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PCD4511/4521/4541 User`s Manual 040227

1. 300 x 8192 4 Connection example Connection example using an ISA BUS gt PCD4511 gt NP 7024 6 M FTT 74LS245 VM SDO A1 B1 DO ot INA VSA PR SD1 A2 B2 D1 SD2 A3 B3 D2 ge INB VSB fee SD3 A4 B4 D3 3 INA SD4 A5 B5 D4 dr ee SD5 I De a 4 a INB GND SD6 A7 B7 D6 Turn OFF j NP SD7 A8 B8 D7 excitation by pe 7024 PM making the 74LS688 G OTS output core Unipolar AEN G DIR PCD HIGH TdA SA2 PO 4511 TdB OUTA O SA3 P1 470 pF IND A SA4 P2 si OUTA Q SA5 P3 5 GND m SA6 P4 51 5V oe O SA7 P5 k ohm GB eu P6 i Base address 0300H ios zu 820 GND OUTB O SA9 P7 Command buffer address ui s LU REFA Unipolar constant current drive e a0 03000H 100 ISA e Q1 Data address 7 to 0 ohm Z Yl REFB GND 41 02 0301H UB Max 1 A RSA RSB BUS 5V e Q3 Data address 15 to 8 GND GND 9 sy oo 0302H 45 V Q5 Data address 17 to 16 2200 pF TIGN Q6 0303H BD HE Q7 2W 0 5 ohm 5V GND eo o o o o JOR gt 74LS244 i E GND OW ia gt E m 5 1 k ohm 74LS14 i EL 1 od c eee SAO E AO EL Y EL L od v O SA1 p A1 ll SD ed 2 750 A KZ e O RESET Do RST SD IRQx oc ALS IS og ORG O INT ORG lt 0 5 O
2. 4 OTS PCD 4511 U B F H EL EL SD SD ORG STA STP VM Phase VBB p 7 2 100V PM Phase men gt 220 uF Bipolar D Enable1 2 Enable X 68 c X Turn OFF k ohm 470 pF RC See lt gt lt gt excitation by i Q making the JE NP OTS output 5 V GND 7024M HIGH Max 1 A OUT2A 500 ohm f S VREF 68 k ohm 470 pF RC2 m 220 ohm i OUT2B C T IE 5 V GND GND SENSEI vec Unipolar constant current drive k ohm SENSE2 GND E1 E2 GND 7 GND L 1000 pF i 2W 0 5 ohm 5 V GND ine 5 1 A od Q p L LLL EUR 6 p a pj tt E l Er EEND S S ew C TA Pd xF gt QO STP a BZ Lie To a normally closed switch or sensor gt 1 I GND 99 5 A 3 SA4 SAS SA6 SA SAB SA9 ISA BUS GND GND Connection example of an ISA BUS PCD4521 and BCDC5030 74L8245 74LS5688 7418244 17141 3240 CLOCK 4 9152W8 X axis base address 0300H Y axis base address 0304H GND or 5 V Tunr OFF excitation by making the OTS output LOW Only the single axis section is shown for input output on the right side of a PCD4521 EE ea EE ET FEINER MD NS RR BET WI STA ere mn emme E of STP Cw CW MOTOR OEF ZEE Ga motor MOTOR OEE am BCDC 5030 Motor driver VM V ING V INC M GND 5 V t QOOOOQOO al sxo TTT U U LO 1 EL REE ORG To a normally closed switch or sensor gt
3. 5 4 3 Preparation for starting Write the start mode command as the last command When the start mode command is given the LSI will trigger rotation of the motor Therefore only write the start mode command at the end of a setup sequence Do not set bits 1 3 and 4 to 1 at the same time in the start mode command Turning ON 1 the Start Control Stop Control and External Start Control bits in the start mode command at the same time will keep the operation from starting on reception of the next start command Never set more than one of bits 1 3 and 4 to 1 at the same time 20 6 Description of functions 6 1 Excitation sequencing of stepper motors This LSI can generate 1 2 phase and 2 2 phase excitation sequences for 2 phase stepper motors in unipolar or bipolar driving modes Use the U B terminal to switch between unipolar and bipolar This setting is latched during an LSI reset initiated on the RST terminal Use the F H terminal to switch between 1 2 phase and 2 2 phase excitation This setting is not latched and can be changed during operation When the LSI is switched from 1 2 phase excitation to 2 2 phase excitation while the motor is in certain excitation phases steps 1 3 5 and 7 of the 1 2 phase excitation sequence shown in the table below the motor will change to 2 phase excitation with the next pulse output Unipolar excitation sequence 2 2 phase excitation 1 2 phase excitation EE Nr Sep 0 142 3 8 5
4. A2 to A15 4 9152 MHz A3 to A15 Decode CLR A4 to A15 AO to A1 AO to A1 AO to A2 AO to A2 AO to A3 AO to A3 DO to D7 DO to D7 IRQ INT RESET RESET System reset 14 4 7 Precautions for designing hardware 4 7 1 4 7 2 Input terminals Only the CLK terminal requires a CMOS level input Be careful when connecting this terminal For reset operations the internal processing may require up to three reference clock cycles When imposing a LOW on the RST terminal make sure it lasts more than 3 reference clock cycles If you want to wire OR the INT terminal or input the switch signal terminals with open collectors we recommend installing a pull up resistor built in However these are for preventing a high impedance condition Since their resistance values are high 25 K to 500 K ohm we recommend installing external pull up resistors 5 K to 10 K ohms For safe operation we recommend using a multiple layer PC board with a separate power layer Excitation sequencing The description of the excitation sequence required by a particular bipolar 1 2 phase stepper motor driver IC may be different This LSI s excitation sequence is designed for our NP 7024M 7026M unipolar driver IC and our NP 2918 bipolar driver IC These are common excitation sequences However bipolar excitation sequence requirements may vary with different driver IC manufacturers Driver ICs which can use the following excit
5. RD WR PCD4511 AO to A1 PCD4521 AO to A2 PCD4541 AO to A3 DO to D7 INT OTS EL EL STA STP ORG The block to Maanifical the right of agnification Control clock this aie dividing circuit 7 Pulse output a generation circuit line has the T control circuit same number F lof axes as the Variable dividing OM PCD circuit gt RO register Accel decel CPU ZEE control circuit R2 regi linear S curve a l 4 phase excitation gt 2 F i R3 register sequence R4 register generation circuit R5 regist es Preset counter RO gt arai R6 register Command buffer io i MEE Comparator lt INT output control di Ramping down 19V ene point R5 General purpose output control Idling pulse R6 cs GND 5 gt Digital filter EEG gt Control circuit kK L9 PO PO o1 2 3 4 U B F H VDD GND SD SD BSY 4 2 Terminal assignment diagrams 4 2 1 Terminal assignment diagram for the PCD4511 OTS NC GND NC CLK GND RST BSY INT PO VDD VDD CS PO A1 ORG AO EL WR EL RD SD 4 2 2 Terminal assignment diagram for the PCD4521 POX POx VDD BSYx VDD 4x 3x 2x ix GND F
6. SD signal control OTS terminal control control Preset operation control Select operating direction Accel decel characteristic 0 Select FL R1 0 Immediate start 0 Constant speed constant speed operation 0 OFF 0 OFF 0 Mask reset 0 Ignores ORG signals 0 Ignores SD signals 0 Disabled 0 Positive direction 0 Make OTS terminal LOW 0 Linear accel decel 60 Select FH R2 1 Inhibited wait for STA s 1 signal High speed accel decel operation ON ON Output INT when stopped ORG signal causes an immediate stop SD signal initiates deceleration high speed operation Enabled stop when PC reaches zero Negative direction Make OTS terminal HIGH S curve accel decel Register select command D76543210 D2 D1 DO Select 0 0 OJ RO O 0 1 R1 O 1 OJ R2 register 0 1 1J R3 1 0 OJ R4 1 0 1 R5 1 1 OJ R6 1 1 1 Prohibit selection Preset counter control Count pulses Stop counting Ramping down point INT Mask reset Output INT at ramping control down point O External start INT control 0 Mask reset 1 Output INT when started externally Output mode command D76543210 ani Ty Select PO output logic 0 Negative logic 1 Positive logic Ce Pulse output control Enable pulse output Stop pulse output Excitation sequence 0 Enable e 1 tog 4 1
7. 7 0 V Current consumption IN 10 mA 8 2 Recommended operation conditions Power supply voltage 4 5 to 5 5 Ambient temperature 0 to 85 n 1 Oto 0 8 2 Oto 1 0 V 1 2 2 to V DD 2 4 0 to V DD 1 Inputs other than CLK 2 CLK 8 3 DC characteristics recommended operating conditions R mel Centr Tee Me Current consumption 1 PCD4511 mA PCD4521 PCD4541 Output current loss mmm a ee TE LOW input current IL V IN GND 2 10 10 uA 200 10 E LOW output current 5 6 7 E HIGH output current BLE VOH 24V grim 6 16 Logical LOW output voltage VoL lOL ip 005 V Logical LOW output voltage VoL lOL MAX 04 V Logical HIGH output votage Von lOH 1pA Vooo V Logical HIGH output voltage Von lOH MAX 24 V Internal pullupresistance Ru 25 90 1 Reference clock 10 MHz at 4 999 390 pps output load 85 pF 2 DO to D7 AO A1 A2 A3 RD WR CS CLK CO ORG 4 DO to D7 0 M RD WR CS RST CLK ORG EL SD STA STP U B F H IN 5 DO to D7 and OTS BSY PO 01 2 3 and 4 on the PCD4521and PCD4541 6 OTS BSY PO 1 2 3 and 4 on the PCD4511 N E 50 8 4 Timing specifications 8 4 1 Reference clock Symbol Clock frequency f CLK 10 MHz Clock duty cycle teik 0 S Clock LOW time tPWE TS ClockHIGHtime tPWH 50 ns 8 4 2 Read cycle Item
8. External start signal gt lt Input Forced stop signal Input Negative Zero position limit switch signal Input 96 Positive end limit switch signal EER 63 CLK jinput Reference clock X in the terminal number column is the terminal number for the X axis Y is for the Y axis A in the input output column means that a pull up resistor is integrated into the open drain output These outputs can be wire ORed A 96 in the input output column means that a pull up resistor is integrated into the input To avoid a high impedance state A ff in the logic column means that the logic for this signal can be inverted The condition given refers to the initial status Make sure that all 6 GND terminals are connected and that all 7 VDD terminals are connected gt lt gt lt S lt 4 3 3 List of terminals on the PCD4541 Input output General description 1 2 3 4 AO to A3 Input Positive Address signal Output Interrupt signal zome GD ov 17o saz seU asv jOuput Negative Runningsigna nem 92 Oui Positive and phase exctaton sgnal S 5 Output Negative E pulse o anr Po Outpat Negative Negave pulse J 44 Y 72 2 890 4 Y 72 Z 89 U Output Positive General purpose output signal 1 73 2 96 U Input Select excitation method unipolar bipolar n select excitation sequence 28 X 47 Y 55 Z 75 U STA Input e Negative External start s
9. FL speed 1 FH speed External start control 0 Does not inhibit a start 1 Inhibit the start Speed mode 0 Constant speed 1 High speed Stop control 0 OFF 1 ON Start control 0 OFF 1 ON INT output when stopped 0 Interrupt is not output INT reset 1 Interrupt is output Speed selection Select the operation speed by setting this bit When this bit is 0 the value in register R1 FL speed setting is used as the operation speed When this bit is set to 1 the value in register R2 FH speed setting is used as the operation speed External start control By setting this bit the operation start can be inhibited When a start command is written to the command buffer with this bit set to 1 the LSI will 32 remain stopped Then when the STA terminal changes to LOW the inhibit is released and the LSI will start operation When a start command is written to the command buffer with this bit set to 0 the LSI will start operation immediately Speed mode The speed mode is selected by setting this bit Setting this bit to O will operate a stepper motor at a constant speed The LSI operates at a constant speed according to the speed set with the speed selection bit bit 0 When the constant speed mode is selected the SD signals and the ramping down point setting in R5 are ignored Setting this bit to 1 will enable accel decel speed control in high speed operation When this mode is selected the SD sign
10. Hamu STA r og aayy By STP od ST O 4 9152 MHz O Connect to a normally closed switch or sensor gt 1 GND 1 Outline and features Outline The PCD4511 4521 4541 are excitation control LSIs designed for 2 phase stepper motors With just one of these LSIs and a stepper motor driver IC e g NP 7026 you can easily construct a stepper motor control system Data and commands entered from a CPU enable this LSI to control the speed and position of a stepper motor Since the LSI has a pulse signal generation circuit it can also control a motor driver that relies on the number of pulses supplied Features Excitation sequencing output for a 2 phase stepper motor Linear and S curve acceleration deceleration control CW and CCW pulse output External start and stop control Zero return operation Outputs idling pulses 400 KPPS maximum output frequency Available in single axis PCD4511 2 axis PCD4521 and 4 axis PCD4541 models 2 Specifications Item Description 5V 10 5V H0 S Reference clock 4 9152 MHz standard 10 MHz max Range of settable positioning pulses O to 16 777 215 pulses Range of settable speeds 1 to 8 191 steps Recommended speed magnification 1x to 2x Using a standard 4 9152 MHz clock range When 1x will deliver 1 to 8 191 PPS When 2x will deliver 2 to 16 382 PPS Number of registers for setting the Two FL and FH speed Ramping down po
11. Input terminals for the end limit switch signals When the EL signal which has the same polarity as the current direction of motor rotation goes LOW the LSI will stop the motor immediately The LSI will not restart the motor even when this signal goes HIGH again If the EL signal is already LOW and an attempt is made to start the motor rotating in that direction the LSI will not let it start When pulse output control is set to halt output timer mode using the output mode command the EL signal is disabled ORG Input terminal for the zero position switch signal When ORG signal control is enabled zero position return operation using the control mode command and when this signal goes LOW the motor will stop immediately Even if this signal goes HIGH again the LSI not start the motor If the ORG signal is already LOW and an attempt is made to start the motor the LSI will not let it start When pulse output control is selected halt output timer mode using the output mode command the ORG signal is disabled STP Input terminal for the forced stop signal When the STP signal goes LOW regardless of the rotation direction of the motor the motor will stop immediately Even if this signal goes HIGH again the LSI will not start the motor If the STP signal is already LOW and an attempt is made to start the motor the LSI will not let it start STA Input terminal for external start signal When a start latch command is ent
12. When you do not want use this INT signal and want to mask it leave this bit set to 0 The INT terminal output is the result of logically ORing this signal with the interrupt signal for the ramping down point and the interrupt signal when stopped To determine which source has caused the INT signal to be output check Statuso Register select command examples X s in the table mean the value can be 0 or 1 D7 D6 D5 D4 D3 D2 D1 DO Operation details elects R1 elects R2 elects R3 0 1 0 1 Selects R5 0 Selects R6 1 X X X elects R7 Count pulses using the preset counter top counting pulses Do not output an INT signal at the ramping down point Output an INT signal at the ramping down point X X X X Do not output an INT signal when started by an A external signal Output an INT signal when started by an external signal 38 6 5 4 Output mode command D7 De D5 D4 D3 D2 Di Logic setting for the PO output Logic setting PO output 0 Negative logic 1 Positive logic Pulse output 0 Outputs 1 No output Excitation sequencing output mask 0 Outputs 1 to 4 signals 1 Mask 1 to 4 signals Intermediate stop accel decel operation 0 Enable accel decel operation continuous 1 Disable accel decel operation change to constant speed Signal input sensitivity setting for ORG EL STP and 0 High sensitivity 1 Low sensitivity Monitor mode select
13. 8 740 o z HIT ICI Bipolar excitation sequence 2 2 phase excitation 1 2 phase excitation o 5 T CMER o LT EEL TH LLL 40 L H L L L H L L L Z Excitation zero position This is the sequence when initialized It can be read out from otatus1 Excitation sequence switching timing EG Start T Negative logic 21 6 2 Speed pattern setting 6 2 1 Speed setting Constant speed operation and high speed operation linear and S curve acceleration deceleration can be specified To specify a speed pattern use R1 R2 R4 and R3 when high speed operation is used To change between constant speed and high speed use bit 2 of the start mode command To change between linear and S curve acceleration deceleration use bit 5 of the control mode command 1 R1 FL speed setting register This register is used to specify the speed for constant speed operation and the start speed for high speed operation The allowable range is 1 to 8 191 1FFF HEX The speed will be the product resulting from multiplying this value by the magnification rate specified in H4 FL speed PPS Value specified in R1 x Magnification rate 2 R2 FH speed setting register This register is used to specify the speed for constant speed operation and the operating speed for high speed operation For high speed operation specify a value that is larger than the value in R1 The allowable range is 1 to 8 191 1FFF HEX The spee
14. Output mask all low mask control output Accel decel operation 0 Enable accel decel 1 Fixed to a mid range control speed Set ORG EL and STP 0 High sensitivity 1 Low sensitivity sensitivity Ce Select monitor mode Standard monitor Extension monitor List of registers Register l Bit Details length Allowable range HEX Set preset amount Check remaining R W Oto 16 777 215 5 ita 53 FFFFFF Ri IFL FLsped O ws ee me FH speeder ios 191 GFE Fs eene TB 2 to 1 023 or Magnification 2 to 1 023 ot Rs Ramping down point 16 W P oto 68 535 FFFE R6 Number of idling pulse 3 W R Oto 2 Environmental data PCD4541 only Note 1 W R Oto 61 Monitor list peg Standard Extension monitor Status0 D76543210 RO lower byte RO middle byte RO upper byte Bran to R7 Statusd status OF Control mode command Output mode command R5 lower byte R5 upper byte otatusO otatus1 otatus2 otatus3 Status1 D76543210 Monitor INT output when operation is 0 Output 1 Not output stopped Monitor INT output at ramping down 0 Output 1 Not output point Monitor INToutput at external start 0 Output 1 Not output Monitor operation status 0 Stopped 1 Operating Monitor pulse counter zero status 0 Not zero 1 Zero Monitor pulse counter and R5 0 Pulse counteris 1 Pulse counter comparison larger than R5 is smaller than
15. R5 Monitor acceleration status 0 Not accelerating 1 Accelerating Monitor deceleration status 0 Not decelerating 1 Decelerating Monitor EL terminal 0 OFF 1 ON Monitor EL terminal 0 OFF 1 ON Monitor ORG terminal 0 OFF 1 ON Monitor STP terminal 0 OFF 1 ON Monitor STA terminal 0 OFF 1 ON Monitor SD terminal 0 OFF 1 ON Monitor SD terminal 0 OFF 1 ON Monitor excitation zero 0 Not at excitation zero 1 At excitation zero position position position 62 Status2 D 6543210 Monitor 1 terminal 0 Low 1 High Monitor 2 terminal 0 Low 1 High Monitor 3 terminal 0 Low 1 High Monitor 4 terminal 0 Low 1 High Monitor PO terminal 0 Low 1 High Monitor PO terminal 0 Low 1 High Monitor OTS terminal 0 Low 1 High Monitor interrupt status 0 No interrupt 1 Interrupt has occurred Status3 D76543210 jojo jojo dL Chip identification 0001 PCD4511 0010 PCD4521 0100 PCD4541 monitor 63 v9 SDO SD1 SD2 SD3 SD4 SD5 SD6 SD7 AEN SA2 SA3 SA4 SA5 SA6 SA7 SA8 SA9 ISA BUS 5 V GND IOR IOW SAO SA1 RESET IRQx Connection example oh an ISA BUS PCD4511 and N 7024 6 M 74LS245 A1 B1 A2 B2 ln A3 B3 o A4 BAL A5 B5 D4 A6 B6 mn D5 A7 B7 D6 A8 B8 am D7 74LS688 M G G NJ DIR PO P1 P2 P3 P4 PS Base address 0300H P6 p Q e P7 Command buffer address QO 03000H Q1 Data address 7 to 0 Q2 0301H Q3 Data
16. STP signals Low sensitivity to ORG EL and STP signals otandard monitor setting Extension monitor setting 40 6 6 Registers To write data into registers RO to R7 first select the target register using the register select command Write the lower byte of data last For details about the settings for each register to achieve a certain speed see 6 2 Speed pattern setting 6 6 1 RO preset pulse counter 24 bits This LSI has an internal preset countdown counter By entering a number of pulses this preset counter will begin counting down from that point The preset counter decrements by one for one pulse output in the continuous zero return and preset operations However if the preset counter operation mode is inhibited by the output mode command the preset counter will not count down The counter value number of remaining pulses can be read while in operation or while stopped To read the value first select RO The register select timing latches the data into a 24 bit read buffer In preset operation the LSI places a number of positioning pulses in this register and then starts the operation Once the LSI has started the counter value is decremented with each pulse that is output When the number of pulses that have been output is equal to the value originally entered in the preset counter the value in the counter will be zero and the LSI will stop operation The allowable range is 0 to 16 777 215 FFFFFF HEX If yo
17. Symbol Condition Min Max Unit Address stabilizationtime tAR O0 ns Address holdtime tRA TS Read pulse width t RR 42 ns Data delay time CL 85pF 42 ons Data float delay time CL 85pF 9 nS 8 4 3 Write cycle Address stabilization time taw TS Address hold time t WA 0 n S Write pulsewidth tww Jujj ns Datasettime tow TS Dataholdtime tWD tS 8 4 4 Reset cycle RST pulse width t RST 1 3 t CLK Reset operation time tRSTM 1 3 tCLK 8 4 5 Operation timing EL pulse width ORG STP t EL When high sensitivity tCLK IS arme a a I o o o 20 ns seo demyimenio imp fafs PO delay time Lto H t PHD delay time mmm Bipolar 3 4 delay time Preset data read interval Register data read intenal iowa 2 rok BSvdelaytmeHtoL tBSL t ns BSY delay time 1 LtoH tBSEH When stopped by EE 26 nS ESY delay time 22 LtoH tBSPH en the preset ze ns operation is selected 1 tCLK in the unit column means one cycle of the reference clock 2 When a stop signal or a stop command is supplied while outputting pulses the operation will terminate at the end of the current cycle 52 8 5 Timing chart 8 5 1 Reference clock t PWH t CLK CLK g 8 5 2 Read cycle MAB N u a D7 to 0 d VALID gt RD refers to the logical multiplication of RD and CS 8 5 3 Write
18. address 15 to 8 Q4 0302H Q5 Data address 17 to 16 Q6 0303H Q7 GND 74LS244 ay AN AN A 74LS240 CLOCK 4 9152 MHz Turn OFF V excitation by 47 making the icohm OTS output HIGH 470 pF T a 5V GND 5 1 5 V k ohm T GND ohm 2 4 k ohm O Te Q Nee C onm Max 1 A GND VM me E 100V 7 1 220 uF PM SNS SS Unipolar QO QO Unipolar constant current drive 2W 0 5 ohm 25 v e 5 1 k ohm i i i f i EL CD UO E MM O STA J Q od od od GND GND 2200 pF E 74LS14 d OT d OT A O lt 7 ati OT STP OOR Peal I O To a normally closed switch or sensor GND G9 SDO SD1 SD2 SD3 SD4 SD5 SD6 SD7 AEN SA2 SA3 SA4 SA5 SA6 SA7 SA8 SA9 ISA BUS 5 V GND IOR IOW SAO SA1 RESET IRQx Connection example oh an ISA_BUS PCD4511 and NP 2918 5 V 16 V 47 uF GND 74LS688 GND Q Q3 Q4 45 V Q5 Q6 Q7 AS Hy ko 74LS245 Al B1 DO A2 B2l b A3 B3 ba A B4 L pa A5 ops _ pa A6 B6 ps A E Dp A8 B8 D7 N G d DIR Base address 0300H CS Command buffer address 03000H Data address 7 to 0 0301H Data address 15 to 8 0302H Data address 17 to 16 0303H 74LS244 AO A1 N RST 74LS240 EN INT CLOCK 4 9152 MHz CLK 2 Q3
19. board storage box that is protected against static electricity and make sure there is adequate clearance between the L Sls Never directly stack them on each other as it may cause friction that can develop an electrical charge 2 Operators must wear wrist straps which are grounded through approximately 1M ohm of resistance 3 Use low voltage soldering devices and make sure the tips are grounded 4 Do not store or use LSls or a container filled with LSIs near high voltage electrical fields such those produced by a CRT 5 To preheat LSls for soldering we recommend keeping them at a high temperature in a completely dry environment i e 125 C for 20 hours 58 6 When using an infrared reflow system to apply solder we recommend the use of a far infrared pre heater and mid infrared reflow devices in order to ease the thermal stress on the LSls gt Product flow direction Fai infrared heater pre heater Midi infrared heater reflow heater To apply heat to LSIs make sure that the package surface and PC board surface temperatures do not exceed 240 C and are never above 210 C for more than 30 seconds Temperature C 24D leses O4 P nn 150 Time PRG a More than 60 seconds 30 seconds max 7 When using hot air for solder reflow the restrictions are the same as for infrared reflow equipment 8 When using vapor phase solder we recommend using Fluorinate FC 70 or its equivalent as a solven
20. cycle moB A O i t DW t WD WR refers to the logical multiplication of WR and CS 8 5 4 Reset cycle t RST Hol t RSTM Heset NU ODOrallO ssssesssien ceu RR A V 53 8 5 5 INT output timing When xPO is set to negative logic Stop using EL ORG or STP 1 2 CLK tEL t ELI Stop using Preset operation CLK U O t PI z 4 8 5 6 PO timing When PO is set to negative logic CLK t PLD t PHD PO 8 5 7 PO excitation sequencing timing When PO is set to negative logic EPO t Po pi 4 8 5 8 Bipolar 1 2 phase excitation sequence timing bl 2 t dB t dB 3 4 54 8 5 9 Preset counter data read timing WR Writing a register select command RO t DRD Reading the preset counter data 8 5 10 Register data write timing WR 4 p Writing the lower byte of register data t DWR MS a Writing the command and data 8 5 11 BSY and accel decel timing When using high speed preset operation BY m Accelerating Toe Decelerating Tl 55 8 5 12 Start timing When PO is set to negative logic 1 2 3 CLK Writing a start Bn command Output pulse frequency EPO Start on the rising edge of the 3rd clock cycle after writing the start command _ t BSL BSY 8 5 13 External start timing 1 2 3 4 1 2 3 CLK 1 STA gt Start BSY 8 5 14 Acceleration start timing U ee 00 rite a start c
21. signal INT 14 Status monitoring signal for each operation 15 Available in standard mounting packages PCD4511 44 pin QFP PCD4521 64 pin QFP PCD4541 100 pin QFP 2 Software settings 2 1 Address lines Relationship between address lines A1 AO andRD 7 A D d A CS RD WR A1 A0 Daal Data bus Register bits 7 to 0 lower bit Writi L Data bus gt Register bit 15 to 8 Medium bit e L H JL d Data bus Register bit 23 to 16 Upper bit L L H L L Data bus lt Status 0 Data bus lt Internal data lower Redis L Data bus lt Internal data medium L L IHIH Relationship between address lines A3 A2 and the axes controlled by a PCD4521 4541 PCD4521 A2 setting A2 1 PCD4541 A2 A3 setting A3 0 A3 0 A3 1 A3 1 A2 0 A2 1 A2 0 A2 1 selected axis 2 2 Command buffer In order to operate this LSI data is D7 D D5 D4 D3 D2 D1 DO written into the command buffer and 6 each data register through the 8 bit CO OE EE pr data bus Commands can be classified into four groups and the upper 2 bits in each 0 0 gant mode command are used to specify the 0 1 Contra made X group Each command is latched until 4 0 Selectregister the same group command is written a second time Each bit in a command represents a specific function Functions do not have individual commands 2 3 Bit details for each command 1 Start m
22. speed start Constant speed operation constant speed start Starting with the speed mode bit set to 0 is referred to as a constant speed start High speed operation high speed start Starting with the speed mode bit set to 1 is referred to as a high speed start 33 Start mode command examples X s in the table mean the value can be 0 or 1 D7 D6 D5 D4 D3 D2 D1 DO Operation details 0 0 0 0 10 FL constant speed start No INT output when stopped Operate at FL speed speed specified in R1 DS When starting change to the FL speed immediately 10 0 0 FL constant speed start Output an INT when l EE stopped when stopped Inhibit the FL constant speed start Output an INT when stopped FH high speed start Operate from FL speed to the FH speed When operating accelerate to the FH speed Inhibit the FH high speed start Decelerate during operation Decelerate from the FH speed to the FL speed Deceleration stop Output an INT when stopped Immediate stop No INT output when stopped 6 5 2 Control mode command D7 D6 D5 D4 D3 D2 D1 DO ORG signal 0 Disabled 1 Enabled SD signal 0 Disabled 1 Enabled Preset operation 0 Disabled 1 Enabled Operation direction 0 Positive 1 Negative OTS control 0 Make the OTS terminal LOW 1 Make the OTS terminal HIGH Accel decel characteristic 0 Linear 1 S curve Continuous operation preset operation zero return operation Continuou
23. used as mechanical position detection signals Sp 1 EL EL signal When an EL ON LOW signal with the same polarity as the motor direction is received the motor will stop instantly Even if the signal then goes back to HIGH the motor will remain stopped By enabling the INT signal an INT signal will be output when the EL signal goes LOW When this signal is ON the motor cannot be started in the same direction as the polarity of this signal even if a start command is given However if the INT output is set to signal when stopped an INT signal will be output When the output mode command pulse output control feature is used to stop the output of pulses the EL signal is disabled However you can monitor the operation status using otatus1 The input sensitivity of this signal can be selected using bit 4 in the output mode command When low sensitivity is selected the LSI will not accept pulse signals less than 4 reference clock cycles long approx 800 nS with a 4 9152 MHz clock When high sensitivity is selected the LSI will detect pulse signals shorter than 800 nS The input sensitivity setting is shared by the ORG EL and STP signals 2 SD SD signal When SD signal control is enabled using the control mode command and if an SD signal of the same polarity as the motor rotation is turned ON in high speed operation the motor will start decelerating If the SD signal goes OFF the motor will accelerate again When th
24. wi 10 esr LOL _R5__ Ramping down point W R 16 DtoFFFF Number of idling pulses W R to 7 Environmental data 0 to PCD4541 only D2 D1 and DO Bits used to select the register R Can be read by enabling the extension monitor 3 Examples of operation settings 3 1 Command setting example This LSI is operated by specifying one of 4 types of commands and by entering values for registers RO to R7 1 Specify the control mode command details 64Hex Preset operation S curve rate of accel decel direction disable SD ORG 2 Specify the register select command details See the setting details in section 3 2 above 3 Specify the output mode command details D1 Hex Excitation sequencing output pulse output positive logic enable filter 4 Specify the start command details 15ugx Start and accelerate at FL speed and operate at FH speed By specifying the start command the LSI will start operation 3 2 Example of setting a register Example of an operating pattern f PPS 10000 7 Feed 50 000 pulses 1000 E 500 ms Initial soeed FL 1 000 PPS operating speed FH 10 000 PPS accel decel time 500 mS reference clock 4 9152 MHz 1 Set the number of pulses as a preset amount RO Stop after outputting 50 000 pulses RO 50 000 To write data into a register first specify the register RO using the register select command 80ugx Then write the data as thre
25. A Sequencing LSI for Stepper Motors PCD4511 4521 4541 The PCD4511 4521 4541 are excitation control LSIs designed for 2 phase stepper motors With just one of these LSIs and a stepper motor driver IC e g NP 7026 you can easily construct a stepper motor control system Data and commands entered from a CPU enable this LSI to control the speed and position of a stepper motor Since the LSI has a pulse signal generation circuit it can also control a motor driver that relies on the number of pulses supplied Users can select the 4511 single axis model 4521 2 axes model or 4541 4 axes model PCD to drive their motors 1 Functions 1 Continuous operation constant speed linear and S curve acceleration and deceleration 2 Preset operation constant speed linear and S curve acceleration and deceleration 3 Zero return operation constant speed linear and S curve acceleration and deceleration 4 Timer operation 5 Excitation output sequencing for 2 phase stepper motors 2 2 phase 1 2 phase Unipolar bipolar 6 Idling pulse output 0 to 7 pulses 7 Deceleration by specifying a ramping down point 8 Change speed while operating 9 Change to constant speed in the middle of an acceleration or deceleration 10 Deceleration stop and immediate stop 11 Output external start and stop signals for other equipment Nm SS M a 12 Input external signals from other equipment SD EL ORG 13 Output an interrupt
26. Hx GND OTSx XVLS gt Xd1S xouo r a o a xas F xas fen s Y a E LD GND ST KL lo a Keo co O Ago A Avo o AAA fod er fos o ANS8 a ASLO QA IE gt o gt lt A el gt Q Q Q Q zZ E EC iu la a a lo o 2 n O o o JO i gt gt i O O gt 4 2 3 Terminal assignment diagram for the PCD4541 lt LO EM C O an S 090 A XdLS e VLS E ONO amp XH A e XA N x XLSO Q Od N XOd xi Xv Q xeo 9 xz 9 XL XASH GGA 2 GND r 10 ce 9d e SG vd rs CU ro ea a 0d o GGA LNI r EV es ZV Fe LW r OV 4 3 List of terminals 4 3 1 List of terminals on the PCD4511 Input output General description number name DO to D4 Input output Positive Data bus signal La RN D5 to D7 Input output Data bus signal SD Negative deceleration switch signal Positive deceleration switch signal RG PO Negative end limit switch signal Positive end limit switch signal Negative Zero position limit switch signal Negative Negative pulse N 16 17 23 24 PO H O c egative Positive pulse lt Running signal Test signal TA Input External start signal as O a unipolar bipolar mex ee 2 2 phase 1 2 phase d 33 4 Output Positive 4th phase excitation signal Reference clock Reset signal Inter
27. I compares the value in this register R5 to the value in the preset counter When the value in R5 is larger than the preset counter value the LSI will start to decelerate If the value placed in R5 is smaller than the preset counter value and the LSI is programmed for preset high speed operation the motor will operate at FL speed and not accelerate The FL speed FH speed and the accel decel rate determine the ramping down point Entering inappropriate values may stop the output of pulses during deceleration or cause the LSI to operate longer at the FL speed after deceleration The allowable range is 0 to 65 535 FFFF HEX 6 6 7 R6 Idling pulse register 3 bit To operate at high speed the motor is accelerated quickly after starting Therefore the speed calculated from the output pulse frequency will be higher than the FL speed that is set If FL is set to a value lower than the self start frequency the motor will not start Therefore in order to be able to start from near the self start frequency the acceleration using the FL speed can be started from 1 to 7 pulses after the start command The pulses that the start is delayed by are referred to as idling pulses The allowable range is 0 to 7 This is effective in high speed operation Setting this register to 0 will provide a normal start 42 6 6 8 R7 Environmental data register 1 bit This register can only be set on the PCD4541 When this register is 1 the xPO pulse output chang
28. K 4 9152 MHz 5 2 2 Read procedures Example Read the number of pulses remaining in RO Preset counter The PCD4511 4521 4541 can read the data in any register Select a register and read the data the same way that data is written to that register 1 Enter RO as the register you want using the Write RO and the select register select command command to the command address 2 Since the LSI will process the command internally wait at least 1 5 reference clock cycles approx 300 ns when CLK 4 9152 MHz No restriction on the read order Read the upper data byte from the upper address Read the middle data byte from the middle address Read the lower data byte from the lower address 3 Read the upper data byte bits 23 to 16 from the upper register address A1 1 AO 1 4 Read the middle data byte bits 15 to 8 from the middle register address A1 1 AO 0 5 Read the lower data byte bits 7 to 0 from the lower register address A1 0 AO 1 17 Note The Preset counter data is copied to the read buffer when the register select command is entered When reading data the LSI reads the contents of this buffer Therefore there is no restriction on the order in which the bytes are read Other register data can also be read by selecting the output mode However a buffer is not used to read that data The LSI reads the internal data directly Therefore to read data while operating or when data acc
29. S terminal LOW to write the contents of data bus lines DO to D7 into the LSI The lines will be read when the WR signal changes from LOW to HIGH 4 4 18 AO A1 A2 and A3 Address signal input terminals The LSI uses the AO and Ai terminals to assign use of the data bus to the command buffer and to the upper middle and lower areas of register data On the PCD4521 and 4541 terminals A2 and A3 are used to select the axis to control Normally this terminal is connected to the lowest bit on the CPU address bus 4 4 19 DO to D7 Input and output terminals for the tri state data bus 4 4 20 VDD and GND Power supply terminals Supply 5VDC 10 to the VDD terminals Make sure to connect all of the power supply terminals 4 4 21 NC PCD4511 only Output terminal for testing Leave this terminal open 4 5 Initial reset status Initial reset status Internal registers RO to R6 All zeros Start mode command Control mode command 40 HEX Output mode command CO HEX INT terminal Terminals DO to D7 High impedance 1 2 3 and 4 U B terminal when L H L L H PO terminal H 13 4 6 CPU interface circuit block diagram 1 Z80 interface aaa Z80 PCD4541 A2 to A7 4 9152 MHz A3 to A7 Decode A4 to A7 ircui En circuit c8 AO to A1 AO to A1 AO to A2 AO to A3 AO to A3 HD e LL p L L L mE E INT RESET System reset 2 6809 interface PCD4511 PCD4521 6809 PCD4541
30. a STA signal or giving a start command the start control bit in the start command in the extension monitor will change from 1 to 0 An example of a simultaneous start using an external circuit 7404 etc Kal External stop control This LSI can be stopped instantly using an external signal With this function the motor can be stopped in an emergency and multiple axes can be stopped simultaneously Bringing the STP terminal LOW will stop the motor instantly While the STP terminal is LOW the motor will not start even if a start command is given However when the INT output is enabled the INT signal will be output after a start command is given The sensitivity of the STP signal input can be selected using bit 4 in the output mode command Example of connections for a simultaneous stop using an external signal 7404 etc den Stop Excitation sequence output mask Outputs from 1 to 4 can be masked make all of these outputs LOW Set bit 2 in the output mode command to 1 to enable masking This function is useful for turning OFF the excitation sequence when driving a unipolar system Some motor driving ICs cannot use a loss of excitation to control the motor Contact the IC manufacturer Pulse output logic The pulse output logic of the xPO terminal can be selected opecify the logic using bit O in the output mode command 29 6 4 6 External mechanical input control The following five signals can be
31. als the idling pulse setting in R6 and the ramping down point setting all made using preset operations will be enabled This mode is used when the motor will be operated at a speed higher than the start speed Start stop control Set these bits to control starting and stopping Set the start control bit to 1 to start operation and set the stop bit to 1 to stop the operation By combining both bits you can invoke a deceleration stop When read with a monitor the start control bit will change to 0 when stopping INT output when stopped Setting this bit to 1 will output an INT signal when the operation is stopped Setting this bit to 1 will output an INT signal when the motor is stopped in a preset operation or when it is stopped using EL STP and ORG signals or a stop command To reset the INT signal set this bit to 0 To mask the INT signal leave this bit set to 0 The INT terminal output is the result of logically ORing this signal with the interrupt signal for the ramping down point and the interrupt signal when started externally and the interrupt signal for starting from an external signal To determine which source has caused the INT signal to be output check StatusO Start command stop command When using the start mode command a command to start operation is referred to as a start command and a command to stop operation is referred to as a stop command Constant operation high speed operation constant speed start high
32. art automatically at nearly the auto start frequency The pulses output at this FL speed are referred to as idling pulses The allowable range is from O to 7 and this mode is available in high speed operation When this is set to 0 the motor will start as normal For 2 idling pulses 1 DI 1 DI 1 I 1 PO sant T Lt L L L Acceleration start timing Accelerating When the number of idling pulses is set to 0 Tl mm moony PO sat T LJA LI LI LIU LU Acceleration start timing Accelerating External start signal This LSI can be started using an external signal Using this function multiple axes can be started simultaneously Delay the start command and when the LSI sees the leading edge of a LOW on the STA 28 6 4 3 6 4 4 6 4 5 terminal it will invoke the start command and the motor will start To delay the start command make bit 1 of the start command 1 To end the delay the immediate stop command can also be used The LSI cannot detect a STA signal shorter than 4 reference clock cycles While in the delayed start signal mode if an STP or EL direction signal is input the LSI will store the stop condition and the LSI will not start operation even if a STA signal is given again By inputting these signals the delayed start command is also cancelled and the motor will not start until the next start command is given By inputting an STP or EL signal while in the delayed mode and then inputting
33. ation sequence may be used In this case contact the driver IC manufacturer to verify the suitability of our excitation sequence Ex 1 1 2 phase excitation for bipolar drivers STEP gt 0 1 2 3 4 5 6 7 0 H H L L A H H H L FEL TE et DISABLE A L L L H L L L H L Ex 2 1 2 phase excitation for bipolar drivers STEP gt 0 5 6 7 0 L 1 2 3 4 A H H H H L L L HJ H L DISABLE A L LH ILL LH L BL HHHH HLL DISABLE B In the two examples above the LSI can be operated by connecting terminals 1 to A 2 to B 3 to DISABLE A and 4 to DISABLE B 15 5 Programming Description 5 1 Addresses 5 1 1 PCD4511 addresses Shown below is the relationship between address lines A1 AO and control lines RD WR and CS RD WR A1 AO Deals OO fH fL fL H Data bus gt Register pits7 to 0 Lower MCN L Data bus gt SSS bist to 3 egs RH RES eier Ree 11 0 L Data bus lt StatusO Ee fh i h oaa ous lt remat daalt Hosdins L Data bus lt Internal data Middle SHEER RICH oala EHS lt Internal data Upper L L L X X Prohibited Cis 5 1 2 PCD4521 addresses Specify the axis using address line A2 and select the control data using address lines A1 AO and control lines RD WR and CS The relationship between address lines A1 AO and control lines RD WR and CS are the same as in the PCD4511 A2 setting Selected axis CS RD WR A1 A0 tals 0 0 0 0 Same a
34. atus2 can be read in order to monitor the output status of PO 1 to 4 INT and OTS signals and Status3 can be read in order to identify the PCD type There is no restriction on reading StatusO However since Status1 2 and 3 share the address line with a data register there are restrictions on reading them To read Status1 2 and 3 select register R7 any register setting other than RO when the standard monitor is selected and Status1 Status2 and Status3 can be read from the lower data middle data and upper data bytes respectively Since the Status bytes are latched when reading starts the data bus will not change while in 18 the reading cycle 5 3 2 Reading the register command and speed data In addition to the status registers the LSI can read register command and speed data When the standard monitor is selected only register RO can be read However when the extension monitor is selected registers R1 to R6 can also be read When the extension monitor is selected the start command control mode command register select command output mode command and the current speed data can all be read Please note that when register R3 is selected the LSI will read the register select command from address lines A1 21 and AO 1 as shown in the lower part of the table in section 5 3 above In other words to read the register select command you have to select register R3 Therefore use this function only to check bits other than th
35. components so that overvoltages caused by noise voltage surges or static electricity are not fed to the LSI 9 2 Precautions for transporting and storing LSIs 1 Always handle LSls carefully and keep them in their packages Throwing or dropping LSIs may damage them 2 Do not store LSls in a location exposed to water droplets or direct sunlight 3 Do not store the LSI in a location where corrosive gases are present or in excessively dusty environments 4 Store unused LSls in an anti static storage container and make sure that no physical load is placed on the LSls 9 3 Precautions for installation 1 In order to prevent damage caused by static electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus with an appropriate resistance factor However do not allow work on a metal surface which can cause a rapid change in the electrical charge on the LSI if the charged LSI touches the surface directly due to extremely low resistance When picking up an LSI using a vacuum device provide anti static protection using a conductive rubber pick up tip Anything which contacts the leads should have as high a resistance as possible When using a pincer that may make contact with the LSI terminals use an anti static model Do not use a metal pincer if possible Store unused LSls in a PC
36. d 08 HEX COM DT lt 08 HEX Start command Immediate stop 2 Continuous high speed operation When you want to drive a motor at FH speed using a pattern as shown below use the following procedure f Deceleration stop command The motor will start at FL soeed and FH accelerate to FH speed EL It will decelerate when a deceleration stop i command is received and stop when it reaches FL speed COM DT 40 HEX Control mode command positive direction continuous operation 25 To rotate in the opposite direction use 48 HEX COM DT lt 15 HEX Start command FH high speed start To stop the motor use a deceleration stop command 1D HEX COM DT 1D HEX Start command deceleration stop 6 3 2 Preset mode This mode is used to position the motor by assigning a specific number of pulses and a direction of rotation opecify the number of output pulses in the RO preset counter Then start the motor The motor will stop when the value in the preset counter reaches zero Specify the direction of rotation in bit 3 in the control mode command The LSI will enter this mode when bit 2 in the control mode command is set to 1 preset operation control The preset counter decrements its contents the number of pulses remaining Therefore specify a value for RO for each positioning operation If RO is set to 0 the motor will not start even when a start command is given However if the INT signal is set to change state when t
37. d will be the product resulting from multiplying this value by the magnification rate specified in R4 FH speed PPS Value specified in R2 x Magnification rate 3 R3 Acceleration deceleration rate register This register is used to specify the acceleration deceleration characteristics when high speed operation is selected The allowable range is 2 to 1 023 3FF HEX When the value for R3 is the same and a linear acceleration deceleration is performed the linear acceleration deceleration speed will be equal to the maximum acceleration speed set for o curve acceleration deceleration Linear accel decel Accel decel time Sec Value specified in R2 Value specified in R1 x Value specified in R3 Reference clock frequency Hz S curve accel decel Accel decel time Sec Reference clock frequency Hz 4 R4 Magnification rate register This register is used to specify the relationship between the values set in R1 and R2 in order to set the final speed The allowable range is 2 to 1 023 3FF HEX The higher the 22 magnification setting the less accurate the speed units will be Normally use as small a setting as possible The relationship between the value selected and the magnification rate is as follows Reference clock frequency Hz MAgnilicallOn Wale specified in RA 6192 When reference clock 4 9152 MHz Output speed unit PPS Value in R4 Magnification Output speed p4 Magnifica
38. e SD signal is enabled giving a high speed start command while the SD signal is ON the motor will not accelerate It will operate at FL speed When the SD signal changes while decelerating the SD signal will be ignored Regardless of whether or not SD signal control is enabled in the control mode command the LSI operating status can be monitored using Status1 3 ORG signal When ORG signal control is enabled zero return operation using the control mode command and the ORG signal is turned ON the motor will stop instantly After that if the ORG signal goes OFF the motor will remain stopped By enabling the INT signal when stopped an INT signal will be output when the ORG signal is turned ON If this signal is ON the motor cannot be started even if a start command is given However if the INT output is set to output when stopped an INT signal will still be output 30 when the ORG signal is turned ON Regardless of whether or not ORG signal control is enabled in the control mode command the LSI operating status can be monitored using Status1 If pulse output is blocked by the pulse output control bit in the output mode command the ORG signal is disabled However you can monitor the operating status using Status1 The input sensitivity of this signal can also selected the same as the EL signal 6 4 7 Interrupt signal output This LSI can output an INT signal when stopped when the ramping down point is reached or when an external s
39. e bytes in the following order upper bits middle bits and lower bits 2 Set the multiplication of the output frequency R4 Select 2x for the LSI outputs 10 000 PPS in this example Reference clock frequency Hz 4915200 lue lt Fe cz Mm ie ere Magnification x 8192 2x8192 0 H4 300 3 Set the FL frequency R1 Since the initial speed is set to 1 000 PPS in the 2x mode H1 500 4 Set the FH frequency R2 Since the initial soeed is set to 10 000 PPS in the 2x mode R2 5 000 5 Set the accel decel time constant R3 Since S curve accel decel is selected with an accel decel time of 500 mS Accel decel time Sec x Reference clock frequency Hz R2 set value R1 set value x 2 S curve rate of accel decel R3 set value 0 5 x 4915200 R3 ee 273 07 273 5000 500 x 2 H3 273 6 Set the number of pulses for the ramping down point R5 By setting the ramping down point register R5 while in the preset operation mode you can specify the number of pulses remaining at which to start deceleration R2 set value R1 set value x R3 set value R5 set value pulse M pulses R4 set value x 8192 S curve accel decel 5000 500 x 273
40. e register select bits However the start control bit shows the internal status of the LSI not the status of the command you write Therefore when reading the LSI status using the start mode command the start control bit will be 1 when running and it will change to 0 when the motor is stopped Since the LSI reads the internal data directly when reading the speed data rounding up or down may occur while reading the middle and lower bytes In this case check the data by reading it twice 5 4 Precautions when writing programs 5 4 1 Read write data To write data to a register write the lower data last The upper and middle data bytes for a register are latched into a write buffer and transferred to the appropriate internal locations according to the write timing for the lower data byte Therefore write the lower data byte for the register bits 7 to 0 last To read the value in the preset counter select RO first The value in the preset counter number of pulses remaining is latched into the read buffer according to the timing when the register select command is written Therefore you have to write the RO register select command each time you want to read the value even if you will be reading the value repeatedly There is no restriction on the read order of the upper middle and lower data bytes To read the value in the preset counter allow 1 5 reference clock cycles of time for internal processing To write data to the regi
41. e remaining pulses when the motor is in preset operation at a constant speed Another way to use this feature is when you want a positioning operation that will exceed the maximum value 24 bit allowed for the PC value Enter the remainder into RO after subtracting the maximum value for the PC and set R5 to 0 to select continuous operation Then after the interrupt has occurred and when PC 0 Status0 change to preset operation This makes it possible to control positions that exceed the maximum value allowed 31 6 5 Command buffer In order to operate this LSI you must write data D7 D6 D5 D4 D3 D2 Di into the command buffer and each of the registers Tol T T TTT through an 8 bit data bus There are four command groups which are invoked by setting the upper two bits of the byte Command group A command buffer is used to latch the command olo Start mode details until another command in the same group 0 1 Control mode is written lo Select register Since each command has individual functions Output mode identified by the individual bits settings other than the examples shown to the right are also possible When a start command is written into the command buffer the LSI will start its operation Therefore the start mode command should be the last command given There is no other restriction on the order in which commands can be written 6 5 1 Start mode command D7 D6 DS D4 D3 D2 Di Speed selection O
42. ered using the start mode command the motor will start rotation on the leading edge of an STA signal transition from HIGH to LOW A signal shorter than 4 cycles of the reference clock is not accepted 10 4 4 6 4 4 7 4 4 8 4 4 9 PO PO Pulse output terminals When the rotation direction is set to positive using the control mode command the LSI will output pulses at a 50 duty cycle from PO terminal When the rotation direction is set to negative using the control mode command the LSI will output pulses at a 50 duty cycle from PO terminal The logic of the PO and PO terminals and the ON OFF control of pulse outputs can be changed using the output mode command 1 62 63 and 64 Excitation signal output terminals for a stepper motor The switching of the excitation sequencing signals is synchronized with the output pulses Using the F H terminals you can select between 1 2 phase and 2 2 phase excitation sequencing Using the U B terminals you can select between unipolar and bipolar excitation sequencing When pulse output control is set to halt output timer mode using the output mode command the excitation sequencing cannot be changed Using the output mode command the excitation signal can be masked to make all of the terminals 1 to 4 LOW U B Terminal for selecting the excitation method Select unipolar excitation with a LOW or bipolar excitation sequencing with a HIGH on this terminal Connect
43. erminal goes LOW X X O0 X Does not decelerate when the SD terminal goes LOW I BM M l In high speed operation reaches 0 Stops when the preset counter reaches 0 X X X X X OTS is HIGH X X 0 1 0 Linear accel decel S curve accel decel Continuous operation Zero return operation Preset operation 36 6 5 3 Register select command D7 be D5 D4 D3 D2 D1 DO tol TTT TT Register select Nos 0 to 6 Preset counter operation control 0 Counts output pulses 1 Does not count Ramping down point INT output control 0 INT is not output INT reset 1 INT is output INT output control when external start is enabled 0 INT is not output INT reset 1 INT is output Register select No Select the register to control by setting these bits To write or read data in registers RO to R6 the target register must be specified first by using the register select command Specify the E register using DIIS D2 D1 and E M R W Preset counter data to 16 m 215 o o t Rr WiRiSerisped 13 HOT Eo 1 o R2 WIR Set FH speed _13_ 1108 191 FEF _ R3 W R Accel decel rate TD 023 am po lo aa WiB Setmagifcsion 10 1 MU ramping down EZ 65 a point 1 R6 W R Set idling pulse 0 to 7 BELA Set preference data E to 1 PCD4541 only R W Read Write register W R Write only register However it can be read using the extension monitor s
44. es from outputting 2 pulses to the directory mode pulse output plus direction signal output In this mode the LSI outputs pulses on the PO terminal and the direction signal on the PO terminal The direction signal will go HIGH while turning in the positive direction and LOW while turning in the negative direction when negative logic is selected 6 7 Status Both StatusO monitor current operation status and Status1 input status of EL SD ORG STA and STP signals are available When the extension monitor is selected for the monitor mode using the output mode command Status2 monitor output status of the PO g 1 to 4 INT and OTS signals and Status3 identify the PCD series model are also available Status0 does not have any restrictions on reading Since Status1 Status2 and Status3 share their addresses with the lower data byte of the preset counter there is a restriction on reading from them To read Status1 Status2 or Status3 first select the R7 register or a register other than RO in the normal monitor mode Then you can read Status1 from the lower data byte Status2 from the middle data byte and Status3 from the upper data byte StatusO to 4 are latched while reading The data bus will not change while in the read cycle After operation has stopped if the start mode command is read with the extension monitor the start control mode bit will be 0 When reading using the register select command the reg
45. et this bit to 1 enter a value into the preset counter and start operation The preset counter will decrement by one with each pulse that is output and the LSI will stop operation when the counter reaches 0 Set this bit to 0 and the operation will not stop even when the preset counter reaches 0 Operation will not stop until an xEL STP ORG signal or a stop command is input Operation direction The setting of this bit controls the direction of the output pulses When this bit is 1 the LSI will output pulses from the PO terminal and the excitation signal will change to positive When this bit is 0 the LSI will output pulses from the PO terminal and the excitation signal will change to negative The setting of this bit affects the direction of the xEL and SD terminals OTS control This bit is used to control a general purpose OTS output When this bit is 1 the OTS terminal will be HIGH When it is 0 the OTS terminal will be LOW 35 This terminal can be used to turn a motor driver excitation IC ON and OFF and control the current when stopped Accel decel characteristic This bit is used to select a linear or S curve acceleration deceleration pattern Set this bit to 1 to select the S curve accel decel pattern quadratic curve Set this bit to 0 to select a linear accel decel pattern Control mode command examples X s in the table mean the value can be O0 or 1 D1 DO Operation details Will not stop when the ORG t
46. etting To read the preset counter value first soecify RO and then read the data By reading the select command the buffer data available for reading is refreshed To read data continuously you have to write an RO select command for each read operation To write to RO to R6 write the lower byte data bits O to 7 last Preset counter operation control Setting this bit controls the operation of the preset counter When this bit is 1 the preset counter will stop counting When this bit is O the preset counter will decrement by one for each pulse output 37 Ramping down point INT output control This bit controls whether or not the INT signal is output when the ramping down point is reached When this bit is 1 and the preset counter value becomes smaller than the ramping down point setting in R5 the LSI will output an INT signal To reset the INT signal set this bit to 0 If you want to mask this operation leave this bit set to 0 The INT terminal output is the result of logically ORing this signal with the interrupt signal when stopped and the interrupt signal when started externally To determine which source has caused the INT signal to be output check StatusO External start INT output control An INT signal can be output during an external start When this bit is 1 and the start is inhibited if the LSI is started using an external STA signal the LSI will output an INT signal To reset the INT signal set this bit to 0
47. he motor stops an INT signal will be output even though the motor has done nothing 1 High speed preset operation To output a specific number of pulses at FH speed follow the procedure below We ll use a feed amount of 5 000 pulses 1388 HEX f Hamping down point FH Stop at the set value FL otart in FL speed and accelerate to FH speed Decelerates at the ramping down point and Stops COM DT 44 HEX Control mode command positive direction preset operation To rotate in the opposite direction use 4C HEX COM DT lt 80 HEX Register select command Select RO RGDT H OHEX Preset data upper byte RGDT M 13 HEX Preset data middle byte RGDT L 88 HEX Preset data lower byte dido o Specify an R5 value too COM DT 15 HEX Start command FH high speed start To wait for completion of the preset operation check bit 3 of StatusO COM DT gt READ Read StatusO check bit 3 Bit 3 2 0 Stopped 1 Running 26 6 3 3 6 3 4 Zero return mode After starting the motor when the zero position signal ORG turns ON the motor will stop Set the direction of rotation using bit 3 in the control mode command This can be used together with the preset operation By placing a 1 in bit O ORG signal control of the control mode command the LSI will enter this mode The preset counter will count down from the starting value By using the SD signal the motor can execute a smooth zero return operation If the ORG ter
48. ignal 29 X 48 Y 56 Z 76 U STP input Negative Forced stop signal 3009 49 Y 57 Z 77 U JE of E limit switch Positive end limit switch signal Negative end limit switch signal 7 52 Y 60 Z 80 U Input Positive deceleration switch signal kan enn ke po deceleration switch Lue ma o Reference clock Reset signal X in the terminal number column is the terminal number for the X axis Y is for the Y axis Z is for the Z axis and U refers to the U axis A in the input output column means that a pull up resistor is integrated into the open drain output These outputs can be wire ORed A 96 in the input output column means that a pull up resistor is integrated into the input To avoid a high impedance state A ff in the logic column means that the logic for this signal can be inverted The condition given refers to the initial status Make sure that all 6 GND terminals are connected and that all 8 VDD terminals are connected 4 4 Description of each terminal 4 4 1 4 4 2 4 4 3 4 4 4 4 4 5 SD SD Input terminals for deceleration speed switch signals When SD signal control is enabled in the control mode command and when the SD signal with the same polarity as the current direction of rotation goes LOW while in high speed operation the LSI will start to decelerate When the SD signal goes HIGH again the LSI will begin to accelerate again EL EL
49. ill trigger the deceleration The motor will start deceleration when the contents of the Preset counter are equal to R5 The allowable range is 0 to 65 535 FFFF HEX The following formula can be used to calculate the ramping down point Linear accel decel Value specified in R5 pulses Value specified in R2 Value specified in R1 x Value specified in R3 Value specified in R4 x 16384 S curve accel decel Value specified in R5 pulses Value specified in R4 x 8192 Speed pattern using a ramping down point 1 When the ramping down point is reached while accelerating 2 When the ramping down point is reached after acceleration has been completed A Too small a value for R5 6 2 4 Example of setting a ramping down point S curve accel decel Select preset and high speed operation with an initial speed of 1 000 PPS an operation speed of 10 000 PPS and an accel decel rate in R3 of 273 Then the value of R5 will be as follows 1 The magnification rate used in order to output 10 000 PPS is 2x and R4 is set to 300 12C HEX 2 In order to make the initial speed 1 000 PPS in the 2x mode H1 must equal 500 1F4 HEX 3 In order to make the operation speed 10 000 PPS in the 2x mode R2 must equal 5 000 1388 HEX 4 Enter 273 for the accel decel rate in R3 from paragraph 6 1 2 5 Obtain the value to use for R5 in the conditions stated above as follows Enter the values in steps 1 to 4 in the ramping do
50. int setting range 0 to 65 535 pulses Typical operations Continuous operation Preset operation positioning Zero return operation Timer operation Typical functions Linear and S curve acceleration deceleration Immediate stop and decelerating stop Speed change Settable ramping down point External start and stop function Idling pulse output function Excitation sequencing output for 2 phase stepper motors Phase signals for unipolar and bipolar motors 2 2 phase excitation 1 2 phase excitation phase signals Ambient operating temperature 0 to 85 C Storage temperature 40to 125 C Package PCD4511 44 pin QFP PCD4521 64 pin QFP PCD4541 100 pin QFP C MOS This value is true when a stepper motor is used within the 24 bit preset counter range 3 Table of registers Register it Setting range Detail tei Set the preset counter value and check RW 0 to 16 777 215 FFFFFF the er pulses Rt gSettheFLspeed Lm emee T e the ACCE ETANO CECE ETALON rate NN Set the number of idling pulses En W R 10 to 7 Enter environmental data PCD4541 s we be U to only See Note R W Read Write register W R Write only register However reading is possible by enabling the extension monitor Note Only the PCD4541 can write a 1 to R7 0 must be written to this register on the PCD4511 and 4521 4 Hardware description 4 1 Circuit block diagram CLK RST CS
51. ion 0 Standard monitor 1 Extension monitor By setting this bit you can change output logic on the PO terminal Set this bit to 1 to select positive logic Set this bit to 0 to select negative logic For pulse 1 Positive logic output patterns see the table below Direction Pulse output 0 Negative logic The pulse output from the PO terminal is enabled or disabled with this bit When this bit is 1 no pulse will be output on the ZPO terminals no changes will occur in the excitation signal and stops triggered by the EL and ORG signal inputs will be disabled Other operations are not affected Since the LSI can be configured to output an INT signal when stopped while in constant speed preset operation and the INT signal will be output after a set time preset number of pulses divided by the output pulse speed has elapsed it can be used as a timer When this bit is O the LSI is in normal operation and pulses are output on the PO lines The setting of this bit does not affect the status of the LSI 39 Excitation sequencing output mask The excitation sequencing output can be masked with this bit When this bit is 1 all the excitation sequences from 1 to 4 will be held LOW This function can be used to turn excitation OFF when driving a unipolar driver This function cannot be used with some models of motor driver ICs Contact the manufacturer for details Intermediate stop in an accel decel operatio
52. ister selection is limited to R3 only When the standard monitor is selected A1 0 A0 0 A1 0 AO 1 Al 1 A0 0 A1 1 AO 1 Register RO otatusO RO lower data RO middle data RO upper data R1 to R7 StatusO Status1 When the extension monitor is selected rope L 0 AQ 0 A1 0 A0O 1 A1 1 A0 0 A1 1 AO 1 Register RO Statuso RO lower data RO middle data RO upper data RI Statuso sd H1 lower data R1 upper data Start mode command 2 Sauso H2 lower data R2 upper data Control mode command H3 lower data R3 upper data Register select command R Status _ R data Speed lower data Speed upper data Status3 43 6 7 1 StatusO address lines A1 0 AO 0 D7 D6 D5 D4 D3 D2 D1 DO Monitor INT output when stopping operation 0 Output 1 Not output Monitor ramping down point INT output 0 Output 1 Not output Monitor external start INT output 0 Output 1 Not output Monitor operation status inverse of BSY 0 Stopped 1 Operating Monitor preset counter O status 0 Preset counter is not zero 1 Preset counter is zero Monitor preset counter and R5 ramping down point status 0 Preset counter gt R5 1 Preset counter lt R5 Monitor acceleration status 0 Not accelerating 1 Accelerating Monitor deceleration status 0 Not decelerating 1 Decelerating 44 6 7 2 Status1 Address lines A1 0 AO 1 D7 D6 D5 D4 D3 D2 D1 DO 6 7 3 Status2 Te
53. ith the value placed in R4 magnification 6 6 3 R2 FH speed register 13 bits 41 This register is used to set the FH speed The allowable range is 1 to 8 191 1FFF HEX The relationship between the value entered and the output pulse speed varies with the value placed in R4 magnification 6 6 4 R3 Accel decel rate register 10 bits This register is used to select the acceleration and deceleration characteristics When the LSI executes a high speed start the motor starts at the FL speed entered in H1 and accelerates to the FH speed entered in R2 Then the motor decelerates to the FL speed when an SD signal is received the ramping down point is reached or a deceleration command is received Specify the acceleration and deceleration characteristics for these operating patterns using the accel decel rate setting register The acceleration rate of the linear accel decel is equal to the maximum acceleration rate of the S curve acceleration deceleration pattern The allowable range is 2 to 1 023 3FF HEX 6 6 5 R4 Magnification register 10 bits The speed setting registers R1 and R2 can have values from 1 to 8 191 The relationship between the values entered and the output pulse speed can be set using this magnification register The allowable range is 2 to 1 023 3FF HEX The shorter this value the higher the output clock speed 6 6 6 R5 Ramping down point register 16 bits While in preset high speed operation the LS
54. minal is LOW the motor will not start even if a start command is given However if the INT signal is set to change state when the motor stops the INT signal will be output even though the motor has done nothing 1 High speed zero return operation To have the motor execute a zero return at FH speed use the procedure below f FH FL ant OFF SD input Gy nn ORG input OFF COM DT lt 43 HEX Control mode command positive direction enable ORG and SD signal control Use 4B HEX to rotate in the other direction COM DT 15 HEX Start command FH high speed To wait for completion of the zero return check bit 3 in StatusO the same as for the preset operation COM_DT gt READ Write StatusO check bit 3 Bit 3 2 0 Stopped1 Running Timer mode Using the preset operation INT signal when stopped and pulse output control this LSI can be used as a timer otop the output of pulses and change the excitation signal using pulse output control Specify a number of pulses in the preset counter RO Then start the LSI at constant speed using the preset operation When the preset counter value reaches zero the LSI will stop sending pulses and generate an interrupt signal Specified time Specified speed x Number of pulses specified Set bit 2 preset operation control in the control mode command to 1 and bit 1 pulse output control in the output mode command to 1 Then the LSI will enter this mode While i
55. n The operation speed can be locked in the middle of an acceleration deceleration using this bit If this bit is set to 1 while accelerating or decelerating the LSI will stop the acceleration deceleration and hold the current speed After that if this bit is set to 0 the LSI will restart the acceleration or deceleration oignal input sensitivity for the ORG EL and STP signals The sensitivity to signals on the ORG EL and STP terminals can be set using this bit Set this bit to 1 to reduce the sensitivity to signals on the ORG EL and STP terminals Pulse signals shorter than 4 reference clock cycles approx 800 nS with a 4 9152 MHz clock will be ignored Set this bit to 0 and the sensitivity is increased Pulse signals shorter than 800 nS will be recognized Monitor mode selection The data types that can be read can be set with this bit Set this bit to 1 to read data such as RO to R7 StatusO Status Status2 Status3 commands and the current speed Set this bit to 0 and the LSI will be compatible with the PCD4500 previous series As such it can only read RO StatusO and Status1 Output mode command examples X s in the table mean the value can be 0 or 1 Operation details Outputs pulses on the PO lines 0 1 X X X X Mask excitation signals from 1 to o 4 X Acceleration deceleration enabled X X X X X otop acceleration deceleration in mid stream High sensitivity to ORG EL and
56. n this mode the LSI can be stopped by turning ON the STP signal or by giving a stop command Please note that even if the EL signal or ORG signal is turned ON the LSI will not 27 stop outputting pulses 1 Timer operation To use the LSI as a 100ms timer do the following Specify an FL speed of 1 000 PPS A control time of 100ms is achieved by outputting 100 pulses at 1 000 PPS COM DT lt 44 HEX Control mode command preset operation COM DT lt 0C2 HEX Output mode command pulse output stop COM DT 80 HEX RO register select command RGDT H lt 0 HEX Preset data upper byte 100 64 HEX RGDT M 0 HEX Preset data middle byte RGDT L lt 64 HEX Preset data lower byte COM DT 30 HEX Start command FL start output INT when stopped When an interrupt signal is input the timer will time out after 100 mS 6 4 Control function 6 4 1 6 4 2 Idling pulse output When the motor is started at FH high speed the motor will accelerate right after starting The idling pulse function enables the acceleration to start only after outputting some pulses at FL speed If this function is not used the speed calculated from the initial output pulse cycle will be higher than the FL speed and the motor will not start automatically even if the FL speed is set to approximately the auto start frequency To solve this problem the LSI will start acceleration at the FL speed you set after 1 to 7 pulses Then the motor will st
57. ode command 2 Control mode command gt Enable disable interrupt output while stopping gt Start control gt Select linear or S curve acceleration and deceleration gt Control the output of general purpose OTS terminal gt Stop control gt Select the feed direction for output pulses gt Select operating mode Constant speed or acceleration deceleration gt Enable disable preset operation gt Enable disable external STA control gt Enable disable SD signal DO gt Select FL or FH speed DO gt Enable disable the ORG signal 3 Register select command 4 Output mode command D7 D7 D6 0 D6 1 D5 gt Enable disable external start interrupt signal D5 gt Select between standard and extension monitor modes D4 gt Enable disable ramping down point interrupt D4 gt Set the sensitivity of the ORG EL and signal STP signals noise filters D3 gt Enable disable preset counter D3 gt Change to a constant speed in the middle of an acceleration or deceleration D2 D2 Mask the excitation sequencing output D1 Register selection RO to R7 D1 Mask the pulse output DO DO Select the pulse output logic negative positive normal ON OFF 2 4 Table of registers D2 D1 DO Register Details R W Bitlength Setting range 0 0 9 Ro Preset counter data AW 2 DE FL speed 1 to 1FFF ofi of er fist WR 8 1 to 1FFF R3 Rate of accel decel 10 2 to 3FF aofo m Magniicaion
58. ommand Using the register select command an INT request signal can be output when starting deceleration from the ramping down point or from an external signal When using PCD series LSls the INT terminals of a number of chips can be wire ORed Install an external pull up resistor 5 to 10 K ohms 4 4 12 BSY Operation status monitor terminal When the LSI is in operation the signal from this terminal goes LOW This terminal can be used to check the operation or to provide current to the motor and force it to remain stopped 4 4 13 CLK Input terminal for the reference clock Reference clock precision affects the output pulse precision Besides affecting the output pulses it also affects the input sensitivity of the start timing signal STA ORG EL and STP signals as well as read and write timing Make sure that only a CMOS level input is applied to the CLK terminal 4 4 14 RST Heset signal input terminal Bring this terminal LOW for 3 reference clock pulses to reset the LSI For details about the initial status after a reset see 4 6 Initial status 4 4 15 CS Chip select signal input terminal Bring this terminal LOW to enable RD and WR signals which will allow reading and writing to the CPU 4 4 16 RD Read signal input terminal Bring this terminal and the CS terminal LOW to output the contents of the specified register on data bus lines DO to D7 12 4 4 17 WR Write signal input terminal Bring this terminal and the C
59. ommand 1 2 3 1 2 3 ak Lf U LE LE LA LE LIL BSY LM oS eee Accelerating 56 8 5 15 Ramping down point deceleration initiation timing 1 2 ak LI LI LF PLL LU LIL R5 lt PC Preset counter R52PC Decelerating 8 5 16 Stopping time When xPO is set to negative logic Stop using EL ORG or STP PO fo When an EL or similar signal is supplied while outputting pulses the EEL operation will stop after completing the current outpput pulse cycle ORG STP 1 2 CLK t BSEH Stop using Preset operation PO 1 2 CLK t BSPH BSY 57 9 Handling precautions 9 1 Design precautions 1 Never exceed the absolute maximum ratings even for a very short time 2 Take precautions against the influence of heat in the environment and keep the temperature around the LSI as cool as possible 3 Please note that ignoring the following may result in latching up and may cause overheating and smoke Do not apply a voltage greater than VDD to the input output terminals and do not pull them below GND Also make sure you consider the input timing when power is applied Be careful not to introduce external noise into the LSI Hold the unused input terminals to VDD or GND level Do not short circuit the outputs Protect the LSI from inductive pulses caused by electrical sources that generate large voltage surges and take appropriate precautions against static electricity 4 Provide external circuit protection
60. rminal A1 1 AO 0 D7 D6 D5 D4 ps D2 D1 DO The address line status is shown Monitor EL terminal in angle brackets lt gt 0 OFF HIGH 1 ON lt LOW gt Monitor EL terminal 0 OFF lt HIGH gt Monitor ORG terminal 0 OFF lt HIGH gt Monitor STP terminal 0 OFF lt HIGH gt Monitor STA terminal 0 OFF lt HIGH gt Monitor SD terminal 0 OFF lt HIGH gt Monitor SD terminal 0 OFF lt HIGH gt 1 ON lt LOW gt 1 ON lt LOW gt 1 ON lt LOW gt 1 ON lt LOW gt 1 ON lt LOW gt 1 ON lt LOW gt Monitor excitation zero point see the excitation sequence 0 Not at the excitation zero position 1 At the excitation zero position The address line status is shown Monitor 1 terminal 0 LOW 1 HIGH Monitor 2 terminal 0 LOW 1 HIGH Monitor 3 terminal 0 LOW 1 HIGH Monitor 4 terminal 0 LOW 1 HIGH Monitor PO terminal 0 LOW 1 HIGH Monitor PO terminal 0 LOW 1 HIGH Monitor OTS terminal 0 LOW 1 HIGH Monitor interrupt each axis in angle brackets gt 0 No interrupt 1 Interrupt occurred 45 6 7 4 Status3 Terminal A1 1 AO 1 D7 D6 D5 D4 D3 D2 D1 DO aces NIA ERIS p ap Always 0000 Chip identification monitor 0001 PCD4511 0010 PCD4521 0100 PCD4541 46 8 Electrical characteristics 8 1 Absolute maximum rating Power supply voltage V DD 0 3 to
61. rupt signal STP U B F H 1 p2 3 A in the input output column means that a pull up resistor is integrated into the open drain output These outputs can be wire ORed A 96 in the input output column means that a pull up resistor is integrated into the input To avoid a high impedance state A ff in the logic column means that the logic for this signal can be inverted The condition given refers to the initial status Make sure that all 5 GND terminals are connected and that all 4 VDD terminals are connected Leave both NC terminals open 4 3 2 List of terminals on the PCD4521 Input output General description number name Interrupt signal 5 RD Input Negative Read signal 9 DO _ Input output Positive Databussignal 1 10 21 32 szal 0 wy 15 26 27 47 58 59 VDD 5V 10 64 16to 18 D5 to D7 Input output Positive Data bus signal n 5 Select excitation method SRL UB Input paards o Select excitation sequence 20 Output 1st phase excitation signal Output Positive 2nd phase excitation signal Output Positive 3rd phase excitation signal 25 Q4 Output Positive 4th phase excitation signal dl S lt S lt S lt Se Se SK 41 Y 43 Y 44 Y 45 Y 46 Y 29 X 49 Y PO Output Negativef Negative pulse 53 Y 54 Y 55 Y 56 Y 57 Y 60 Y 1 Y EERE l Input
62. s for the PCD4511 5 1 3 PCD4541 addresses opecify the axis using address lines A3 A2 and select the control data using address lines A1 AO and control lines RD WR and CS The relationship between address lines A1 AO and control lines RD WR and CS are the same as in the PCD4511 A3 A2 setting A3 0 A220 A320 A221 A321 A220 A32 1 A2 1 Selected axis CS RD WR A1 A0 Dela Same as for the PCD4511 16 5 2 Read and write the data register 5 2 1 Write procedures To specify a register use the register select command The LSI interprets the data written on address lines A1 0 AO 0 as a command It also interprets TOXXXXXX BIN as a register select command 1 To write data enter the register number using the Put the register select command register select command in the command address 2 Write the upper byte bits 23 to 16 of the data to Write the upper data byte to the upper address A1 1 AO 1 of the register the upper address 3 Write the middle byte bits 15 to 8 of the data to the Write the middle data byte to middle address A1 1 AO 0 of the register the middle address 4 Write the lower byte bits 7 to 0 of the data to the Write the lower data byte to lower address A1 0 AO 1 of the register the lower address 5 Since the LSI will be processing the data internally do not write any other command or data for a period of two reference clock cycles approx 400 ns when CL
63. s operation Operation when the preset stop control bit is set to 0 34 Preset operation Operation when the preset stop control bit is set to 1 Zero return operation Operation when the ORG signal control bit is set to 1 ORG signal control This bit is used to enable or disable stopping with the ORG signal When this bit is 1 and the ORG terminal is brought LOW while in operation the output pulses are stopped immediately Use this control for zero return operation When this bit is 0 the clock will continue to supply pulses even if the ORG terminal is brought LOW The setting of this bit does not affect the LSI status SD signal control This bit is used to enable or disable deceleration that can be triggered by the SD signal When this bit is 1 and the SD terminal with the same polarity as the rotation direction is brought LOW while in FH high speed operation the output pulses will decelerate and then operation will continue at FL speed as long as the SD terminal remains LOW This is used to reduce mechanical shock when stopping in a zero return operation or when using EL signals When this bit is 0 the LSI will continue FH high speed operation and will not decelerate even if xSD terminals go LOW The setting of this bit does not affect the LSI status Preset operation The setting on this bit is used to enable or disable a stop caused by the preset counter 24 bit value previously set in register R1 dropping to 0 S
64. ster allow 2 reference clock cycles of time for internal processing To read the preset counter value allow 1 5 reference clock cycles of time for internal processing after writing the register select command Do not read any data during this period To write register data allow 2 reference clock cycles of time for internal processing after writing the lower register data Do not write any data during this period 19 5 4 2 Data setting Even if a register is not used set the register data within the specified range When the motor is stopped instantly using an immediate stop command or the STP EL or ORG signals the motor will turn at FL speed until the last pulse is used after the stop signal is input For this reason when the motor is running at FH speed and stopped instantly the LSI will apply the FL speed until the balance of remaining pulses has been used If the FL speed is not yet set the motor will simply stop leaving a number of pulses unused As such if a value outside the allowable range is specified it may cause a problem Therefore we recommend that you enter appropriate values for all currently unused registers For details about the allowable range of each register see 3 Table of registers Enter data with the correct number of bits The last data written will remain in the write buffer until new data is written Enter data with the correct number of bits in order to prevent incorrect setting of the registers
65. t The ambient temperature must not exceed 215 C for more than 30 seconds and must not exceed 200 C for more than 60 seconds Ambient temperature C 215 200 150 9 4 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive gases or excessive amounts of dust we recommend applying a moisture prevention coating 2 The package resin is made of fire retardant material However it can burn When baked or burned it may generate gases or fire Do not use it near ignition sources or flammable objects 3 This LSI is designed for use in commercial apparatus office machines communication equipment measuring equipment and household appliances If you use it in any device that may require high quality and reliability or where faults or malfunctions may directly affect human survival or injure humans such as in nuclear power control devices aviation devices or spacecraft traffic signals fire control or various types of safety devices we will not be liable for any problem that occurs even it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances 59 List of commands Start mode command D76543210 Select operation speed Inhibited start control Select soeed mode Stop control Start control INT control when stopped Control mode command D76543210 Ob l ORG signal control
66. tart signal is received To output an interrupt signal when stopped use bit 5 in the start mode command To output an interrupt signal when the ramping down point is reached use bit 4 in the register select command To output an interrupt signal when an external start signal is received assign bit 5 in the register select command By setting the interrupt control bit to 1 an INT signal will be output for each situation that is selected To reset the INT signal place a 0 in the respective bit When you want to mask without using the INT signal you should also set this bit to 0 The INT terminal output is a logical OR of the stopped ramping down point and external start conditions To determine which condition caused the INT signal to be output check StatusO When using more than one LSI each of the INT terminals can be connected in a wire OR configuration However in this case connect an external pull up resistor 5K to 10K ohms 1 How to use the INT signal with a ramping down point The LSI will output an INT signal when the ramping down point is reached as follows The preset counter PC value is compared to the ramping down point value in register R5 When PC s R5 the LSI will output an INT signal In addition when the LSI is operating in preset high speed operation the LSI will start deceleration of the motor when PC s R5 Therefore the interrupt generated when the ramping down point is reached can be used as a comparator of th
67. tion Output speed rate range rate range 600 258 HEX 1 1to8 191 0 3C HEX 10 to 81 910 300 12C HEX 2 2to 16 382 IEHEX 20 20to 163 820 120 78HEX 5 5to40 955 12 0C HEX 50 50 to 409 550 6 2 2 Example of setting the acceleration deceleration speed pattern S curve accel decel When the initial speed is 1 000 PPS the operation speed is 10 000 PPS the accel decel time is 500 ms and the reference clock is 4 9152 MHz the value to use in R3 will be as follows 1 The magnification rate used in order to output 10 000 PPS is 2x and R4 will equal 300 12C HEX 2 In order to set the initial speed to 1 000 PPS in the 2x mode H1 must equal 500 1F4 HEX 3 In order to set the operation speed to 10 000 PPS in the 2x mode R2 must equal 5 000 1388 HEX 4 Calculate the value to use for R3 from the desired accel decel time Modify the calculation of the accel decel time and substitute the value Value specified in R3 Accel decel time Sec x Reference clock frequency Hz Value specified in R2 Value specified in R1 x 2 0 5 x 4915200 R3 5000 500 x2 2 907 273 f PPS 10000 Feed 50 000 pulses 1000 500 ms 500 ms S gt 23 6 2 3 Setting the ramping down point By entering a ramping down point in the R5 register the motor will automatically decelerate while operating in the preset or high speed modes To specify this point enter the number of remaining pulses which w
68. to GND or VDD This terminal is latched when reset For details about the sequence for reading this terminal see 6 1 Excitation sequencing for stepper motors F H Terminal for selecting the excitation sequence 2 2 phase and 1 2 phase are typical excitation sequences for 2 phase stepper motors Select the sequence using this terminal Select 2 2 phase excitation with a LOW and 1 2 phase excitation sequencing with a HIGH Connect to GND or VDD For details about the sequence for reading this terminal see 6 1 Excitation sequencing for stepper motors 4 4 10 OTS General purpose output terminal This terminal can be used as an excitation ON OFF control signal for a motor driver IC This terminal can be controlled by a CPU When bit 4 of the control mode command is 1 this terminal is HIGH when it is 0 the terminal is LOW 11 4 4 11 INT Output terminal for sending an interrupt request signal to a CPU This terminal will go LOW when the LSI requests an interrupt Set this signal HIGH using the interrupt condition setting command This terminal can also be masked By setting the start mode command the LSI can be set to output an INT request signal when stopping the motor Using this terminal you can call for an interrupt when the preset operation is complete or when operation is stopped by the ORG signal EL or EL signal or the STP signal An interrupt can also be requested by a deceleration stop or an immediate stop c
69. u enter 0 in the preset counter and write the start command the LSI will not use the preset operation The operation flag in StatusO and the BSY output signal would both immediately indicate that the LSI had stopped When INT output is enabled the LSI will output an INT signal If you stop the preset operation using the stop command or an external signal the number of remaining pulses will be saved in the preset counter By entering a new start command the LSI will continue to output all of the remaining pulses After the preset number of pulses has been output the value in the preset counter will be 0 If you want to restart the operation using the same number of pulses you will have to put the value in RO again PO Negative logic setting Preset counter value 000003 HEX 000002 HEX 000001 HEX HEX 000001 HEX 000000 HEX 6 6 2 R1 FL speed register 13 bits This register is used to set the FL speed To operate at high speed the LSI will start with the FL speed and then accelerate to the FH speed When a deceleration stop command is entered while in high speed operation the LSI will decelerate When the speed drops to the FL speed the operation will stop If the FL speed is set to 0 the PO is latched LOW when stopped and the motor may not actually stop Make sure to set the FL speed to a number greater than 1 The allowable range is 1 to 8 191 1FFF HEX The relationship between the value entered and the output pulse speed varies w
70. uracy is required you have to read the data twice 5 3 Internal data monitor With the standard monitor selected the LSI can read status registers 0 1 and RO the Preset counter By selecting the extension monitor the LSI can also read Status registers 2 3 and R1 to R6 as well as the current command Use the output mode command to select the standard monitor or extension monitor By combining address and register specifications the following data can be monitored When the standard monitor is selected output mode bit 5 0 NC A1 0 A0 0 A1 0 A0 1 A1 1 A0 0 A1 1 A0 0 Register RO Statuso RO lower data RO middle data RO upper data R1 to R7 Statuso Status 0 0 When the extension monitor is selected output mode bit 5 1 Address A1 0 RO StatusO RO lower data RO middle data HO upper data R1 Suus H1 lower data R1 upper data otart mode command otatus0 R2 lower data R2 upper data Control mode command EE M UN H3 lower data R3 upper data Hegister select command R4 Status0 R4 lower data R4 upper data Output mode command P5 Sauso R5 lower data R5 upper data R7 data otatusO i data mE lower data Speed upper data L Rr S jest status Status3 5 3 1 Reading Status There are two status modes Status0 is used for monitoring the operation status and Status for monitoring the input status of signals such as EL SD ORG STA and STP By selecting the extension monitor St
71. wn point formula 5000 500 x 273 300 x8192 2 49 33 2749 R5 24 6 3 Operating mode In any operating mode the motor will stop when an EL signal or STP signal of the same polarity as the direction of rotation turns ON When high speed is selected and the SD signal is enabled the motor will decelerate when an SD signal of the same polarity as the direction of rotation turns ON The examples below use the following terms RGDT_H Register upper byte address RGDT_M Register middle byte address RGDT_L Register lower byte address COM_DT Command buffer address 6 3 1 Continuous mode This mode is used to keep a motor turning after it is started with a start command The motor will keep turning until a stop command is received Specify the direction of rotation using bit 3 in the control mode command To use this mode set bit 2 preset operation control in the control mode command to 0 The preset counter will start counting pulses when the motor is started 1 Constant speed continuous operation When you want to drive a motor at FL FH speed using a pattern as shown below use the following procedure Stop command COM DT lt 40 HEX Control mode command positive direction continuous operation To rotate in the opposite direction use 48 HEX COM DT 10 HEX Start command FL constant speed start Use 11 HEX when you want to start at an FH constant speed To stop the motor use an immediate stop comman

PCD4511/4521/4541 User`s Manual 040227

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