7 0 ZPIO7 0 Displaying the status of Z axis general purpose input output signals ZPIO7 0 When ZPIO7 0 signals are set as input it indicates the input state and when set as output it indicates the output state Di5 8 UPIO7 0 Displaying the status of U axis general purpose input output signals UPIO7 0 When UPIO7 0 signals are set as input it indicates the input state and when set as output it indicates the output state 6 17 Data Read Register RR6 RR7 According to the data read command the data of internal registers will be set into registers RR6 and RR7 The low word 16 bits RD15 RDO is set in RR6 register and the high word 16 bits RD31 RD16 is set in RR7 register for data reading H L Di5 Di4 013 012 DIO D9 08 07 06 05 D4 02 Di DO RR6 nis RD11 RDG RDS RD RDI RDO H L Di5 4 013 012 DIO D9 08 07 06 05 D4 02 Di 00 RR7 nost R030 RD29 RD27 RD26 8025 RD24 RD23 no22 RD21 RD18 RD17 noto
296. le Interpolation mode setting of main and sub chips Writing to main chip WR6 0403h Write Main chip Designation of X Y Interpolation axis WRO 002Ah Write Writing to sub WR6 0803h Write Sub chip Designation of X Y Interpolation axis WRO 002Ah Write Writing to sub chip2 WR6 0803h Write Sub chip Designation of X Y Interpolation axis WRO 002Ah Write Driving parameters setting to main axis of main chip 2M PPS constant speed driving WR6 1200h Write Initial speed 8M PPS maximum in specification WR7 lt 007Ah Write WRO 0104h Write WR6 8480h Write Drive speed 2M PPS WR7 lt 001 Write WRO 0105h Write Writing of finish point data and Receiving error check Writing to main chip WR6 0014h Write Finish point X 20 WR7 0000h Write WRO 0106h Write Receiving error check of sub Handling RRO D4 D5 Read If D4 D5 1 jump to ERROR sub chip Go to error handling Receiving error check of sub chip2 Handling B RRO D4 D5 Read If D4 D5 1 jump to ERROR sub chip Go to error handling WRG 000 Write Finish point Y 10 WR7 lt 0000h Write WRO 0206h Write Execute the handling A Execute the handling B Writing to sub chip1 WR6 FFF6h Write Finish point X 10 WR7 FFFFh Write WRO 0106h Write Receiving error check of main chip Handling C RRO 04 05 Read If D4 D
297. le setting command 91h 9Fh When the synchronous action set is disabled the action is not invoked by when the activation factor is activated 4 synchronous action sets are all disabled at reset 4 synchronous action sets have each corresponding command code Synchronous action set SYNCO is 91h SYNCI is 92h SYNC2 is 94h and SYNC3 is 98h These commands can be disabled in combination simultaneously as well as synchronous action enable setting command For more details of a combination of command codes see table 2 6 7 There are 3 occasions to change the state of a synchronous action to disable when synchronous action disable setting command 66 is written when an error occurs by PIO signal setting 2 Other settings command 22h when synchronous action disable setting D7 ERRDE is set to enable and after the synchronous action is activated when it is set once disable the repeat setting Enable disable of 4 synchronous action sets can be checked by D3 DO bits SYNC3 SYNCO of register Pagel Table 2 6 7 Enable Disable and Command Code Corresponding to Synchronous Action Set Command code Hex Synchronous action set gt Synchronous Synchronous Synchronous Synchronous Enable Disable 2255 setting setting Activation action set 3 action set 2 action set 1 action set 0 SYNC3 SYNC2 SYNC1 SYNCO 81 91 Al 82 92 2 83 93
298. lectronics Inc 514 122 Example 2 Helical Interpolation with multiple rotations X Y 7 axes It performs CW circular interpolation that has the center at the relative position X 0 Y 10000 from the start point current point and moves Z axis 3000 pulses every 1 rotation and terminates it with 7 rotations 1 The speed of circular interpolation is 1000PPS at constant speed m n To perform helical Interpolation with 1 rotation or more set the feed amount of e 6 one rotation of circular interpolation to the feed amount of Z axis 5 4 WR6 00C7h Write XY axes Circular arc Z axis 2 axis high 3 accuracy constant vector speed mode Y 2 WRO 002Ah Write Short axis pulse equalization Disable i WR6 O3E8h Write 1000 PPS y WR7 0000h Write Z axis feed amount WRO 0104h Write Set initial speed to main axis X per roration Start point WR6 O3E8h Write 1000 PPS WR7 0000h Write WRO 0105h Write Set drive speed to main axis X WR6 0007h Write Helical rotation number 7 WRO 001Ah Write WR6 0000h Write Circle center X 0 WR7 0000h Write WRO 0108h Write WR6 2710h Write Circle center Y 10000 WR7 lt 0000h Write WRO lt 0208h Write WR6 F25Eh Write Circle finish point X 0 WR7 FFFFh Write WRO 0106h Write WR6 4BC5h Write Circle finish point Y 0 WR7 0000h Write WRO 0206h Write WRO lt 006Bh Write CW helical cal
299. leration driving set the deceleration at linear deceleration part to this parameter 191 NOVA electronics Inc MCX514 192 7 2 5 Initial Speed Setting Code Command Data Range Data Length byte O4h Initial speed setting 1 8 000 000 4 SV is the parameter determining the initial speed for the start of acceleration and the termination of deceleration The unit of the setting value is pps Initial Speed SV pps For a stepper motor the user should set the initial speed smaller than the self starting frequency of a stepper motor If there is the mechanical resonance frequency set the initial speed to avoid it In fixed pulse driving if the value which is too low is set to initial speed premature termination or creep pulses may occur In linear acceleration deceleration driving set the value more than square root of an acceleration setting value In S curve acceleration deceleration driving set the value more than 1 10 times the square root of a jerk setting value In Partial S curve acceleration deceleration driving set the value more than square root of an acceleration setting value Linear acceleration deceleration driving SV 2 S curve acceleration deceleration driving SV gt JJK 1 10 Partial S curve acceleration deceleration driving SV AC An initial speed setting value can be read by initial speed setting value reading command 44h 7 2 6 Drive Speed Setting Code Command Data
300. logical levels and enable disable of servo motor UWR2 U axis Mode register 2 signal for setting the limit signal mode and software limit mode X axis Mode register 3 for setting the auto and manual deceleration XWR3 Y axis Mode register 3 for setting the acceleration deceleration mode symmetry 0 4 1 YWR3 Z axis Mode register 3 non symmetry linear acceleration deceleration S curve ZWR3 U axis Mode register 3 acceleration deceleration UWR3 for setting the drive pulse output mode and pins for setting the encoder input signal mode and pins WR4 Output register 1 for setting the output values of X axis general purpose input output signals XPIO7 0 for setting the output values of Y axis general purpose input output signals YPIO7 0 WR5 Output register 2 for setting the output values of Z axis general purpose input output 10 1 signals ZPIO7 0 for setting the output values of U axis general purpose input output signals UPIO7 0 1 1 0 WR6 Data writing register 1 for setting the low word 16 bit D15 DO for data writing 1 1 WR7 Data writing register 2 for setting the high word 16 bit D31 D16 for data writing As shown in the table above each axis has WR1 WR2 and WR3 mode registers which will be written by the same address The host CPU specifies which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment The bits of
301. low illustrates the connection example of X axis All of 4 axes can be configured in the same way as shown below Encoder Stepping Servo Motor Pulse I F XX noc Servo ON OFF ot Servo Ready XPIOI In positioning I F XINPOS Alarm 1 ARN 7 7 XP XEGIVB XSTOP2 Motor Driver 8 4 Pulse Output Interface Output to Motor Driver in Differential Circuit 26 32 514 Motor Driver o o 3 ANN OF 9 AW AM26C31 COW o 3 ANN CO o AN Twisted Pair Shield Cable GND Open Collector TTL Output Motor Driver 514 AW Ot o ZO XPP 7o 5V ANN o 26 CCIE o 74LV06 Twisted Pair Shield Cable GND 7 For drive pulse output signals we recommend the user to use twisted pair shield cable due to the concern of 237 NOVA electronics Inc 514 238 8 5 Connection Example for Input Signals Limit signals often pick up some noise since complicated cabling is normally involved A photo coupler alone may not be able to absorb this noise Enable the filter function in the IC and set an appropriate time constant FL Ah Bh MCX514 3 3V 0 12241 img 4 7K ANN LMTP 1 0 25W Limit 25 TLP281 To the internal circuit 8 6 Connection Example for Encoder The following
302. ls D15 D0 will be set to 0 at reset 202 NOVA electronics Inc MCX514 203 7 3 8 Signal Setting 2 Other Settings Code Command Symbol Data Length byte 22h PIO signal setting 2 Other settings P2M 2 P2M is the parameter setting the logical level of a synchronous pulse and pulse width In addition it can set the synchronous action disabling when an error occurs the mode setting for driving by external signals the logical level of split pulse output and with or without starting pulse Dib 14 D12 pti D10 19 08 07 D6 05 04 L p3 02 DI DO WR6 0 0 0 0 sPLBP SPLL EXOP1EXOPO ERRDE PW2 PWO P3L P2L PIL POL L L4 I Split Pulse Driving by Synchronous Pulse Output External Signals D3 0 Setting the logical level of pulses for when nPIOm m 3 0 is used as synchronous pulse output signal 0 positive logical pulse 1 negative logical pulse Positive Logical Pulse Negative Logical Pulse 06 4 PW2 0 Setting the output pulse width of synchronous pulse output signal When CLK 16MHz D6 4 Output Pulse Width PW2 0 0 125 1 312 sec 2 1 Output Pulse Width 3 4usec 4 16usec 5 64usec Positive Logical Pulse 6 256 7 1msec D7 ERRDE Setting for whether the enabling status of synchronous action SYNC3 0 is disabled or not when an error occurs RRO D7 4 n ERR 1
303. lue during the timer operation can be read by current timer value reading command 38h 7 2 24 Split Pulse Setting 1 Code Command Symbol Data Range Data Length byte WR6 Split length 2 65 535 17h Split pulse setting 1 SP 1 4 WR7 Pulse width 1 65 534 SP1 is the parameter setting a split length and pulse width of a split pulse The unit of split length and pulse width is drive pulse Set a split length to WR6 and pulse width to WR7 Split length and pulse width can be altered during output of split pulse When split length and pulse width are newly set output of split pulse will continue at the new settings This data length is 4 bytes so even if only one of split length and pulse width is altered the appropriate data should be set in both WR6 WR7 registers The value of split pulse setting 1 SP1 can be read by split pulse setting 1 reading command 47h 7 2 25 Split Pulse Setting 2 Code Command Data Range Data Length byte 18h Split pulse setting 2 Split pulse number 0 1 65 535 2 SP2 is the parameter setting the split pulse number to output When the split pulse number is set to 0 it continues to output split pulses until the output of split pulse is stopped by a command or synchronous action The split pulse number can be altered during output of split pulse This data length is 2 bytes the setting data should be written in WR6 register 198 NOV
304. m 1 1 073 741 823 39 TX 4 value reading 3A Current helical rotation number reading CHLN 0 65 535 2 3B Helical calculation value reading HLV 1 2 147 483 646 4 3D WR setting value reading WR 1 bit data 2 WR2 setting value reading WR2 bit data 2 WR3 setting value reading bit data 2 iG Multi purpose register mode setting bit data 9 reading 41 PIO signal setting 1 reading P1M bit data 2 ae PIO signal setting 2 Other settings bit data 2 reading 43 Acceleration setting value reading AC 1 536 870 911 pps sec 4 44 Initial speed setting value reading SV 1 8 000 000 pps 4 45 Drive speed setting value reading DV 1 8 000 000 pps 4 6 pulse number Finish point setting TP 2 147 483 646 2 147 483 646 X1 4 value reading 4 Split length 2 65 535 47 Split pulse setting 1 reading SP 1 Pulse width 1 65 534 4 RR7 Lower byte PIN7 0 48 General purpose input value reading UI RR6 2 bytes D15 0 in 126 4 communication X1 However the range of interpolation finish point data is 1 073 741 823 1 073 741 823 187 NOVA electronics Inc Driving Commands Code Command 50h Relative position driving 5 1 Counter relative position driving 52 Direction continuous pulse driving 53 Direction continuous pulse driving 54 Absolute position driving 56 Decelerating stop 57 Instant stop 58 Direction signal setti
305. mand bif i 1st Pulse 2nd Pulse See Final pulse nDRIVE ASND CNST eA DSND Valid Level a Drive status output signal nDRIVE is on Hi level after a maximum of 2 CLK cycles from WRN 1 when a driving command is written And it returns to Low level after 1 CLK cycle from when the cycle of final pulse output has finished b Driving pulses nPP nPM and nPLS shown above are positive logic pulses The first driving pulse will be output after a maximum of 4 CLK cycles from WRN 7 when a driving command is written C ASND CNST and DSND are on valid level after 3 CLK cycles from nDRIVE 1 and they return to Low level after 1 CLK cycle from nDRIVE d When 1 pulse 1 direction type nDIR direction signal is valid after 1 CLK cycle from nDRIVE 7 and keeps its level until the next command is written after the driving is finished The first pulse of the drive pulse nPLS will be output after 1 CLK cycle from when nDIR direction signal is valid 25 NOVA electronics Inc 514 258 11 3 Interpolation Driving ram nPLS nDIR undefined X Valid Level XindefineX Valid Level X 0 Valid Level X nDRIVE a The first pulses nPP nPM and nPLS during interpolation driving will be output after a maximum of 4 CLK cycles from WRN when a driving command is written b nDRIVE will become Hi level after a maximum of 2 CLK cycles from WRN T C When in 1 pulse 1 direction
306. mand is not executed and an error occurs again even if a driving command in the same direction is written e error information bits do not become 1 even if each factor is active during the stop of driving About software hardware limit an error does not occur even if each factor becomes active in the reverse direction driving e When D7 bit becomes 1 be sure to write the error finishing status clear command 79h Otherwise interpolation driving will not work properly after that 182 NOVA electronics Inc MCX514 183 D8 SYNC If the driving is stopped by one of synchronous actions SYNC3 0 it will become 1 Di1 9 5 0 2 0 If the driving is stopped by of external stop signals 15 2 0 it will become 1 D12 LMT If the driving is stopped by direction limit signal nLMTP it will become 1 D13 LMT If the driving is stopped by direction limit signal nLMTM it will become 1 D14 ALARM If the driving is stopped by nALARM from a servo driver it will become 1 D15 EMG If the driving is stopped by external emergency signal EMGN it will become 1 Driving finishing status D15 D8 is the bit indicates the finishing factor of driving There are 3 factors that terminate driving as shown below other than the factors that the status of driving finishing 015 8 indicate a when all the drive pulses are output in fixed pulse driving b when deceleration stop or instant stop command is written c when soft
307. matic home search of step 3 position counter clear deviation counter clear output and the timer between steps Dib 14 D12 pti D10 19 08 07 D6 05 D4 L p3 D2 DI DO Bs Ls 0 O HTM2 HTM1 HTMO HTME DCP2 DCP1 DCPO DCPL LCLR RCLR SAND Timer between Steps Deviation Counter Clear Output DO SAND When this bit is set to 1 and when nSTOPI signal is active and nSTOP2 signal changes to active the operation of step 3 will stop This is only enabled when signal is selected as the search signal of step 2 when a limit signal is selected it cannot be enabled D1 RCLR Setting for whether the real position counter is cleared or not at the end of automatic home search 0 non clear 1 clear 205 NOVA electronics Inc MCX514 206 D2 Setting for whether the logical position counter is cleared not at the end of automatic home search 0 non clear 1 clear D3 DCPL Setting the logical level of deviation counter clear nDCC output pulses 0 positive logical pulse 1 negative logical pulse Positive Logical Pulse Negative Logical Pulse D6 4 DCP2 0 Setting the output pulse width of deviation counter clear nDCC When CLK 16MHz OUT Output Pulse Width 0 10 1 20usec 2 100 Output Pulse Width 3 200 4 1msec cR 5 2msec Positive Logical Pulse 6 10msec 7 20msec D7 HTME Enables th
308. meet the comparison condition Use multi purpose register mode setting command 20h to set the object which the user wants to compare with MR3 0 and comparison condition 04 D STA Interrupt occurs at the start of driving D5 C STA Interrupt occurs when pulse output starts at constant speed area in acceleration deceleration driving D6 C END Interrupt occurs when pulse output is finished at constant speed area in acceleration deceleration driving D7 D END Interrupt occurs when the driving is finished D8 H END Interrupt occurs when the automatic home search is finished 174 NOVA electronics Inc MCX514 175 D9 TIMER Interrupt occurs when the timer expires D10 SPLTP Interrupt occurs at the 1 of a pulse in each split pulse When the split pulse logic is set to Hi pulse D11 SPLTE Interrupt occurs when the split pulse is finished D15 12 SYNC3 0 Interrupt occurs when synchronous action SYNC3 0 is activated D15 D0 will be set to 0 at reset 6 6 Mode Register2 WR2 Each axis has mode register WR2 individually The host CPU specifies the mode register of which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Mode register WR2 is used for setting 1 input signal nSTOP2 nSTOPO decelerating stop instant stop during the driving 2 input signal for a servo motor 3 external limit inputs 4 software limit
309. mer value Timer between steps DCC pulse width DCC pulse logic At the termination of home search LP clear At the termination of home search RP clear Step 2 amp 3 Writes a command High speed home search and low speed home search setting WRG 7318h WR7 WRO WR6 WR7 EE e WRO WRG WR7 WRO WR6 WR7 WRO Offset pulse setting lt 0001h 0102h O3E8h 0000h 0104h 4E20h 0000h 0105h 01F4h 0000h 0114h Write Write Write Write Write Write Write Write Write Write Write Write WRG ODACh Write WR7 0000h Write WRO 0106h Write Acceleration deceleration 95 000 PPS SEC Initial speed 1000 PPS Speed of step 1 and 4 20000 PPS Speed of step 2 500 PPS Offset driving pulse count 3500 Starts execution of automatic home search WRO 015Ah Write MCX514 56 direction Execution Disable Disable Disable Disable Notel The bits in WR2 register D10 bit is to set the logical setting of a limit signal D11 bit is to enable a limit function and D12 bit is to set a limit operation However in this case when a limit signal is used as a detection signal the limit signal will be enabled regardless of D11 setting in the operation of that step D11 setting does not affect the operation of steps using a limit signal as a detection signal D12 bit must be enabled decelerating stop and about D10 b
310. ming of Split Pulse Output by Comparison with MRm Program Example Drive setting constant speed driving at 1000 PPS WR6 1200h Write Initial speed 8M PPS maximum in specification WR7 lt 007Ah Write WRO 0104h Write WRG 03 8 Write Drive speed 1000 PPS WR7 lt 0000h Write WRO 0105h Write WR6 0000h Write Logical position counter 0 WR7 lt 0000h Write WRO 0109h Write Split pulse setting Split length pulse width setting WR6 0008h Write Split length 8 WR7 lt 0005h Write Pulse width 5 WRO 0117h Write Split pulse number setting WRG 000 Write Split pulse number 10 WRO 0118h Write Split pulse logic starting pulse setting WR6 0800h Write D10 0 SPLL Pulse logic Positive 011 1 SPLBP With starting pulse WRO 0122h Write Multi purpose register setting MRO WR6 1388h Write MRO 35000 WR7 lt 0000h Write WRO 0110h Write Multi purpose register mode setting WR6 0000h Write 01 00 00 MOT1 0 MRO Comparative object Logical position counter 03 02 00 0 MRO Comparison condition WRO 0120h Write Synchronous action setting Synchronous action SYNCO setting WR6 0171h Write D3 D0 0001 PREV3 0 Activation factor MRm object changed to True D8 D4 10111 ACT4 0 Action start of split pulse WRO 0126h Write SYNCO Enable WRO 0181h Write S
311. mparison condition of multi purpose register MR1 165 NOVA electronics Inc Signal Name XP104 EXPP DSND CMPO YP104 EXPP DSND CMPO ZP104 EXPP DSND CMPO UPIOA4 EXPP DSND CMPO Pin No 59 78 97 116 Input Output Bi directional B Seah F 514 166 Signal Description Universal Input Output4 External Operation Descend Compare MRO general purpose input output signals PIO4 External Operation EXPP deceleration status output signal DSND MRO comparison output CMPO share the same pin The signal to use can be set as commands About general purpose input output signals PIOA it is the same as PIO7 For synchronous action it can be used as the input signal of an activation factor External Operation EXPP is direction drive starting signal from external source When the relative position driving is commanded from an external source direction relative position driving starts by down of this signal When the continuous pulse driving is commanded from an external source direction continuous pulse driving is performed while this signal is on the Low level In the manual pulsar mode the encoder A phase signal is input to this pin Deceleration status output DSND becomes Hi while the driving command is executed and when in deceleration MRO comparison output CMPO becomes Hi when it satisfies the comparison condition of multi purpose register MRO XPIOS CNST
312. n 28 Step2 5 2 A Z o G Fig 2 5 16 Operation of Example 2 Automatic Home Search Program Example in X axis WR2 Register setting WRO lt O11Fh Write WR2 1800h Write Select X axis Limit signal logical setting XLMTM Low active Enables hardware limit Decelerating stop Input signal filter mode setting WR6 OAOFh Write D11 D8 1010 Filter delay 5124 sec DI 1 XLMTM signal Enables the filter WRO 0125h Write Writes a command Automatic home search mode setting 1 Notel WR6 807Bh Write D15 1 Step 4 execution non execution Execution 014 0 Step 3 LP clear Disable D13 0 Step 3 RP clear Disable D12 0 Step 3 DCC output Disable D11 0 Step 3 search direction D10 0 Step 3 execution non execution Non execution D9 0 Step 2 LP clear Disable D8 0 Step 2 RP clear Disable 07 0 Step 2 DCC output Disable D6 1 Step 2 detection signal LMTM 05 1 Step 2 search direction direction D4 1 Step 2 execution non execution Execution 03 2 1 0 Step 1 detection signal LMTM NOVA electronics Inc WRO 0123h Write 01 1 DO 1 Step 1 search direction Step 1 execution non execution Writes a command Automatic home search mode setting WR6 0000h Write WRO 0124h Write 2 D15 0 014 0 013 0 012 0 011 0 D10 8 0 07 0 D6 4 0 03 0 D2 0 DI 0 DO 0 Ti
313. n As the comparative objects of multi purpose registers MR3 0 the values of the logical position counter real position counter current drive speed and timer can be set The comparison condition expression to the comparative object can be selected from 2 gt lt Use of comparison result Comparison output signal 4 Synchronous action Interrupt Multi Purpose Register 4 Read Write MR3 0 32bit Logical Position Counter 32bit Real Position Counter Comparison condition Fede 32bit MRm register setting command 20h Read t Current Speed Current Timer Red 31bit Comparison condition MRm register setting command 20h Fig 2 4 1 Multi Purpose Registers and Compare Function The user can set the comparative object and comparison condition to four multi purpose registers individually by using multi purpose register mode setting command 20h Set specified bits of WR6 data writing register and write multi purpose register mode setting command 20h to WRO register and then they will be set Multi purpose register mode setting can be read out by multi purpose register mode setting reading command 40h Multi purpose register mode setting command 20h Dib 14 D12 pti DIO 19 08 07 D6 05 04 L p3 D2 DI DO WR6 M3C1 M3CO M3T1 weci M2CO M2T1 M2TO M1C1 MICO MITO MOC1 MOCO MOT1 MOTO
314. n slope 4 Decelerating stop is erformed during Initial Speed E B H time Fig 2 2 3 Trapezoidal Driving Symmetry To perform symmetry linear acceleration deceleration driving using automatic deceleration bits D2 to 0 of WR3 register and the following parameters must be set Table 2 2 2 Mode Setting Linear Acceleration Deceleration Symmetry Mode Setting Bit Symbol Setting Comment WR3 D0 MANLD 0 Automatic deceleration WR3 D1 DSNDE 0 When in deceleration acceleration setting value is used symmetry WR3 D2 SACC 0 Linear acceleration deceleration Table 2 2 3 Setting Parameters Linear Acceleration Deceleration Symmetry Parameter Symbol Comment Acceleration AC When in deceleration this value is used to decelerate Initial speed SV Drive speed DV Drive pulse number Finish point TP Not required for continuous pulse driving NOVA electronics Inc 514 22 W Example for Parameter Setting of Trapezoidal Driving As shown in the figure right hand side acceleration is formed from the initial speed 500 PPS to 15 000 PPS in 0 3 sec Acceleration 48333 15000 500 0 3 aas 48333pps sec 15 000 Initial speed SV 500 Drive speed DV 15000 Please refer each parameter in chapter 7 2 500 P 0 3 time sec Fig 2 2 4 Example of Trapezoidal Driving Symmetry Triangle Form Prevention of Trapezoidal Driving Fixed Pulse Driving
315. n Fig 3 3 6 514 2 0 axis Drift in Helical Interpolation As shown in Fig 3 3 6 the position of Z or U axis is each time the quadrant changes in circular interpolation periodic drift is generated The drift range from an ideal position depends on operation environment and as follows Table 3 3 6 Drift Range of Feed Amount from Ideal Position Operating Condition Drift Range from Ideal Position Short axis pulse equalization mode 0 1 orless 2 axis high accuracy constant vector speed mode Without both Short axis pulse equalization and 0 4 or less constant vector speed mode For more details of short axis pulse equalization mode see chapter 3 6 For more details of constant vector speed mode see chapter 3 5 120 NOVA electronics Inc 514 121 3 3 9 Examples of Helical Interpolation Example 1 Helical Interpolation under 1 rotation X Y Z axes It performs CCW circular interpolation that has the center at the relative position X 0 Y 10000 from the start point current point and terminates it at the finish point X 3490 Y 19397 Feed amount of Z axis 3000 Finish point of arc 3490 19397 n 4 Center point synchronization with circular interpolation The speed of circular 0 10000 At this time it moves Z axis from the current position to 3000 in X interpolation is 1000PPS at constant speed Sta point current position WR6 01C7h Write XY axes C
316. n Step 2 and Step 3 or deviation counter clear is outputting 28 Step 3 Waits for activation of nSTOP2 signal in the specified search direction 58 The timer is running between Step 3 and Step 4 or deviation counter clear is outputting 36 Step 4 Offset driving in the specified search direction NOVA electronics Inc MCX514 51 2 5 6 Errors Occurring at Automatic Home Search The following table lists the errors that may occur during the execution of an automatic home search Table 2 5 10 Errors Occurring at Automatic Home Search Cause of the error Operation of IC at the error Display at termination The nALARM signal was activated in any of The search driving stops instantly without RRO D7 4 execution axis 1 the Steps 1 to 4 executing the following steps RR2 D4 1 The EMGN signal was activated any of the The search driving stops instantly without RRO D7 4 execution axis 1 Steps 1 to 4 executing the following steps RR2 D5 1 The limit signal in the moving direction The search driving stops instantly by RRO D7 4 execution axis 1 nLMTP M is activated in Step 3 Note deceleration without executing the following RR2 D3 or D2 1 steps The limit signal in the moving direction The offset action stops instantly by RRO D7 4 execution axis 1 nLMTP M is activated in Step 4 Note deceleration and the operation stops RR2 D3 or D2 1 The nSTOP2 signal is already active at the Operation stops
317. n interrupt signal and so it is possible to perform the operation in synchronization with the CPU NOVA electronics Inc 514 92 2 9 2 Timer Setting To operate a timer the timer value and operation mode once repeat must be set W Timer value setting A timer value can be set by timer value setting command 16h Set values to WR6 7 registers and write timer value setting command 16h into WRO register and then it will be set It can be set with the range of 1 2 147 483 647usec in increments of l usec See chapter 7 2 23 The timer value can be changed while operating a timer W Timer operation mode setting Set the operation mode of a timer to D14 bit TMMD of WR3 register When 0 is set to D14 bit TMMD the timer operates once and when 1 is set the timer operates repeatedly 2 9 3 Timer Start Timer Stop Timer start A timer is started by timer start command 73h or the activation of the synchronous action that timer start is set as the action Timer stop In the operation mode is once a timer stops when the count reaches the value specified by the timer value the time is up While operating a timer it can be stopped by timer stop command 74h or a synchronous action When the operation mode is repeat it can be stopped by timer stop command 74h or a synchronous action 2 9 4 Timer and Synchronous Action Timer operation can be used in a synchronous action As the activation factor of a synchronous ac
318. n is selectable 9 Logical Level Low Hi active is selectable Stop Mode Decelerating stop or instant stop is selectable when it is active Input Pin Possible to pin inversion Emergency Stop Signal EMGN 1 signal in all axes stops drive pulse output at Low level Logical level can not be set Integral Type Filter Input Signal Filter Equipped with integral filters in the input column of each input signal Time Constant Time constant can be selected from 16 types 500n 1 2u 4p 8 16u 32u 64u 128p 256 512 1m 2m 4 m 8 m 16 m sec Enable Disable Enable Disable filter function is selectable Electrical Characteristics Package Operation Temperature 40 C 85 C Operation Power Voltage 3 3V 410 Consumption Current Input Clock Pulse 150mA average 204mA max at 16 2 16 2 standard 20 2 max Input Signal Level TTL level 5V tolerant Output Signal Level 3 3V CMOS Level only TTL can be connected to 5V type 144 pin plastic QFP pin pitch 0 5mm RoHS compliant Dimension 20x20x1 4 mm NOVA electronics Inc MCX514 14 Further Note 1 Parameter that is used in S curve acceleration deceleration driving 2 Pulse range that be set for the driving that outputs specified pulses In continuous driving pulses are output up to infinity Automatic decel
319. n it is not received correctly or the chip addresses do not match not return Low 155 NOVA electronics Inc MCX514 156 B Write data Then perform data writing The data for writing is transmitted from WRn register specified by the slave address byte by byte From only one byte to multiple bytes continuously can be written In the 9th SCL after sending 1 byte if MCX514 correctly receives it returns ACK signal of Low level to the SDA line When the CPU receives this ACK signal then sends 1 byte data to be written in the next register address 1234567829 1232456 789 23456 18 9 SCL D7 D6 05 D3 D2 D1 DO 07 D6 D5 D4 D3 D2 D1 DO SDA Start Slave address Writing data of Writing data of Stop register address n register address 1 Fig 4 2 2 Data Writing Generate stop condition To stop data writing the user needs to generate stop condition When SCL signal is Hi and SDA signal changes from Low to Hi it becomes stop condition Whenever sending and receiving the host CPU must generate this stop condition at the end 4 2 2 Reading Operation 514 Reading procedures from RR register are described below Generate start condition When SCL signal is Hi and SDA signal changes from Hi to Low it becomes start condition Whenever sending and receiving the host CPU must generate this start condition at the beginning Write slave address After making start condition the user
320. n pulse of each axis is output The width of EXPLSN on the Low level must be more than 4CLK Note EXPLSN does not have the filter function Hi 16bit Low 8bit data bus width selection for 16 bit 8 bit When set to Hi 16 bit data bus is selected for processing the 16 bit data H16L8 reading writing in IC when set to Low 8 bit data bus D7 D0O is active 31 Input B 3 id l2CRSTN for data reading writing In mode used as I C Reset Setting Low resets the I C control section inside of the IC Bus Mode Selects CPU bus mode When set to Hi it is in 16bit 8bit BUSMOD 32 Input B parallel bus mode and when set to Low it is in IPC serial bus mode Interrupt outputs an interrupt signal to the host CPU If any interrupt factor INTON 33 Output B except interpolation pre buffer generates an interrupt INTON becomes Low level When an interrupt is released it will return to the Hi Z level Interrupt outputs an interrupt signal to the host CPU If interrupt factor by 34 Output B interpolation pre buffer generates an interrupt INT1N becomes Low level When an interrupt is released it will return to the Hi Z level 163 NOVA electronics Inc MCX514 164 Signal Name Pin No Input Output Signal Description Pulse Pulse Pulse Phase A direction dive pulse outputting XPP PLS PA 37 It is Low level at reset and when driving is started DUTY 50 at YPP PLS PA 39 constant speed
321. n though the driving distance is 1 414 times longer X Fig 3 5 1 Example of 2 axis Interpolation Fig 3 5 2 shows the speed deviation of vector speed within the range from 0 to 90 degrees of the angle between X axis and the line to be interpolated when linear interpolation is performed in the orthogonal XY plane Although the figure shows the range 0 90 degrees the range 90 180 180 270 270 360 are the same Speed Deviation PET Deviation of resultant speed 40 the maximum 41 30 Angle Speed Deviation Speed Deviation 20 4 A 5 10 10 10 the maximum 0 2 Angle 24 Angle 0 0 0 D 90 0 58 0 45 90 0 45 90 Angle 10 10 the maximum 7 6 10 Enable short axis pulse equalization mode a Constant vector speed disabled b 2 axis simple constant vector speed C 2 axis high accuracy constant vector speed Fig 3 5 2 Speed Deviation of Vector Speed with respect to Setting Speed in Linear Interpolation Driving Fig 3 5 2 a is the speed deviation of vector speed with respect to the setting drive speed when constant vector speed mode is disabled When the angle from X axis is 45 degrees the speed deviation will be maximum and the speed will increase by approximately 41 Fig 3 5 2 b is the speed deviation in 2 axis simple constant vector speed mode where the speed deviation is improved by setting 1 1 414 times pulse cycle for both axes pulse out
322. nDIR in 1 pulse 1 direction type When the user wants to set nDIR signal before driving write direction signal setting command 58h or direction signal setting command 59h And it sets the logical level of driving pulses by D5 bit DP L the logical level of the direction DIR output signal by D6 bit DIR L and sets whether the output pins of a drive pulse signal are replaced or not by D7 bit DPINV Note interpolation driving the direction changes on the way therefore use independent 2 pulse type for interpolation driving and not 1 pulse 1 direction type 104 NOVA electronics Inc MCX514 105 2 12 3 Encoder Pulse Input Type Selection The encoder pulse input nECA PPIN nECB PMIN which counts up down the real position counter can be selected from 2 types quadrature pulses input and Up Down pulse input W Quadrature pulses input As quadrature pulses input types the user can select from 3 types quadrature pulses input and quad edge evaluation quadrature pulses input and double edge evaluation quadrature pulses input and single edge evaluation When quadrature pulses input type is engaged and ECA signal goes faster 90 degree phase than ECB signal does it s count up and ECB signal goes faster 90 degree phase than ECA signal does it s count down And when quad edge evaluation is set it counts Up Down at the rising edge 1 and falling edge of both signals When double edge evaluation is set
323. nal Stop Signal Number of Signals signals STOPO 2 per axis Enable Disable Enable Disable stop signal function is selectable 9 Logical Level Low Hi active is selectable Stop Mode When it is active decelerating stop When driving under initial speed instant stop Servo Motor Signals Each axis ALARM alarm INPOS in position DCC deviation Input Output Signal counter clear Enable Disable Enable Disable a signal is selectable Logical Level Low Hi active is selectable General Input Output Number of Signals 8 signals per axis Signal Synchronous input pins share the input pin for driving by external signals Synchronous action output multi purpose register comparison output pins share drive status output signal pins Driving Status Output Signals Driving Error Accelerating Constant speed driving Decelerating Signal Acceleration increasing Acceleration constant Acceleration 10 decreasing Drive status can also be read by status register Over Limit Signal Number of Signals 2 signals per axis foreach and direction Enable Disable Enable Disable limit function is selectable 79 Emergency Stop Signal Integral Type Filter Logical Level Low Hi active is selectable Stop Mode Decelerating stop or instant stop is selectable when it is active Input Pin Possible to pin inversion Input Signal Filter EMGN 1 signal in all axes stops drive pulse output at Low level Logical level can n
324. nal becomes Low active in Step 3 the real position counter and logical position counter should be set to clear them NOVA electronics Inc Program Example in X axis WR2 Register setting WRO lt OliFh Write WR2 0800h Write Select X axis Home signal logical setting Enables hardware limit XSTOP1 2 Low active Input signal filter mode setting WRG OACFh Write WRO 0125h Write D15 D12 0000 Filter FE6 7 delay 500nsec D11 D8 1010 Filter FE0 5 delay 512 usec D6 1 XSTOP2 signal Enables the filter D2 1 XSTOP1 signal Enables the filter Writes a command Automatic home search mode setting 1 WRG FC37h Write WRO 0123h Write Automatic home search mode setting WRG 0020h Write WRO 0124h Write D15 1 Step 4 execution non execution D14 1 Step 3 LP clear D13 1 Step 3 RP clear D12 1 Step 3 DCC output 011 1 Step 3 search direction D10 1 Step 3 execution non execution D9 0 Step 2 LP clear D8 0 Step 2 RP clear 07 0 Step 2 DCC output 06 0 Step 2 detection signal 05 1 Step 2 search direction D4 1 Step 2 execution non execution 03 2 0 1 Step 1 detection signal DI 1 Step 1 search direction DO 1 Step 1 execution non execution Writes a command 2 D15 0 014 0 013 0 D12 0 D11 0 D10 8 0 Timer value 07 0 Timer between steps D6 4 010 DCC pulse width 03 0 DCC pulse lo
325. nd 4 However in irregular operation of Step 2 when the user searches in Drive speed DV 05 the direction opposite to specified search direction this drive speed is applied Acceleration AC and initial speed SV must also be set to appropriate values to perform acceleration deceleration driving See chapter 2 2 2 Low speed search speed that is applied in Steps 2 and 3 Home search speed HV 14 Set a value lower than the initial speed SV to stop instantly when a search signal becomes active See chapter 2 2 1 W Automatic home search mode setting 1 Automatic home search mode setting 1 can be set by setting each bit of WR6 register as shown below and then writing automatic home search mode setting 1 command 23h into WRO register It specifies execution non execution of each step detection signal search direction deviation counter clear output and logical real position counter clear D15 14 013 12 DIO 19 07 06 D5 D4 L p3 D2 DI DO WR6 S4EN S3LC S3RC 530 5308 S3EN 5216 S2RC 5206 5256 S2DR 5258 51011 5100 SIDR STEN D of each step Specify whether operation of each step is executed 0 Non execution 1 Execution The specified bit for execution non execution in each step is shown in the table below Table 2 5 3 Execution Non execution Specified Bit in Each Step 4 Execution Non execution DO bit
326. nd bit pattern data stacked pre buffer will be invalid interruption by hardware limit or software limit During interpolation driving when hardware or software limit of any axis becomes active interpolation driving stops In bit pattern interpolation even hardware or software limit of either or direction becomes active interpolation driving may stop So please note that the user cannot escape from the limit area in bit pattern interpolation 127 NOVA electronics Inc MCX514 128 3 4 8 Example of Bit Pattern Interpolation It performs bit pattern interpolation of mx16 bits with X and Y axes For example in case of Fig 3 4 1 Example of Bit Pattern Interpolation it has 79 bits and so m 5 Set interpolation drive speed 1000PPS at constant speed and 2 axis simple constant vector speed mode The main axis is X axis so set drive speed to X axis Bit pattern data should be stored in a memory as shown in the table below m 5 m 4 m 3 m 2 m 1 X axis 1001011111111111 1111111010000000 0000000000000000 0000001111111111 1111111111100100 direction data 97FFh FE80h 0000h O3FFh FFE4h X PlusBPdata m X axis 1000000000000000 0000000000001 111 1111111111111111 0100000000000000 0000000000000000 direction data 8000h 000Fh FFFFh 4000h 0000h X MinusBPdata m Y axis 0000000000000000 0001111111111111 0100101010101011 1111111111010000 0000000000000000 direction data 000
327. nd stop mode of software limit can be set by WR2 register A software limit SLMT register setting value can be written anytime 7 2 14 Acceleration Counter Offsetting Code Command Data Range Data Length byte ODh Acceleration Counter Offsetting 32 768 32 167 2 AO is the parameter executing acceleration counter offset The offset value of acceleration counter will be set to 0 at reset There is usually no need to change it See chapter 2 1 for details of acceleration counter offsetting The data length of this writing command is 2 bytes The setting value should only be written in WR6 register 7 2 15 Logical Position Counter Maximum Value Setting Code Command Data Range Data Length byte Logical position counter maximum value 1 2 147 483 647 7FFF FFFFh OEh setting Or FFFF FFFFh 4 LX is the parameter setting the logical position counter maximum value with positive value for the variable ring function of logical position counter The value at reset is FFFF FFFFh When the variable ring function is not used the value should be default 7 2 16 Real Position Counter Maximum Value Setting Code Command Data Range Data Length byte Real position counter maximum value 1 2 147 483 647 7FFF FFFFh setting Or FFFF FFFFh OFh 4 RX is the parameter setting the real position counter maximum value with positive value for the variable ring function of real position counter
328. nds When SC is 0 it indicates all the interpolation data was output and continuous interpolation driving is finished 6 12 Status Register 1 RR1 Each axis has status register individually The host CPU specifies the status register of which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Status register is used for displaying an interrupt factor When an interrupt occurs the bit with the interrupt factor becomes 1 To generate an interrupt interrupt Enable must be set for each factor in WRI register 03 0 D4 D5 D6 D7 D8 D9 D10 D11 CMR3 0 D STA C STA C END D END H END TIMER SPLTP SPLTE H Dis Di4 Dis 12 Dii DIO 19 08107 D6 D5 D4 D3 D2 DI DO SYNC3 SYNC2 SYNC1 synco sPLTE SPLTP TIMERIH END D END C END C STA D STA CMR3 CMR2 CMR1 CMRO Interrupt Factor Indicates that an interrupt occurred when the comparison result of multi purpose register MR3 0 with a comparative object changed to meet the comparison condition Use multi purpose register mode setting command 20h to set the object which the user wants to compare with MR3 0 and comparison condition Indicates that an interrupt occurred at the start of driving Indicates that an interrupt occurred when pulse output starts at constant speed area
329. nds fixed pulse driving that is performed based on the number of output pulses predetermined and continuous pulse driving that outputs pulses until a stop command is written or stop signal is input Fixed pulse driving has relative position driving absolute position driving and counter relative position driving Continuous pulse driving has t direction continuous pulse driving and direction continuous pulse driving e Fixed pulse driving Relative position driving Absolute position driving Counter relative position driving e Continuous pulse driving Direction continuous pulse driving Direction continuous pulse driving 2 1 1 Relative Position Driving Relative position driving performs the driving by setting the drive pulse number from the current position To drive from the current position to the direction set the positive pulse number in the drive pulse number and to the direction set the negative pulse number in the drive pulse number To the direction To the direction 20 000 pulses 20 000 pulses lt gt tdirection TP 20 000 A TP 20 000 Current position Fig 2 1 1 Setting Example of Drive Pulse Number in Relative Position Driving Relative position driving performs constant speed driving or acceleration deceleration driving Relative position driving in the acceleration deceleration where acceleration and deceleration are equal as shown in Fig 2 1 2 automatic deceler
330. ng 59 Direction signal setting Automatic home search execution Interpolation Commands Code Command 60h 1 axis linear interpolation driving multichip 6 1 2 axis linear interpolation driving 62 3 axis linear interpolation driving 63 4 axis linear interpolation driving 64 CW circular interpolation driving 65 CCW circular interpolation driving 66 2 axis bit pattern interpolation driving 67 3 axis bit pattern interpolation driving 68 4 axis bit pattern interpolation driving 69 CW helical interpolation driving 6A CCW helical interpolation driving 6B CW helical calculation 6 COW helical calculation 6D Deceleration enabling 6E Deceleration disabling 6F Interpolation interrupt clear Single step interpolation Synchronous Action Operation Commands Code Command 8 1 8 Synchronous action enable setting 91 9 Synchronous action disable setting A1 AF Synchronous action activation 188 MCX514 188 NOVA electronics Inc Other Commands Code Command 70h Speed increase 71 Speed decrease 72 Deviation counter clear output 78 Timer start 74 Timer stop 75 Start of split pulse 76 Termination of split pulse 77 Drive start holding 78 Drive start holding release 79 Error Finishing status clear 7A display 7B RR3 1 display 7C Maximum finish point clear
331. ng rere He IE ee e e er ee Dee Rv GER RE ee ev Re 192 1 2 6 Drive Speed Settirig uomen reo tege v ave tas dee ne reta edant 192 7 2 7 Drive pulse number Finish point setting ccce nnne nennen nnne 193 7 2 8 Manual Decelerating Point 193 7 29 Citcular Center Point Setting iei eter a 194 7 2 10 Logical Position Counter 194 7 2 11 Real Position Counter Setting sssesssssssssseesseeeeeee nennen nennen nennen nennen nnne nnns 194 752112 SoftWare 194 7 2 19 Software Limit Setting m en Ee I E ee 195 7 2 14 Acceleration Counter Offsetting sssesssssssssssseeeseeeeenn enne enne nnnmern nennen nnns nnne 195 7 2 15 Logical Position Counter Maximum Value Setting 195 7 2 16 Real Position Counter Maximum Value 195 7 2 17 Multi Purpose Register 0 Setting nemen 196 7 2 19 Multi Purpose Register 1 Setting e e tid e dec e vaa eie fe e un 196 7 2 19 Multi Purpose Register 2 22 10 00000000 nnnm nnne 196 7 2 20 Multi Purpose Register 3 0
332. ng 1 8 000 000 4 The value set by initial speed setting command 04h is set in read registers RR6 and RR7 The unit of the setting value is pps When 2 value is loaded to initial speed setting value SV by a synchronous action that value will be read out 7 4 21 Drive Speed Setting Value Reading Code Command Symbol Data Range Data Length byte 45h Drive speed setting value reading DV 1 8 000 000 4 The value set by drive speed setting command 05h is set in read registers RR6 and RR7 The unit of the setting value is pps When MRm value is loaded to drive speed setting value DV by a synchronous action that value will be read out 7 4 22 Drive Pulse Number Finish Point Setting Value Reading Code Command Symbol Data Range Data Length byte Drive pulse number ht Absolute position finish point Drive pulse number Finish point setting 46h TP 2 147 483 646 2 147 483 646 4 value reading a Interpolation finish point 1 073 741 823 1 073 741 823 The value set by drive pulse number finish point setting command 06h is set read registers RR6 and RR7 When MRm value is loaded to drive pulse number finish point setting value TP by a synchronous action that value will be read out S217 NOVA electronics Inc MCX514 218 7 4 23 Split Pulse Setting 1 Reading Code Command Data Range Data Length byte Split length 2 65 535
333. nics Inc 514 252 10 Electrical Characteristics 10 1 DC Characteristics Absolute Maximum Ratings Item Symbol Condition Value Unit Power Voltage 0 3 44 0 V Input voltage Vi Vi Von 3 OV 0 3 7 0 Output voltage Vo Vo lt Vpp 3 OV 0 3 41 0 Output Current lo 30 mA Preservation Uza 65 150 Temperature Power Voltage Operation temperature High level input voltage Condition Ta 40 85 C 3 3v 0 3V Low level input voltage High level input current Low level input current OmA Note1 High level output lou 12mA D15 DO signal voltage lou 6mA Other signals except those above To OmA Low level output voltage Io 12mA D15 DO signal INTON INT1N signal To 6mA Other signals except those above Output leakage current Vout Vpp or GND D15 DO signal PIN6 PIN5 signal INTON ITN1N signal SDA signal Schmitt hysteresis voltage Consumption I 0 CLK 16MHz current I 0 CLK 20MHz Notel INTON INTIN output signals and PING 5 SDA signals have no items for high level output voltage due to the open drain output W Pin Capacity Input Output capacity Input capacity Condition Ta 25 C f 1MHz Remark D15 DO signal nPIO7 nPIOO signal PIN7 PINO signal
334. nnot be changed Fig 2 1 5 Override Drive Pulse Number TP in Relative Position Driving In acceleration deceleration driving if the rest of output pulses become less than the pulses at acceleration and the drive pulse number TP is changed during deceleration the driving accelerates again Fig 2 1 7 And if the output pulse number of changed drive pulse number TP is less than the number of pulses already output the driving stops immediately Fig 2 1 8 In S curve acceleration deceleration driving if the drive pulse number TP is changed during deceleration the S curve profile cannot be exactly tracked Speed Speed Change of Drive Pulse Change of Drive Pulse time time Fig 2 1 6 Change of Drive Pulse Number in Driving Fig 2 1 7 Change of Drive Pulse Number in Deceleration Speed Change of Drive Pulse Numbe time Fig 2 1 8 Changing Drive Pulse Number Less than Output Pulse Number Note The drive pulse number TP cannot be changed while Absolute position driving Manual Deceleration for Fixed Pulse Acceleration Deceleration Driving As shown in Fig 2 1 2 generally the deceleration of fixed pulse driving relative position driving absolute position driving and counter relative position driving is controlled automatically by MCX514 However in the following situations it should be preset the deceleration point by the users e
335. ns 100 WRN gt Data Setup Time 23 ns 10 2 6 Split Pulse The delay time from the rising edge of the drive pulse that starts the split pulse to when the split pulse becomes Hi Split pulse is positive logic When with starting pulse only the first split pulse is output together with the drive pulse The second or later split pulses are output with 1 CLK delay from the drive pulse When without starting pulse all the split pulses are output with 1 CLK delay from the drive pulse When with starting pulse is enabled in split pulse mode setting This is when with starting pulse is enabled in split pulse mode setting the delay time from the rising edge of the drive pulse that starts the split pulse to when the split pulse becomes Hi tDS1 is the delay time of the first split pulse 082 indicates the delay time of the second or later split pulses The second or later split pulses are output with 1 CLK delay nPP nPM nSPLTP eee ut tDS1 tDS2 1052 WP ST _ Delay Time f s nPP nSPLTPT Delay Time steve 20 tCYC is a cycle of CLK When without starting pulse is enabled in split pulse mode setting This is when without starting pulse is enabled in split pulse mode setting the delay time from the rising edge of the drive pulse that starts the split pulse to when the split pulse becomes Hi CLK nPP nPM tDS tDS tDS nPP nPMT nSPLTPT Delay Time st
336. nterpolation cannot be performed correctly Write CW helical calculation command 6Bh or CCW helical calculation command 6Ch in WRO register then it will be executed Table 3 3 3 Helical Calculation Command Helical calculation command code Helical calculation 6Bh CW helical calculation 6Ch CCW helical calculation While performing the calculation DO D1 XDRV YDRV bits become 1 and when it is finished they return to 0 Or the user can know whether the calculation is finished by generating an interruption at the end of driving For more details of interrupt see chapter 2 10 Reading and Writing of helical calculation result When helical calculation is finished after execution the user can obtain the helical calculation result the total number of output pulses for circular interpolation This value can be read by helical calculation value reading command 3Bh Write helical calculation value reading command 3Bh WRO register and read from RR6 RR7 registers If the same helical interpolation that has the same helical rotation number the center and finish points for circular interpolation and the feed amount of Z U axis is performed again and again there is no need to execute helical calculation every interpolation Read the helical calculation result already obtained by using helical calculation value reading command 3Bh and set that value next time and then the user can shift helical interpolation To writ
337. nterpolation driving command 3 Finish point setting of each axis Write a finish point to all of each axis that performs interpolation with main sub chips by the relative value from the current value The finish point range of multichip interpolation is signed 28 bit Write the finish point data to WR6 7 register and then write the command code 06h with axis assignment to WRO register and they will be set Generally when multiple axes linear interpolation is performed the maximum value of finish point data in all axes is required in calculating linear interpolation for each axis In order to enable high speed continuous linear interpolation this IC generates the maximum value automatically when a finish point of each axis is set There is no need to calculate the maximum value by CPU and to set the maximum value to each axis When finish point data is written in the axis of some chip it is transferred from the written chip to other chips through multichip interpolation signal MCLK MDT3 0 In the receiving chip when the finish point data is received the data is compared with the maximum finish point of its own chip by absolute value and when the data is larger the maximum finish point will be updated This transfer time of finish point data takes about 2usec CLK 16MHz Therefore an interval of writing of finish point for each axis cannot be shortened than this time In high speed calculation CPU if a writing cycle of finish point data
338. nterpolation in the clockwise direction For details of helical interpolation see chapter 3 3 7 6 11 CCW Helical Interpolation Driving Command CCW helical interpolation driving This command performs helical interpolation in the counterclockwise direction 225 NOVA electronics Inc MCX514 226 7 6 12 CW Helical Calculation Command CW helical calculation This command performs helical calculation in the clockwise direction It is required that the total number of output pulses for circular interpolation be found out in advance in order to perform moving of Z or U axis uniformly in helical interpolation Helical calculation command is to find out this total number of output pulses For details of helical interpolation see chapter 3 3 7 6 13 CCW Helical Calculation Command CCW helical calculation This command performs helical calculation in the counterclockwise direction 7 6 14 Deceleration Enabling Command Deceleration enabl ing This command enables the automatic or manual deceleration in interpolation In individual interpolation the user must write this command before the driving However in continuous interpolation this command should be put in before writing the interpolation command of the interpolation node to be decelerated The deceleration is disabled while resetting When the deceleration enabling command iswritten the enabling status is kept until interpolation
339. nti Y WR7 FFFFhWrite WRO 0206h Write Execute the handling C Execute the handling A zs Write interpolation command in the order of sub chip and main chip Writing to sub WRO 0061h Write 2 axis linear interpolation Writing to sub chip2 WRO 0061h Write 2 axis linear interpolation 151 NOVA electronics Inc MCX514 152 Writing to main chip WRO 0061h Write 2 axis linear interpolation Seg2 Writing to main chip WRG 000 Write Finish point X 10 WR7 lt 0000h Write WRO 0106h Write Execute the handling A Execute the handling B WR6 0014h Write Finish point Y 20 WR7 lt 0000h Write WRO 0206h Write Execute the handling A Execute the handling B Writing to sub WR6 lt 0005hWr ite Finish point X 5 WR7 lt 0000hWr ite WRO 0106h Write Execute the handling C Execute the handling B WRG lt 000Ah Write Finish pointi Y 10 WR7 lt 0000h Write WRO 0206h Write Execute the handling C Execute the handling B Writing to sub chip2 WR6 0019h Write Finish point X 25 WR7 lt 0000h Write WRO 0106h Write Execute the handling C Execute the handling A WRG 000ChWr ite Finish point Y 12 WR7 0000hWr ite WRO 0206h Write Execute the handling C Execute the handling A Write interpolation command in the order of sub
340. of each step About Step 2 the timer between steps can be used after a specified irregular operation The user can set the use nonuse of the timer between steps and timer value For more details see chapter 2 5 4 Step1 Step2 Step3 Step4 High speed E Timer 89 Timer Lowspeed 89 Timer High speed home home Z phase offset drive search search search Fig 2 5 11 Timer Between Steps When the timer between steps is enabled the timer starts at the end of each step and next step starts after the timer operation About Step 2 if a specified irregular operation occurs the timer between steps starts there too and Step2 normal operation starts after the timer operation For more details of the Step 2 irregular operation see chapter 2 5 1 Note timer between steps cannot be set for each step individually If enabled all the timers which are between steps and after the specified irregular operation of Step 2 are all enabled and the timer starts according to a specified timer value If disabled all the timers between steps are disabled NOVA electronics Inc 514 46 2 5 4 Setting a Search Speed and a Mode To perform an automatic home search the following speed parameters and mode must be set W Setting speed parameters Table 2 5 2 Setting Speed Parameters Speed parameter Command code hex Description High speed search and drive speed that is applied in Steps 1 a
341. of the plus drive pulses is output ZPP PLS PA 41 Output A When the 1 pulse 1 direction mode is selected this terminal is for drive UPP PLS PA 43 output When the quadrature pulse mode is selected this terminal is for A phase signal output Pulse Direction Pulse Phase B direction dive pulse outputting XPM DIR PB 38 It is Low level at reset and when driving is started DUTY 50 at YPM DIR PB 40 constant speed of the plus drive pulses is output ZPM DIR PB 42 Output A When the 1 pulse 1 direction mode is selected this terminal is the UPM DIR PB 44 direction signal When the quadrature pulse mode is selected this terminal is for B phase signal output Encoder A Pulse in signal for encoder phase A input XECA PPIN 45 This input signal together with phase B signal will make the Up Down YECA PPIN 47 Input B pulse transformation to be the input count of real position counter ZECA PPIN 49 When the Up Down pulse input mode is selected this terminal is for UP UECA PPIN 51 pulses input When the input pulse is up 1 the real position counter is counted up Pulse in signal for encoder phase B input XECB PMIN 46 This input signal together with phase A signal will make the Up Down YECB PMIN 48 Input B pulse transformation to be the input count of real position counter ZECB PMIN 50 When the Up Down pulse input mode is selected this terminal is for UECB PMIN 52 DOWN pulses input When the input pulse is
342. olation nennen nemen nennen nnn nnn 137 3 7 5 Example of Continuous 138 3 8 Acceleration Deceleration Control in 140 3 8 1 Acceleration Deceleration for Linear 140 3 8 2 Acceleration Deceleration for Circular Interpolation and Bit Pattern Interpolation 140 3 8 8 Acceleration Deceleration for Continuous Interpolation 142 3 9 Single step 143 3 9 1 Command Controlled Single step Interpolation 143 3 9 2 External Signal Controlled Single step 144 3 9 8 Attention for Single step 144 Multichip Interpolation a 145 LU MEE croire 146 23 10 02 Stop of Interpolation Driving tee aa tere 148 3 10 3 Continuous Interpolation Wa eaa te Ge de EUER ev 148 3 10 4 Notes for Multichip Interpolation parien canna e a emen nnn nene en enne 148 3 10 5 Examples otr Multichip InterpolatlOm c re 149 Seal BUS e FOO 4 1 Pins used I2C Bus
343. onstant B Disables the filter through XSTOP2 signal Filter time constant B Disables the filter through XPI04 7 signal Filter time constant A Disables the filter through XPI00 3 signal Filter time constant A Disables the filter through XINPOS XALARM signal Filter time constant A Disables the filter through XSTOPO 1 signal Filter time constant A Enables the filter XLMTP XLMTM signal Filter time constant A Enables the filter EMGN signal Filter time constant A Enables the filter 100 NOVA electronics Inc MCX514 101 2 12 Other Functions 2 12 1 Driving By External Pulses This function is that controls relative position driving and continuous pulse driving not by the commands but by external signals nEXPP As the number of motor axis controlled by the system increases there is a possibility that the CPU cannot handle manual operations appropriately such as JOG feed or teaching mode due to the CPU load This IC can reduce the host CPU load using driving by external pulses And by inputting an encoder 2 phase signal of a manual pulsar jog feed will be enabled nPIOA 5 signals of general purpose input output signals are assigned to nEXPP nEXPM signals To perform driving by external signals the following items must be set D Set nPIO4 5 signals to the input by PIO signal setting 1 command 21h 2 Set the driving mode by PIO signal setting 2 Other settings 22h W F
344. orter moving distance it can output drive pulses as equal as possible The following Fig 3 6 1 b shows the waveform of the output pulse when short axis pulse equalization mode is enabled a Waveform in normal 1 30 X 1 26 Y 1 b Waveform in short axis pulse equalization mode 30 X 1 26 Y Fig 3 6 1 Pulse Waveform in 2 axis Linear Interpolation Finish point X 30 Y 26 Short axis pulse equalization performs the interpolation calculation in the IC enhancing by several times than usual Because of that the setting range of parameters is restricted by 1 8 as shown in the table below When enabling short axis pulse equalization mode be sure to perform interpolation driving within the range of the following table Table 3 6 1 Setting Range of Parameters in Short Axis Pulse Equalization Parameter Symbol Settable Range Short axis pulse equalization Usual Enabled Drive speed V 17 1 000 000 1 8 000 000 Initial speed SV 1 1 000 00
345. ot be connected XNote1 Output B It is open collector type output 12mA driving buffer Low level output current IOL 12mA VOL 0 4Vmax Pull up to 3 3V with high impedance if this output is used It can also be connected to TTL level 5V type IC Bi directional A Bi directional B Bi directional C Bi directional D Bi directional E Input side is 5V tolerant LVTTL Schmitt trigger Because there is no pull high resister for those signals in this IC the user should pull up the data bus with high impedance The user should pull up to 3 3V with high impedance about 10k 100kQ when bits D15 D8 PIN6 5 not used When in Hi level output do not apply voltage more than the output voltage from outside Output side is 3 3V type CMOS level output 12mA driving buffer Hi level output current IOH 12mA VOH 2 6Vmin Low level output current IOL 12mA VOL 0 4Vmax 5V type bi directional can be connected when the other input is TTL level If the other input is 5V type CMOS level it cannot be connected Input side is 5V tolerant LVTTL Schmitt trigger which is pulled up with 50 in the IC When in Hi level output do not apply voltage more than the output voltage from outside Output side is 3 3V type CMOS level output driving buffer Hi level output current VOH 2 6Vmin Low level output current IOL 6mA VOL 0 4Vmax 5V type bi directional can be connected when the other inp
346. ot be set Equipped with integral filters in the input column of each input signal Time Constant Time constant can be selected from 16 types 500n 1 2u 4p 8p 16u 32 64 128p 256 512y 2 m 4 m 8 m 16 m sec Enable Disable Enable Disable filter function is selectable Electrical Characteristics Temperature Range for Driving 40 C 85 C Power Voltage for Driving Consumption Current 3 3V 10 150mA average 204mA max at CLK 16MHz Input Clock Pulse 16MHz standard 20MHz max Input Signal Level TTL level 5V tolerant Output Signal Level 3 3V CMOS Level only TTL can be connected to 5V type Package 144 plastic QFP pin pitch 0 5mm RoHS compliant Dimension 20x20x1 4 mm NOVA electronics Inc MCX514 13 Interrupt Number of Signals 2 INTON Interrupt Factor When multi purpose register comparison changed Comparative object logical real position counter value current drive speed current timer value Comparison condition gt gt lt Start Termination of driving Start Termination of acceleration deceleration driving at constant speed When automatic home search is finished When a timer is up Output Termination of split pulse When synchronous action 0 1 2 3 is activated When the state of 8 stages of pre buffer register changes in continuous interpolation driv
347. owing three examples show the flow of controlling the IC using I2C serial bus The user can download sample programs for controlling each type of CPU including these three examples from our web site http www novaelec co jp 1 Write command 2 Write data 3 Read data 1 Write command To write a command the user needs to write an execution axis and command to WRO register At this time if the low byte of WROL is written a command will be executed immediately So the user needs to specify the axis before issuing a command As shown below specify an axis at D and then write a command at 0 D Write an axis assignment to WROH Til Write a command to WROL 159 NOVA electronics Inc 514 160 2 Write data To perform data writing such as parameter settings write parameters to WR6 WR7 registers and then write an axis assignment and command to WRO register Regarding writing of WRO register as described in 1 Write command a command must be written after the axis assignment D Write data to WR6 7 HI Write axis assignment to WROH HT Write data writing command to WROL Til 160 NOVA electronics Inc 514 161 3 Read data To perform data reading write an axis assignment and command to register and then read RR6 RR7 registers Regarding writing of WRO register as described in 1 Write command a command must be written after the axis assignment
348. p signals are nSTOP2 0 and nLMTP M When setting the decelerating stop mode When a decelerating stop input signal becomes active or a decelerating stop command is written decelerating stop will be performed after the output of pulses being outputted Decelerating stop signal l Active Decelerating stop command WRN L DSND When the input signal filter is enabled the input signal will be delayed according to the time constant of the filter 11 7 Detailed Timing of Split Pulse When with starting pulse is enabled in split pulse mode setting only the first split pulse is on the Hi level at the timing of the drive pulse 1 The second or later split pulses are on the Hi level after 1 CLK cycle from the drive pulse 7 Therefore the Hi level width of the first split pulse is 1 CLK cycle longer than that of the second or later split pulses When without starting pulse is enabled in split pulse mode setting all the split pulses are on the Hi level after 1 CLK cycle from the drive pulse 1 when the positive logic is set WRN Writing a start of split pulse command nPP nPM With starting pulse nSPLTP 1 timing of drive pulse Without starting pulse 1 2 nSPLTP e em After 1CLK from drive pulse 1 After 1CLK from drive pulse 1 259 NOVA electronics Inc 12 Package Dimensions MCX514 260 NOVA dec 14 72
349. parameter that determines acceleration in linear acceleration deceleration driving The unit of the setting value is pps sec Acceleration AC pps sec In linear acceleration deceleration driving WR3 D1 0 where acceleration and deceleration are symmetrical this acceleration setting value is also used at deceleration For S curve acceleration deceleration driving set the maximum value of 536 870 911 1FFF FFFFh to this parameter For Partial S curve acceleration deceleration driving set the acceleration at linear acceleration part to this parameter In Partial S curve acceleration deceleration driving WR3 D1 0 where acceleration and deceleration are symmetrical this acceleration setting value is also used at deceleration The value of current acceleration can be read by current acceleration deceleration reading command 33h An acceleration setting value can be read by acceleration setting value reading command 43h 7 2 4 Deceleration Setting Code Command Data Range Data Length byte O 3h Deceleration setting 1 536 870 911 4 This parameter is used to set a deceleration speed at deceleration in non symmetrical linear acceleration deceleration driving WR3 D1 1 The unit of the setting value is pps sec Deceleration DC pps sec In non symmetrical S curve acceleration deceleration driving set the maximum value of 536 870 911 1FFF FFFFh to this parameter In non symmetrical Partial S curve acceleration dece
350. peed m time Acceleration fus Deceleration 7 Acceleration increasing rate slope Deceleratio time Fig 2 2 8 S curve Acceleration Deceleration Driving Symmetry To perform symmetry S curve acceleration deceleration driving using automatic deceleration bits D2 to 0 of WR3 register and the following parameters must be set Table2 2 6 Mode Setting S curve Acceleration Deceleration Symmetry Mode Setting Bit Symbol Setting Comment WR3 D0 MANLD 0 Automatic deceleration WR3 D1 DSNDE 0 When in deceleration acceleration and jerk setting values are used WR3 D2 SACC 1 S curve acceleration deceleration Table 2 2 7 Setting Parameters S curve Acceleration Deceleration Symmetry Parameter Symbol Comment Jerk JK Acceleration AC Set the maximum value 536 870 911 1FFF FFFFh Initial speed SV Drive speed DV Drive pulse number Finish point TP Not required for continuous pulse driving NOVA electronics Inc 514 26 Triangle Form Prevention of S curve Acceleration Deceleration Driving S curve acceleration deceleration driving also has the triangle form prevention function for keeping a speed curve smooth In fixed pulse driving of S curve acceleration deceleration where acceleration and deceleration are symmetrical when the number of output pulses does not reach the number of pulses required for accelerating to a drive speed or when decelerating stop is performed during S
351. position driving 00 Start of direction continuous pulse driving 0 Start of direction continuous pulse driving OF Start of relative Start of relative Start of relative Start of relative 4 position driving using position driving using position driving using position driving using MRO value MR1 value MR2 value MR3 value 10 Start of absolute Start of absolute Start of absolute Start of absolute 4 position driving using position driving using position driving using position driving using MRO value value MR2 value MR3 value 11 Decelerating stop 5 12 Instant stop 5 13 Drive speed increase 6 14 Drive speed decrease 6 15 Timer start 16 Timer stop 17 Start of split pulse 7 18 Termination of split pulse 7 00 NOP 8 NOVA electronics Inc MCX514 64 Description 1 Load parameter value It loads the value of a multi purpose register MRm into each parameter Table 2 6 3 Load parameter value Notation Description MRm DV Loads the value of MRm register into drive speed DV MRm TP Loads the value of MRm register into drive pulse number TP MRm SP1 Loads the value of MRm register into split pulse data 1 split length and pulse width MRO LP Loads the value of MRO register into logical position counter LP MR1 RP Loads the value of MR1 register into real position counter RP MR2 gt SV Loads the value of MR2 register into initial speed SV MR3 AC Loads the value of MR3 regi
352. position driving 20kpps X 10 pulses of the constant speed drive starts every 1msec This is performed by the function of a synchronous action Drive Pulse ai 1 000ms 1 000ms 1 000ms Fig 2 9 5 Example 2 Timer Operation Program Example Drive setting constant speed driving at 1000 PPS WR6 1200h Write Initial speed 8M PPS maximum in specification WR7 lt 007Ah Write WRO 0104h Write WR6 4E20h Write Drive speed 20K PPS WR7 lt 0000h Write WRO 0105h Write WRG 000 Write Drive pulse number 10 WR7 lt 0000h Write WRO 0106h Write WR6 0000h Write Logical position counter 0 WR7 lt 0000h Write WRO 0109h Write Timer setting Repeat timer WRO 011Fh Write Select X axis WR3 4000h Write D14 1 TMMD Timer operation Repeat Timer value setting WRG 03 8 Write Timer value 1000 usec WR7 lt 0000h Write WRO 0116h Write Synchronous action setting Synchronous action SYNCO setting WR6 0153h Write D3 D0 0011 PREV3 0 Activation factor Starts driving D8 D4 10101 ACT4 0 Action Timer start D15 0 REP Repeating action Disabled WRO 0126h Write Synchronous action SYNC1 setting WR6 80A2h Write D3 D0 0010 PREV3 0 Activation factor Timer is up D8 D4 01010 ACT4 0 Action Starts driving D15 1 REP Repeating action Enabled WRO 0127h Write SYNC1 0 Enable WRO 0183h Write Start driving WRO
353. position driving Start of direction continuous driving Start of relative absolute position driving at the position set by MRm Decelerating stop Instant stop Speed increase decrease Timer start stop Start Termination of split pulse Other SYNC Activation Activation of other 3 sets actions can be set Another Axis SYNCO Activation Activation of another SYNCO action can be set Repeat Synchronous action can be operated once repeatedly NOVA electronics Inc MCX514 13 Interrupt Number of Signals Interrupt Factor Enable Disable 2 INTON INT1N When multi purpose register comparison changed Comparative object logical real position counter value current drive speed current timer value Comparison condition 2 gt lt Start Termination of driving Start Termination of acceleration deceleration driving at constant speed When automatic home search is finished When a timer is up Output Termination of split pulse When synchronous action 0 1 2 3 is activated When the state of 8 stages of pre buffer register changes in continuous interpolation driving Enable Disable each interrupt factor is selectable External Signal for Driving Relative position Continuous driving by EXPP EXPM signals Manual pulsar encoder input quadrature pulses input and single edge evaluation 8 Single step interpolation by EXPLSN signal Exter
354. pulses in the direction NOVA electronics Inc Program Example in X axis WR2 Register setting WRO lt 011Fh Write WR2 0800h Write Select X axis Home signal logical setting XSTOP1 Low active Enables hardware limit Input signal filter mode setting WRG OAOFh Write WRO 0125h Write Di1 D8 1010 Filter delay 5124 sec D2 1 XSTOP1 signal Enables the filter Writes a command Automatic home search mode setting 1 WRG 8037h Write WRO 0123h Write Automatic home search mode setting WRG 0000h Write WRO 0124h Write D15 1 Step 4 execution non execution 014 0 Step 3 LP clear D13 0 Step 3 RP clear D12 0 Step 3 DCC output D11 0 Step 3 search direction D10 0 Step execution non execut ion D9 0 Step 2 LP clear D8 0 Step 2 RP clear 07 0 Step 2 DCC output D6 0 Step 2 detection signal 05 1 Step 2 search direction D4 1 Step 2 execution non execution 03 2 0 1 Step 1 detection signal DI 1 Step 1 search direction DO 1 Step 1 execution non execution Writes a command 2 D15 0 014 0 D13 0 D12 0 D11 0 D10 8 0 Timer value 07 0 Timer between steps D6 4 0 DCC pulse width 03 0 DCC pulse logic D2 0 At the termination of home search LP clear D1 0 At the termination of home search RP clear DO 0 Step 2 amp 3 Writes a command High speed home search and low speed home sea
355. put Fig 3 5 2 c is the speed deviation in 2 axis high accuracy constant vector speed mode where the speed deviation can be kept 50 20 or less in the range of all angles Short axis pulse equalization mode must be enabled 3 axis simple constant vector speed mode is available for 3 axis linear interpolation where the speed deviation is improved by setting 1 1 414 times pulse cycle when pulses of any 2 axes among 3 axes are output and improved by setting 1 1 732 times pulse cycle when pulses of all 3 axes are output 129 NOVA electronics Inc MCX514 130 3 5 1 Constant Vector Speed Setting Constant vector speed can be set by 2 bits D6 and D7 of interpolation mode setting command 2Ah 5 Di4 Di3 01211011 Dio 09 08 05 D bi DO WR6 SPD1 SPDO The settings of D6 and D7 bits corresponding to each constant vector speed mode are as follows Table 3 5 1 Settings of Constant Vector Speed Mode D7 SPD1 Bit D6 SPDO Bit Constant Vector Speed Mode 0 0 Invalid 0 1 2 axis simple constant vector speed 1 0 3 axis simple constant vector speed 1 1 2 axis high accuracy constant vector speed Example of linear interpolation in 2 axis high accuracy constant vector speed mode It performs linear interpolation of X and Y axes with drive speed 1000PPS at constant speed in 2 axis high accuracy constant vector speed mode and short axis pulse equalization mode
356. put pulses and the other is a real position counter that counts the feedback number of pulses from an external encoder The current position can be read by data reading commands anytime By using with synchronous action the operation can be performed by the activation factor based on position data such as drive speed change or start stop of another axis driving at a specified position Software Limit MCX514 has a software limit function that controls driving to stop when the position counter is over a specified range There are 2 stop types for when the software limit function is enabled decelerating stop and instant stop NOVA electronics Inc MCX514 6 W Various Synchronous Actions Synchronous action is the function that executes a specified action together if a specified activation factor occurs These synchronous actions can be performed fast and precisely independent of the CPU Synchronous action can be set up to 4 sets to each axis 1 set of synchronous actions is configured with one specified activation factor and one specified action 15 types of activation factors are provided such as the passage of a specified position start termination of driving the rising falling edge of an external signal and expiring of an internal timer In addition 28 types of actions are provided such as start termination of driving save the current position counter value to multi purpose register and writing of a drive speed When an activa
357. r 500 500 500 0 517 2 1000 0 518 CW circular 1000 1000 0 1000 19 2 linear 0 2000 20 CW circular 1000 1000 1000 0 521 2 axis linear 2000 0 Set initial speed to main axis X linear interpolation command CCW circular interpolation command NOVA electronics Inc 514 139 Set Segment3 CW circular WR6 lt 01 4 Write Finish point X 500 WR7 lt 0000h Write WRO 0106h Write WR6 lt 01F4h Write Finish point Y 500 WR7 lt 0000h Write WRO 0206h Write WR6 lt O1F4h Write Center point X 500 WR7 0000h Write WRO 0108h Write WR6 0000h Write Center point Y 0 WR7 lt 0000h Write WRO 0208h Write WRO 0064h Write CW circular interpolation command Similarly set Segment4 8 Drive start holding release WRO 0178h Write Write Drive start holding release command to main axis Interpolation driving is started Set 9 to the segment counter SegCounter Loop Error check RRO Read If RRO D4 or D5 is 1 an error occurs Go to error handling Check termination of interpolation If SegCounter is 22 continuous interpolation is terminated Check writable of next data RRO Read If RRO D11 is 1 it is writable and go to the next and if 0 read RRO again Write the next segment data Write the segment data indicated
358. r 0 reading 2 147 483 648 2 147 483 647 4 The value of multi purpose register MRO is set in read registers RR6 and RR7 It can be used to read out the current position timer value and speed value saved in MRO by a synchronous action 7 4 6 Multi Purpose Register 1 Reading Code Command Data Range Data Length byte 35h Multi purpose register 1 reading 2 147 483 648 2 147 483 647 4 The value of multi purpose register MR1 is set in read registers RR6 and RR7 It can be used to read out the current position current timer value and current acceleration deceleration value saved in by a synchronous action 7 4 7 Multi Purpose Register 2 Reading Code Command Data Range Data Length byte 36h Multi purpose register 2 reading 2 147 483 648 2 147 483 647 4 The value of multi purpose register MR2 is set in read registers RR6 and RR7 It can be used to read out the current position and timer value saved in MR2 by a synchronous action 213 NOVA electronics Inc MCX514 214 7 4 8 Multi Purpose Register 3 Reading Code Command Data Range Data Length byte 37h Multi purpose register 3 reading 2 147 483 648 2 147 483 647 4 The value of multi purpose register MR3 is set in read registers RR6 and RR7 It can be used to read out the current position and timer value saved in MR3 by a synchronous action 7 4 9 Current Timer Value Reading Code Command Data Range
359. r instance when 3 axis linear interpolation is performed with main axis X second axis Y third axis Z and finish point X 20000 Y 30000 Z 50000 if the pulse number necessary for deceleration is 5000 the maximum absolute value will be the finish point of Z axis and so the user should set 50000 5000 45000 as the manual deceleration point of the main axis X For more details of examples of acceleration deceleration driving in linear interpolation see chapter 3 1 examples of linear interpolation Note e 5 acceleration deceleration driving cannot be used in short axis pulse equalization mode 3 8 2 Acceleration Deceleration for Circular Interpolation and Bit Pattern Interpolation In circular interpolation and bit pattern interpolation only trapezoidal driving using manual deceleration is available and S curve driving and automatic deceleration cannot be used The figure on the right side shows the circular interpolation of a true circle with radius 10000 in a trapezoidal driving The user should calculate the manual deceleration point before driving because the automatic deceleration cannot be used in circular interpolation In the figure the circle tracks through all the 8 quadrants 0 7 In quadrant 0 Y axis is the short axis and it s displace is about 10000 52 7071 The total output pulses number of the short axis is 7071x8 56568 If the initial speed is 500PPS and accelerated to 20KPPS in 0 3 SEC th
360. r stop return ExeCmd MCX514 CMD74 TMSTP int ExeSPSTA int Axis f Split pulse start return ExeCmd MCX514 CMD75 SPSTA Axis int ExeSPSTP int Axis Split pulse stop return ExeCmd MCX514 CMD76 SPSTP int ExeDHOLD int Axis f Drive start holding return ExeCmd MCX514 0 077 DHOLD int ExeDFREE int Axis Drive start holding release return ExeCmd MCX514 CMD78 DFREE int ExeR2CLR int Axis Error Finishing status clear return ExeCmd MCX514 CMD79 R2CLR int ExeRR3PO int Axis RR3 Page0 display return ExeCmd MCX514 CMD7A RR3PO int ExeRR3P1 int Axis RR3 Pagel display return ExeCmd MCX514_CMD7B_RR3P1 int ExeNOP int Axis NOP return ExeCmd MCX514 CMDIF int ExeSRST void Command reset return ExeCmd 0 514 CMDFF RST MCX514 AXIS NONE Common functions Common function of writing WR register 1 0 port access The following is the example of SH microcomputer int WriteReg volatile unsigned short Adr unsigned short Data reg write Adr Data 247 NOVA electronics Inc MCX514 248 return 0 Common function of reading RR register 1 0 port
361. r the outputting speed curve and the drive pulse number appropriately see the table below O Required Speed curve to be output Fixed speed Symmetrical linear Non symmetrical Symmetrical Non symmetrical Parameter acceleration linear acceleration S curve S curve deceleration deceleration acceleration acceleration deceleration deceleration Jerk JK Deceleration increasing rate DJ O Deceleration DC Initial speed SV Drive speed DV Drive pulse number Finish point TP 2 e v 2 Manual deceleration point DP Note Set the maximum value of 536 870 911 1FFF FFFFh However in Partial S curve acceleration deceleration driving set the acceleration deceleration at the linear acceleration deceleration part 219 NOVA electronics Inc 514 220 7 5 2 Counter Relative Position Driving Code Command 51h Counter relative position driving The signed drive pulse number that is set will be output from the direction drive pulse signal nPP or the direction drive pulse signal nPM When the drive pulse number is positive it will be output from the output signal nPM and when it is negative it will be output from the output signal nPP When the pulse output type is independent 2 pulse This command can be used to output the predetermined drive pulse number in the different
362. ration Section Action Generator Control INT Interrupt External Signal Generator Automatic Home Search Section Parameter Mode Setting Register Synchronous Action Section Multi purpose Register MR3 0 PP PLS PA PM DIR PB ECA PPIN ECB PMIN Integrated Filter LMTP LMTM STOP 2 0 INPOS ALARM EMGNNote1 PIO 7 0 General Output OUT 7 0 Selector Drive Status B Output Split Pulse Synchronous Generator Pulse MR Comparison SPLTP Notel EMGN is in common all axes Fig 1 2 2 Block Diagram of X Y Z and U Axis Control Section of 1 axis NOVA electronics Inc 1 3 Specification Table MCX514 11 CLK 16MHz Item Subitem Description Control Axis 4 axes CPU Parallel Bus 16 bit 8 bit bus selectable Connection CPU Serial Bus serial interface bus Connection Interpolation Function Interpolation Commands 2 axis 3 axis 4 axis linear interpolation CW COW circular interpolation 2 axis 3 axis 4 axis bit pattern interpolation CW CCW helical interpolation Interpolation Range Each axis 2 147 483 646 2 147 483 646 drive pulse Interpolation Speed 1pps 8 000 000 pps 11 Interpolation Accuracy 0 5LSB or less linear interpolation 1LSB or less circular interpolation Other Interpolation Related Functions Can select any axis Short axis pulse equalization
363. ration mode WR3 D0 1 is engaged As a manual decelerating point set the value which subtracts pulse number to be used at deceleration from output pulse number in fixed pulse driving Manual Decelerating Point Output Pulse Number Pulse Number for Deceleration About output pulse number Output pulse number indicates the number of pulses which is actually output in fixed pulse driving In relative position driving output pulse number P is the absolute value of drive pulse number setting value TP In absolute position driving output pulse number P is the absolute value which reduces logical position counter value LP of before driving starts from drive pulse number setting value TP TP TP LP Relative Position Driving Output Pulse Number P Absolute Position Driving Output Pulse Number P 193 NOVA electronics Inc MCX514 194 7 2 9 Circular Center Point Setting Code Command Symbol Data Range Data Length byte Circular center point setting CT 1 073 741 8283 1 073 741 823 4 CT is the parameter setting the center point in circular and helical interpolation driving The coordinates of center point should be set the signed relative value to the current position 7 2 10 Logical Position Counter Setting Code Command Data Range Data Length byte Logical position counter setting 2 147 483 648 2 147 483 647 4 LP is the parameter setting the value
364. rch setting WRG 7318h Write WR7 0001h Write WRO 0102h Write WRG O3E8h Write WR7 0000h Write WRO 0104h Write WRG 4 20 Write WR7 0000h Write WRO 0105h Write WRG O1F4h Write WR7 0000h Write WRO lt 0114h Write Offset pulse setting WRG ODACh Write WR7 0000h Write WRO 0106h Write Acceleration deceleration 95 000 PPS SEC Initial speed 1000 PPS Speed of step 1 and 4 20000 PPS Speed of step 2 500 PPS Offset driving pulse count 3500 Starts execution of automatic home search WRO 015Ah Write MCX514 54 Execution Disable Disable Disable Non execut ion Disable Disable Disable STOP1 direction Execution STOP1 direction Execution Disable Disable Disable Disable NOVA electronics Inc MCX514 55 direction Over Run Limit Photo Coupler Example 2 Home search using a limit signal The example that uses a limit signal of one side as an alternative home signal and performs a home search In this case a limit signal in the MORTE direction is used as an alternative home signal To perform a home search by using a limit signal the following two conditions are applied nLMTM Fig 2 5 15 Connection of Example 2 Automatic Home Search a When high speed search operation in Step 1 is performed decelerating stop must be done sufficiently within the distance from the limit
365. rising About nPIOm input signal 7 it is activated when nPIOm m 0 3 input signal is rising from Low level to Hi level As shown in the table the nPIOm signal corresponding to 4 synchronous action sets is fixed If the input signal is already Hi level when the synchronous action is enabled the synchronous action is not activated at that time After it falls to Low level and then if it again rises to Hi level the synchronous action will be activated Description 6 The change of when general purpose input signal is falling About nPJOm input signal it is activated when nPIOm m 0 3 input signal is falling from Hi level to Low level As shown in the table the nPIOm signal corresponding to 4 synchronous action sets is fixed If the input signal is already Low level when the synchronous action is enabled the synchronous action is not activated at that time After it rises to Hi level and then if it again falls to Low level the synchronous action will be activated Description 7 General purpose input signal Low and the change of when rising About nPJOm input Low and nPIOK input 77 it is activated when nPIOm m 4 7 input signal is Low level nPIOk k 20 3 input signal is rising from Low level to Hi level As shown in the table the nPIOk nPIOm signals corresponding to 4 synchronous action sets are fixed If nPIOm input signal is already Low level and nPIOk input signal is Hi level when the synchronous action is enabled the b
366. riving Assign a near home signal a home signal and an encoder Z phase signal in nSTOPO to nSTOP2 Assign an encoder Z phase signal in nSTOP2 Enable disable and logical levels can be set by WR2 register If high speed searching continuous pulse driving is performed at acceleration deceleration And when the signal that is enabled becomes active MCX514 will perform NOVA electronics Inc 514 20 decelerating stop If low speed searching continuous pulse driving is performed at constant speed And when the signal that is enabled becomes active MCX514 will perform instant stop This IC has automatic home search function See chapter 2 5 for details of automatic home search function 2 2 Acceleration and Deceleration There are the following speed curves that can trace from drive pulse output Constant speed driving which does not perform acceleration deceleration Trapezoidal acceleration deceleration driving which performs linear acceleration deceleration to a setting speed and S curve acceleration deceleration driving which performs acceleration deceleration to a specified drive speed with a smooth curve And the following acceleration deceleration driving is each available Symmetry acceleration deceleration where acceleration and deceleration are equal and Non symmetry acceleration deceleration where acceleration and deceleration are set individually Constant speed driving Acceleration Deceleration dr
367. rmed The user can set interpolation data of 8 segments to pre buffer at a maximum 133 NOVA electronics Inc MCX514 134 3 7 1 How to Perform Continuous Interpolation To perform continuous interpolation set interpolation data to pre buffer in advance and then start interpolation driving The user can set interpolation data of 8 segments to pre buffer at a maximum before starting interpolation After starting interpolation MCX514 achieves continuous interpolation by setting next interpolation data segment data to pre buffer while checking the value of the stack counter The operation procedures to perform continuous interpolation are as follows Fig 3 7 1 The Flow of Continuous Interpolation 134 NOVA electronics Inc MCX514 135 1 Interpolation Axis Setting Interpolation axis can be set by interpolation mode setting command 2Ah As shown below set DO D3 bits of WR6 register set to the bit corresponding to the axis that interpolation is performed H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR6 0 z EN YEN x EN After starting interpolation interpolation axis cannot be changed The other bits 015 4 of WR6 register are the setting bit related to interpolation Please refer to 7 3 8 and set appropriate values 2 Interpolation Speed Setting It sets the drive speed for interpolation to the main axis among in
368. rom D7 DO bits ZPIO7 ZPIOO and U axis is from D15 D8 bits UPIO7 When the signal is Low level 0 is displayed and when the signal is Hi level 1 is displayed L D15 14 013 pi2 pii DIO D9 07 D6 05 D4 D3 02 DI DO RR4 YPIO7 YPIO6 YPIOS 04 103 YPIO2 YPIOT YPIOO XPIO7 XPT06 XP105 xp104 xP103 XP102 XP101 XP100 H L Dib Di4 012 Dii DIO D9 08 07 06 05 D4 D3 D2 Di DO RRS UPIO7 UPIOG UPIOS up1o4lupi03 UP102 UP101 UP100 ZP107 ZP106 ZP105 zp104 zP 103 ZP102 ZP101 ZP100 General purpose input As the functions of an input signal there are 3 kinds of input signals general purpose input signal synchronous input signal and input signal for driving Set 2 bits corresponding to nPIOm signal that is used to 0 0 and set by PIO signal setting 1 command 21h Used as general purpose input signal The signal levels of nPIO7 0 signals are displayed in RRS registers X axis is from D7 D0 bits KPIO7 XPIOO of register Y axis is from D15 D8 bits YPIO7 YPIOO Z axis is from D7 D0 bits ZPIO7 ZPIOO and U axis is from D15 D8 bits UPIO7 UPIOO When the signal is Low level 0 is displayed and when the signal is Hi level 1 is displayed Used as synchronous input signal Input change of nPIOm signals can be used as the activation factor of a synchronous action For more details of the synchronous
369. rpolation the segment data set in pre buffer will be all disabled pattern interpolation and helical interpolation cannot be configured together with other interpolation in continuous interpolation driving e drive speed cannot be changed during continuous interpolation driving If the user needs to change the drive speed during continuous interpolation driving please contact us 137 NOVA electronics Inc 3 7 5 Example of Continuous Interpolation Fig 3 7 2 shows an example of continuous interpolation started at the point 0 0 from segment S1 to S21 which is configured with 2 axis linear interpolation and circular interpolation Circular interpolation is a quarter of a circle with the radius 500 and 1000 interpolation speed 1000PPS at constant speed in 2 axis high accuracy constant vector speed mode It supposes that the segment S1 starts at the point X0 Y6000 The following table shows the interpolation command of each segment and setting data 20 19 AY 54 Start point Finish point aera 51 3000 Fig 3 7 2 Example of Continuous Interpolation Set WR6 WRO Set WR6 WR7 WRO WR6 WR7 WRO Set WR6 WR7 WRO WR6 WR7 WRO WRO Set WR6 WR7 WRO WR6 WR7 WRO WR6 WR7 WRO WR6 WR7 WRO WRO interpolation axis mode lt 00C3h 002Ah interpolation drive speed 1000 PPS O3E8h 0000h 0104h P
370. rrupt signal INTON returns to the Hi Z level interrupt 2 serial interface bus When serial interface bus is used individually set each WR1H WRIL register to 1 enable or 0 disable In addition it can be set to 1 enable or 0 disable by WR1 registers at once When an interrupt occurs interrupt signal INTON is Low read registers Even though either register is only enabled be sure to read 2 bytes RRIL When register is read out the bits that indicate an interrupt are cleared to 0 and the interrupt signal INTON returns to the Hi Z level For more details of PC serial interface bus see chapter 4 details of WR1 register see chapter 6 5 and details of register see chapter 6 12 Notes on the read timing from CPU The timing of read write cycles from the CPU is shown in chapter 10 2 2 In read cycle the address signal A 3 0 must be determined in the section of RDN signal is Low level minimum is 0 and minimum is 3nsec If this condition is violated and non valid address data is into the section of RDN signal is Low level the data of register will be cleared by reading the other register and the interrupt signal INTON may be cleared Please note the read timing from the CPU when using the interrupt signal INTON 2 10 2 Interrupt during Continuous Interpolation It sets to 1 enable or 0 disable by interpolation mode setting command 2Ah When the interr
371. rt holding command 77h to the main axis in advance Write drive start holding release command 78h to the main axis after bit pattern data and interpolation command are written in several stages interpolation driving will be performed Note e It is necessary to write bit pattern interpolation driving command after writing bit pattern data into all the axes Pre buffer is updated by writing bit pattern interpolation driving command 3 4 5 Termination of Interpolation There are 2 ways to terminate bit pattern interpolation as follows D Write an end code to bit pattern data of interpolation axis When 1 is set to bit data in the both and directions of any interpolation axes it is determined that bit pattern interpolation is finished Bit pattern data after the end code will be invalid D15 cA 00000111110 100000 L 0000010000001111 A When 1 is set in both directions of any axis it is finished WR6 nPP direction pulse WR7 nPM direction pulse Fig 3 4 4 Termination of Bit Pattern Interpolation by End Code Cancel the writing of data When the writing of bit pattern data is canceled all bit pattern data stacked in pre buffer is output as drive pulse and then bit pattern interpolation is finished 126 NOVA electronics Inc MCX514 127 3 4 6 Check Available Space of Pre buffer 514 has 8 stages of pre buffer for continuous interpolation In bit pattern interpolation i
372. rt of deceleration X1 Instant stop Until the termination of driving X1 Drive speed increase Until drive speed increase is started toward the changed speed 1 Drive speed decrease Until drive speed decrease is started toward the changed speed 1 Timer start Until the timer start 1 Timer stop Until the timer stop 1 Start of split pulse Until 1 of the nSPLTP signal with starting pulse X2 Termination of split pulse Until of the nSPLTP signal X3 Interrupt Until of the INTON signal X1 The time until the one driving pulse being output is finished X2 Since the split pulse is synchronized with the driving pulse the delay will be 1 driving pulse cycle at the maximum X3 The time until the split pulse being output is finished W Calculation example of delay For instance the delay time from the activation factor 1 of the nPIOm input to the action Save LP is a total of the 7 of the nPIOm input delay time 0 to and Save LP MRm delay time 1CLK that is from a minimum of up to 2CLK The range is from a minimum of 62 5nsec up to 125nsec when CLK 16MHz Delay by the activation of the other SYNC If the other SYNC is activated the action will be activated with ICLK delay compared to the action of self synchronous action set W Delay by the activation of SYNCO in another axis If SYNCO of another axis is activated the action will be activated with ICLK delay compared to the a
373. s SetDecP int Axis SetLp int Axis SetRp int Axis SetCompP int Axis SetCompM int Axis SetAccOfst int Axis SetHomeSpd int Axis SetLpMax int Axis SetRpMax int Axis SetMRO int Axis SetMR1 int Axis SetMR2 int Axis SetMR3 int Axis SetSpeedInc int Axis SetTimer int Axis long Data return SetData MCX514_CMDOO_JK Axis long Data return SetData MCX514_CMDO1_DJ Axis long Data return SetData MCX514_CMDO2_AC Axis long Data return SetData 514 CMDO3 DC Axis long Data return SetData MCX514_CMDO6_TP Axis long Data return SetData MCX514_CMDO7_DP Axis long Data return SetData MCX514_CMDO9_LP Axis long Data return SetData MCX514_CMDOA_RP Axis long Data return SetData MCX514_CMDOB_SP Axis long Data return SetData MCX514_CMDOC_SM Axis long Data return SetData MCX514_CMDOD_AO Axis long Data return SetData MCX514_CMD14_HV Axis long Data return SetData MCX514_CMDOE_LX Axis long Data return SetData MCX514_CMDOF_RX Axis long Data return SetData MCX514_CMD10_MRO Axi long Data return SetData MCX514_CMD11_MR1 Axi long Data return SetData MCX514_CMD12_MR2 Axi long Data return SetData MCX514_CMD13_MR3 Axi long Data o id 2 2 Data Data Data Data Data Data Data
374. s counted down by 1 D11 bit CNEXT of RRO register notifies the writable state of next data for continuous interpolation After interpolation driving starts CNEXT bit becomes 1 while the stack counter of pre buffer is from 1 to 7 And during 1 of this bit the host CPU determines that it is possible to write next data 10 Write the n segment data and interpolation command It writes the data after the 9th segment during interpolation driving The data is the same as the 1st to 8th segments described in 4 and 5 After writing interpolation driving command it will return to 7 3 7 2 Continuous Interpolation by Using Interrupt Continuous interpolation can be performed by using interrupt When pre buffer has free space INTIN signal pin number 34 becomes Low active and notifies the writable state of next segment data to the host CPU There are 2 kinds of the interruption timing that notifies the free space W interpolation interrupt setting The interruption that notifies the free space be set by 2 bits D14 D15 of interpolation mode setting command 2Ah Di5 4 D2 pm Dio 09 18 17 16 05 D4 D3 D2 bi po wee EE SSS Interpolation interrupt When D14 bit INTAJis set to 1 and when the stack counter of pre buffer changes from 4 to 3 INTIN signal becomes Low active It notifies that about half of 8 stages of pre buffer is empty This is suitable for when continuous interpolation drivin
375. s in quadrant 4 So the Start point 0 0 interpolation is finished when the ax2 is 299 Fig 3 2 5 CW COCW Circular Interpolation 3 2 2 Toggle of Interpolation Axis The interpolation axes are defined that the higher priority axis is set to ax1 horizontal axis and the lower priority axis is set to ax2 vertical axis in order of priority X gt Y gt Z gt U However the user can toggle between the two axes When the user wants to change the lower priority axis to ax1 horizontal axis and the higher priority axis to ax2 vertical axis set D4 bit of WR6 register to 1 by interpolation mode setting command 2Ah 3 2 3 The Example for CW Circular Interpolation This circular interpolation starts from the current point start point 0 0 to the finish point X 5000 Y 5000 the center point is X 5000 Y 0 The interpolating speed is constant at 1000PPS in 2 axis simple constant vector speed driving WR6 0043h Write define ax1 X axis ax2 Y axis and with 2 axis simple constant linear speed WRO 002Ah Write WR6 O3E8h Write 1000 PPS WR7 lt 0000h Write 1 WRO 0104h Write Set initial speed to main axis Y WR6 lt O3E8h Write 1000 PPS WR7 lt 0000h Write WRO 0105h Write Set drive speed to main axis WR6 1388h Write center point of X 5000 WR7 lt 0000h Write WRO 0108h Write Start point WR6 0000h Write center point of Y 0 0 0 WR7 0000h Write
376. s or less Time of 140 C 200 C Preheating temperature 60 7120 seconds Solder reflow count Up to twice 260 250 220 10 200 seconds 140 Main heating Preheating 60 7 120seconds Max60seconds Package Surface Temperature C Time second MCX514 Standard Soldering Reflow Heat proof Profile 261 NOVA electronics Inc MCX514 1 Appendix Calculation Formula of Acceleration Deceleration Drive A 1 Case of Trapezoidal Acceleration Deceleration Driving CLK 16MHz Speedlpps DV Drive speed pps SV Initial speed pps AC Acceleration pps sec ta Acceleration time sec Pa Pulse number for acceleration 2 ta Time sec Calculation Formula of acceleration AC when initial speed SV drive speed DV and acceleration time ta are given Acceleration AC pps sec a Calculation Formula of acceleration time ta when initial speed SV drive speed DV and acceleration AC are given Acceleration time ta _ sec Calculation Formula of pulse number for acceleration Pa when initial speed SV drive speed DV and acceleration AC are given DV 2 x AC Pulse number for acceleration Pa Deceleration DC deceleration time td and pulse number for deceleration Pd can be calculated by replacing acceleration AC acceleration time ta and pulse number for acceleration Pa with deceleration
377. set 980 PPS as shown in Fig 2 2 2 below In this case the relative position driving that the drive pulse number is 2450 is performed Initial speed SV 980 Set the value which initial Speed speed Drive speed pps Drive speed DV 980 Drive TP 2450 pulse number 980 Please refer each parameter in chapter 7 2 0 25 timi e s ec Fig 2 2 2 Example of Constant Speed Driving 2 2 2 Trapezoidal Driving Symmetrical In linear acceleration deceleration driving the driving accelerates from the initial speed at the start of driving to the drive speed in a primary linear form with a specified acceleration slope Linear acceleration deceleration driving can decelerate automatically and no need to set a decelerating point In fixed pulse driving under the symmetry trapezoidal acceleration deceleration where acceleration and deceleration are equal it counts the number of pulses that were utilized at acceleration and automatic deceleration starts when the rest of output pulses become less than the pulses at acceleration Deceleration continues in the primary line with the same slope as that of acceleration until the speed reaches the initial speed and then driving will stop at the completion of the output all pulses If the decelerating stop command is performed during acceleration the driving will start to decelerate during acceleration as show in Fig 2 2 3 Speed Drive Speed Deceleration Acceleration Acceleratio
378. setting for the synchronous action set which the user wants to activate must be set by synchronous action SYNC3 0 setting command 29h 26h And the synchronous action set which the user wants to activate must be enabled by synchronous action enable setting command The enable disable state of synchronous action SYNC3 0 be checked by Page 1 of RR3 register Example To activate the synchronous action set SYNCO in X axis write 01A1h into WRO To activate all the synchronous action sets SYNC3 0 in X axis write 01AFh into WRO 229 NOVA electronics Inc 514 230 7 8 Other Commands These commands are without writing data and executed by writing the axis assignment and command code into WRO command register Note It requires 125 nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 7 8 1 Speed Increase Code Command 70h Speed increase This command increases a speed by the value of the speed increasing decreasing value setting during the driving The speed increasing decreasing value IV must be set by speed increasing decreasing value setting command 15h in advance This command can be used during continuous pulse driving and cannot be used during fixed pulse driving If this command is used frequently during fixed pulse driving premature termination or creep may occur at the termination of driving In S curve acceleration deceler
379. sing multiple IC chips is as follows 1 Designation of multichip main sub and interpolation axis It specifies the main or sub chip and the execution axis of interpolation in each chip by interpolation mode setting command 2Ah Set the prescribed bit of WR6 register and interpolation mode setting command will be executed by writing the command code 2Ah to WRO register Please set other bits of WR6 register corresponding to interpolation mode as needed Dib D14 013 D12 pii DIO D9 18107 D6 D5 D4 L p3 D2 DI DO WR6 INTA 0 STEP LMDF SPD1 5 0 CXIV U EN 7 Y EN X EN L Lm Ia E Designation of Main Sub Designation of interpolation axis Use D10 11 bits MLTO 1 to specify the main or sub chip Table 3 10 2 Designation of Chip for Multichip Interpolation D11 MLT1 D10 MLTO Designation of Main Sub chip 0 0 Not perform multichip interpolation 0 1 Perform multichip interpolation as main chip 1 0 Perform multichip interpolation as sub chip 1 1 Invalid cannot be set Use 3 0 bits of WR6 register to specify the execution axis of interpolation in each chip When set 1 to the corresponding bit it is enabled as interpolation axis Table 3 10 3 Designation of Axis for Multichip Interpolation Bit of WR6 Interpolation Axis DO X EN X 0 Disable interpolation D1 Y EN Y 1 Enable interpolation D2 Z EN 2
380. so increased decreased at the same jerk the number of pulses that were utilized in fixed pulse driving is expressed as shown in Fig 2 2 9 as follows 1 2 2 1 et oq Tode 4 squares on the figure 3 3 Therefore the number of pulses 1 3 of a square that were utilized during the time from 0 to t in acceleration increasing section is 1 12 of pulses that were utilized in all fixed pulse driving For this reason in S curve acceleration deceleration fixed pulse driving when the number of output pulses during acceleration is more than 1 12 of total output pulses MCX514 will stop increasing acceleration and start to decrease the acceleration value with the speed curve as shown in Fig 2 2 9 Rule of 1 12 This method makes an ideal curve when the initial speed is 0 however the initial speed cannot be 0 so the pulses from 0 on the figure to the initial speed will be excess and will be output at the peak of the speed NOVA electronics Inc 514 27 The Prevention of Triangle Driving Profile Decelerating Stop In linear acceleration deceleration driving if the decelerating stop is commanded during acceleration the speed curve forms a triangle form In S curve acceleration deceleration driving if the decelerating stop is commanded during acceleration as shown in Fig 2 2 10 deceleration starts after the acceleration reaches 0 Speed 4 time Acceleration Decrease the Acceleration value
381. son condition gt a Set comparative object and comparison D5 D4 1 0 Comparative object condition of MR1 Current drive speed CV WRO 0120h Writes multi purpose register mode setting WR6 lt 0 011 010 1 1 XPIO5 Function MR1 comparison output WRO lt 0121h Writes PIO signal setting 1 Set the function of XPIO5 signal Synchronous Action Activation Synchronous action can be activated according to the comparison result of a multi purpose register When the comparison result of a multi purpose register changes to meet a specified comparison condition the synchronous action is activated If it already meets the comparison condition when the synchronous action is enabled the synchronous action is not activated at that time After it returns to False if the comparison result of a multi purpose register again changes to meet a specified comparison condition the synchronous action will be activated The synchronous action activation according to the comparison result of multi purpose register MR3 0 can be set as the activation factor of each corresponding synchronous action set SYNC3 0 To use the comparison result of a multi purpose register as the activation factor of a synchronous action first set the activation factor of a synchronous action set which the user wants to use to MRm comparison changed to True activation factor code 01h by synchronous action SYNCO 1 2 3 setting commands 26h 27h 28h 29h
382. ster into acceleration AC According to the number of synchronous action set the MRm register that is used is fixed About action code 04h the parameter that the value of MRm register is loaded changes according to the number of synchronous action set Description 2 Save parameter value It saves each parameter value into a multi purpose register MRm Table 2 6 4 Save parameter value Notation Description LP MRm Saves the value of logical position counter LP into MRm register RP MRm Saves the value of real position counter RP into MRm register CT MRm Saves the current timer value into MRm register CV MRO Saves the current drive speed into MRO register CA MR1 Saves the current acceleration deceleration value into MR1 register According to the number of synchronous action set the MRm register that is used is fixed About action code 08h the synchronous action set 1 and 2 can only be enabled and the parameter for saving the value into MRm register is different Description 3 Synchronous pulse signal output The pulse signal is output from nPIOm m 20 3 signal The nPIOm signal corresponding to 4 synchronous action sets is fixed To perform this action the following items must be set 9 signal synchronous pulse output setting Logical level of output pulse signal and pulse width settings To output the pulse signal for a synchronous action to the external general purpose inp
383. stop command 57h b Write a command reset Write OOFFh into WRO register and it will be reset 107 NOVA electronics Inc 2 12 7 Status Output The status of driving stop is output to D3 0 n DRV bits of RRO register and nPIOO signal The driving status of acceleration constant speed deceleration is output to DA ASND D5 CNST D6 DSND bits of RR3 register Pagel in each axis and also the signals nPIO2 ASND nPIO3 CNST nPIO4 DSNDshow the levels Speed MCX514 108 Constant Stop Acceleration Speed Deceleration Stop Time Fig 2 12 7 Driving Status Table 2 12 6 RRO RR3 registers and nPlOm signal corresponding to Driving Status RRO register RR register Page1 nPlOm signal PING stile D3 0 n DRV D4 ASND D5 CNST D6 DSND nPIOO DRIVE nPIO2 ASND nPIO3 CNST nPIO4 DSND Stop 0 0 0 0 Low Low Low Low Acceleration 1 1 0 0 Hi Hi Low Low Constant Speed 1 0 1 0 Hi Low Hi Low Deceleration 1 0 0 1 Hi Low Low Hi In S curve acceleration deceleration driving the status of acceleration increasing acceleration constant acceleration decreasing is output to D7 AASND D8 ACNST D9 ADSND bits of register Pagel in each axis and nPIOS AASND nPIO6 ACNST nPIO7 ADSND signals To output the driving status to nPIOm signal use PIO signal setting 1 command 21h See chapter 7 3 2 108 NOVA electronics Inc MCX514 109 3 Interpolation In
384. synchronous action SYNCO 1 2 3 setting commands For more details of the load save parameters to the multi purpose register by using the synchronous action see chapter 2 6 NOVA electronics Inc MCX514 41 2 5 Automatic Home Search This IC has a function that automatically executes a home search sequence such as high speed home search low speed home search encoder Z phase search offset drive without CPU intervention The automatic home search function sequentially executes the steps from Steplto Step4that are listed below The user can select execution or non execution for each step If non execution is selected it proceeds with next step without executing that step And for each step the user sets a search direction and a detection signal by mode setting In steps 1 and 4 search operation or driving is performed at the high speed that is set in the drive speed In Steps2 and 3 search operation is performed at the low speed that is set in the home search speed In addition in Steps2 and 3 it is possible to output nDCC deviation counter clear signal or clear the real logical position counter when the signal is detected The timer between steps can be used at the end of each step Table 2 5 1 Details of Automatic Home Search Sequence Step number Operation Search speed Detection signal Step 1 High speed home search Drive speed DV Specify any one of nSTOPO nSTOP1 and Limit Step 2 Low speed home search Home search spee
385. t performs interpolation of several axes by specifying whether to output pulses in the or direction by a unit of 1 drive pulse It can interpolate from 2 axes up to 4 axes The user sets drive pulse in the or direction by one bit one pulse from the CPU to each interpolation axis 1 is to output and 0 is not to output For example to draw the profile as shown in the right Fig 3 4 1 if output of drive pulse each in X X Y Y direction is 1 and no output is 0 the bit pattern data is as follows 64 48 MCX514 124 AY 64 79 Finish point Start point 32 X Fig 3 4 1 Example of Bit Pattern Interpolation 16 0 10010111 11111111 11111110 10000000 00000000 00000000 00000011 11111111 11111111 11100100 XPP X direction pulse 10000000 00000000 00000000 00001111 11111111 11111111 01000000 00000000 00000000 00000000 XPM X direction pulse 00000000 00000000 00011111 11111111 01001010 10101011 11111111 11010000 00000000 00000000 YPP Y direction pulse 01111111 00100000 00000000 00000000 00000000 00000000 00000000 00000000 00000011 11111111 YPP Y direction pulse The operation procedures to perform bit pattern interpolation are as follows Finished Fig 3 4 2 Operation Procedures for Bit Pattern Interpolation 124 NOVA electronics Inc MCX514 125 3 4 1 Designation of Interpolation Axis Interpolation axis can be specified by interpolation mode setting command 2Ah As s
386. t GetSpeed int Axis long Data return GetData MCX514 CMD45 DV Axis Data int GetPulse int Axis long Data reading return GetData MCX514_CMD46_TP Axis Data int GetSplit int Axis long Data return GetData MCX514 CMD47 SP1 Axis Data int GetUI long Data return GetData MCX5b14 CMD48 UI MCX514 AXIS NONE Data MCX514 245 Multi purpose register 1 reading Multi purpose register 2 reading Multi purpose register 3 reading Interpolation Finish point maximum value Current helical rotation number reading Helical calculation value reading WR1 setting value reading WR2 setting value reading WR3 setting value reading Multi purpose register mode setting reading PIO signal setting 1 reading PIO signal setting 2 Other settings reading Acceleration setting value reading Initial speed setting value reading Drive speed setting value reading Drive pulse number Finish point setting value Split pulse setting 1 reading General purpose input value reading Driving command functions int ExeDRVRL int Axis return ExeCmd MCX514_CMD50_DRVRL int ExeDRVNR int Axis return ExeCmd MCX514 CMD51 DRVNR
387. t WriteReg4 unsigned short Data Writes into WR4 register return Wr i teReg volatile unsigned short REG ADDR MCX514_WR4 Data int WriteReg6 unsigned short Data Writes into WR6 register return WriteReg volatile unsigned short REG ADDR MCX514 WR6 Data int WriteReg7 unsigned short Data Writes into WR7 register return WriteReg volatile unsigned short REG ADDR MCX514 WR7 Data Read functions for RR register int 0 unsigned short Reads out RRO register return ReadReg volatile unsigned short REG ADDR MCX514 RRO Data int ReadReg1 int Axis unsigned short Data Reads out RR1 register WriteRegO Axis lt lt 8 MCX514_CMD1F_NOP Axis assignment return ReadReg volatile unsigned short REG ADDR MCX514_RR1 Data int ReadReg2 int Axis unsigned short Data Reads out RR2 register WriteRegO Axis lt lt 8 MCX514_CMD1F_NOP Axis assignment return ReadReg volatile unsigned short REG_ADDR MCX514 RR2 Data int ReadReg3 int Page int Axis unsigned short Data Reads out RR3 register if Page 0 Specifies Page0 WriteRegO Axis lt lt 8 514 CMD7A RR3PO else Specifies Pagel
388. t can store 8 stages of 16 bit pattern data for each of all interpolation axes that is 16 x 8 2 128 bits When the user performs interpolation over 128 bits the user must check the free space of pre buffer during interpolation The 4 bits of D12 D15 in RRO register displays this stack counter value of pre buffer When the value of 4 bits is 0 it indicates an empty state and when it is 8 it indicates a full state and cannot write BP data anymore When bit pattern interpolation command is written the stack counter is counted up by 1 and interpolation driving starts When output of 16 bits is finished the stack counter is counted dow n by 1 D11 bit CNEXT of RRO register notifies the writable state of next data for continuous interpolation After interpolation driving starts CNEXT bit becomes 1 while the stack counter of pre buffer is from 1 to 7 And during 1 of this bit the host CPU determines that it is possible to write next data H L D15 Di4 012 DIO 09 8 07 D6 D5 D4 D3 D2 D1 DO RRO HSTC3 HSTC2 HSTC1 HSTCO Interpolation Pre buffer L writable state of next data for interpolation stack counter 3 4 7 Interruption of Interpolation Driving Interruption by stop command When instant or decelerating stop command is written to the main axis that performs bit pattern interpolation interpolation driving stops The stack counter of pre buffer becomes 0 forcibly a
389. t stop when a limit signal becomes active and select whether to replace input pins of hardware limit input signals Enable disable of a limit signal the logical level of a limit signal and the stop type can be set by D12 10 bits of WR2 register For more details of the WR2 register see chapter 6 6 Whether to replace input pins of hardware limit input signals or not can be set by D12 bit LMINV of WR3 register For more details of the WR3 register see chapter 6 7 The status of a limit signal can be read out from register PageO anytime 106 NOVA electronics Inc MCX514 107 2 12 5 Interface to Servo Motor Driver nINPOS signal and nALARM signal As the input signals for connecting a servo motor driver there are the nINPOS signal in position input signal and the nALARM signal alarm input signal The user can set each signal to enable disable and the logical level by D9 6 bits of WR2 register For more details of the WR2 register see chapter 6 6 nINPOS input signal responds to the in position signal of a servo motor driver When set to enable and if nINPOS becomes active after driving is finished D3 0 bits n DRV Driving status of RRO main status register will return to 0 nALARM input signal receives the alarm signal from a servo motor driver When set to enable it monitors nALARM signal during the driving and when nALARM becomes active driving will stop instantly At this time D4 ALARM and D14 ALAR
390. t to drive pulse number TP and relative or absolute position driving is started Since the value of MRm register is written in drive pulse number TP the setting of drive pulse number TP will be changed by execution of this action The changed value of drive pulse number TP can be checked by drive pulse number finish point setting value reading command 46h Description 5 Drive decelerating stop Instant stop It stops driving in deceleration or instantly Note e When interpolation driving is stopped by this action be sure to written error finishing status clear command 79h to the interpolation axis Description 6 Drive speed increase decrease It increases decreases the current drive speed during the driving The increase decrease value must be set by speed increasing decreasing value setting command 15h in advance This action is invalid during the acceleration deceleration of S curve driving and interpolation driving Description 7 Start termination of split pulse Start of split pulse starts the split pulse with pre set settings The starting drive pulse of split pulse is determined by the timing of an activation factor occurrence Termination of split pulse stops the split pulse in operation The stop timing of split pulse is determined by the timing of an activation factor occurrence For more details see chapter 2 7 Description 8 NOP It uses when no action is needed even though the activation factor
391. ta Common function of commands for writing data int SetModeData unsigned short int Axis unsigned short Data Common function of commands for writing mode int GetData unsigned short int Axis long Data Common function of commands for reading data int ExeCmd unsigned short int Axis Common function of command execution Write functions for WR register int Wr i teReg0 unsigned short Data Writes into WRO register return WriteReg volatile unsigned short REG ADDR MCX514 Data 241 NOVA electronics Inc int WriteReg1 int Axis unsigned short Data Writes into WR1 register WriteRegO Axis lt lt 8 MCX514_CMD1F_NOP Axis assignment return Wr i teReg volatile unsigned short REG ADDR MCX514_WR1 Data int WriteReg2 int Axis unsigned short Data Writes into WR2 register WriteRegO Axis lt lt 8 MCX514_CMD1F_NOP Axis assignment return Wr i teReg volatile unsigned short REG ADDR MCX514 WR2 Data int WriteReg3 int Axis unsigned short Data Writes into register WriteRegO Axis lt lt 8 MCX514_CMD1F_NOP Axis assignment return Wr i teReg volatile unsigned short REG ADDR MCX514 WR3 Data in
392. tart driving WRO 0152h Write Starts direction continuous pulse driving If the comparative value is 5 000 and comparison condition is Z the value of the logical position counter that split pulse is started is 5001 as shown in the figure That is next driving pulse is the starting drive pulse when comparison condition changed to True NOVA electronics Inc Example 3 514 83 Split pulses output at constant speed area during S curve acceleration deceleration driving in X axis At constant speed area during S curve acceleration deceleration driving split pulses are output This is performed by the function of a synchronous action XPP XPM rub Constant speed area in S curve driving Speed Start constant speed driving Terminate constant speed driving Driving start Time Driving finish Fig 2 7 5 Output of Split Pulses at Constant Speed Area in S curve Driving Program Example S curve acceleration deceleration drive setting WRG 000Ah Write WR7 0000h Write WRO 0104h Write WR6 OFAOh Write WR7 0000h Write WRO 0105h Write WRG FFFFh Write WR7 1FFFh Write WRO 0102h Write WRG lt A048h Write WR7 000Dh Write WRO 0100h Write WRG 9C40h Write WR7 0000h Write WRO 0106h Write WR6 lt 0000h Write WR7 0000h Write WRO 0109h Write WR3
393. te Drive start holding release command After writing interpolation data of segments that is necessary for pre buffer write drive start holding release command 78h to the main axis Interpolation driving starts at this timing 7 Error check D4 D7 bits X UERR of RRO register displays the error status of the interpolation axis When an error occurs the corresponding bit becomes 1 and interpolation driving stops These bits are checked and if an error does not occur it will proceed to next procedure For more details of the error bit of RRO register see chapter 6 13 D15 D14 013 D12 11 DIO D9 18 07 06 D5 D4 03 D2 DI DO RRO 5 03 5 062 5 01 HSTCO CNEXT ZONE2 ZONE1 ZONEO U ERR Z ERR Y ERR X ERR U DRV Z DRV Y DRV X DRV 8 Check termination of interpolation Check whether all segments are written or not and if not it will proceed to next procedure 135 NOVA electronics Inc MCX514 136 9 Check writable of next data 12 15 bits HSTCO 3 of RRO register are assigned to the value of the stack counter in 8 stages of pre buffer and it displays the accumulation amount of the buffer When the value of 4 bits is 0 it indicates an empty state and when it is 8 it indicates a full state and cannot write segment data anymore When interpolation driving command is written the stack counter is counted up by 1 and when driving currently being output is finished the stack counter i
394. ted to a host CPU with either 8 bit or 16 bit bus and serial interface bus It can also be connected to a CPU without a parallel bus Helical Interpolation 514 is capable of performing helical interpolation in addition to the existing linear interpolation and circular interpolation Helical interpolation operates to move another axis in synchronization with the circular interpolation in the XY plane orthogonal coordinates The figure shown below is an example to move Z axis in the direction corresponding to the circular interpolation on the XY plane The figure 1 1 1 a illustrates the helical interpolation under one rotation and the figure 1 1 1 b illustrates the helical interpolation in a plurality of rotations MCX514 can perform both interpolation 2 Zo A A Finish Point Y Finish Point Y X Start Point Start Point a Under One Rotation b One Rotation or More Fig 1 1 1 Example of Helical interpolation As an application of helical interpolation it is possible to operate normal control that rotates another axis by a constant angle corresponding to the circular interpolation on the XY plane The figure 1 1 2 shows an example of the operation that an object such as a camera or nozzle on a pedestal is directed to the center of circular interpolation mounting a rotating axis in the pedestal that performs circular interpolation on the XY plane Fig 1 1 2 Example of Normal Control of Z ax
395. termined positive value to the drive pulse number in advance If the negative value is set to the drive pulse number counter relative position driving performs the driving in direction Drive pulse number TP 20 000 To the direction the F direction 20 000 pulses 20 000 pulses direction e direction Counter relative position Relative position driving command 51h driving command 50h Current position Fig 2 1 4 Driving Direction is Determined by Relative Counter Relative Position Driving Command The operation of counter relative position driving is the same as relative position driving except the operation which drives in a direction opposite to the sign of the pulse number that is set in drive pulse number TP Command code for counter relative position driving is 51h NOVA electronics Inc MCX514 17 Changing Drive Pulse Number in the middle of Driving Override The drive pulse number TP can be changed in relative position driving and counter relative position driving However the drive direction must be the same before and after the change of drive pulse number The drive pulse number cannot be changed to the value of different direction 420 000 in relative position driving TP changed direction F direction TP 30 000 TP 10 000 TP 10 000 NG in the other direction ca
396. terpolation axes The drive speed can be set up to 4MPPS at a maximum When the user performs continuous interpolation at constant speed during all segments set the same speed to initial speed as drive speed 3 Write Drive start holding command It writes drive start holding command 77h to the main axis Once drive start holding command 77h is write driving cannot be started by issuing interpolation driving command This enables to set interpolation data of 8 segments to pre buffer at a maximum before starting interpolation 4 Write the 1st segment data and interpolation command When the 1st segment is linear interpolation write a finish point to each interpolation axis and then write linear interpolation driving command When is circular interpolation write the center point of a circular arc and a finish point to each interpolation axis and then write circular interpolation driving command When writing one segment information any of a finish point center point or interpolation axis can be written first however interpolation driving command must be written last 5b Write up to the 8th segment data and interpolation command It writes data and interpolation driving command from the second up to the 8th segment as the Ist segment Pre buffer is composed of 8 stages While checking the value of the stack counter displayed in D12 D15 bits of RRO register the user can write data up to 8 segments before starting interpolation 6 Wri
397. terpolation driving is the operation to move the position by interpolating every drive pulse each of more than 2axes 514 can perform linear interpolation circular interpolation helical interpolation and bit pattern interpolation driving selecting an arbitrary axis of 4 axes In addition multiple axes linear interpolation of more than 5 axes can be performed by using several these ICs The basic operation procedures to perform interpolation are as follows Set interpolation axis Select the axis to perform interpolation using interpolation mode setting command 2Ah For more details of interpolation mode setting command 2Ah see chapter 7 3 8 Note e Axis assignment for interpolation issuing interpolation mode setting command 2Ah must be performed at the first of interpolation settings If assigned after interpolation speed or position data settings interpolation driving will not be performed correctly Set interpolation speed Set the speed for interpolation driving which should be set to the main axis that is automatically determined in order of priority X gt Y gt Z gt U from selected axes For instance when X Z and U axes are assigned as the interpolation axis the main axis is X axis and the user sets speed parameters such as initial speed and drive speed to the main axis The main axis outputs main axis pulse to the interpolation counting section when interpolation driving starts In the interpolation counting sec
398. the synchronous action is performed once or repeatedly 03 0 08 4 Dib 114 013 D12 pti D10 19 08 D7 D6 05 04 L p3 D2 DI DO WR6 REP AXISJAXISZ AXISTISNC 3 SNC 2 SNC ACT2 ACT1 ACTO PRV3 PRV2 PRV1 PRVO L IL IL Hi IL Repeat Other Axes Other SYNC Activation Action Activation Factor SYNCO Activation PREV3 0 It designates the activation factor of a synchronous action by code m 0 1 2 3 Code Activation factor in SYNCm pode Activation factor in SYNCm Hex Hex 0 NOP 8 Termination of split pulse 1 MRm comparison changed to True 9 Output of split pulse 2 Timer is up A nPlOm input 1 3 Start of driving B nPlOm input 4 Start of driving at constant speed area C nPlO m 4 input Low and nPlOm input 1 5 Termination of driving at constant D nP1O m 4 input Hi and nPlOm input 1 Speed area 6 Termination of driving E nPIO m 4 input Low and nPlOm input 7 Start of split pulse F nPlO m 4 input Hi and nPlOm input For more details of the activation factor of a synchronous action and setting code see chapter 2 6 1 ACT4 0 designates the action of a synchronous action by code m 0 1 2 3 Action in SYNCm Code Action in SYNCm Hex Hex 00 NOP 0C Start of absolute position driving 01 Load MRm DV 00 Start of F direction continuous pulse driving 02 Load MRm TP 0 Start of d
399. the host CPU to access the write read 0 21 24 Input A registers If 16 bit data bus is used cannot be used and should be connected to GND In I C mode 2 are used as chip address setting pins Bi directional I2CSDA SDA signal in IPC mode SDA 25 D Chip Select SCL input signal for selecting I O device for MCX514 CSN SCL 26 Input A Set to the Low level for data reading and writing In mode used as SCL signal Write Strobe its level is Low while data is being written to MCX514 WRN 27 Input A While WRN is Low CSN and A3 A0 must be determined Around when WRN is up 7 the levels of D15 DO must be determined because the data is latched in the write register when WRN is up 1 Read Strobe its level is Low while data is being read from MCX514 RDN 28 Input A Set CSN to Low and RDN to Low and while RDN is Low the read register data selected by 0 address signals is output to the data bus Reset reset return to the initial setting signal for MCX514 Setting RESETN to Low for more than 8 CLK cycles resets MCX514 This RESETN 29 Input A IC must be reset by RESETN signal when the power is on Note If there is no clock input to MCX514 setting RESETN to Low cannot reset this IC External Pulse pulse input signal for single step interpolation by external signal In single step interpolation by external signal EXPLSN down 1 EXPLSN 30 Input B starts the interpolation calculation and 1 interpolatio
400. the next rising edge 1 of nEXPP signal DV 2 FxTPx2 DV Drive speed pps TP Drive pulse number Frequency Hz at the maximum speed of the manual pulsar encoder For instance under the conditions where the maximum frequency of the manual pulsar is F 500Hz and the drive pulse number is TP 1 the drive speed must be DV 1000pps or greater Since acceleration deceleration driving is not applied set the initial speed SV to the value larger than the drive speed DV However when a stepping motor is used for driving the drive speed must not exceed the self starting frequency of the motor 103 NOVA electronics Inc MCX514 104 2 12 2 Pulse Output Type Selection Drive pulse output signals are XPP PLS PA 37 and XPM DIR PB 38 in X axis YPP PLS PA 39 and YPM DIR PB 40 in Y axis ZPP PLS PA 41 and ZPM DIR PB 42 in Z axis and UPP PLS PA 43 and UPM DIR PB 44 in U axis Four pulse output types are available to each axis as shown in the table below In independent 2 pulse type when the driving is in the direction the pulse output is fromnPP and when the driving is in the direction the pulse output is fromnPM In 1 pulse 1 direction type nPLS is for output of drive pulses and nDIR is for output of direction signals In quadrature pulse type the A phase signal of quadrature pulse is output to nPA and the B phase signal of quadrature pulse is output to nPB In quadrature pulse and quad edge evaluation when output of nP
401. they are shared with the general purpose input signals PIN7 0 3 3KQ x8 m First axis drive pulse t second axis drive pulse 2 Third axis drive pulse x A Fourth axis drive pulse 15 0 A2 0 CSN RDN WRN Fifth axis drive pulse Sixth axis drive pulse 5 3 seventh axis drive pulse 2 Eighth axis drive pulse From 15 0 Host CPU AS 11 RDN WRN x Ninth axis drive pulse I Tenth axis drive pulse Eleventh axis drive pulse Twelfth axis drive pulse Fig 3 10 1 Connection Example of Multichip Axes Interpolation Each signal works as follows Table 3 10 1 Operation of Each Signal in Multichip Interpolation Signal Pin No Signal Function Direction Shared General Purpose Input Signal MPLS 132 Synchronous pulse of interpolation drive Main Sub PIN7 MERR 133 Error occurred Stop of main chip Main Sub 6 134 In position waiting Main Sub PIN5 MCLK 135 Clock of data transfer for 3 0 Main Sub PIN4 MDT3 0 136 139 Transfer data of finish point in each chip Main Sub PIN3 0 145 NOVA electronics Inc MCX514 146 3 10 1 Execution Procedure The execution procedure of multiple axes linear interpolation by u
402. ting automatic home search mode setting 2 command 24h into WRO register It specifies the logical level of deviation counter clear nDCC output pulses and pulse width enable disable the timer between steps and timer time real logical position counter clear at the end of an automatic home search AND stop condition for the encoder Z phase signal nSTOP2 and home signal nSTOP1 Dib 14 pi2 P pti DIO D9 08 07 06 05 D4 5 D3 D2 DI DO WR6 2 1 HTMO HTME DCP2 DCP1 RCLR SAND D The logical level of deviation counter clear NDCC output pulse and pulse width For when deviation counter clear signal nDCC is output in each step the user can specify the logical level and pulse width To specify the logical level set D3 bit DCPL to 0 Hi pulse 1 Low pulse Hi Pulse Low Pulse 10 5 20msec Fig 2 5 12 Logical Level of Deviation Counter Clear Output Pulse Use 3bits D6 4 DCP2 DCPO to set the pulse width The settable pulse width is shown in the table below Table 2 5 7 Pulse Width of Deviation Counter Clear Output WR6 D6 WR6 D5 WR6 D4 Pulse Width DCP2 DCP1 DCPO CLK 16MHz 0 0 10 usec 0 0 1 20 usec 0 1 0 100 usec 0 1 1 200 usec 1 0 0 1 msec 1 0 1 2 msec 1 1 0 10 msec 1 1 1 20 msec NOVA electronics Inc 514 49 Enable disable the timer between steps The user
403. tion Speed4 a b 4 e f g Drive Speed Initial Speed time Acceleration 4 Deceleration mE Acceleration increasing rate slope Specified Value Accelerati Deceleration time Fig 2 2 12 Partial S curve Acceleration Deceleration Driving NOVA electronics Inc 514 30 E Example of Parameter Setting Partial S curve Acceleration Deceleration The figure shown below is the example of partial S curve acceleration that reaches to 10kpps in 0 2 seconds by parabolic acceleration and then reaches from 10kpps to 30kpps in 0 2 seconds by acceleration on a straight line finally reaches from 30kpps to 40kpps in 0 2 seconds by parabolic acceleration To simplify a calculation suppose the initial speed is 0 The acceleration increases to the first 10kpps in 0 2 seconds by parabolic acceleration on a straight line and this integral value area indicated by diagonal lines corresponds to the rising speed 10kpps of the first parabolic acceleration Therefore the acceleration at 0 2 seconds is 10kx2 0 2 100kpps sec and the jerk is 100k 0 2 500kpps sec Speed pps 4 40k 30k 10k 0 0 2 0 4 0 6 time sec Acceleration 4 pps sec 100k 0 0 2 0 4 0 6 ime Fig 2 2 13 Example of Partial S curve Acceleration Deceleration Driving However the initial speed cannot be 0 the initial speed SV must be set the value larger than 0
404. tion Timer is up can be specified As the action of a synchronous action there are 3 kinds gt MRm saving the current timer value intoMRm register Timer start and Timer stop be specified For more details of these functions see chapter 2 6 2 9 5 Timer Operating State and Current Timer Value Reading W Current timer value reading The current timer value in operation can be read out by current timer value reading command 38h A timer counter starts to count up from 0 and the value of a timer counter can be read out anytime during operation A timer counter clears to 0 when a timer stops After a timer is finished or issuing timer stop command if the user reads the current timer value 0 will be read out W Timer operating check Timer operating state can be checked by D10 bit TIMER of RR3 register Pagel When a timer starts D10 bit TIMER becomes 1 and that indicates the timer is in operation 2 9 6 Interrupt by Timer The user can generate an interrupt signal when a timer is up Set D9 bit TIMER of WR1 register to 1 For more details of the interrupt function see chapter 2 10 NOVA electronics Inc 514 93 2 9 7 Examples of Timer Example 1 Driving starts after 17 35msec when X axis driving is finished When relative position driving is finished it again starts the same relative position driving after 17 35msec This is performed by the function of a synchronous action Time Term
405. tion and interpolation counting sections In interpolation driving interpolation is calculated at the timing of basic pulse oscillation of a specified main axis AX1 which can be performed both in constant and acceleration deceleration driving Fig 1 2 2 is the functional block diagram of each axis control section ct Parallel Bus Multichip Interpolation WRN Control 8 stages Counting Section Section Pre buffer Multichip interpolation Signal A3 A0 2 AX 015 00 SBIV 16Bit Command Data Linear Interpolation Interpretation Counting Section Serial Bus Process 2 axis 3 axis 4 axis E da SCL Control Section Interpolation SDA Section Control 12 Section Circular Interpolation INT Counting Section Helical Interpolation Counting Section CLK 16MHz Standard Bit Pattern Interpolation RESETN Counting Section 2 axis 3 axis 4 axis Main axis pulse X axis Control Section VO INT Main axis pulse Y axis Control Section Y axis INT Main axis pulse Interrupt Z axis Control Section Z axis Generator INT 1 Interrupt U axi U axis Control Section Fig 1 2 1 MCX514 Whole Functional Block Diagram NOVA electronics Inc MCX514 10 P P To Interpolation Section r Main axis pulse Jerk Generator Command Data IE Command Interpretation Data p Acceleration Decele
406. tion the calculation cycle is performed at the timing of main axis pulse and drive pulses are generated for each interpolation axis Please refer to Fig 1 2 1 514 The Whole Functional Block Diagram As the main axis pulse works only in the interpolation counting section so the drive pulse of the main axis does not become the setting speed The maximum drive speed of each interpolation driving is as follows Interpolation Maximum Drive Speed Linear interpolation 8Mpps Circular interpolation 8Mpps Bit pattern interpolation 4Mpps Helical interpolation 2Mpps 109 NOVA electronics Inc MCX514 110 Be sure to set interpolation speed when interpolation driving is performed especially in the following cases it must be set e When interpolation driving is performed after normal driving and when speed parameters are the same as those normal driving e After interpolation driving when interpolation driving is performed without changing speed and position parameters but interpolation mode setting is changed Note The drive speed cannot be changed during interpolation driving Set position data In 2 3 4 axes linear interpolation set the finish point of each axis and in circular interpolation set the center and finish points of a circular arc 2 3 4 axes bit pattern interpolation set the bit data the direction of each axis In bit pattern interpolation the user can write 128 bit data to e
407. tion factor of 1 set of any axis occurs the other 3 sets of the same axis and 15 of another axis which are total Tsets of actions can be activated simultaneously Multiple synchronous action sets can be used in combination which allows users to develop a wide array of applications Action Outputs an external signal when passing through a Output the pulse signal to the external specified position during the driving Pro l1 Saves the current position to a specified register when d an external signal is input during the driving Axis is passing through the position 15 000 Outputs N split pulses from a specified position to the ur external during the driving ZZ LLL VITA Fig 1 1 10 Synchronous Action B Four Multi Purpose Registers MCX514 has four 32 bit length multi purpose registers in each axis Multi purpose register can be used to compare with the current position speed and timer and then can read out the status which represents comparison result and can output as a signal In addition it can activate a synchronous action according to comparison result or can generate an interrupt By using with synchronous action it can save values of current position or speed of during the driving to multi purpose registers and load values that are saved in multi purpose registers to the output pulse number or drive speed Timer Function 514 is equipped with a timer in each axis which can set with the ran
408. tive object D1 CMR1 D1 CMR1 changed to meet the comparison condition The comparison result of multi purpose register MR2 with a comparative object D2 CMR2 D2 CMR2 changed to meet the comparison condition The comparison result of multi purpose register MR3 with a comparative object D3 CMR3 D3 CMR3 changed to meet the comparison condition D4 D STA D4 D STA Driving starts D5 C STA D5 C STA Pulse output starts at constant speed area in acceleration deceleration driving D6 C END D6 C END Pulse output is finished at constant speed area in acceleration deceleration driving D7 D END D7 D END Driving is finished D8 H END D8 H END Automatic home search is finished D9 TIMER D9 TIMER Timer expires D10 SPLTP Outputs split pulse in positive logic occurs at 1 of split pulse D11 SPLTE Split pulse is finished D12 SYNCO Synchronous action SYNCO is activated D13 SYNC1 Synchronous action SYNC1 is activated D14 SYNC2 Synchronous action SYNC2 is activated D15 SYNC3 Synchronous action SYNC3 is activated E Interrupt setting and reading Each factor of interrupt can be set by setting levels in WRI register bits 1 enable and 0 disable as shown in the table above When the interrupt factor that is enabled becomes True the corresponding bit of register will be set to 1 and the interrupt output signal INTON will be on the Low level After the status has been read from the
409. to output split pulses from position 5 000 X axis and changes split length pulse width from Split pulse starts from the logical position 5 000 and changes a split length and pulse width from the logical position 10 000 and then outputs the rest of split pulses This is performed by the function of a synchronous action Position 5000 XPP XPM XSPLTP Pulse width 5 Split length 10 Position 10000 Pulse width 2 Split length 4 Fig 2 7 6 Change Split Length and Pulse Width at Specified Position during the Driving Program Example Drive setting constant speed driving at 1000 PPS WRG WR7 WRO 1200h 007Ah 0104h Write Write Write PE WRG WR7 WRO lt OSE8h 0000h 0105h Write Write Write Drive WRG WR7 WRO 0000h 0000h 0109h Write Write Write WR6 WR7 WRO 2EEOh 0000h 0106h Write Write Write Drive Split pulse setting Split length pulse width setting WR6 lt 000Ah Write Split WR7 0005 Write Pulse WRO 0117h Write Split pulse number setting WR6 0320h Write WRO 0118h Write Split Split pulse logic starting pulse setti WR6 0800h Write 010 D11 WRO 0122h Write Multi purpose register setting MRO setting WR6 1387h Write WR7 lt 0000h Write WRO 0110h Write MRI WR6 lt WR7 WRO setting 2710h Write 0000h Write
410. tting Synchronous action SYNC3 disable setting Synchronous action SYNCO activation Synchronous action SYNC1 activation Synchronous action SYNC2 activation Synchronous action SYNC3 activation NOVA electronics Inc MCX514 241 Other Commands def ine MCX514 CMD70 VINC 0x0070 Speed increase def ine MCX514 CMD71 VDEC 0x0071 Speed decrease itdef ine MCX514 CMD72 DCC 0x0072 Deviation counter clear output itdef ine MCX514_CMD73_TMSTA 0x0073 Timer start itdef ine MCX514 CMD74 TMSTP 0x0074 Timer stop itdef ine MCX514_CMD75_SPSTA 0x0075 Split pulse start itdef ine MCX514 CMD76 SPSTP 0x0076 Split pulse stop def ine MCX514 CMD77 DHOLD 0x0077 Drive start holding def ine MCX514 CMD78 DFREE 0x0078 Drive start holding release itdef ine MCX514 CMD79 R2CLR 0x0079 Error Finishing status clear itdef ine MCX514 CMD7A RR3PO 0x007A PageO display define MCX514_CMD7B_RR3P1 0x007B RR3 Pagel display def ine MCX514_CMD1F_NOP 0x001F NOP itdef ine 514 CMDFF RST 0 00 Command reset Axis definition define MCX514 AXIS X 0x01 X axis define MCX514_AXIS_Y 0x02 Y axis define MCX514 AXIS 7 0x04 7 axis define MCX514 AXIS U 0x08 U axis define MCX514 A
411. turns to the start point after one rotation of circular interpolation 119 NOVA electronics Inc MCX514 120 3 3 8 Position Drift in Helical Interpolation Helical interpolation performs circular interpolation in the XY plane and moves Z or U axis in synchronization with the circular interpolation Ideally the increased amount of the rotation angle in the center of circular interpolation must be directly proportional to the increased amount of Z U axis feed as shown in Fig 3 3 5 However as the circular interpolation in MCX514 is performed in the XY orthogonal coordinates the increased amount of output pulses in X and Y axes is not directly proportional to the increased amount of the rotation angle in the center of circular interpolation This affects the Z U axis feed that is calculated by output pulses from X and Y axes of circular interpolation as a result it is not also directly proportional Each time the quadrant changes in circular interpolation periodic drift is generated Z axis 2 U axis Displacement Displacement Feed Feed Amount Amount Drift range 096 Drift range 0 1 or less when feed amount of Z U axis is 10096 0 45 90 135 180 225 270 315 360 0 45 90 135 180 225 270 315 360 Rotation Angle degree in XY Circular Interpolation Rotation Angle degree in XY Circular Interpolation Fig 3 3 5 Ideal Z axis Feed in Helical Interpolatio
412. type is engaged direction pulses are output through the output signal nPP and direction pulses through nPM When 1 pulse 1 direction type is engaged and directions pulses are output through the output signal nPLS and nDIR is for direction signals When quadrature pulse type is engaged the A phase signal of quadrature pulse is output through the output signal nPA and the B phase signal of quadrature pulse through nPB Setting logical level of driving pulses 0 positive logical level 1 negative logical level cula Positive Logical Level Negative Ligical Level Setting logical level of the direction nDIR output signal for 1 pulse 1 direction mode DIR L D6 DIR L t direction direction 0 Low Hi 1 Hi Low Replaces output pins of drive pulse output between nPP PLS PA signal and nPM DIR PB signal 0 initial setting 1 pin inversion When this bit is set to 1 and pulse output type is independent 2 pulse drive pulses are output to the nPM signal during the direction driving and to the nPP signal during the direction driving In the same way output pins are replaced when in other pulse output types Setting encoder pulse input type Real position counter counts Up Down according to an encoder input signal D9 PIMD1 D3 PIMDO Encoder pulse input type 0 0 Quadrature pulses input and quad edge evaluation 0 1 Quadrature pulses input and double edge evaluation 1 0 Quadrature pulses input and single
413. unction Setting for Driving by External Signals of nPlOm Signal To perform driving by external signals set nPIO4 5 signals of general purpose input output signals to nEXPP nEXPM input signals for driving by external pulses It sets D11 8 bits of PIO signal setting 1 command 21h 5 Di4 D3 Di2 pii D9 08 06 05 04 b p3 D Di Do WR6 P5MO PAM1 p nPIO5 Signal 4 Signal nEXPM nEXPP To use the function of nPIO4 signal as the input signal for driving by external pulses nEXPP set D9 8 bits to 0 0 Similarly set D11 10 bits of nPIOS signal to 0 0 Mode setting for driving This is the mode setting for driving by external pulses It sets D9 8 bits of PIO signal setting 2 Other settings 22h Di5 Di4 D3 Di2 pi Dio 09 s 06 05 04 pa D2 bi po WR6 EXOP1 EXOPO e Driving Mode by External Pulses Use 2 bits D9 8 bits to set the mode of driving by external signals nEXPP The driving mode corresponding to each bit is shown in the table below Table 2 12 1 Mode of Driving by External Signals D9 EXOP1 Mode of driving by external signals Disables the driving by external signals Continuous pulse driving mode Relative position driving mode Manual pulsar mode 101 NOVA electronics Inc MCX514 102 E Relative position driving mode Set D9 8 bits of
414. unter value is decremented in the direction from 0 the value is reset to FFFF FFFFh The variable ring function enables the setting of any value as the maximum value This function is useful for managing the position of the axis in circular motions that return to the home position after one rotation rather than linear motions The variable ring size that is the maximum value of the logical real position counter can be set to any value within the range of 1 2 147 483 647 1 7FFF FFFFh To use the variable ring function set the logical position counter maximum value LX by logical position counter maximum value setting command OEh and set the real position counter maximum value RX by real position counter maximum value setting command OFh The value of the logical position counter maximum value LX and real position counter maximum value RX will be FFFF FFFFh at reset When not using the variable ring function leave it at default B Example of Variable Ring Setting For instance set as follows for a rotation axis that rotates one cycle with 10 000 pulses D Set 9 999 270Fh in the logical position counter maximum value LX 2 Set 9 999 270Fh in the real position counter maximum value RX also if using a real position counter The count operation will be as follows Increment the direction gt 9998 gt 9999 gt 0 1 gt Decrement in the direction lt gt 1 gt 0 gt 9999 gt 9998 gt 9999 0 1
415. up 7 the real position counter is counted down Stop2 0 input signal to perform decelerating instant stop 70 73 74 These signals can be used for HOME searching When the filter function is XSTOP2 0 91 92 93 disabled the active pulse width must be 2CLK or more Enable disable YSTOP2 0 110 111 11 Input B and logical levels can be set for STOP2 STOPO ZSTOP2 0 2 aa Stas In automatic home search STOPO can be assigned to a near home USTOP2 0 129 130 13 search signal STOP1 to a home signal and STOP2 to an encoder 1 Z phase signal The signal status can be read from register Over Run Limit signal of direction over limit During the direction drive pulse outputting decelerating stop or instant 68 stop will be performed once this signal is active When the filter function is disabled the active pulse width must be 2CLK or more Enable disable YLMTP 87 Input B ZLMTP 106 EUN decelerating stop instant stop and logical levels can be set as ULMTP 127 commands When the limit signal is enabled and this signal is in its active level during direction driving HLMT bit of RR2 register becomes 1 signal status can be read from RR3 register 0 and this signal can be used to search a home position Over Run Limit signal of direction over limit During the direction drive pulse outputting decelerating stop or instant XLMTM 69 stop will be performed once this signal is active When the filt
416. upt factor that is enabled becomes True interpolation interrupt output signal INTIN becomes Low level D15 D14 013 D12 11 DIO D9 18 07 D6 D5 pa 03 D2 DI DO WR6 inte INTA _ Interpolation driving Interrupt Table 2 10 2 Interrupt Factor generated in Continuous Interpolation Enable Disable Interpolation Mode D14 INTA Factors of Interrupt Stack counter in pre buffer changed from 4 to 3 D15 INTB Stack counter in pre buffer changed from 8 to 7 Interpolation interrupt output signal INT1N is cleared and returns to the Hi Z level by the following condition D Interpolation interrupt clear command 6Fh is written Interpolation execution command of next segment is written 3 Continuous interpolation driving is finished When both interrupt factors are enabled if the first interrupt factor becomes True interpolation interrupt output signal will be on the Low level After that if the other interrupt factor becomes True before clearing interpolation interrupt output signal INTIN keeps the Low level And if they are cleared interpolation interrupt output signal returns to the Hi Z level NOVA electronics Inc 514 98 2 11 Input Signal Filter This IC is equipped with an integral type filter in the input stage of each input signal Figure 2 11 1 shows the filter configuration of each input signal in X axis and Y Z
417. ut is TTL level If the other input is 5V type CMOS level it cannot be connected XNote1 The signal with F symbol has an integral filter circuit in the internal input column of this IC Input side is 5V tolerant LVTTL Schmitt trigger which is pulled up with 100kQ in the IC Output side is activated during multichip axes interpolation When signals are connected among chips in multichip axes interpolation please shorten the length of wiring as far as possible and do not cross other signal paths The user should be Open if the input is not used I C exclusive SDA signal Input side is 5V tolerant LVTTL Schmitt trigger Because there is no pull high resister for those signals in this IC the user should pull up the data bus with high impedance Output side is open collector type output of 6mA driving buffer When used as SDA signal pull up to VDD through a resistor The user should pull up to VDD with high impedance or connect to GND directly if this is not used Input side is 5V tolerant LVTTL Schmitt trigger Because there is no pull high resister for those signals in this IC the user should pull up the data bus with high impedance Output side is open collector type output When signals are connected among chips in multichip axes interpolation please shorten the length of wiring as far as possible and do not cross other signal paths The user should pull up to VDD with high impedance or connect to GND directly if this is not used
418. ut output signals must be set for the synchronous pulse output by mode setting And this signal must be set the logical level of whether Hi or Low pulses are output and pulse width These settings can be set by PIO signal setting 1 command 21h or PIO signal setting 2 Other settings 22h NOVA electronics Inc 514 65 Note D m 0 3 signal synchronous pulse output setting To set nPIOm signal for the synchronous pulse output by mode setting use PIO signal setting 1 command 21h and set as shown below 07 06 05 D4 pa D2 Di DO P3M1 P3MO P2M1 eun P1MO POM1 POMO Dib 114 013 D12 pii DIO 09 08 WR6 nPIO3 Signal nPIO2 Signal nPIO1 Signal nPIOO Signal PkM1 Setting k 0 3 1 Synchronous action output 2 bits of WR6 register corresponding to the nPIOm signal that is used must be set to 1 1 for the synchronous pulse output For instance when using XPIO2 signal set D5 D4 bits P2M1 P2MO of WR6 register to 1 1 and then write PIO signal setting 1 command 21h with X axis into WRO register Logical level of output pulse signal and pulse width settings To set the logical level of output pulse signal and pulse width use PIO signal setting 2 Other settings 22h and set as shown below 5 Di4 D3 Di2 pi Dio Do 18 07 D6 D5 b D3 02 Di DO WR6 PW2 PWO P3L P2L PIL POL
419. ve When an error occurs in any axis of the main chip during interpolation driving one of D5 0 bits becomes 1 in RR2 register of each axis and the error bit D7 4 n ERR of a corresponding axis become 1 in RRO register And when an error occurs in any axis of the sub chip similarly to the main chip one of 0570 bits becomes 1 in RR2 register of each axis and the error bit D7 4 n ERR of a corresponding axis become 1 in RRO register And the sub chip makes MERR signal of multichip interpolation signal Low Active and informs the main chip about an error occurring In the main chip when the error is received the error bit D7 4 n ERR of a corresponding axis of the main axis become 1 in RRO register If an error occurs the main chip stops outputting the synchronous pulse of interpolation driving to the sub chip as a result all axes stop immediately Thus the user just monitors the error bit D7 4 n ERR of RRO register in the main axis of the main chip to check an error during interpolation and at the termination of driving If the error is detected bit data 1 check the data of RR2 register register for displaying error of each interpolation axis and perform error analysis 3 10 2 Stop of Interpolation Driving When the user wants to stop interpolation driving write the stop command to the main axis of the main chip When driving of the main axis stops other interpolation axes of main and sub chips also stop driving and the dri
420. ve bit corresponding bit of D3 0 n DRV of RRO register returns to 0 3 10 3 Continuous Interpolation Linear interpolation driving can be performed continuously in multichip interpolation too by the same way as the continuous interpolation with single chip Write the drive start holding command and drive start holding release command to the main axis of the main chip If pre buffer of the main chip has free space the user can write the finish point data into all the interpolation axes The empty state of pre buffer in the sub chip will be updated at the same timing as the main chip 3 10 4 Notes for Multichip Interpolation e Multichip interpolation signal MPLS MCLK MERR MINP MDT3 0 must be pulled up to 3 3V the range of a resistance value is IK 5 1KQ It is recommended to use about 3 3KQ e Do not cross the wiring path of multichip interpolation signal MPLS MCLK MINP MDT3 0 with other signals and connect them as short as possible and cannot share the general input signal by jumper switching in customer s circuit system e Inmultichip interpolation constant vector speed can be performed only with axes of the main chip e In position should be set disabled in continuous interpolation 148 NOVA electronics Inc MCX514 149 3 10 5 Examples of Multichip Interpolation Examples using 2 chips main and sub chips are as follows B Example 1 Multichip Interpolation with each chip of 2 axis X and Y Program Examp
421. ving command is executed and when acceleration keeps constant MR2 comparison output CMP2 becomes Hi when it satisfies the comparison condition of multi purpose register MR2 XPIO5 EXPM AASND CMP1 YPIO5 EXPM AASND CMP1 ZPIOS EXPM AASND CMP 1 UPIO5 EXPM AASND CMP1 58 77 96 115 Bi directional B daa F pr Universal Input Output5 External Operation Acceleration Ascend Compare MR1 general purpose input output signals PIO5 External Operation EXPM acceleration increasing status output signal AASND MR1 comparison output CMP1 share the same pin The signal to use can be set as commands About general purpose input output signals PIO5 it is the same as PIO7 For synchronous action it can be used as the input signal of an activation factor External Operation EXPM is direction drive starting signal from external source When the relative position driving is commanded from an external source direction relative position driving starts by down of this signal When the continuous pulse driving is commanded from an external source direction continuous pulse driving is performed while this signal is on the Low level In the manual pulsar mode the encoder B phase signal is input to this pin Acceleration increasing status output AASND becomes Hi while the driving command is executed and when acceleration increase MR1 comparison output CMP1 becomes Hi when it satisfies the co
422. ware limit is enabled and is active Make sure to check the status of driving finishing D15 D8 after confirming the driving is finished by the n DRV bit of RRO main status register 6 14 Status Register 3 RR3 Each axis has status register RR3 individually The host CPU specifies the status register of which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Status register RR3 has 2 kinds of pages Page 0 and Pagel Page 0 is used for displaying the input signal status and automatic home search execution state Page 1 is used for displaying 1 enable disable of a synchronous action 2 acceleration deceleration status in acceleration deceleration driving 3 acceleration increasing decreasing status in S curve acceleration deceleration 4 timer operating state 5 split pulse operating state 6 transfer error status during multichip interpolation The page can be designated by writing RR3 Page Display Command 7Ah 7Bh It will be Page 0 at reset L Dib 14 D12 pti D10 D9 08 D7 D6 05 04 D3 D2 DI DO 0 0 55 5 5574 553 18572 HSST1 HSSTO LMTM LMTP ALARMI INPOS ECB ECA STOP2 STOP1 STOPO H L D14 13 DI2 Dii DIO 09 D8 D7 D6 D5 D4 D3 D2 DI DO RR3 Pagel 1 0 0 MCERR SPL 1T TIMER ADSND ACNST AASND DSND CNST ASND syncs S
423. ways be set to 0 211 NOVA electronics Inc MCX514 212 7 4 Commands for Reading Data Commands for reading data are used to read the internal register After a data reading command is written into register WRO this data will be set in registers RR6 and RR7 The user can obtain a specified data by reading the registers RR6 and RR7 When the data length is 2 bytes the data will be set in register RR6 and when it is 4 bytes the data will be set in registers RR6 and RR7 Reading data is binary and 2 s complement is used for negative numbers Note e requires 125 nSEC maximum to access the command code of data reading where CLK 16MHz After the command is written and passed that time read registers RR6 and 7 e The unit described in each speed parameter and timer value is for when input clock CLK is 16MHz Please see Appendix B for parameter calculation formula when input clock CLK is other than 16MHz e assignment should be only 1 axis 7 4 1 Logical Position Counter Reading Code Command Data Range Data Length byte 3 0h Logical position counter reading 2 147 483 648 2 147 483 647 4 The current value of logical position counter is set in read registers RR6 and RR7 7 4 2 Real Position Counter Reading Code Command Data Range Data Length byte 31h Real position counter reading 2 147 483 648 2 147 483 647 4 The current value of real position counter is set
424. without executing the RRO D7 4 execution axis 1 start of Step 3 following steps RR2 D6 1 Make sure to check the D7 4 bits n ERR of RRO register after the termination of an automatic home search If the error bit of execution axis is 1 the automatic home search is not performed correctly Note e Steps 1 and 2 when the limit signal in the moving direction becomes active search driving stops instantly by deceleration however the error does not occur W Symptom at sensor failure It describes the symptoms when a failure occurs regularly in the sensor circuit such as a home search signal or a limit signal However analysis of intermittent failures caused by noise around the cable path loose cable or unstable operation of the device is difficult and such failures are not applicable to these cases described below These symptoms may occur due to a logical setting error or signal wiring error at the development of a customer system Table 2 5 11 Symptom at Sensor Failure Failure cause Symptom Failure in the device of the Kept ON The axis does not advance to the direction and the limit error bit RR2 D3 or limit sensor and wiring path D2 is set to 1 at the termination Kept OFF The axis runs into the mechanical terminal point and the home search operation does not terminate Failure in the device of the Kept ON Although Step 1 is enabled and automatic home search is started from the Step1 detection signal signal OF
425. xis lt lt 8 Reads RR7 ReadReg amp rdatal Reads RR6 ReadReg6 amp rdata2 Create data for reading retdata long 1 Sets RR7 value to the upper 16 bit Data retdata lt lt 16 retdata long rdata2 Sets RR6 value to the lower 16 bit Data Data retdata return 0 Common function of command execution int ExeCmd unsigned short Cmd int Axis Writes a command into WRO WriteRegO Axis lt lt 8 return 0 249 MCX514 249 NOVA electronics Inc 514 250 Waiting for termination of driving void waitdrive int Axis unsigned short rrData ReadReg0 amp rrData Reads RRO while rrData amp Axis lf during the driving ReadReg0 amp rrData Reads RRO Waiting for termination of split pulse void waitsplit int Axis unsigned short rrData ReadReg3 1 Axis amp rrData Reads RR3 Pagel while rrData amp 0x0800 lf split pulse is in operation ReadReg3 1 Axis amp rrData Reads RR3 Pagel Operation example functions Automatic home search Performs Example 1 Home search using a home signal in 2 5 8 Examples of Automatic Home Search void homesrch void WriteReg2 MCX514 AXIS
426. y write instant stop command 57h to the main axis and wait for more than 1 pulse cycle and then write single step interpolation command 6Fh again driving will stop Single step interpolation command written after the termination of interpolation driving will be disabled 143 NOVA electronics Inc MCX514 144 3 9 2 External Signal Controlled Single step Interpolation EXPLSN pin 30 is used for the single step interpolation from the external signal Normally EXPLSN input signal is on the Hi level When it changes to Low the interpolation step will be output The operating procedure is shown as follows a Set D9 bit to 1by interpolation mode setting command 2Ah It will enable the single step interpolation b Set the same value to the initial and drive speeds of interpolation main axis When the same value is set to the initial and drive speeds driving becomes constant speed This speed value must be faster than the Low pulse cycle of EXPLSN as well as the case of the command c Set interpolation data finish point center point d Write interpolation command Although the interpolation segment was written the interpolation pulses are not output yet because the single step interpolation is enabled e EXPLSN input on Low level The interpolation pulse will be output after 2 5 CLK from the EXPLSN falling down The Low level pulse width of EXPLSN has to be longer than 4CLK Furthermore the pulse cycle of
427. y the automatic home search mode setting 2 command 24h See chapter 2 5 2 and 2 5 4 for details 7 8 4 Timer Start Command Timer start This command starts a timer When a timer is started by this command the current timer value CT starts to count up from 0 and when the count reaches the value specified by the timer value TM then the timer is up A timer can be used repeatedly after the time is up To repeat a timer set D14 bit TMMD of WR3 register to 1 For more details of the timer see chapter 2 9 7 8 5 Timer Stop Command Timer stop This command stops a timer If a timer is stopped before it expires the current timer value CT returns to 0 And if the timer is started again it counts up from 0 7 8 0 Start of Split Pulse Command Start of split pulse This command outputs split pulses Split pulses are output from the nSPLTP output pin during the driving SPLIT bit of Pagel of RR3 register which indicates the split pulse is in operation becomes 1 by issuing start of split pulse command Before issuing this command each parameter such as a split pulse length must be set appropriately For more details of each parameter for the split pulse see chapter 2 7 231 NOVA electronics Inc 514 232 7 8 7 Termination of Split Pulse Code Command 76h Termination of split pulse This command stops to output split pulses SPLIT bit of Pagel of RR3 register w
428. ynchronous action sets have each corresponding command code Synchronous action set SYNCO is 81h SYNCI is 82h SYNC2 is 84h and SYNC3 is 88h These commands can be enabled in combination simultaneously For instance if 83h is executed SYNCO 1 become enable For more details of a combination of command codes see table 2 6 7 When 0 is set in SYNCm setting once the synchronous action is executed the synchronous action becomes disable and even if the activation factor is activated again the synchronous action will not be executed When 1 is set the synchronous action set keeps enable after the synchronous action is executed To enable the synchronous action set that is disabled by execution of the synchronous action synchronous action enable setting command must be wirtten again When ERRDE 1 is set in PIO signal setting 2 Other settings command 22h all the synchronous action sets change to disable if an error occurs when the error bit of RRO register becomes 1 In this case unless the error status is cleared the synchronous action cannot be enabled by issuing synchronous action enable setting command To clear the error status write error finishing status clear command 79h Enable disable of 4 synchronous action sets can be checked by 3 0 bits SYNC3 SYNCO of register Pagel NOVA electronics Inc 514 69 W Disable setting Each synchronous action set can be disabled by synchronous action disab

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