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PCL6025B_Use`rs Manual - Nippon Pulse Motor Taiwan

1. 155 Appendix 4 Differences between the PCL6025 and PCL6025B The PCL6025B is a functionally upgraded version of the PCL6025 This section describes items that have been added to the PCL6025B 1 How to identify the PCL6025 and PCL6025B Some registers have been added and they can be checked to identify the PCL6025 version 1 Enter any number of 16 bits or larger value 10000h to FFFFOOOOh into the input output buffer 2 Write a WRENV6 command Ath Input output buffer gt RENV6 register 3 Write a 0 in order to clear the input output buffer 4 Write a RRENV6 command Eth Input output buffer lt RENV6 register 5 Read the input output buffer If the data read is 10000h or smaller this is a PCL6025 If the data read is the value entered in step 1 above this is a PCL6025B 2 Additional items on the PCL6025B 2 1 Main status Added bit 2 SENI and bit 13 SEOR 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SPDF SPRF SEOR SCP5 SCP4 SCP3 SCP2 SCP1 SSC1 SSCO SINT SERR SEND SENI SRUN SSCM Bit name Detail SENI Stop interrupt flag When IEND 1 in the RENV2 register a change from operating to stopped will make this bit be 1 By reading main status it returns to 0 This bit becomes 1 when the PCL cannot execute a position override When the main status is read it returns to 0 2 2 Operation command The following command has been added COMBO S
2. EB COUNTER nX n 1 n 2 When using 90 phase difference signals and 2x input Se a EB a COUNTER D n 1 X n 2 X n 1 X n 113 3 When using 90 phase difference signals and 4x input EA EB COUNTER ni nai X n X n X m4 X n X n X mi X n 4 When two pulses are input counted on the rising edge EA EB COUNTER D n 1 X n 2 DH n 1 A n 11 10 2 Counter reset All the counters can be reset using any of the following three methods 1 When the CLR input signal turns ON set in RENV3 2 When a zero return is executed set in RENV3 3 When a command is written The PCL can also be specified to reset automatically soon after latching the counter value The CLR input timing can be set in RENV1 environment setting 1 An INT signal can be output when a CLR input is the cause of an event interrupt Action when the CLR signal turns ON lt Set CU1C to 4C bit 16 to 19 in the RENV3 gt RENV3 WRITE CU1C bit 16 1 Reset COUNTER1 command position 23 16 CU2C bit 17 1 Reset COUNTER2 mechanical position n CU3C bit 18 1 Reset COUNTER3 deflection CU4C bit 19 1 Reset COUNTER4 general purpose Action when a zero return is complete lt Set CU1R to 4R bit 20 to 23 in RENV3 gt CU1R bit 20 1 Reset CO
3. In order to output an ERC signal at the completion of a zero return operation set EROR bit 11 1 in the RENV1 register environment setting 1 to make the ERC signal an automatic output For details about ERC signal output timing see the timing waveform in section 9 5 1 Zero return operation In order to output an ERC signal for an immediate stop based on the EL signal ALM signal or CEMG signal input or on the emergency stop command 05h set EROE bit 10 1 in the RENV1 register and set automatic output for the ERC signal In the case of a deceleration stop the ERC signal cannot be output even when set for automatic output The ERC signal can be output by writing an ERC output command 24h The output logic of the ERC signal can be changed by setting the RENV1 register Read the RSTS extension status register to monitor the ERC signal Set automatic output for the ERC signal lt Set EROE bit 10 in RENV1 gt RENV1 WRITE 1 Does not output an ERC signal when stopped by EL ALM or CEMG input 45 8 1 Automatically outputs an ERC signal when stopped by EL ALM or CEMG T TTT Sp input Set automatic output for the ERC signal lt Set EROR bit 11 in RENV1 gt RENV1 WRITE 0 Does not output
4. 11 7 2 PCS signal The PCS input is a terminal originally used for the target position override 2 function By setting the MSY bits 18 to 19 to 01 in the PRMD operation mode register the PCS input signal can enable the CSTA signal for only its own axis The input logic of the PCS input signal can be changed The terminal status can be monitored by reading the RSTS register extension status Specify the function of the PCS signal lt Set PCSM bit 30 in RENV1 gt RENV1 WRITE 1 Only allow the PCS input the local axis CSTA signal 34 n Set the Waiting for CSTA input lt Set MSYO to 1 bits 18 to 19 in RMD gt 01 Start on a CSTA input Set the input logic of the PCS signal lt Set PCSL bit 24 in RENV1 gt 0 Negative logic 1 Positive logic Read the PCS signal lt SPCS bit 8 in RSTS gt 0 The PCS signal is OFF 1 The PCS signal is ON 108 11 8 External stop simultaneous stop This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the CSTP terminal Set MSPE bit 24 1 in the PRMD register operation mode to enable a stop froma CSTP input The axis will stop immediately or decelerate and stop when the CSTP terminal is LOW However a deceleration stop is only used for a high speed start When the axis is started at constant
5. ni Specify the P6 CP4 terminal specifications lt Set P6M0 to 1 bits 12 to 13 in RENV2 gt 00 General purpose input 01 General purpose output 10 Output CP4 Comparator 4 conditions satisfied signal using negative logic 11 Output CP4 Comparator 4 conditions satisfied signal using positive logic RENV2 15 WRITE n Specify the P7 CP5 terminal specifications lt Set P7M0 to 1 bits 14 to 15 in RENV2 gt 00 General purpose input 01 General purpose output 10 Output CP5 Comparator 5 conditions satisfied signal using negative logic 11 Output CP5 Comparator 5 conditions satisfied signal using positive logic RENV2 15 WRITE 8 DI nj 119 Specify the output timing for an internal synchronous signal lt Set SYO1 to 3 RENV5 WRITE bits 16 to 19 in RENV5 gt 23 16 0001 When the Comparator 1 conditions are satisfied 0010 When the Comparator 2 conditions are satisfied 0011 When the Comparator 3 conditions are satisfied 0100 When the Comparator 4 conditions are satisfied 0101 When the Comparator 5 conditions are satisfied 1000 When the acceleration starts 1001 When the acceleration is complete 1010 When the deceleration starts 1011 When the deceleration is complete Others Turn OFF internal synchronous output signal lich n n
6. IR 101 0011 101 0100 54h Zero return to the specified position controlled by pulsar PA PB 53h input 101 0101 Zero return to a mechanical position controlled by pulsar PA PB input Positioning operation controlled by external signal DR DR input 55h 101 0110 56h 110 0000 60h Continuous linear interpolation 1 continuous operation with linear interpolation 1 Linear interpolation 1 Continuous linear interpolation 2 continuous operation with linear interpolation 2 Linear interpolation 2 CW circular interpolation operation CCW circular interpolation operation Continuous linear interpolation 1 synchronized with PA PB Linear interpolation 1 synchronized with PA PB Continuous linear interpolation 2 synchronized with PA PB Linear interpolation 2 synchronized with PA PB Clockwise circular interpolation synchronized with PA PB Counter clockwise circular interpolation synchronized with PA PB 110 0001 61h 110 0010 62h 110 0011 63h 110 0100 64h 110 0101 65h 110 1000 68h 110 1001 69h 110 1010 6Ah 110 1011 6Bh 110 1100 6Ch 110 1101 6Dh 33 Bit name Description 7 MENI When the pre register is set the PCL will not output an INT signal even if IEND becomes 1 Optical setting items MSDE SD input will be ignored Checking can be done with RSTS in sub status
7. Zero return operation 7 After the EL signal turns ON when feeding at constant speed the axis will stop immediately Then the axis will start feeding in the opposite direction at FA speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly After the EL signal turns ON when feeding at high speed if ELM is 0 the axis will stop immediately If ELM is 1 the axis will decelerate and stop Then from the stopped position the axis will start to feed in the opposite direction at FA speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly Zero return operation 8 After the EL signal turns ON when feeding at constant speed the axis will stop immediately Then the axis will start feeding in the opposite direction at FL speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly After the EL signal turns ON when feeding at high speed if ELM is 0 the axis will stop immediately If ELM is 1 the axis will decelerate and stop from that position Then from the stopped position the axis will start to feed in the opposite direction accelerating from FL to FH speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pul
8. ORMO to 3 1001 Zero return operation 9 After executing a Zero return operation 0 operate until COUNTER2 0 1010 Zero return operation 10 After executing a Zero return operation 3 operate until COUNTER2 0 1011 Zero return operation 11 After executing a Zero return operation 5 operate until COUNTER2 0 1100 Zero return operation 12 After executing a Zero return operation 8 operate until COUNTER2 0 move back to the zero position move back to the zero position move back to the zero position move back to the zero position EZDO to 3 Specify the EZ count up value that is used for zero return operations 0000 1st count to 1111 16th count C120 to 21 Select the input count source for COUNTER2 mechanical position 00 EA EB input 01 Output pulse 10 PA PB input CI30 to 31 Select the input count source for COUNTER3 deflection counter 00 Output pulse and EA EB input deflection counter 01 Output pulse and PA PB input deflection counter 10 EA EB input and PA PB input deflection counter C140 to 41 Select the input count source for COUNTER4 general purpose 00 Output pulse 01 EA EB input 10 PA PB input 11 Divide the CLK count by 2 BSYC Operate COUNTER4 only while LSI is operating BSY is low Not defined Always set to 0 CU1C Reset COUNTER1 command position when the CLR input turns ON CU2C Reset COUNTER2 mec
9. lt Acceleration FL complete FH FL Example 2 shows how to start another axis using the satisfaction of the comparator conditions to generate an internal synchronous signal Be careful since comparator conditions satisfied by timing and the timing of the start of another axis may be different according to the comparison method used by the comparators Example 2 Use COUNTER1 command position and Comparator 1 to start the X axis when the Y axis 1000 1 Set MSYO to 1 bits 18 to 19 in the X axis PRMD to 10 Start from an internal synchronous signal 2 Set SYIO to 1 bits 20 to 21 in the X axis RENV5 to 01 Use an internal synchronous signal from the Y axis 3 Set SYOO to 3 bits 16 to 19 in the Y axis RENV5 to 0001 Output an internal synchronous signal when the Comparator 1 conditions are satisfied 4 Set C1C0 to 1 bits O to 1 in the Y axis RENV4 to 00 Comparator 1 comparison counter is COUNTER 5 Set C1S0 to 2 bits 2 to 4 in the Y axis RENV4 to 001 Comparison method Comparator 1 Comparison counter 6 Set C1D0 to 1 bits 5 to 6 in the Y axis RENV4 to 00 Do nothing when the Comparator 1 condition are satisfied 7 Set the RCMP 1 value of the Y axis to 1000 Comparison counter value of Comparator 1 is 1000 8 Write start commands for the X and Y axes The timing chart below shows the period after the Comparator 1 conditions are established and the X axis starts
10. 121 11 11 3 Out of step stepper motor detection function If the deflection counter value controlled by the motor command pulses and the feed back pulses from an encoder on a stepper motor exceed the maximum deflection value the LSI will declare that the stepper motor is out of step The LSI monitors stepper motor operation using COUNTER3 the deflection counter and a comparator The process which takes place after an out of step condition is detected can be selected from the table Processing method to use when the comparator conditions are satisfied For this function use an encoder with the same resolution as the stepper motor COUNTERS deflection can be cleared by writing a set command to the deflection counter There are two methods for inputting a feedback signal Input 90 phase difference signals 1x 2x 4x on the EA EB terminals input two sets of positive and negative pulses If both EA and EB signals change at the same time the LSI will treat this as an error and output an INT signal Setting example RENV4 00360000h Satisfy the conditions of Comparator 3 lt COUNTER3 deflection Stop immediately when the conditions are satisfied RCMP3 32 The maximum deflection value is 32 pulses RIRQ 00000400h Output an INT signal when the conditions for Comparator 3 are satisfied Specify the EA EB input lt Set EIMO to 1 bits 20 to 21 in RENV2 gt RENV2 WRITE 00 90 phase difference 1x 23 16 01 90 phase
11. OUTy Y axis command position counter value 997X 998 e 999 K 1000 Ke 1 001 X 1002 X 1003 CP1y OUTx X axis comand position counter value Note In the example above even if the Y feed amount is set to 2000 and the X feed amount is set to 1000 the X axis will be 1 when the Y axis position equals 1000 Therefore the operation complete position will be one pulse off for both the X and Y axes In order to make the operation complete timing the same set the RCMP1 value to 1001 or set the comparison conditions to Comparator 1 lt comparison counter 129 Specify the use of the PO FUP terminal lt Set POMO to 1 bits O to 1 in RENV2 gt 10 Output an FUP accelerating signal RENV2 WRITE Specify the use of the P1 FDW terminal lt Set P1M0 to 1 bits 2 to 3 in RENV2 gt 10 Output an FDW decelerating signal Select the output logic for PO one shot FUP lt Set POL bit 16 in RENV2 gt 0 Negative logic 1 Positive logic Select the output logic for P1 one shot FDW lt Set P1L bit 17 in RENV2 gt 0 Negative logic 1 Positive logic Specify the use of the P3 CP1 SL terminal lt Set P3M0 to 1 bits 6 to 7 in RENV2 gt 10 Output CP1 Comparator 1 conditions are satisfied using negative logic 11
12. SSTSB IOPB 15 14 13 12 1 10 9 8 7 6 5 4 3 2 1 0 IOP7 IOP6 IOP5 IOP4 IOP3 IOP2 IOP1 Op Bit name Description IOPO to 7 Read the status of PO to 7 0 L level 1 H level SFU Set to 1 while accelerating SFD Set to 1 while decelerating SFC Set to 1 while feeding at constant speed SALM Set to 1 when the ALM input is ON SPEL Set to 1 when the EL input is ON SMEL Set to 1 when the EL input is ON SORG Set to 1 when the ORG input is ON SSD Set to 1 when the SD input is ON Latches the SD signal Note When the backlash or slip correction function is used SFU SFD and SFC will all be 0 The main status SRUM will be 1 even if this correction is used 20 7 Commands Operation and Control Commands 7 1 Operation commands After writing the axis assignment data to COMB1 address 1 when a Z80 I F is used write the command to COMBO address 0 when a Z80 I F is used the LSI will start and stop as well as change the speed of the output pulses When an 8086 H8 or 68000 I F is used write 16 bit data which combines the axis assignment and operation command data 7 1 1 Procedure for writing an operation command the axis assignment is omitted Write a command to COMBO address 0 when a Z80 I F is used A waiting time of 4 register reference clock cycles approximately 0 2 usec when CLK 19 6608 MHz is required for the interval between writing a command and writing the
13. 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 board storage box that is protected against static electricity and make sure there is adequate clearance between the LSIs 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 Plastic packages can become infiltrated with wat
14. Reading the event interrupt cause lt ISPD bit 17 and ISMD bit 18 in RIST gt ISPD bit 17 1 When the DR signal input changes ISMD bit 18 1 When the DR signal input changes Read operation status lt CND bits 0 to 3 in RSTS gt 0001 Waiting for a DR input Reading the DR signal lt SDRP bit 11 and SDRM bit 12 in RSTS gt SDRP 0 DR signal is OFF SDRP 1 DR signal is ON SDRM 0 DR signal is OFF SDRM 1 DR signal is ON The external switch operation mode has the following two forms Operation mode Direction of movement Continuous operation using an external switch Determined by DB DR input Positioning operation using an external switch Determined by DB DR input 9 4 1 Continuous operation using an external switch MOD 02h This mode is used to operate an axis only when the DR switch is ON After writing a start command turn the DR signal ON to feed the axis in the positive direction turn the DR signal ON to feed the axis in the negative direction using a specified speed pattern By turning ON an EL signal for the feed direction movement on the axis will stop However the axis can be fed in the reverse direction An error interrupt INT output will not occur To end this operation mode write an immediate stop command 49h If the axis is being fed with high spee
15. 1 Occurs an overflow In the descriptions in the right hand column n refers to the bit position 0 refers to bit positions where it is prohibited to write any value except zero and the bit will always be zero when read The pulsar input mode has the following 12 operation types The direction of movement for continuous operation can be changed by setting the RENV2 register without changing the wiring connections for the PA PB inputs Operation mode Direction of movement Continuous operation using pulsar input Determined by the PA PB input Positioning operation using pulsar input absolute position Determined by the sign of the PRMV value Positioning operation using pulsar input COUNTER1 absolute position Determined by the relationship of the RMV and COUNTER values Positioning operation using pulsar input COUNTER2 absolute position Determined by the relationship of the RMV and COUNTER2 values Command position COUNTER1 zero point return operation using pulsar input Determined by the sign of the value in COUNTER1 Command position COUNTER2 zero point return operation using pulsar input Determined by the sign of the value in COUNTER2 Continuous linear interpolation 1 using pulsar input Determined by the sign of the value in PRMV Linear interpolation 1 using pulsar input Determined by the sign of the value in PRMV
16. The length of the ideal line dotted line is V 107 4 10 77 If the machine can be fed by just following the ideal line the feed interval will be 10 77 seconds Please take note of the above when using synthesized constant speed control 2 Acceleration deceleration operations when the synthesized constant speed control bit is ON MIPF 1 Basically the operation will have a constant speed when MIPF 1 The synthesized speed will vary with the acceleration deceleration When MIPF 1 and you select linear interpolation 1 or circular interpolation with acceleration deceleration the following limitations apply Make the acceleration rate PRUP and deceleration rate PRDR for the control axes equal Do not change the speed during S curve acceleration deceleration Failure to follow these guidelines may cause the PCL to decelerate abnormally 9 8 4 Continuous linear interpolation 1 MOD 60h This is the same as linear interpolation 1 and each axis operates at a speed corresponding to the PRMV setting However the PCL will continue to output pulses until a stop command is received This mode only uses the rate from the PRMV setting for all of the interpolated axes Therefore if the PRMV setting for the all of the interpolated axes is zero the PCL will output pulses to all the interpolated axes at the same speed 77 9 8 5 Precision of linear interpolation Y Slave axis 9 8 6 Linear interpolation 1 MOD
17. 1 Enable COUNTER4 general purpose only while operating BSY L ai aba sla EK 116 11 11 Comparator 11 11 1 Comparator types and functions This LSI has 5 circuits axes using 28 bit comparators It compares the values set in the RCMP1 to 5 registers with the counter values Comparators 1 to 4 can be used as comparison counters and can be assigned as COUNTERS 1 to 4 Comparator 5 can be assigned as COUNTER 1 to 4 a positioning counter or to track the current speed There are many comparison methods and four processing methods that can be used when the conditions are met Specify the comparator conditions in the RENV4 environment 4 and RENV5 environment 5 registers By using these comparators you can perform the following Use comparators for INT outputs external output of comparison data and for internal synchronous starts Immediate stop and deceleration stop operations Change operation data to pre register data used to change speed while operating Software limit function using Comparators 1 and 2 Ring count function using COUNTER1 command position and Comparator 1 Ring count function using COUNTER2 mechanical position and Comparator 2 Detect out of step stepper motors using COUNTER3 deflection and a comparator Output a synchronous signal IDX using COUNTER4 general purpose and a Comparator 4 Comparator 5 is equipped with a pre register It too can output an INT signal w
18. 1 Positive logic nj n Reading the INP signal lt SINP bit 16 in RSTS gt RST 0 The INP signal is OFF 23 1 The INP signal is ON 0 Set the INP input filter lt FLTR bit 26 in RENV1 gt R 1 Apply a filter to the INP input 31 By applying a filter pulses less than 4 usec in width are ignored 104 11 6 2 ERC signal A servomotor delays the stop until the deflection counter in the driver reaches zero even after command pulses have stopped being delivered In order to stop the servomotor immediately the deflection counter in the servo driver must be cleared This LSI can output a signal to clear the deflection counter in the servo driver This signal is referred to as an ERC signal The ERC signal is output as one shot signal or a logic level signal The output type can be selected by setting the RENV1 register environment setting 1 If an interval is required for the servo driver to recover after turning OFF the ERC signal HIGH before it can receive new command pulses the ERC signal OFF timer can be selected by setting the RENV1 register Write start command Motor Stil 1 Stoppin otor Still S ppi y Next operation start BSY ER S ERC pulse width ERC signal OFF timer OUT SetEPWOto2 SetEPWO to 1
19. 20 to 22 IDCOto2 Read the idling count value 23 to 31 Not defined Always set to 0 52 8 3 39 RSDC register This register is used to check the automatically calculated ramping down point value for the positioning operation Read only 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 000 0l000 0 8 3 40 PRCI RCI registers These registers are used to set circular interpolation stepping number PRCI is the pre register for the RCI These registers only exist for the X axis They do not exist for the Y axis because the Y axis cannot be used as a control axis in circular interpolation To decelerate during a circular interpolation enter the number of steps number of operations required for the circular interpolation Entering a number other than 0 can decelerate the speed by using an automatic ramping down point Setting range 0 to 2 147 483 648 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 8 3 41 RCIC register This register is used to read the count of the number of circular interpolation steps that have been completed Read only The RCI register value is loaded when a circular interpolation is started This value is decreased by one for each circular interpolation step However if the counter value is 0 the PCL will not decrease it further The counter value at the completion of a circular interpolation is held in the P
20. Continuous linear interpolation 2 using pulsar input Determined by the sign of the value in PRMV Linear interpolation 2 using pulsar input Determined by the sign of the value in PRMV CW circular interpolation using pulsar input Determined by the circular interpolation operation CCW circular interpolation using pulsar input 59 Determined by the circular interpolation operation 9 3 1 9 3 2 9 3 3 9 3 4 9 3 5 Continuous operation using a pulsar input MOD 01h This mode allows continuous operation using a pulsar input When PA PB signals are input after writing a start command the LSI will output pulses to the OUT terminal The feed direction depends on PA PB signal input method and the value set in PDIR PA PB input method Feed direction PA PB input Positive direction When the PA phase leads the PB phase Negative direction When the PB phase leads the PA phase 90 phase difference signal 1x 2x and 4x Positive direction When the PB phase leads the PA phase Negative direction When the PA phase leads the PB phase Positive direction PA input rising edge Negative direction PB input rising edge Positive direction PB input rising edge Negative direction PA input rising edge The PCL stops operation when the EL signal in the current feed direction is turned ON But the PCL can be operated in the opposite direction without writing a restart command
21. PRFL x PRDS x PRUR 2 x PRDR 3 PRUS x PRUR 1 x 4 PRMG 1 x 32768 and PRUS PRFL x PRUS x PRUR PRDR 2 x 8 ERs PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS gt 0 PRDS 0 A A B lt es PRUR 2x PRDR 3 However A PRUS x PRUR 1 B PRMG 1 x 32768 x PRMV 2 x Ax PRFL PRUR 2 x PRDR 3 x PRFL x PRUR 2 x PRDR 3 iii Eliminate the linear acceleration deceleration range When PRMV lt PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 PRMG 1 x 32768 x PRMV 2 PRENS T PRUR PRDR 2 x2 7 PRFL PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 90 3 3 When PRUS gt PRDS i Set up a small linear acceleration deceleration range When PRMV lt PRFH PRFL x PRFH PRFL x PRUR PRDR 2 2x PRUSx PRUR 1 2x PRDS x PRDR 1 PRMG 1 x 32768 and PRUS PRFL x PRUS x 2 x PRUR PRDR 3 PRDS x PRDR 1 x 4 PRMG 1 x 32768 PRMV gt A JA B PRUR PRDR 2 PRFH However A PRUS x PRUR 1 PRDS x PRDR 1 B PRMG 1 x 32
22. This mode only uses the difference between the PRMV target position register value and COUNTER1 Since the COUNTER1 value is stored when starting to move the PCL cannot be overridden by changing the COUNTER value But the target position can be overridden by changing the RMV value The direction of movement can be set automatically by evaluating the relative relationship between the PRMV register setting and the value in COUNTER1 At start up the difference between the RMV setting and the value stored in COUNTER is loaded into the positioning counter RPLS The PCL moves toward the zero position When the positioning counter value reaches zero it stops operation If the PRMV register value is made equal to the COUNTER value and the positioning operation is started the PCL will immediately stop operation without outputting any command pulses 55 9 2 3 9 2 4 9 2 5 9 2 6 9 2 7 Positioning operation specify the absolute position in COUNTER2 MOD 43h This mode only uses the difference between the PRMV target position register setting and the value in COUNTER2 Since the COUNTER2 value is stored when starting a positioning operation the PCL cannot be overridden by changing the value in COUNTER2 However it can override the target position by changing the value in RMV The direction of movement can be set automatically by evaluating the relationship between the PRMV register setting and the value in COUNTE
23. When stopped by the EL input no error interrupt INT output will occur To release the operation mode write an immediate stop command 49h Note When the immediate stop command 49h is written while the PCL is performing a multiplication operation caused by setting PIM 0 to 1 and PMG 0 to 4 the PCL will stop operation immediately and the total number of pulses that are output will not be an even multiple of the magnification When PSTP in RENV6 is set to 1 the PCL delays the stop timing until an even multiple of pulses has been output However after a stop command is sent by setting PSTP to 1 check the MSTS If SRUN is 0 set PSTP to 0 When SRUN is 0 while PSTP is 1 the PCL will latch the stop command Positioning operations using a pulsar input MOD 51h The PCL positioning is synchronized with the pulsar input by using the PRMV setting as incremental position data This mode allows positioning using a pulsar input The feed direction is determined by the sign in the RMV register When PA PB signals are input the LSI outputs pulses and the positioning counter counts down When the value in the positioning counter reaches zero movement on the axis will stop and another PA PB input will be ignored Set the PRMV register value to zero and start the positioning operation The LSI will stop movement on the axis immediately without outputting any command pulses Positioning operation using pulsar input
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25. 123 124 125 VDD5 1 26 Power Supply 5 VDC power 39 61 supply The allowable power supply range is 5 VDC 10 70 100 Make sure to connect all of these terminals 109 120 VDD3 15 51 Power Supply 3 3 VDC power 90 126 supply The allowable power supply range is 3 3 VDC 10 Make sure to connect all of these terminals RST 2 Input Negative Input reset signal Make sure to set this signal LOW after turning ON the power and before starting operation Input and holding RST low for at least 8 cycles of the reference clock For details about the chip s status after a reset see section 11 1 Reset in this manual CLK 119 Input Input a CMOS level reference clock signal Signals other than the CLK are TTL level inputs Supply a standard reference clock frequency of 19 6608 MHz The LSI creates output pulses based on the clock input on this terminal IFO 3 Input Enter the CPU I F mode IF1 4 1 1 Io CPU example CPU signal connected to the terminal RD WR AO WRQ L L 68000 5V R W LDS DTACK L H H8 RD HWR GND WAIT H L 8086 RD WR GND READY H H Z80 RD WR AO WAIT CS 5 Input Negative When the signal level on this terminal is LOW the RD and WR terminals will be valid RD 6 Input Negative Connect the I F signals to the CPU The RD and WR WR 7 terminals are valid when CS terminal is LOW AU to A3 8 to 11 Input Positive Address control signals INT 13 Output Negative Outputs an interrupt request
26. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 C2RM C2D1 C2D0 C2S2 C2S1 C280 C2C1 C2C0 C1RM C1D1 C1D0 C1S2 C1S1 C1S0 C1C1 C1C0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 C4D1 C4D0 C483 C4S82 C4S1 C4S0 C4C1 C4C0 IDXM C3D1 C3D0 C3S2 C3S1 Caen C3C1 C3C0 Bit Bit name Description 0 to 1 C1C0 to 1 Select a comparison counter for comparator 1 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTERS deflection counter 11 COUNTER4 general purpose 2to4 C1S0 to 2 Select a comparison method for comparator 1 Note 2 001 RCMP1 data Comparison counter regardless of counting direction 010 RCMP1 data Comparison counter while counting up 011 RCMP1 data Comparison counter while counting down 100 RCMP1 data gt Comparison counter data 101 RCMP1 data lt Comparison counter data 110 Use as positive end software limit RCMP1 lt COUNTER1 Others Treats that the comparison conditions are not satisfied Note 4 5 to 6 C1D0 to 1 Select a process to execute when the Comparator 1 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 7 C1RM 1 Use COUNTER for ring counter operation by using Comparator 1 See 11 11 5 Ring counter function 8 to 9 C2C0 to 1 Select a comparison counter for Comparator 2 Note 1 00 COU
27. D014 POx FUPx lt 013 P1x FDWx am lt 212 P2x MVCx lt D11 P3x CP1x SLx gt D10 P4x CP2x SLx lt lt D9 P5x CP3x lt e CC lt gt D8 P6x CP4x m a VDD5 P7x CP7x lt LO lt D GND lt D6 ELy gt E CNI gt D5 SF lt D4 SDy EI O lt gt Di ORGy k lt 22 ALMy k lt D1 INPy k CO lt D0 CLRy k a GND LTCy k gt HIFB STAy Is Cc a VDD3 PCSy k e FRO VDD3 gt Js gt HINT DRy Q a GND DRy Y a A3 PEy a A2 GND gt a Al PAy a AO PBy a WR EAy k a RD EBy k DCS EZy k Fi vDD5 w CIS a IFO OUTy a RST Iwe a a Se S a ae ae lt vpD5 Ne AT EST ETE TAINS SAN EUEIElEdSdbElEl elef E REhel E Se FtOST SBA SFSSSSESFSEL2NOA22222853 E 3 Q gt GO Oe EH 3 EH nvrailJ aaa EI GA CA GE EE CR CP CD EN m wel Klee tes EE SS SE Note Pin number 1 is in the lower left corner when PCL6025B is seen right way up on the front of the chip 4 Functions of Terminals Signal name eer Ee Logic Description GND 12 17 Power Power supply ground 35 48 supply Make sure to connect all of these terminals 55 64 79 94 103 118 121 122
28. Decelerates deceleration stop by turning ON the SD input MINP Delay using an INP input will be possible Checking can be done with RSTS in sub status 1 Completes operation by turning ON the INP input MSMD Specify an acceleration deceleration type for high speed feed 0 Linear accel decel 1 S curve accel decel MCCE 1 Stop COUNTER1 command position This is used to move a mechanical part without changing the PCL control position METM Specify the operation complete timing 0 End of cycle 1 End of pulse When using the vibration reduction function select End of pulse MSDP Specify the ramping down point for high speed feed 0 Automatic setting 1 Manual setting Effective for positioning operations and linear interpolation feeding MPCS 1 While in automatic operation control the number of pulses after the PCS input is turned ON Override 2 for the target position 15 MIPF 1 Make a constant synthetic speed while performing interpolation feeding 16 to 17 MSNO to 1 When you want to control an operation block specify a sequence number using 2 bits By reading the main status MSTSW a sequence number currently being executed SSCO to 1 can be checked Setting the sequence number does not affect the operation 18 to 19 MSYO to 1 After writing a start command the LSI will start an axis synchronization operation based on other timing 00 Star
29. INT signal There are 17 types of errors 19 types of events and change from operating to stop that can cause an INT signal to be output All of the error causes will always output an SINT signal Each of the event causes can be set in the RIRQ register to output an INT signal or not A stop interrupt is a simple interrupt function which produces an interrupt separate from a normal stop or error stop For a normal stop interrupt to be issued the confirmation process reads the RIST register as described in the Cause of an Event section If your system needs to provide a stop interrupt whenever a stop occurs it is easy to use the stop interrupt function To approximate a free curve interpolation using multiple linear interpolation operations event interrupts will be generated at the end of each linear interpolation When using the stop interrupt set MENI 1 in the RMD register You can set it to not output an INT signal if there is data for the next operation The INT signal is output continuously until all the causes on all the axes that produced interrupts have been cleared An interrupt caused by an error is cleared by writing a REST error cause register read command An interrupt caused by an event is cleared by writing a RIST event cause register read command A Stop interrupt is cleared by writing to the main status To determine which type of interrupt occurred on which axis and the cause of the interrupt follow the proc
30. If both RT and FT data are other than zero the vibration reduction function is turned ON 15 414 13 EREECHEN 4 3 2 1 0 RT15 RT14 RT13 RT12 RT11 RT10 RT9 RT8 RITZ RT6 RT5 RT4 RT3 PI FT15 FT14 FT13 FT12 FT11 FT10 FT9 FT8 Bit name Description RTO to 15 Enter the RT time shown in the figure below The units are 32 ticks of the reference clock approx 1 6 usec FTO to 15 Enter the FT time shown in the figure below The units are 32 ticks of the reference clock approx 1 6 usec The dotted lines in the figure below are pulses added by the vibration reduction function Positive pulse pO ee ss l Final pulse Negative puses TTT 45 8 3 20 RCUN1 register This is a register used for COUNTER1 command position counter This is a counter used exclusively for command pulses Setting rage 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 8 3 21 RCUNZ2 register This is a register used for COUNTER2 mechanical position counter It can count three types of pulses Command pulses encoder signals EA EB input pulsar inputs PA PB input Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 8 3 22 RCUNS register This is a register used for COUNTERS deflection counter It can count three types of deflections Between command pulses and encoder signals be
31. Positioning operations using a pulsar input specify incremental position 60 9 3 3 Positioning operations using a pulsar input specify absolute position to COUNTER 60 9 3 4 Positioning operations using a pulsar input specify absolute position to COUNTER2 60 9 3 5 Command position zero return operation using a pulsar Imput 60 9 3 6 Mechanical position zero return operation using a pulsar input ssssssessseeessrnessernrerrrnsernnesrene 61 9 3 7 Continuous linear interpolation 1 using a pulsar Input 61 9 3 8 Linear interpolation 1 using pulsar Imput 61 9 3 9 Continuous linear interpolation 2 using pulsar Input 61 9 3 10 Linear interpolation 2 using pulsar input sssesssessnsssnssensstnettnsttnstrnstrnrtrnrtnnnnntrnntnnntennnnnnnnnnn ennt 61 9 3 11 CW circular interpolation using pulsar Input 61 9 3 12 CCW circular interpolation using pulsar Imput 61 9 4 External switch CDR operation mode 0 00 ceceecceeceeeeeeeeeeeeeeneeeeeseeeseeseeseeeseeeeeaeeeaeseeeeeeeseeeeeeeeeneeaees 62 9 4 1 Continuous operation using an external switch 0 eeeeeeceeeeeeeeeeeeeeeeeeeeeeeesaeetaeeteeseeeeetieeeaeees 62 9 4 2 Positioning operation using an external SWItCH 2 ee eee cence cent erent eteaeeeeaeeeeaaeeteaeeneeeeeneeenaes 63 9 5 Zero position Operation mode AEN 64 9 5 1 ZOO retri Op Sat OM NEE 65 9 5 2 Leaving the zero position operations cccecceeceeeeeceeeeeeneee
32. RIST register Event INT status 52 8 3 37 RPLS register Number of pulses left for feeding cceccceeseceeeeeeceeeteeeeeeaeeesseeeeieeeteneeeeaees 52 8 3 38 RSPD register EZ counter current speed monftor 52 8 3 39 RSDC register Automatically calculated ramping down point 53 8 3 40 PRCI RCI registers Number of steps for mterpolaton 53 8 3 41 RCIC register Circular interpolation step number counter 53 8 3 42 RIPS register Interpolation status 54 9 OperationuMOdes EE 55 9 1 Continuous operation Mode using command Control 55 9 2 Positioning Operation MOE eanta e EE aea n E aE a a aaa 55 9 2 1 Positioning operation specify a target position using an incremental value 55 9 2 2 Positioning operation specify the absolute position COUNTER eeeeeeeseesseeenteteeeenees 55 9 2 3 Positioning operation specify the absolute position COUNTER eeeeeeceeeeeeeeeeeeeeteeneees 56 9 2 4 Command position O return Operation ce ccceecceeeeeceeeeceeeeeeeceeeeneeseaececaeeseaeeeseaeeeeaeetsueeeeneeetaes 56 9 2 5 Machine position 0 return Operation ccccceccceeeeeceeeeeeneeeeeeaeeeeeeaeeeeeeaeeeeseaeeeseseeeeeenneeeeesaaes 56 922 6 ONE PUISE OPEKAllOn sss eee a et a es ed he ad a a ts ae de 56 BE AUDE OPS LAU ON eve te eh sis ted Sege eka ged tered slat abel acc dei E elteren 56 gF Pulsa PFA FB input MOd EE 57 9 3 1 Continuous operation using a pulsar Input 60 9 3 2
33. SCP2 bit 9 1 When the Comparator 2 conditions are satisfied SCP3 bit 10 1 When the Comparator 3 conditions are satisfied SCP4 bit 11 1 When the Comparator 4 conditions are satisfied SCP5 bit 12 1 When the Comparator 5 conditions are satisfied MSTSW 15 READ 8 ni nj n Specify the P3 CP1 SL terminal specifications lt P3M0 to 1 bits 6 to 7 in RENV2 gt 00 General purpose input 01 General purpose output 10 Output a CP1 Comparator 1 conditions satisfied signal using negative logic 11 Output a CP1 Comparator 1 conditions satisfied signal using positive logic RENV2 7 WRITE 0 DI nj Specify the P4 CP2 SL terminal specifications lt P4MO0 to 1 bits 8 to 9 in RENV2 gt 00 General purpose input 01 General purpose output 10 Output CP2 Comparator 2 conditions satisfied signal using negative logic 11 Output CP2 Comparator 2 conditions satisfied signal using positive logic RENV2 15 WRITE 8 n n Specify the P5 CP3 terminal specifications lt Set P5M0 to 1 bits 10 to 11 in RENV2 gt 00 General purpose input 01 General purpose output 10 Output CP3 Comparator 3 conditions satisfied signal using negative logic 11 Output CP3 Comparator 3 conditions satisfied signal using positive logic RENV2 15 WRITE 8
34. STA input lt MSY0 to 1 bits 18 to 19 in PRMD gt PRMD WRITE 01 Start by inputting a STA signal CSTA or STA 16 Specify the input specification for the STA signal lt Set STAM bit 18 in RENV1 gt 0 Level trigger input for the CSTA and STA signal 1 Edge trigger input for the CSTA and STA signal Read the STA signal CSTA and STA lt SSTA bit 5 in RSTS gt 0 The STA signal is OFF 1 The STA signal is ON Read the STA signal lt SEST bit 17 in RSTS gt 0 The STA signal is OFF 1 The STA signal is ON Read the operation status lt CND bits 0 to 3 in RSTS gt 0010 Waiting for STA input Set an event interrupt cause lt Set IRSA bit 18 in RIRQ gt 1 Output an INT signal when the STA input is ON Reading the event interrupt cause lt ISSA bit 19 in RIST gt 1 When the STA signal is ON 23 16 0 Din Simultaneous start command lt CMSTA Operation command gt Operation command Output a one shot pulse 8 reference clock cycles long from the CSTA Det terminal The CSTA terminal is bi directional It can receive signals output from other PCLs Local axis only simultaneous start command lt SPSTA Operation Operation command command gt BAN Used the same way as when a STA signal is supplied for a local axis only
35. VW WR Tstakw ACK WRQ TsHAKW TakbH DO to D15 138 12 6 Operation timing Item Condition Min RST input signal width Note 1 10Tcix CLR input signal width 2Tcik EA EB input signal width Note 2 1Toik Go EZ input signal width Note 2 1Terk 3Tcik PA PB input signal width Note 3 1Toik ox ALM input signal width Note 4 Zon INP input signal width Note 4 2Teik RENV1 bit 12 to 14 000 254Tcik 255T cik ERC output signal width RENV1 bit 12 to 14 111 LEVEL output EL EL input signal Note 4 2Tcik width SD input signal width Note 4 Zo ORG input signal width Note 4 Zo DR DR input signal Note 5 2T width PE input signal width Note 5 Zo PCS input signal width Zo LTC input signal width Zo Output signal width ox Input signal width ex Output signal width GE Input signal width Ze BSY signal ON delay Tcmpssy time CSTA CSTP Tstapsy TcmppLs Start delay time TstapLs Note 1 The actual CLK input signal is 10 cycles longer while the RST terminal is LOW Note 2 If the input filter is ON lt EINF bit 18 1 in RENV2 gt the minimum time will be 3Tc x Note 3 If the input filter is ON lt PINF bit 19 1 in RENV2 gt the minimum time will be 3Tc k Note 4 If the input filter is ON lt FLTR bit 26 1 in RENV1 gt the minimum time will be
36. Vibration restriction function This LSI has a function to restrict vibration when stopping by adding one pulse of reverse operation and one pulse of forward operation shortly after completing a command pulse operation Specify the output timing for additional pulses in the RENV7 environment setting 7 register When both the reverse timing RT and the forward timing FT are non zero the vibration restriction function is enabled The dotted lines below are pulses added by the vibration restriction function An example in the positive direction Positive pulses Final pulse NeRTative pulses d RI EI RT ae FT Specify the reverse operation timing lt Set RTO to 15 bits 0 to 15 in RENV7 gt RENV7 WRITE RT range 0 to 65 535 15 The units are 32x the reference clock cycle approx 1 6 usec when CLK 19 6608 MHz Settable range 0 to approx 0 1 sec 8 n 0 n Specify the forward operation timing lt Set FTO to 15 bits 16 to 31 in RENV7 gt FT range 0 to 65 535 The units are 32x the reference clock cycle approx 1 6 usec when CLK 19 6608 MHz Settable range 0 to approx 0 1 sec Note The optimum values for RT and FT will vary with each piece of machinery and load Therefore it is best to obtain these values by experiment 125 11 14 Synchronous starting This LSI can perform the following operation by set
37. Write 0351h FH constant speed start PRMV 10000 5000 X and Y axes perform a linear PRMD 0000_0064h 0000_0064h dee with an end point 1000 X and Y axes start command X and Y axes start command Start command Write 0351h FH constant speed start After the settings above are complete the LSI will execute a continuous operation in the order shown below 1 The X and Y axes perform a CW circular interpolation operation of a 90 curve with a radius of 10000 2 The X and Y axes perform a linear interpolation 10000 5000 128 11 14 2 Starting from an internal synchronous signal There are 9 types of internal synchronous signal output timing They can be selected by setting the RENV5 register The monitor signal for the internal synchronous signal can be output externally Example 1 below shows how to use the end of an acceleration for the internal synchronous signal Example 1 After completing steps 1 to 3 below write a start command to the X and Y axes the X axis will start when the Y axis completes its acceleration 1 Set MSYO to 1 bits 18 to19 in the X axis PRMD to 10 Start with an internal synchronous signal 2 Set SYIO to 1 bits 20 to 21 in the X axis RENV5 to 01 Use an internal synchronous signal from the Y axis 3 Set SYOO to 3 bits 16 to 19 in the Y axis RENV5 to 1001 Output an internal synchronous signal when the acceleration is complete f FH
38. X axis output pulse 1 2 3 4 5 6 7 8 9 10 Y axis output pulse lt gt 1000pps End coordinates As shown in the figure on the right linear 10 4 interpolation executes an interpolation from the current coordinates to the end coordinates The positional precision of a specified line during linear interpolation will be 0 5 LSB throughout the interpolation range a Master axis LSB refers to the minimum feed unit for the PRMV register setting It corresponds to the resolution of the mechanical system distance between tick marks in the figure on the right Continuous linear interpolation 2 MOD 62h Same as Linear Interpolation 2 the PCL controls each axis using speeds that correspond to the ratios of the values set in PRIP and PRMV However in continuous mode the PCL will continue to output pulses until it receives a stop command 78 9 8 7 Linear interpolation 2 MOD 63h Linear interpolation 2 is used for linear interpolations between 3 or more axes and uses more than one LSI for control In this mode the PCL cannot synchronize the acceleration deceleration timing between interpolated axes so this mode cannot be used with acceleration deceleration In order to execute a linear interpolation using multiple LSIs you must use a simultaneous start signal CSTA signal For details about the CSTA signal see section
39. of the interpolated axes SRUN SEND and SERR in MSTSW main status byte for the interpolated axis will change using the same pattern The RSPD speed monitor feature is only available for the interpolation control axes However when linear interpolation 2 is used the value read out will be the main axis speed lt Precautions for using the composite constant speed control bit MIPF 1 gt 1 Positioning is only possible at the unit s resolution position for machine operation Therefore even if an interpolation operation is selected the machine will use the following points to approximate an arc and the actual feed pattern will be point to point zigzag feeding With this feed pattern the actual feed amount will be longer than the ideal linear line or an ideal arc The function of the synthesized constant speed control in this LSI is to make constant synthesized speeds for multiple axes in simultaneous operation which means that the speed through the ideal locus trajectory will not be constant For example with linear interpolation in Y Slave axis the figure on the right using the u synthesized constant speed feature the PCL will make a constant synthesized speed in order to feed ata 45 angle by decreasing the speed to 1 2 1 Therefore the feeding interval when the oL feed speed is 1 pps will be 6 0 5 10 4 2 11 66 seconds End coordinates 10 4 N wo A 0 5 LSB gt X Master axis
40. specify absolute position to COUNTER1 MOD 52h The PCL positioning is synchronized with the pulsar input by using the PRMV setting as the absolute value for COUNTER1 The direction of movement is determined by the relationship between the value in PRMV and the value in COUNTER1 When starting the difference between the values in RMV and COUNTER is loaded into the positioning counter When a PA PB signal is input the PCL outputs pulses and decrements the positioning counter When the value in the positioning counter reaches 0 the PCL any further ignores PA PB input If you try to start with PRMV COUNTER the PCL will not output any pulses and it will stop immediately Positioning operation using pulsar input specify the absolute position in COUNTER2 MOD 53h The operation procedures are the same as MOD 52h except that this function uses COUNTER2 instead of COUNTER Command position zero return operation using a pulsar input MOD 54h This mode is used to feed the axis using a pulsar input until the value in COUNTER1 command position becomes zero The number of pulses output and the feed direction are set automatically by internal calculation using the COUNTER value when starting Set the COUNTER value to zero and start the positioning operation the LSI will stop movement on the axis immediately without outputting any command pulses 60 9 3 6 9 3 7 9 3 8 9 3 9 Mechanical position zero return operati
41. 11 7 External start simultaneous start The axis with the maximum amount to be fed is referred to as the master axis during the interpolation and the other axes are slave axes Enter the PRMV register setting for the master axis in the PRIP registers of each axis including the master axis In the PRMV registers of the slave axes enter end point of each axis Specify the speed data PRFL PRFH PRUR PRDR PRMG PRDP PRUS and PRDS for the slave axes to be the same as for the master axis The feed direction is determined by the sign of the value in the PRMV register After writing 01 into MSY bits 18 and 19 in the PRMD operation mode register of the axes write a start command and set the axes to wait for the CSTA signal input By entering a CSTA signal all of the axes on all of the LSIs will start at the same time The master axis provides pulses constantly The slave axes provide some of the pulses fed to the master axis but some are omitted Setting example 1 Connect the CSTA signals between LSI A and LSI B 2 Set up the LSIs as shown below Set the PRMD to start with an CSTA input 3 Write start commands LSI A 0351h LSI B 0351h 4 Write a CSTA signal input command 06h to the X axis on LSI A After completing steps 1 to 4 above the LSls will output pulses using the timing shown in the figure below i LSI A LSI B Setting X axis Y axis Y axis Y axis CO RMD 00040063h 00040063
42. 1x 2x 4x or PAy 95 positive pulses on PA and negative pulses on PB PBy 96 When 90 phase difference signals are used if the signal phase of PA is ahead of the PB signal the LSI will count up The counting direction can be changed using software PEX 54 Input U Negative Setting these terminals LOW enables PA PB and DR DR PEy 93 input By inputting an axis change switch signal one manual pulsar can be used alternately for two axes DRx 52 Input U Negative rou can start operation of the PCL with these signals using DRx 53 external switches DRy 91 Specifying the feed length constant speed continuous feed and DRy 92 high speed continuous feed are possible The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status Signal name Ge See Logic Description PCSx 50 Input U Negative The PCL starts its positioning operation according to this input PCSy 89 signal Override 2 of the target position The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status INPx 45 Input U Negative Input the position complete signal from servo driver in position INPy 85 signal Input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status CLRx 46 Input U Negati
43. 80T cx Note 5 If the input filter is ON lt DRF bit 27 1 in RENV1 gt the minimum time will be 655 360T cx 139 1 When the EA EB inputs are in the 2 pulse mode Teas Trap Trap EA Teas Teas Teas Teas eelef 2 When the EA EB inputs are in the 90 phase difference mode 3 When the PA PB inputs are in the 2 pulse mode 4 When the PA PB inputs are in the 90 phase difference mode 5 Timing for the command mode when I M H and B W H A start command is written WR TcmpBsy BSY TCMDPLS OUT Initial output pulse 6 Simultaneous start timing CSTA TSTABSY BSY OUT Initial output pulse 140 13 External Dimensions TH OS PCL6025B O 17 2 0 4 IANA a JL 2100 EE Appendix List of various items Appendix 1 List of commands lt Operation commands gt Symbol Description Description CMEMG Emergency stop FL constant speed start CMSTA CSTA output simultaneous start FH constant speed start CMSTP CSTP output simultaneous stop High speed start 1 FH constant speed gt Deceleration stop FCHGL Immediate change to FL constant speed High speed start 2 acceleration gt FH constant speed gt deceleration s
44. 82 Ramping down signal for the Y axis P8 100 SEDO to 1 Register bits RIPS 22 23 Final phase of a circular interpolation P54 SELx Command bit comws Select the X axis P18 75 name SELy Ge COMW9 Select the Y axis P18 75 SEMG Register bi RSTS7 CEMG input signal is ON P50 110 SEND Main status bit MSTSW 3 Equals 0 when started automatically becomes 1 when stopped P19 SENI Main status bit MSTSW 2 Equals 1 when an interrupt is caused by stopping P19 132 SEOR Main status bit MSTSW 13 Equals 1 when unable to execute a position override P19 97 SERC Register bi RSTS 9 Equals 1 when the ERC output signal is ON P50 106 SERR Main status bit MSTSW 4 Equals 1 when an error interrupt occurs P19 132 SEST Register bi RSTS 17 STA input signal is ON P50 108 SEZ Register bi RSTS 10 Equals 1 when the EZ input signal is ON P50 75 SFC Sub status bit SSTSW 10 Equals 1 when feeding at constant speed P20 SFD Sub status bit SSTSW 9 Equals 1 when decelerating P20 SFU Sub status bit SSTSW 8 Equals 1 when accelerating P20 SINP Register bi RSTS 16 Equals 1 when the INP input signal is ON P50 104 SINT Main status bit MSTSW 5 Equals 1 when an event interrupt occurs P19 132 SLTC Register bi RSTS 14 Equals 1 when the LTC input signal is ON P50 114 SMAX Register bi RENV2 29 Select the PCL6025B mode for the start when the specified axis stops function P39 127 SMEL Sub status bit SSTSW 13 Equals 1 when the EL input is ON P20 100 SORG Sub status bit SSTSW 14 Equals 1 w
45. A2 l 4h A 5h X 6h X 7h X Oh 1 Next address Mmm CH em K Seege f CS Me A ee e EE __J A WR d d DO to D7 lt Data gt lt Data gt lt Data Data lt Commane Comman 2 reference clock lt 4 reference clock cycles or longer cycles or longer 7 4 2 Procedure for reading data from a register the axis assignment is omitted 1 First write a register read out command to COMBO address 0 when a Z80 I F is used 2 Wait at least four reference clock cycles approx 0 2 usec when CLK 19 6608 MHz for the data to be copied to the UO buffer 3 Read the data from the I O buffer addresses 4 to 7 when a Z80 I F is used The order for reading data from the I O buffer does not matter There is no minimum time between read operations When the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically A0 to A2 Oh x Ah X 5h X 6h X 7h Next address CS KS ce Kn Kat ee et WR RD JA JN JA J Data Data lt Data Data 4 reference clock cycles or longer DO to D7 25 7 4 3 Table of register control commands Register 2nd pre register Detail Read command Write command Read command Write command COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol EE target Doh RRMV 90h WRMV Cp RPRMV 80h WPRMV Initial speed Dih
46. CSTP Terminal name 37 Simultaneous stop signal P8 109 CU1B Register bi RENV3 24 Operate COUNTER1 command position with backlash slip correction P41 116 CU1C Register bi RENV3 16 Reset COUNTER1 command position by turning ON the CLR input P41 114 CU1L Register bi RENV5 24 Reset COUNTER1 command position right after latching the count value P44 114 CU1R Register bi RENV3 20 Reset COUNTER1 command position when the zero return is complete P44 114 CU2B Register bi RENV3 25 Operate COUNTER2 mechanical position with backlash slip correction P44 114 CU2C Register bi RENV3 17 Reset COUNTER2 mechanical position by turning ON the CLR input P44 114 CU2H Register bi RENV3 29 Stop the count on COUNTER2 mechanical position P44 114 CU2L Register bi RENV5 25 Reset COUNTER2 mechanical position right after latching the count value P44 114 CU2R Register bi RENV3 21 Reset COUNTER2 mechanical position when the zero return is complete P44 114 CU3B Register bi RENV3 25 Operate COUNTER3 deflection with backlash slip correction P44 114 148 Label Type Position Description Reference CU3C Register bi RENV3 18 Reset the COUNTER3 deflection by turning ON the CLR input P44 114 C
47. Command C2h Copy PRFH data to BUF P26 RPRFL Command Cth Copy PRFL data to BUF P26 RPRIP Command C8h Copy PRIP data to BUF P26 RPRMD Command C7h Copy PRMD data to BUF P26 RPRMG Command C5h Copy PRMG data to BUF P26 RPRMV Command COh Copy PRMV data to BUF P26 RPRUR Command C3h Copy PRUR data to BUF P26 RPRUS Command C9h Copy PRUS data to BUF P26 RRC Command FCh Copy RCI data to BUF P26 RRCIC Command FDh Copy RCIC data to BUF P26 RRCMP1 Command E7h Copy RCMP1 data to BUF P26 RRCMP2 Command E8h Copy RCMP2 data to BUF P26 RRCMP3 Command E9h Copy RCMP3 data to BUF P26 RRCMP4 Command EAh Copy RCMP4 data to BUF P26 RRCMP5 Command EBh Copy RCMP5 data to BUF P26 RRCUN1 Command E3h Copy RCUN1 data to BUF P26 RRCUN2 Command E4h Copy RCUN2 data to BUF P26 RRCUN3 Command E5h Copy RCUN3 data to BUF P26 RRCUN4 Command E6h Copy RCUN4 data to BUF P26 RRDP Command D6h Copy RDP data to BUF P26 RRDR Command D4h Copy RDR data to BUF P26 RRDS Command DAh Copy RDS data to BUF P26 RRENV1 Command DCh Copy RENV1 data to BUF P26 RRENV2 Command DDh Copy RENV2 data to BUF P26 RRENV3 Command DEh Copy RENV3 data to BUF P26 RRENV4 Command DFh Copy RENV4 data to BUF P26 RRENV5 Command EOh Copy RENV5 data to BUF P26 RRENV6 Command Eth Copy RENV6 data to BUF P26 RRENV7 Command E2h Copy RENV7 data to BUF P26 RREST Command F2h Copy REST data to BUF P26 RRFA Command DBh Copy RFA data to BUF P26 RRFH Command D2h Copy RFH data to BUF P26 RRFL Command Dth Copy RFL data to BUF P26 RRI
48. Description of the map details 6 5 1 Write the command code and axis selection COMW COMB Write the commands for reading and writing to registers and the start and stop control commands for each axis COMBO Set the command code For details see 7 Command Operation and Control Commande SELx toy Select an axis for executing the command If all of the bits are O only this axis selected by A3 is selected To write the same command to more than one axis set the bits of the selected axes to 1 When you write to a register the details of the input output buffer are written into the register for its axis When you read from a register the details in the register are written into the input output buffer for its axis COMW Write to an output port OTPW OTPB Specify output terminal status from the general purpose I O terminals PO to P7 Bits corresponding to terminals not set as outputs are ignored When writing a word the upper 8 bits are ignored However they should be set to 0 for future compatibility OTPO0 to 7 Specify the status of output terminals Pin to POn n x y A HIGH is output when the bit is set to 1 OTPW OTPB 15 14 13 12 11 10 g 8 7 6 5 4 3 2 1 6 5 3 Write read the input output buffer BUFW BUFB When you want to write data into a register after placing the data in the input output buffer write a register write command into COMBO The data in the input
49. FL speed setting register 16 bit Specify the speed for FL constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh The speed will be calculated from the value in PRMG _ Reference clock frequency Hz FL speed pps PRFL x PRMG 1 x 65536 PRFH FH speed setting register 16 bit Specify the speed for FH constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh When used for high speed operations acceleration deceleration operations specify a value larger than PRFL The speed will be calculated from the value placed in PRMG Reference clock frequency Hz FH speed pps PRFH x PRMG 1 x 65536 84 PRUR Acceleration rate setting register 16 bit Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration MSMD 0 in the PRMD register PRFH PRFL x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s 2 S curve acceleration without a linear range MSMD 1 in the PRMD register and PRUS register 0 Acceleration time s FREE SPREE PRURS xs Reference clock frequency Hz 3 S curve acceleration with a linear
50. High 011 _ Low Kc High 100 Hot High TL 101 OUT OUT DIR DIR 110 out Jour D DIR DIR 111 MLI i _ Low Low N 3 ELM Specify the process to occur when the EL input is turned ON 0 Immediate stop 1 Deceleration stop Note 1 2 4 SDM Specify the process to occur when the SD input is turned ON 0 Deceleration only 1 Deceleration and stop 5 SDLT Specify the latch function of the SD input 0 OFF 1 ON Turns ON when the SD signal width is short When the SD input is OFF while starting the latch signal is reset The latch signal is also reset when SDLT is 0 6 SDL Specify the SD signal input logic 0 Negative logic 1 Positive logic T ORGL Specify the ORG signal input logic 0 Negative logic 1 Positive logic 8 ALMM Specify the process to occur when the ALM input is turned ON 0 Immediate stop 1 Deceleration stop Note 2 9 ALML Specify the ALM signal input logic 0 Negative logic 1 Positive logic 10 EROE 1 Automatically outputs an ERC signal when the axis is stopped immediately by a EL EL ALM or CEMG input signal However the ERC signal is not output when a deceleration stop occurs on the axis When the EL signal is specified for a normal stop by setting MOD 010X000 feed to the EL position in the RMD register the ERC signal is output if an immediate stop occurs 11 EROR 1 Automatically output the ERC signal when the axis completes a zero return 12 to 14 EPWO to 2 Speci
51. High speed operation f f f Decelerate to FL speed FH FH S FL S ON aral ON Sch ON signal ofr g OFF signal OFF OFF 3 Deceleration stop lt SDM bit 4 1 SDLT bit 5 0 in RENV1 register gt If the SD signal is turned ON while in constant speed operation the axis will stop While in high speed operation the axis will decelerate to FL speed when the SD signal is turned ON and then stop If the SD signal is turned OFF during deceleration the axis will accelerate to FH speed If the SD signal is turned ON after writing a start command the axis will complete its operation without another start When stopped the axis will output an INT signal FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL speed ES FH The SD signal is lt turned OFF while FL decelerating and FL the axis acceler ates FH speed SD ON SD ___ __ ON Sie signal OFF signal OFF signal opp ON OFF 101 4 Latch and deceleration stop lt SDM bit 4 1 SDLT bit 5 1 in RENV1 gt If the SD signal is turned ON while in constant speed operation the axis will stop If the SD signal is turned ON while in high speed operation the axis will decelerate to FL speed and then stop Even if the SD signal is turned OFF during deceleration the axis will not accelerate If the SD signal is turned ON while writing a start command the axis will not start
52. I O and FDW See Note Pi1y FDWy 111 Output 5 R s an FDW terminal it outputs a LOW signal while decelerating As a general purpose UO terminal three possibilities can be specified input terminal output terminal and one shot pulse output terminal The usage output logic of the FDW and one shot pulse parameters can be changed using software P2x MVCx 73 Input Positive Common terminal for general purpose I O and MVC See Note P2y MVCy 112 Output 5 A When used as an MVC terminal it outputs a signal while performing a constant speed feed The usage and output logic of the MVC can be changed using software P3x CP1x 74 Input Positive Common terminal for general purpose I O and CP1 SL See SLx 113 Output Note 5 P3y CP1y When used as a CP1 SL terminal it outputs a signal while SLy establishing the conditions within SL of comparator 1 The output logic of CP1 SL as well the selection of input or output functions can be changed using software 10 Terminal Input No output P4x CP2x 75 Input Positive Common terminal for general purpose I O and CP2 SL 114 Output When used as a CP2 SL terminal it outputs a signal while establishing the conditions within SL of comparator 2 The output logic of CP2 SL as well as the selection of input or output functions can be changed using software See Note 5 Signal name Logic Description P5x CP3x Input Positive Common
53. LOW 19h P1SET Make P1 HIGH 12h P2RST Make P2 LOW 1Ah P2SET Make P2 HIGH 13h P3RST Make P3 LOW 1Bh P3SET Make P3 HIGH 14h P4RST Make P4 LOW 1Ch P4SET Make P4 HIGH 15h P5RST Make P5 LOW 1Dh P5SET Make P5 HIGH 16h P6RST Make P6 LOW 1Eh P6SET Make P6 HIGH 17h P7RST Make P7 LOW 1Fh P7SET Make P7 HIGH The PO and P1 terminals can be set for one shot output T approx 26 msec using the RENV2 Environment setting 2 register and the output logic can be selected To use them as one shot outputs set the PO terminal to POM bits 0 and 1 11 or set the P1 terminal to P1M bits 2 and 3 11 To change the output logic set POL bit 16 on the PO terminal and P1L bit 17 on the P1 terminal In order to perform a one shot output from the PO and P1 terminals a bit control command should be written However the command you need to write will vary depending on the output logic selected See the table below for the details Terminal Logic setting Bitcontrol Terminal Logic setting Bitcontrol command command Negative logic P1L 0 P1RST 11h Negative logic POL 0 PORST 10h Positive logic POL 1 POSET 18h Negative logic P1L 1 P1SET 19h When writing control commands to output ports OTPB address 2 for the Z80 interface the PO and P1 terminals will not change PO P1 23 7 3 Control command Set various controls such as the reset counter The pro
54. Operation and Control Commande 21 7 1 Operation Commands derien Gee ea nein arcane ee tae haste ait Glade ap hee a 21 7 1 1 Procedure for writing an operation command the axis assignment is omitted ee 21 e Start command EE 21 7 1 3 Sped change Command 42000 22 Tele Stop command e GENEE eh ee ee eee ee 22 71 5 NOP do nothing commMand EE 22 7 2 General purpose output bit control commande s sssssssksssrssersrtnstrttrtttnsttnsttnntnnttnnnnnnnnnenenennee nnne 23 23 CONtrol COMMAN EE 24 3 1 softwarerreset COMMANG EE 24 7 3 2 Counter reset command onnenn a a e i a ett aati ie 24 7 3 3 ERG output controlscommand e a i od Pe et td 24 7 3 4 Pre register control command AANEREN 24 7 3 5 PCS IMPUt COMMANG EE 24 7 3 6 LTC input counter latch conmadh a AEE 24 7 4 Register control COMMANG et Seed e EE Eed 25 7 4 1 Procedure for writing data to a register the axis assignment is omitted ee eeeeeeeeeees 25 7 4 2 Procedure for reading data from a register the axis assignment is omitted eee 25 7 4 3 Table of register Control commande ssssessessessresretteitttittrttttttstnttnttnstnstnttnttuntuntustnntnnenntnnnnaen ent 26 7 5 General purpose output Control commande 27 7 5 1 Command writing Procedures cceecceeceeeeeeeeeneeceeeeeeeaeesaeesaeesaeesaeeeaeesieesaeesieeseesieesieesieseaeeeinees 27 7 5 2 Command bit alloCation e eee eee ceceeeeeeeeeeneeeeeeeaeeseeesaeesaeesaeesaeeeaeeseesa
55. Output CP1 Comparator 1 conditions are satisfied using positive logic Specify the use of the P4 CP2 SL terminal lt Set P4M0 to 1 bits 8 to 9 in RENV2 gt 10 Output CP2 Comparator 2 conditions are satisfied using negative logic 11 Output CP2 Comparator 2 conditions are satisfied using positive logic RENV2 15 WRITE 8 i n Dn Specify the use of the P5 CP3 terminal lt Set P5M0 to 1 bits 10 to 11 in RENV2 gt 10 Output CP3 Comparator 3 conditions are satisfied using negative logic 11 Output CP3 Comparator 3 conditions are satisfied using positive logic RENV2 15 WRITE 8 nj nj Specify the use of the P6 CP4 terminal lt Set P6MO to 1 bits 12 to 13 in RENV2 gt 10 Output CP4 Comparator 4 conditions are satisfied using negative logic 11 Output CP4 Comparator 4 conditions are satisfied using positive logic RENV2 15 WRITE 8 n Specify the use of the P7 CP5 terminal lt Set P7MO to 1 bits 14 to 15 in RENV2 gt 10 Output CP5 Comparator 5 conditions are satisfied using negative logic 11 Output CP5 Comparator 5 conditions are satisfied using positive logic 130 RENV2 15 WRITE 8 n 11 15 Output an interrupt signal This LSI can output an interrupt signal
56. P42 117 C2D0 to 1 Register bi RENV4 13 14 Select a process to execute when the comparator2 conditions are me P42 118 C2S0 to 2 Register bi RENV4 10 12 Select a comparison method for comparator2 P42 118 C2RM Register bi RENV4 15 Set COUNTER2 for ring count operation using Comparator 2 P42 124 C3C0 to 1 Register bi RENV4 16 17 Select a comparison counter for comparator3 P42 117 C3D0 to 1 Register bi RENV4 21 22 Select a process to execute when the comparator3 conditions are me P43 118 C3S0 to 2 Register bi RENV4 18 20 Select a comparison method for comparator3 P43 118 C4C0 to 1 Register bi RENV4 24 25 Select a comparison counter for comparator4 P43 118 C4D0 to 1 Register bi RENV4 30 31 Select a process to execute when the comparator4 conditions are me P43 118 C4S0 to 3 Register bi RENV4 26 29 Select a comparison method for comparator4 P43 118 C5CO0 to 2 Register bi RENV5 0 2 Select a comparison counter for comparator5 P44 118 C5D0 to 1 Register bi RENV5 6 7 Select a process to execute when the comparator5 conditions are me P44 118 C5S0 to 2 Register bi RENV5 3 5 Select a comparison method for comparator5 P44 118 CEMG Terminal name 38 Emergency stop signal P8 115 C120 to 21 Register bi RENV3 8 9 Specify the input count COUNTER2 mechanical position P41 112 CI30 to 31 Register bi RENV3 10 11 Specify the input count COUNTER3 deflection counter P41 112 C140 to 41 Register bi RENV3 12 13 Specify the input count COUNTER4 gener
57. Register bits RENV3 0 3 Select the zero return method P40 64 OTPO to 7 General purpose OTPW 0 7 General purpose ports P18 port name OTPB Byte map name SS using Change status of general output port valid only for the output specified bits P16 OTPW Word map name SE Change status of general output port valid only for the output specified bits P17 OUTx Terminal name 62 Motor driving pulse signals for X axis P9 97 OUTy Terminal name 101 Motor driving pulse signals for Y axis P9 97 POL Register bit RENV2 16 Set output logic of PO terminal 0 Negative logic 1 Positive logic P23 39 POx FUPx Terminal name 71 General purpose port 0 for the X axis Monitor output during acceleration P10 38 POy FUPy Terminal name 110 General purpose port 0 for the Y axis Monitor output during acceleration P11 38 P1x FDWx Terminal name 72 General purpose port 1 for the X axis Monitor output during deceleration P10 38 P1y FDWy Terminal name 111 General purpose port 1 for the Y axis Monitor output during deceleration P10 38 P2x MVCx Terminal name 73 General purpose port 2 for the X axis Feeding at constant speed P10 38 P2y MVCy Terminal name 112 General purpose port 2 for the Y axis Feeding at constant speed P10 38 P3x CP1x SLx Terminal name 74 General purpose port 3 for the X axis Comparator 1 software limit output P10 38 P3y CP1y SLy Terminal name 113 General purpose port 3 for the Y axis Comparator 1 software limit output P10 38 P4x CP
58. Register name Comparison data for comparator2 P47 117 RCMP3 Register name Comparison data for comparator3 P47 117 RCMP4 Register name Comparison data for comparator4 P47 117 RCMP5 Register name Comparison data for comparator5 P47 117 RCUN1 Register name COUNTER1 command position P46 112 RCUN2 Register name COUNTER2 mechanical position P46 112 RCUN3 Register name COUNTERS deflection counter P46 112 RCUN4 Register name COUNTER4 general purpose counter P46 112 RD Terminal name 6 Lead signal P7 RDP Register name Ramping down point P32 84 RDR Register name Deceleration rate P32 84 RDS Register name S curve range of deceleration P35 86 152 Label Type Position Description Reference RENV1 Register name Environment setting register 1 Specify the input output terminals P28 36 RENV2 Register name Environment setting register 2 Specify the details for the general purpose port P28 38 RENV3 Register name Environment setting register 3 Specify the details for a zero return or counter P28 40 RENV4 Register name Environment setting register 4 Specify the details for comparators 1 to 4 P28 42 RENV5 Register name Environment setting register 5 Specify the detail for compar
59. SL soft limit signal is turned ON and then the operation stops normally When a start command is written on the position where the EL or SL signal is turned ON the LSI will not output pulses and it will stop the axis normally When a start command is written to the axis while the EL and SL signals are OFF the axis will stop when the EL or SL signal is turned ON Normal stop MOD 20h Feed until reaching the EL or SL position 28h Feed until reaching the EL or SL position Leaving an EL or SL position This mode is used to continue feeding until the EL or SL software limit signal is turned OFF When a start command is written on the position where the EL and SL signals are turned OFF the LSI will not output pulses and it will stop the axis normally When starting an operation while the EL input or SL signal is ON the PCL will stop operation normally when both the EL input and SL signal are OFF MOD 22h Leave from a EL or SL position 2Ah Leave from a EL or SL position 74 9 7 EZ count operation mode This mode is used to count EZ signal of the number EZD set value 1 written into the RENV3 register MOD 24h Feed until the EZ count is complete in positive direction 2Ch Feed until the EZ count is complete in negative direction After a start command is written the axis stops immediately or decelerates and stops when feeding at high speed after the EZ count equals the number stored in the register The EZ count can
60. Set SDM bit 4 in RENV1 gt 0 Decelerates on receiving the SD signal and feeds at FL constant speed 1 Decelerates and stops on receiving the SD signal Select the SD signal input type lt Set SDLT bit 5 in RENV1 gt RENV1 WRITE 0 Level input 7 0 1 Latch input To release the latch turn OFF the SD input when next start command is written or select Level input Reading the latch status of the SD signal lt SSD bit 15 in SSTSW gt SSTSW READ 0 The SD latch signal is OFF 15 1 The SD latch signal is ON Reading the SD signal lt SDIN bit 15 in the RSTS gt 0 The SD signal is OFF 1 The SD signal is ON Reading the cause of an INT when stopped by the SD signal lt ESSD bit 10 in REST gt 1 Deceleration stop caused by the SD signal turning ON Apply an input filter to SD lt Set FLTR bit 26 in RENV1 gt 1 Apply a filter to the SD input By applying a filter signals with a pulse width of 4 usec or less will be ignored 102 11 5 3 ORG EZ signals These signals are enabled in the zero return modes zero return leave zero position and zero position search and in the EZ count operation modes Specify the operation mode and the operation direction using the PRMD register operation mode Since the ORG signal input is latched internally there i
61. a register which contains the next set of operation data while the current step is executing This LSI has the following 2 layer structure and executes FIFO operation The pre registers consist of two groups the operation pre registers PRMV PRFL PRFH PRUR PRDR PRMG PRDP PRMD PRIP PRUS PRDS PRCI and the comparator pre register PRCP5 Change v H 2nd 1st Register Operation Setting pre register pre register current data control circuit PRMV etc RMV etc Writing to the operation pre registers The pre registers have a two layer structure and each register can contain up to two pieces of operation data Write the data to a pre register P register name Registers that don t need to be changed do not need to be rewritten When the PCL stops its current operation the data you wrote to the pre registers is shifted into the working registers and used as the current data When the PCL is operating the data remains stored as pre register data The data will be transferred into the pre registers when a start command is issued When the current operation completes the data will be shifted into the working registers and the PCL starts the new operation automatically The status of the pre registers can be checked by reading PFM in the RSTS register When the PFM is value is 11 SPRF in the main status register MSTSW changes to 1 Writing data while the pre register is full is no
62. an ERC signal at the completion of a zero return operation 45 8 1 Automatically outputs an ERC signal at the completion of a zero return aes earl ret es operation Set the ERC signal output width lt Set EPW0 to 2 bits 12 to 14 in RENV1 gt RENV1 WRITE 000 12 usec 100 13 msec 15 8 001 102 usec 101 52 msec elle ET 010 408 usec 110 104 msec 011 1 6 msec 111 Logic level output Select output logic for the ERC signal lt Set ERCL bit 15 in RENV1 gt RENV1 WRITE 0 Negative logic 15 8 1 Positive logic Fe ee ee alt Specify the ERC signal OFF timer time lt Set ETWO to 1 bits 16 to 17 in RENV1 WRITE RENV1 gt 23 16 00 0 usec 10 1 6 msec Zia aaka 01 12 usec 11 104 msec Read the ERC signal lt SERC bit 9 in RSTS gt RSTS READ 0 The ERC signal is OFF 15 8 1 The ERC signal is ON ol T T J lal Emergency stop command lt CMEMG Operation command gt Operation command Output an ERC signal DEn 105 ERC signal output command lt ERCOUT Control command gt Control command Turn ON the ERC signal Dan ERC signal output reset command lt ERCRST Control command gt Control command Turn OFF the ERC signal b5h 11 6 3 ALM signals Input alarm ALM signal When the ALM signal turns ON while in operation the axis will stop immediately or decelerate and stop However the axis only decelerates and stops on an ALM signal if it was started with a high speed start
63. backlash correction and slip correction control cannot be used Continuous interpolation The PCL can use the pre register to make a continuous linear interpolation or circular interpolation However when the axes being interpolated change during a continuous interpolation requires special care An example of the settings for continuous interpolation using the pre register is shown in section 11 14 1 Start triggered by another axis 82 10 Speed patterns 10 1 Speed patterns Speed pattern Continuous mode Positioning operation mode FL constant speed operation f 1 2 1 Write an FL constant speed start command 50h 2 Stop feeding by writing an immediate stop 49h or deceleration stop 4Ah command 1 Write an FL constant speed start command 50h 2 Stop feeding when the positioning counter reaches zero or by writing an immediate stop 49h or deceleration stop 4Ah command FH constant speed operation f FH 1 Write an FH constant speed start command 51h 2 Stop feeding by writing an immediate stop command 49h 1 Write an FH constant speed start command 51h 2 Stop feeding when the positioning counter reaches zero or by writing an immediate stop 49h command 1 When the deceleration stop command 4Ah is written to the register the PCL starts deceleration High speed operation 1 f 1 Write high speed start comma
64. be set from 1 to 16 Use the constant speed start command 50h 51h for this operation When the high speed start command is used the axis will start decelerating and stop when the EZ signal turns ON so that the motion on the axis overruns the EZ position Specify logical input for the EZ signal in the RENV2 environment setting 2 register and the EZ number to count to in the RENV3 environment setting 3 register The terminal status can be monitored by reading the RSTS extension status register Setting the input logic of the EZ signal lt Set EZL bit 23 in RENV2 gt RENV2 WRITE 0 Falling edge 23 16 1 Rising edge ae Fr ef E Setting the EZ count number lt Set EZDO to 3 bits 4 to 7 in RENV3 gt RENV3 WRITE Specify the EZ count number after a zero return complete condition 7 0 Enter a value the number to count to minus 1 in EZD 0 to 3 Setting range 0 lan uel ace aloe to 15 Reading the EZ signal lt SEZ bit 10 in RSTS gt RSTS READ 0 Turn OFF the EZ signal 15 8 1 Turn ON the EZ signal nji 75 9 8 Interpolation operations 9 8 1 Interpolation operations 9 8 2 In addition to each independent operation this LSI can execute the following interpolation operations Operation mode Operation mode Continuous linear interpolation 1 for Continuous linear interpolati
65. change data Complete current Pre register 1 Next operation data set operation undetermined Register Current operation gt Register Next operation data data set set Set a pre register lt PRSET Operation command gt Operation command Identify the pre register details as speed change data AFH 120 11 11 2 Software limit function A software limit function can be set up using Comparators 1 and 2 Select COUNTER1 command position as a comparison counter for Comparators 1 and 2 Use Comparator 1 for a positive direction limit and Comparator 2 for a negative direction limit to stop the axis based on the results of the comparator and the operation direction When the software limit function is used the following process can be executed 1 Stop pulse output immediately 2 Decelerate and then stop pulse output While using the software limit function if a deceleration stop is selected as the process to use when the comparator conditions are met C1D C2D when an axis reaches the software limit while in a high speed start 52h 53h that axis will stop using deceleration When some other process is specified for use when the conditions are met or while in a constant speed start that axis will stop immediately If a software limit is ON while writing a start command the axis will not start to move in the direction in which the software limit is enabled However it can start in the opposite direction Se
66. difference 2x 10 90 phase difference 4x 11 2 pulse mode Specify the EA EB input count direction lt Set EDIR bit 22 in RENV2 gt RENV2 WRITE 0 When the EA phase is leading or count up on the EA rising edge 8 1 When the EB phase is leading or count up on the EB rising edge 3 Read the EA EB input error lt ESEE bit 16 in REST gt 1 An EA EB input error has occurred D 0 Counter reset command lt CUN3R Control command gt Control command Clear COUNTERS deflection to zero 22h 122 11 11 4 IDX synchronous signal output function Using Comparator 4 and COUNTER4 the PCL can output signals to the P6n CP4n terminals at specified intervals Setting C4CO to C4C1 to 11 in the general purpose counter and setting C4S0 to C4S3 to 1000 1001 or 1010 the IDX output the PCL can be used for IDX index operation The counter range of COUNTER4 will be 0 to the value set in RCMP4 If counting down from 0 the lower limit will be the value set in RCMP4 and if counting up from the value set in RCMP4 the limit will be 0 The input for COUNTER4 can be set to C140 to C141 in RENV2 By setting IDXM in RENV4 you can select either level output or count output Select the specification for the P6 CP4 terminals lt Set P6MO to 1 in RENV2 RENV2 WRITE bits 12 to13 gt 15 10 Output an IDX signal
67. function automatically lowers the maximum speed and eliminates triangle driving Look ahead pre register function The next two sets of data feed amount initial speed feed speed acceleration rate deceleration rate speed magnification rate ramping down point operation mode center of circular interpolation S curve range on an acceleration S curve range on a deceleration number of steps for circular interpolation can be written while executing the current data The next set of data and other sets of data can be written in advance of their execution for checking by the comparator When the current operation is complete the system will immediately execute the next operation A variety of counter circuits The following four counters are available separately for each axis Counter Use or purpose Counter Input Output 28 bit counter for control of the command position Outputs pulses 28 bit counter for mechanical position control Can be used as general purpose counter EA EB input Outputs pulses PA PB input 16 bit counter for controlling the deviation between the command position and the machine s current position Outputs pulses and EA EB input Outputs pulses and PA PB input EA EB input and PA PB input 28 bit counter used to output synchronous signals Can be used as general purpose counter Outputs pulses EA EB input PA PB input 1 2 of reference clock All counters can be reset by writi
68. hold time for WR Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H lt Read cycle gt A1 to A3 Tar Trwa CS L Tcsr J Lrtoes WRQ Teswt ES TROHD DO to D7 bb en 4 Trolo lt Write cycle gt A1 to A3 gt Taw Trwa CS y e WRQ K Pe Tcswr k Twait YS a 2 W v Vv DO to D15 gt Town 137 12 5 4 CPU I F 4 IF1 L IFO L 68000 Item Symbol Condition Address setup time for LS 4 Address hold time for LS T CS setup time for LS 4 Toss DCS hold time for LS T Tscs R W setup time for LS 4 Tous R W hold time for LS Tsaw 4Tc k 29 ACK ON delay time for LS 4 Tasen Tstakw ATcixt29 ACK OFF delay time for LS T Jona 18 Ts HAKW 18 Data output advance time for BACK 4 Tpaxir Data float delay time for LS T Tsp 16 Data setup time for LS T Tost Data hold time for HACK J TakoH lt Read cycle gt A1 to A3 K Tas k Tsa J CS Tess Tscs LS A0 A Trws Tsrw RIWWER TSLAKR TsHakr R ACK WRQ TDbaKLR Jeun DO to D15 gt lt Write cycle gt A1 to A3 Tsa CS Tscs LS A0 A S SRW R
69. input Ka 90 phase difference 1x 90 phase difference 2x 90 phase difference 4x NIOIOINIOIOINJO JOJIN 58 lt Setting relationship of PA PB input gt Specify the PA PB input lt Set to PIMO to 1 bit 24 to 25 in RENV2 gt 00 90 phase difference 1x 10 90 phase difference 4x 01 90 phase difference 2x 11 2 sets of up or down input pulses RENV2 WRITE Specify the PA PB input count direction lt Set to PDIR bit 26 in RENV2 gt 0 Count up when the PA phase is leading Or count up on the rising edge of PA 1 Count up when the PB phase is leading Or count up on the rising edge of PB Enable disable PA PB input lt Set POFF bit 31 in RENV2 gt RENV2 WRITE 0 Enable PA PB input 31 24 1 Disable PA PB input n RENV1 WRITE Set the DR PE input filter lt Set DRF bit 27 in RENV1 gt 1 Insert a filter on DR input and PE input By setting the filter the PCL ignores signals shorter than 32 msec Reading operation status lt CND bit 0 to 3 in RSTS gt 1000 wait for PA PB input Reading PA PB input error lt ESPE bit 17 in REST gt ESPE bit 17 1 Occurs a PA PB input error Reading PA PB input buffer counter status lt ESPO bit 14 in REST gt ESPO bit 14
70. moving and the operation will not be completed While stopped the LSI outputs an INT signal FL constant speed operation FH constant speed operation High speed operation f f f Decelerate FH to FL speed The SD signal is turned OFF FLL FL during decel eration SD ON SD ON SD ON signal OFF 9 signal OFF L E signal OFF OFF The input logic of the SD signal can be changed If the latched input is set to accept input from the SD signal and if the SD signal is OFF at the next start the latch will be reset The latch is also reset when the latch input is set to zero The minimum pulse width of the SD signal is 80 reference clock cycles 4 0 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycles 0 1 usec When CLK 19 6608 MHz The latch signal of the SD signal can be monitored by reading SSTSW sub status The SD signal terminal status can be monitored by reading RSTS extension status By reading the REST register you can check for an error interrupt caused by the SD signal turning ON Enable disable SD signal input lt Set MSDE bit 8 in PRMD gt PRMD WRITE 0 Disable SD signal input 15 1 Enable SD signal input Input logic of the SD signal lt Set SDL bit 6 in RENV1 gt 0 Negative logic 1 Positive logic Set the operation pattern when the SD signal is turned ON lt
71. of the PRMD register are set as shown below the register is enabled 110 0010 62h Continuous linear interpolation 2 continuous operation with the linear interpolation 2 110 0011 63h Linear interpolation 2 110 0100 64h Circular interpolation in a CW direction 110 0101 65h Circular interpolation in a CCW direction With Continuous linear interpolation 2 and Linear interpolation 2 specify the feed amount on the master axis using an incremental value With circular interpolation enter a circular center position using an incremental value Setting range 134 217 728 to 134 217 27 8 3 10 PRUS RUS registers These pre registers are used to specify the S curve range of the S curve acceleration RUS is the register for PRUS 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 The normal setting range is 1 to 32 767 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied 8 3 11 PRDS RDS registers These pre registers are used to specify the S curve range of the S curve deceleration RDS is the register for PRDS 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 The normal setting range is 1 to 32 767 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied 8 3 12 RFA register This register is used to specify the constant speed for backlash correction or slip correction This is also
72. out command gt Read command Copy the data in the RIST register event interrupt cause to BUF F3h Set the event interrupt cause lt WRIRQ Write command gt Write command Write the BUF data to the RIRQ register event interrupt cause ACh Operation example in which MENI is set This is operation is used to write data for the next operation and the operation after that when starting 1 When IEND 1 and MENI 0 BSY output 7 INT output MSTS 2 bo bo bo Reading MSTS Reading MSTS Reading MSTS 2 When IEND 1 and MENI 1 BSY output INT output MSTS 2 l t Reading MSTS Note Even if IEND 1 and MENI 1 if no pre register has been specified a Start command has not been written yet the PCL will output an interrupt signal 132 Error interrupt causes Detail of REST The cause of an interrupt makes the corresponding bit 1 gt Cause REST Bit name ESC1 ESC2 ESC3 ESC4 ESC5 ESPL ESML ESAL ESSP ESEM ESSD Not defined ESDT ESIP ESPO ESAO Error interrupt cause w Stopped by Comparator 1 conditions being satisfied SL Stopped by Comparator 2 conditions being satisfied SL Stopped by Comparator 3 conditions being satisfied Stopped by Comparator 4 conditions being satisfied Stopped by Comparator 5 conditions being satisfied Stopped by turning ON the EL i
73. output buffer will be copied into the register When you want to write data into the input output buffer write a register read command into COMBO The data in the register will be copied to the input output buffer Then you can read the data from the input output buffer The order for writing and reading buffers BUFWO to 1 BUFBO to 3 is not specified The data written in the input output buffer can be read at any time BUFW1 BUFWO lf BUFB3 BUFB2 BUER BUFBO I 1 of 1 i f 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6543 2 1 0 18 6 5 4 Reading the main status MSTSW MSTSB MSTSW MSTSB1 MSTSBO 14 13 Bit name l 12 11 10 9 8 7 6 5 4 3 2 1 0 Details SSCM Set to 1 by writing a start command Set to 0 when the operation is stopped SRUN Set to 1 by the start pulse output Set to when the operation is stopped SENI Stop interrupt flag When IEND in RENV2 is 1 the PCL turns ON the INT output when the status changes from operating to stop and the SENI bit becomes 1 After the main status is read it returns to 0 When IEND is set to 0 this flag will always be 0 SEND Set to 0 by writing start command Set to 1 when the operation is stopped SERR Set to 1 when an error interrupt occurs Set to 0 by reading the RESET SINT Set to 1 when an event interrupt occurs Set to 0 by reading the RIST SSCO to 1 Sequence numb
74. overheating and smoke Do not apply a voltage greater than the specified voltages for the Vdd5 terminal to the input output terminals and do not pull them below GND Please consider the voltage drop timing when turning the power ON OFF Be careful not to introduce external noise into the LSI Hold the unused input terminals to 5 V 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 components so that overvoltages caused by noise voltage surges or static electricity are not fed to the LSI 5 Turn the Vdd5 5V and Vdd3 3 3V supply ON OFF at the same time or as nearly the same time as possible Turning the power on to either voltage supply may cause a break through current to flow Continued application of a break through current may generate heat and shorten the life of the LSls 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 the LSIs in an anti static storage container and make sure that no physical load is placed on the LSls
75. phase difference by 2 Count up when the EA input phase is ahead 10 Multiply a 90 phase difference by 4 Count up when EA input phase is ahead 11 Count up when the EA signal rises count down when the EB signal falls EDIR 1 Reverse the counting direction of the EA EB inputs EZL Specify EZ signal input logic 0 Falling edge 1 Rising edge PIMO to 1 Specify the PA PB input operation 00 Multiply a 90 phase difference by 1 Count up when the PA input phase is ahead 01 Multiply a 90 phase difference by 2 Count up when the PA input phase is ahead 10 Multiply a 90 phase difference by 4 Count up when PA input phase is ahead 11 Count up when the PA signal rises count down when the PB signal falls 1 Reverse the counting direction of the PA PB inputs Outputs an INT signal when stopping regardless of whether the stop was normal or due to an error Masks output pulses Enable a start operation that is triggered by stop on the same axis Disable EA EB input Disable PA PB input Note 1 For details about outputting a general purpose one shot signal see 7 2 General purpose output bit control commands 39 8 3 15 RENV3 register This is a register for the Environment 3 settings Zero return methods and counter operation specifications are the main function of this register 15 14 13 12 11 10 9 8 0 BSYC C144 C140 C13
76. pulses start command Write this command after the motor is stopped on the way to a positioning it will continue movement for the number of pulses left in the positioning counter Symbol Description CNTFL Residual pulses FL constant speed start CNTFH Residual pulses FH constant speed start CNTD Residual pulses high speed start 1 FH constant speed start without acceleration with deceleration CNTUD Residual pulses high speed start 2 With acceleration and deceleration 3 Simultaneous start command By setting the RMD register the LSI will start an axis which is waiting for CSTA signal Symbol Description CMSTA Output one shot of the start pulse from the CSTA terminal SPSTA Only this axis will process the command the same as when the CSTA signal is input 7 1 3 Speed change command Write this command while the motor is operating the motor on that axis will change its feed speed If this command is written while stopped it will be ignored Symbol Description FCHGL Change to the FL speed immediately FCHGH Change to the FH speed immediately FSCHL Decelerate and change to the FL speed FSCHH Accelerate and change to the FH speed 7 1 4 Stop command 1 Stop command Write this command to stop feeding while operating Symbol Description STOP Write this command while in operation to stop immediately SDSTP Write this command while feeding at FH constant speed or h
77. range of 1 to 32 767 7FFFh The S curve acceleration range Ssu will be calculated from the value placed in PRMG 8 Reference clock frequency Hz Sso pps PRDS x BMG 1 x 65536 In other words speeds between the FH speed FH speed Ssp and between FL speed Ssp and the FL speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve deceleration without a linear component 147 Appendix 3 Label list Label Type Position Description Reference AO Terminal name 8 Address bus 0 LSB P7 16 17 A1 Terminal name 9 Address bus 1 P7 16 17 A2 Terminal name 10 Address bus 2 P7 16 17 A3 Terminal name 11 Address bus 3 MSB P7 16 ADJO to 1 Register bi RENV6 12 13 Select the feed amount correction method P45 125 ALML Register bi RENV1 9 Set the input logic for the ALM signal 0 Negative 1 Positive P36 106 ALMM Register bi RENV1 8 Select the process to use when the ALM input is ON 0 Immediate stop 1 P36 106 Deceleration stop ALMx Terminal name 44 X axis driver alarm s
78. range MSMD 1 in the PRMD register and PRUS register gt 0 PRFH PRFL 2 x PRUS x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s PRDR Deceleration rate setting register 16 bit Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic MSDP 0 in the PRMD register the value placed in the PRDR register will be used as the deceleration rate However when PRDR 0 the deceleration rate will be the value placed in the PRUR When the ramping down point is set to automatic there are the following restrictions While in the Linear interpolation 1 or circular interpolation and when the synthetic speed constant control function is applied MIPF 1 in the PRMD arrange that deceleration time acceleration For other operations arrange deceleration time lt acceleration time x 2 If setting otherwise the axis may not decrease the speed to the specified FL speed when stopping In this case use a manual ramping down point MSDP 1 in the PRMD register lt When deceleration time acceleration time x 2 using an automatic ramping down point gt Speed FH Time ft Acceleration Deceleration lt When deceleration time gt acceleration time x 2 using an automatic ramping down point gt Speed Stop without dece
79. register for Comparator 5 ISUS Starting acceleration ISUE Ending acceleration ISDS Starting deceleration ISDE Ending deceleration ISC1 The comparator 1 conditions were met ISC2 The comparator 2 conditions were met ISC3 The comparator 3 conditions were met ISC4 The comparator 4 conditions were met ISC5 The comparator 5 conditions were met ISCL The count value was reset by a CLR signal input ISLT The count value was latched by an LTC input ISOL The count value was latched by an ORG input ISSD The SD input turned ON ISPD The DR input changed ISMD The DR input changed ISSA The STA input turned ON Not defined Always set to 0 8 3 37 RPLS register This register is used to check the value of the positioning counter number of pulses left for feeding Read only At the start this value will be the absolute value in the RMV register Each pulse that is output will decrease this value by one 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 8 3 38 RSPD register This register is used to check the EZ count value and the current speed Read only 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit name Description 0to15 ASOto15 Read the current speed as a step value same units as for RFL and RFH When stopped the value is 0 16 to 19 ECZO to3 Read the count value of EZ input that is used for a zero return
80. speed the signal on the CSTP terminal will cause an immediate stop The input logic of the CSTP terminal cannot be changed When multiple LSIs are used to control multiple axes connect all of the CSTP terminals from each LSI and input the same signal so that the axes which are set to stop on a CSTP input can be stopped simultaneously In this case a stop signal can also be output from the CSTP terminal When an axis stops because the CSTP signal is turned ON an INT signal can be output By reading the REST register you can determine the cause of an error interrupt You can monitor CSTP terminal status by reading the RSTS register extension status lt How to make a simultaneous stop gt Set MSPE bit 24 1 in the PRMD register for each of the axes that you want to stop simultaneously Then start these axes Stop these axes using either of the following three methods 1 By writing a simultaneous stop command the CSTP terminal will output a one shot signal 8 reference clock cycles in length approx 0 4 usec when CLK 19 6608 MHz 2 Supply an external hardware signal Supply a hardware signal using an open collector output 74LS06 or equivalent 3 The CSTP terminal will output a one shot signal for 8 reference clock cycles approximately 0 4 usec when CLK 19 6608 MHz when a stop caused by an error occurs on an axis that has MSPO 1 in the PRMD register Even when the CSTP terminals on LSIs are connected together each
81. terminal for general purpose UO and CP3 See Note P5y CP3y Output 5 7 When used as a CP3 terminal it outputs a signal while establishing the conditions of comparator 3 The output logic of CP3 as well as the selection of input or output functions can be changed using software Input Positive Common terminal for general purpose UO and CP4 See Note Output 5 S When used as a CP4 terminal it outputs a signal while establishing the conditions of comparator 4 The output logic of CP4 as well as the selection of input or output functions can be changed using software P7x CP5x Input Positive Common terminal for general purpose I O and CP5 See Note P7y CP5y Output 5 KR When used as a CP5 terminal it outputs a signal while establishing the conditions of comparator 5 The output logic of CP5 as well as the selection of input or output functions can be changed using software Note 1 Input U refers to an input with a pull up resistor The internal pull up resistance 50 K to 100 K ohms is only used to keep a terminal from floating If you want to use the LSI with an open collector system an external pull up resistor 5k to 10 K ohms is required As a noise prevention measure pull up unused terminals to VDD5 using an external resistor 5 k to 10 K ohms or connect them directly to VDD5 Note 2 Input Output refers to a terminal with a pull up resistor The internal pull up resistor 50 K to 100 K ohms is o
82. to 1 Therefore if you write an override command before the axis has started moving the SEOR will also be changed to1 If the PCL ignores the override the SEOR will become 1 when the axis stops And after the main ststus is read SEOR will go back to 0 within 3 reference clock cycles Note 4 A Position Override 1 cannot be executed while performing an interpolation operation 11 2 2 Target position override 2 PCS signal By making MPCS in the PRMD operation mode register 1 the PCL will perform positioning operations for the amount specified in the PRMV register based on the timing of this command after the operation start after it starts outputting instruction pulses or on the ON timing of the PCS input signal A PCS input signal can change the input logic The PCS terminal status can be monitored using the RSTS register extension status Setting pulse control using the PCS input lt Set MPCS bit 14 in PRMD gt PRMD WRITE 1 Positioning for the number of pulses stored in the PRMV starting from the time at which the PCS input signal is turned ON 15 Setting the PCS input logic lt Set PCSL bit 24 in RENV1 gt R 0 Negative logic 34 1 Positive logic Reading the PCS signal lt SPCS bit 8 in MRSTS gt RSTS 0 Turn OFF PCS 15 1 Turn ON PCS PCS substitution input lt STAON Control command gt Perform processes that are identical to those performed by supply
83. using negative logic 11 Output an IDX signal using positive logic Select the count input for COUNTER4 general purpose lt set to C140 to 41 bits 12 to13 in RENV3 gt 00 Output pulses 10PA PB input 01 EA EB input 11ivide the CLK input by 2 Select the comparison counter for Comparator 4 lt set C4C0 to 1 bits 24 to 25 in RENV4 gt 11 COUNTER4 general purpose Select the comparison method for COUNTER4 lt set C4S0 to 3 bits 26 to 29 in RENV4 gt 1000 IDX output regardless of count direction 1001 IDX output only while counting up 1010 IDX output only while counting down Select the IDX output mode lt set IDXM bit 23 in RENV4 gt RENV4 WRITE 0 Outputs an IDX signal while COUNTER4 RCMP4 23 16 1 Outputs an IDX signal for two CLK cycles when COUNTER4 reaches 0 by counting Note While IDXM 1 writing a 0 to COUNTER4 or resetting COUNTER4 will not output an IDX signal The setting in IDXM is only effective when C4S0 to C4S3 are set to 1000 1001 or 1010 synchronous signal output n Output example 1 IDXM 0 Level output Note When IDXM synchronous signal output is set to 0 and IDX outputs C4S0 to C4S3 are set to 1001 or 1010 use a count range for the RCMP4 counter that is gt 2 Regardless of the feed direction the PCL will output t
84. x PRDS x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 145 PRMG Magnification rate register 12 bit Specify the relationship between the PRFL and PRFH settings and the speed in the range of 2 to 4 095 OFFFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows Reference clock frequency Hz PRMG 1 x 65536 Magnification rate Magnification rate setting example when the reference clock 19 6608 MHz Output speed unit pps Magnification Output speed Magnification Output speed rate range rate range 2999 OBB7h 0 1 0 1 to 6 553 5 5 5 to 327 675 1499 5DBh 0 2 0 2 to 13 107 0 10 10 to 655 350 Setting 599 257h 0 5 0 5 to 32 767 5 20 20 to 1 310 700 299 12Bh 1 1 to 65 535 50 50 to 3 276 750 149 95h 2 2 to 131 070 100 to 6 553 500 PRDP Ramping down point register 24 bits Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the value specified in the PRDP changes with the ramping down point setting method MSDO in the PRMD register lt When set to manual gt MSDP 1 in the PRMD register The number of pulses at which to start deceleration set i
85. 0 When the Comparator 4 conditions are met 11 When the Comparator 5 conditions are met 14 LTFD 1 Latch the current speed in place of COUNTERS 15 LTOF 1 Stop the latch by timing of a hardware operation Only used by software 16 to 19 SYOO to 3 Select the output timing of the internal synchronous signal 0001 When the Comparator 1 conditions are met 0010 When the Comparator 2 conditions are met 0011 When the Comparator 3 conditions are met 0100 When the Comparator 4 conditions are met 0101 When the Comparator 5 conditions are met 1000 When starting acceleration 1001 When ending acceleration 1010 When starting deceleration 1011 When ending deceleration Others Internal synchronous signal output is OFF SYI0 to 1 Select an input source when starting with an internal synchronous signal 00 Internal synchronous signal output from the X axis 01 Internal synchronous signal output from the Y axis Not defined Always set to 0 CU1L 1 Resets COUNTER at the same time COUNTER is latched CU2L 1 Resets COUNTER2 at the same time COUNTER2 is latched CU3L 1 Resets COUNTERS at the same time COUNTERS is latched CU4L 1 Resets COUNTER4 at the same time COUNTER4 is latched Not defined Always set to 0 AA 2 8 3 18 RENV6 register This is a register for the Environment 6 settings It is primarily used to set feed amount corre
86. 1 Disable EA EB input EZ input is valid Set the input signal filter for PA PB lt Set PINF bit 19 in RENV2 gt 0 Turn OFF the filter function 1 Turn ON the filter function Input signals shorter than 3 reference clock cycles are ignored Specify the PA PB input lt Set to PIMO to 1 bit 24 to 25 in RENV2 gt 00 90 phase difference 1x 10 90 phase difference 4x 01 90 phase difference 2x 11 2 sets of up or down input pulses WRITE 24 nn Specify the PA PB input count direction lt Set to PDIR bit 26 in RENV2 gt 0 Count up when the PA phase is leading Or count up on the rising edge of PA 1 Count up when the PB phase is leading Or count up on the rising edge of PB RITE 24 Enable disable PA PB input lt Set POFF bit 31 in RENV2 gt 0 Enable PA PB input 1 Disable PA PB input WRITE 24 Reading EA EB PA PB input error lt ESEE bit 16 ESPE bit 17 in the REST gt ESEE bit 16 1 An EA EB input error occurred ESPE bit 17 1 A PA PB input error occurred When EDIR is 0 the EA EB input and count timing will be as follows For details about the PA PB input see section 9 3 Pulsar input mode 1 When using 90 phase difference signals and 1x input EA L J
87. 1 cn CI21 CI20 EZD3 EZD2 EZD1 EZD0 ORM3 ORM2 ORM1 ORMO au 30 29 28 27 26 25 24 23 22 21 20 19 18 17 416 CU4H CU3H CU2H o CU4B CU3B CU2B CU1B CU4R CU3R CU2R CU1R CU4C CU3C CU2C CU1C Bit Bit name Description 0to3 ORMO to 3 Specify a zero return method 0000 Zero return operation 0 Stops immediately deceleration stop when feeding at high speed by changing the ORG input from OFF to ON COUNTER reset timing When the ORG input is turned ON 0001 Zero return operation 1 Stops immediately deceleration stop when feeding at high speed by changing the ORG input from OFF to ON and feeds in the opposite direction at RFA constant speed until ORG input is turned OFF Then feeds in the original direction at RFA speed While doing so it will stop immediately when the ORG input is turned ON again COUNTER reset timing When ORG input is turned ON 0010 Zero return operation 2 When feeding at constant speed movement on the axis stops immediately by counting the EZ signal after the ORG input is turned ON When feeding at high speed movement on the axis decelerates when the ORG input is turned ON and stops immediately by counting the EZ counts COUNTER reset timing When counting the EZ signal 0011 Zero return operation 3 When feeding at constant speed movement on the axis stops immediately by counting the EZ signal after the ORG input is turned ON When feeding at high speed the axis will decelerate and stop by counting the EZ sig
88. 10 9 8 SDIN SLTC SCLR SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SDIR CND3 CND2 CND1 CNDO Bit name 20 19 148 17 46 PFMO PFC1 PFCO SEST SINP CNDO to 3 Reports the operation status 0000 Under stopped condition Waiting for PA PB input 0001 Waiting for DR input Feeding at FA constant speed 0010 Waiting for CSTA input Feeding at FL constant speed 0011 Waiting for an internal Accelerating synchronous signal Feeding at FH constant speed 0100 Waiting for another axis to stop Decelerating 0101 Waiting for a completion of ERC Waiting for INP input timer Others controlling start 0110 Waiting for a completion of direction change timer 0111 Correcting backlash SDIR Operation direction 0 Positive direction 1 Negative direction SSTA Becomes 1 when the STA input signal turns on The CSTA and STA signals are ORed SSTP Becomes 1 when the CSTP input signal turns on SEMG Becomes 1 when the CEMG input signal turns on SPCS Becomes 1 when the PCS input signal turns on SERC Becomes 1 when the ERC input signal turns on SEZ Becomes 1 when the EZ input signal turns on SDRP Becomes 1 when the DR input signal turns on SDRM Becomes 1 when the DR input signal turns on SCLR Becomes 1 when the CLR input signal turns on SLTC Becomes 1 when the LTC input signal turns on SDIN Becomes 1 when the SD input signal tu
89. 100 RCMP3 data gt Comparison counter data 101 RCMP3 data lt Comparison counter data 110 Prohibited setting Others Treats that the comparison conditions do not meet 42 Bit Bit name Description 21 to 22 C3D0 to 1 Select a process to execute when the Comparator 3 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 0 Outputs an IDX signal while COUNTER4 RCMP2 1 When COUNTER4 reaches 0 by counting the PCL outputs an IDX signal for two CLK cycles This is only possible when the values in C4S0 to C4S3 are 1000 to 1010 24 to 25 C4C0 to 1 Select a comparison counter for Comparator 4 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTERS deflection counter 11 COUNTER4 general purpose 26 to 29 C4S0 to 3 Select a comparison method for Comparator 4 Note 3 0001 RCMP4 data Comparison counter regardless of counting direction 0010 RCMP4 data Comparison counter while counting up 0011 RCMP4 data Comparison counter while counting down RCMP4 data gt Comparison counter data RCMP4 data lt Comparison counter data Treats that the comparison conditions do not meet Use as IDX synchronous signal output regardless of counting direction Use as IDX synchronous signal output while coun
90. 133 ISC1 Register bi RIST 8 Comparator 1 conditioned status P52 133 ISC2 Register bi RIST 9 Comparator 2 conditioned status P52 133 ISC3 Register bi RIST 10 Comparator 3 conditioned status P52 133 ISC4 Register bi RIST 11 Comparator 4 conditioned status P52 133 ISC5 Register bi RIST 12 Comparator 5 conditioned status P52 133 ISCL Register bi RIST 13 Reset the count value when a CLR signal is input P52 133 ISDE Register bi RIST 7 Equals 1 when deceleration is finished P52 133 ISDS Register bi RIST 6 Equals 1 when deceleration starts P52 133 ISEN Register bi RIST 0 Equals 1 when stopped automatically P52 133 ISLT Register bi RIST 14 Equals 1 when the count value is latched by an LTC input P52 133 ISMD Register bi RIST 18 Equals 1 when a DR input signal is input P52 133 150 Label Type Position Description Reference ISN Register bi RIST 1 To start the next operation continuously P52 133 ISND Register bi RIST 3 Enable writing to the 2nd pre register for comparator5 P52 133 ISNM Register bi RIST 2 Enable writing to the 2nd pre register for operations P52 133 ISOL Register bi RIST 15 Latched count value from the ORG input P52 133 ISPD Register bi RIST 17 Equals 1 when the DR input is ON P52 133 ISS
91. 2x SLx Terminal name 75 General purpose port 4 for the X axis Comparator 2 software limit output P11 38 P4y CP2y SLy Terminal name 114 General purpose port 4 for the Y axis Comparator 2 software limit output P11 38 P5x CP3x Terminal name 76 General purpose port 5 for the X axis Comparator 3 outpu P11 38 P5y CP3y Terminal name 115 General purpose port 5 for the Y axis Comparator 3 outpu P11 38 P6x CP4x Terminal name 77 General purpose port 6 for the X axis Comparator 4 outpu P11 38 P6y CP4y Terminal name 116 General purpose port 6 for the Y axis Comparator 4 outpu P11 38 P7x CP5x Terminal name 78 General purpose port 7 for the X axis Comparator 5 outpu P11 38 151 Label Type Position Description Reference P7y CP5y Terminal name 117 General purpose port 7 for the Y axis Comparator 5 output P11 38 POMO to 1 Register bits RENV2 0 1 Specify the PO FUP terminal details P38 PORST Command 10h Set the general purpose output port terminal PO LOW P23 POSET Command 18h Set the general purpose output port terminal PO HIGH P23 Pil Register bi RENV2 17 Set the P1 terminal output logic 0 Negative logic 1 Positive logic P23 3
92. 3 in RENV3 gt RENV3 WRITE See the RENV3 register description n Set the input logic for the ORG signal lt Set ORGL bit 7 in RENV1 gt 0 Negative logic 1 Positive logic Read the ORG signal lt SORG bit 14 in SSTSW gt 0 The ORG signal is OFF 1 The ORG signal is ON Set the EZ count number lt Set EZDO to 3 bits 4 to 7 in RENV3 gt Set the zero return completion condition and the EZ count number for counting Specify the value the number to count to 1 in EZDO to 3 The setting range is 0 to 15 Specify the input logic of the EZ signal lt Set EZL bit 23 in RENV2 gt 0 Falling edge 1 Rising edge Read the EZ signal lt SEZ bit 10 in RSTS gt 0 The EZ signal is OFF 1 The EZ signal is ON Apply an input filter to EZ lt Set FLTR bit 26 in RENV1 gt 1 Apply a filter to the EZ input By applying a filter signals with a pulse width of 4 usec or less will be ignored 103 11 6 Servomotor I F Case in digital servo 11 6 1 INP signal The pulse strings input accepting servo driver systems have a deflection counter to count the difference between command pulse inputs and feedback pulse inputs The driver controls to adjust the difference to zero In other words the effective function of servomot
93. 3 conditions signal with negative logic 11 Output the CP3 satisfied the Comparator 3 conditions signal with positive logic 12 to 13 P6M0 to 1 Specify the operation of the P6 CP4 ID terminals 00 General purpose input 01 General purpose output 10 Output the CP4 satisfied the Comparator 4 conditions signal with negative logic 11 Output the CP4 satisfied the Comparator 4 conditions signal with positive logic 14 to 15 P7MOto 1 Specify the operation of the P7 CP5 terminals 00 General purpose input 01 General purpose output 10 Output the CP5 satisfied the Comparator 5 conditions signal with negative logic 11 Output the CP5 satisfied the Comparator 5 conditions signal with positive logic 38 Bit name Description POL Specify the output logic when the PO terminal is used for FUP or as a one shot 0 Negative logic 1 Positive logic P1L Specify the output logic when the P1 terminal is used for FDW or as a one shot 0 Negative logic 1 Positive logic EINF 1 Apply a noise filter to EA EB EZ input Note 3 Ignores pulse inputs less than 3 CLK signal cycles long PINF 1 Apply a noise filter to PA PB input Note 3 Ignore pulse inputs less than 3 CLK signal cycles long EIMO to 1 Specify the EA EB input operation 00 Multiply a 90 phase difference by 1 Count up when the EA input phase is ahead 01 Multiply a 90
94. 5 2 Leaving the zero position operations After writing a start command the axis will leave the zero position when the ORG input turns ON Make sure to use the Constant speed start command 50h 51h when leaving the zero position When you write a start command while the ORG input is OFF the LSI will stop the movement on the axis as a normal stop without outputting pulses Since the ORG input status is sampled when outputting pulses if the PCL starts at constant speed while the ORG signal is ON it will stop operation after outputting one pulse since the ORG input is turned OFF Normal stop MOD 12h Leave the zero position in the positive direction 1Ah Leave the zero position in the negative direction 72 9 5 3 Zero search operation This mode is used to add functions to a zero return operation It consists of the following possibilities 1 A Zero return operation is made in the opposite direction to the one specified 2 A Leaving the zero position using positioning operations is executed in the opposite direction to the one specified 3 A Zero return operation is executed in the specified direction Operation 1 If the ORG input is turned ON after starting movement on the axis will stop normally Operation 2 If the ORG input is already turned ON when starting the axis will leave the zero position using positioning operations and then begin a Zero return operation Operation 3 If movement on the axis is stop
95. 5CO 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 416 CU4L CU3L CU2L CU1L o Sin SYI0 SYO3 SYO2 SYO1 SYOO Bit name Details CU1L 1 The PCL resets COUNTER 1 at the same time it latches COUNTER1 CU2L 1 The PCL resets COUNTER2 at the same time it latches COUNTER2 CU3L 1 The PCL resets COUNTER3 at the same time it latches COUNTER3 CU4L 1 The PCL resets COUNTER4 at the same time it latches COUNTER4 2 8 RENV6 register Bit 15 PSTP bits 16 to 26 BDO to 10 and bits 27 to 31 RMGO to 4 have been added 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PSTP 0 ADJ1 ADJO BR11 BR10 BRO BR8 BR7 BR6 BRS BR4 BR3 BR2 BRI BRO 341 30 29 28 27 26 25 24 23 22 214 20 19 18 17 416 PMG4 PMG3 PMG2 PMG1 PMGO PD10 PD9 PD8 PD7 PD6 PD5 PD4 PD3 PD2 PD1 PDO Bit Bit name Detail 15 PSTP 1 Even when a stop command is written the pulses already input on PA PB will be fed 16 to 26 PDO to 10 Set the PA PB division rate Divide by set value 2048 27 to 31 PMGO to 4 Gei the PA PB multiplication rate enter multiplication value 1 158 2 9 RSTS register Bits 18 amp 19 PFCO to 1 and bits 20 amp 21 PFMO to 1 have been added 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 SDIN SLTC SCLR SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SDIR CND3 CND2 CND1 CNDO 20 19 18 17 16 31 30 29 28 27 26 25 24 23 22 21 I I I I I I o PFM1 PFMO PFC1 PFCO SEST SINP Bit name PFCO to 1 PFMO to 1 De
96. 61h Linear interpolation 1 is used to allow a single LSI to handle interpolation operations between the X and Y axes If only one axis is specified and operation is started an error ESDT Stop due to operation data error will occur After setting the operation speed for the interpolation control axes specify whether to use or not the synthesized constant speed control in the PRMD registers or specify an end point position in the PRMV register for all of the interpolated axes The direction of operation is determined by the sign of the value in the PRMV register Automatically the axis with the maximum feed amount maximum absolute value in the PRMV register will be considered the master axis The other axis will be the slave axis When a start command is written the LSI will output pulses to the master axis and the slave axis will be supplied a smaller number of pulses than the master axis Write a start command by setting either the SELx or SELy bits corresponding to the interpolation axes in COMB1 to 1 Writing any of these axes bring the same result Setting example Use the settings below and write a start command 0351h The PCL will output pulses with the timing shown in the figure below Entering values in the blank items will not affect operation Setting X axis MOD 61h MIPF 0 OFF PRMV value 5 Operation speed 1000 pps Interpolation control axis O Master axis slave axis Slave axis
97. 68000 CPU Acceleration Deceleration speed control Linear acceleration deceleration and S curve acceleration deceleration are available Linear acceleration deceleration can be inserted in the middle of an S curve acceleration deceleration curve Specify the S curve range The S curve range can specify each acceleration and deceleration independently Therefore you can create an acceleration deceleration profile that consists of linear acceleration and S curve deceleration or vice versa Interpolation operation Feeding with linear interpolation and circular interpolation are both possible Speed override The feed speed can be changed in the middle of any feed operation However the feed speed cannot be changed during operation when the synthesized speed constant control for linear interpolation is ON while using S curve deceleration Overriding target position 1 and 2 1 The target position feed amount can be changed while feeding in the positioning mode If the current position exceeds the newly entered position the motor will decelerate stop immediate stop when already feeding at a constant speed and then feed in the reverse direction 2 Starts operation the same as in the continuous mode and when it receives an external signal it will stop after the specified number of pulses Triangle drive elimination FH correction function In the positioning mode when there are a small number of output pulses this
98. 7 PMGO0 to 4 Register bits RENV6 27 31 Specify the multiplication rate for the PA PB inputs P45 57 PMSK Register bi RENV2 28 Specify the output pulse mask P39 POFF Register bi RENV2 31 Disable PA PB inputs P39 59 PRCI Pre register name 2nd pre register for RCI P28 53 PRCP5 Pre register name 2nd pre register for RCMP5 P28 47 PRDP Pre register name 2nd pre register for RDP P28 32 PRDR Pre register name 2nd pre register for RDR P28 31 PRDS Pre register name 2nd pre register for RDS P28 35 PRECAN Command 26h Cancel the operation pre register P24 PRESHF Command 27h Shift the data in the operation pre register P24 PRFH Pre register name 2nd pre register for RFH P28 31 PRFL Pre register name 2nd pre register for RFL P28 31 PRIP Pre register name 2nd pre register for RIP P28 35 PRMD Pre register name 2nd pre register for RMD P28 33 PRMG Pre register name 2nd pre register for RMG P28 32 PRMV Pre register name 2nd pre register for RMV P28 31 PRSET Command 4Fh Put speed change data into the operation pre register P24 120 PRUR Pre register name 2nd pre register for RUR P28 31 PRUS Pre register name 2nd pre register for RUS P28 35 PSTP Register bit RENV6 15 Specify the stop method used for stopping when a PA PB stop command is received P45 60 RCI Register name Circular interpolation step number data P53 81 RCIC Register name Circular interpolation step number counter P53 RCMP1 Register name Comparison data for comparator1 P47 117 RCMP2
99. 768 x PRMV 2 x Ax PRFL PRUR PRDR 2 x PRFL x PRUR PRDR 2 ii Eliminate the linear acceleration section and set up a small linear deceleration range When PRMV lt PRUS PRFL x PRUS x 2 x PRUR PRDR 3 PRDS x PRDR 1 x 4 n z PRMG 1 x 32768 PRMV gt PRDS PRFL x PRDS x PRUR PRDR 2 x 8 PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration PRUS 0 PRDS gt 0 A JA B lt ERRA S 2 x PRUR PRDR 3 However A PRDS x PRDR 1 B PRMG 1 x 32768 x PRMV 2x Ax PREL 2 x PRUR PRDR 3 x PRFL x 2 x PRUR PRDR 3 iii Eliminate the linear acceleration deceleration range When PRMV lt PRDS PRFL x PRDS x PRUR PRDR 2 x 8 PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 Get st PRMG 1 x 32768 x PRMV z PRUR PRDR 2 x2 PREL PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 91 10 4 Example of setting up an acceleration deceleration speed pattern Ex Reference clock 19 6608 MHz When the start speed 10 pps the operation speed 100 kpps and the accel decel time 300 msec 1 Select the 2x mode for multiplier rate in ord
100. 8 to 134 217 27 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 8 3 27 RCMP4 register Specify the comparison data for Comparator 4 Setting range 134 217 728 to 134 217 27 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 8 3 28 RCMP5 PRCP5 register Specify the comparison data for Comparator 5 PRCP5 is the 2nd pre register for RCMP5 Normally use RCMP5 To use the comparator pre register function use PRCP5 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 For details about the comparators see section 11 11 Comparator Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 4T 8 3 29 RIRQ register Enables event interruption cause Bits set to 1 that will enable an event interrupt for that event 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 IROL IRLT IRCL IRC5 IRC4 IRC3 IRC2 IRC1 IRDE IRDS IRUE IRUS IRND IRNM IRN IREN IRSA IRDR IRSD Bit name Description IREN Stopping normally IRN The next operation starts continuously IRNM Available to write operation to the 2nd pre register IRND Available to write operation to the 2nd pre register for Co
101. 9 P1M0 to 1 Register bits RENV2 2 3 Specify the P1 FDW terminal details P23 P1RST Command 11h Set the general purpose output port terminal P1 LOW P23 P1SET Command 19h Set the general purpose output port terminal P1 HIGH P23 P2M0 to 1 Register bits RENV2 4 5 Specify the P2 MVC terminal details P38 P2RST Command 12h Set the general purpose output port terminal P2 LOW P23 P2SET Command 1Ah Set the general purpose output port terminal P2 HIGH P23 P3M0 to 1 Register bits RENV2 6 7 Specify the P3 CP1 SL terminal details P38 P3RST Command 13h Set the general purpose output port terminal P3 LOW P23 P3SET Command 1Bh Set the general purpose output port terminal P3 HIGH P23 P4M0 to 1 Register bits RENV2 8 9 Specify the P4 CP2 SL terminal details P38 P4RST Command 14h Set the general purpose output port terminal P4 LOW P23 P4SET Command 1Ch Set the general purpose output port terminal P4 HIGH P23 P5M0 to 1 Register bits RENV2 10 11 Specify the P5 CP3 terminal details P38 P5RST Command 15h Set the general purpose output port terminal P5 LOW P23 P5SET Command 1Dh Set the general purpose output port terminal P5 HIGH P23 P6MO0 to 1 Register bits RENV2 12 13 Specify the P6 CP4 IDX terminal details P38 P6RST Command 16h Set the general purpose output port terminal P6 LOW P23 P6SET Command 1Eh Set the general purpose output port terminal P6 HIGH P23 P7MO to 1 Register bits RENV2 14 15 Specify the P7 CP5 terminal details P38 P7RST Command 17h Set the general pur
102. A Register bi RIST 19 Equals 1 when the CSTA input is ON P52 133 ISSD Register bi RIST 16 Equals 1 when the SD input is ON P52 133 ISUE Register bi RIST 5 Equals 1 when the acceleration is finished P52 133 ISUS Register bi RIST 4 Equals 1 when to start acceleration P52 133 LTCH Command 29h Substitute the LTC input for counting or latching P24 115 LTCL Register bi RENV1 23 Select the trigger edge for the LTC signal 0 Falling edge 1 Rising edge P37 115 LTCx Terminal name 47 Latch the input for the X axis P10 115 LTCy Terminal name 87 Latch the input for the Y axis P10 115 LTFD Register bi RENV5 14 Latch the current speed data in place of COUNTER3 P44 115 LTMO to 1 Register bits RENV5 12 13 Specify the latch timing of COUNTERS 1 to 4 P44 115 LTOF Register bi RENV5 15 Stop the latch using hardware timing P44 115 MADJ Register bi RMD 26 Disable the FH correction function P34 MAXO to 1 Register bits RMD 20 21 Specify the axis used to control stopping for a simultaneous start P120 MCCE Register bi RMD 11 Stop the operation of COUNTER1 command position P34 116 MENI Register bi RMD 7 GEES a stop INT between blocks while in continuous operation using the P33 132 METM Register bi RMD 12 SE the operation completion timing 0 Stop at the end of a cycle 1 Stop ona P34 132 MINP Register bi RMD 9 The operation is complete when the INP input turns ON P34 104 MIPF Register bi RMD 15 Enable a synthetic constant speed during an interpolation operatio
103. AON Command 28h Substitute for a PCS input P24 96 STAUD Command 53h High speed start 2 acceleration gt FH constant speed gt deceleration stop P21 STOP Command 49h Immediate stop P22 STPM Register bit RENV1 19 Select CSTP stop method 0 Immediate stop 1 Deceleration stop P36 110 SYIO to 1 Register bits RENV5 20 21 Select the axis used to input an internal synchronous signal P44 126 SYO0 to 3 Register bits RENV5 16 19 Set the output timing of the internal synchronous signal P44 126 WPRCI Command 8Ch Write BUF data into PRCI P26 154 Type Position Description Reference Command 8Bh Write BUF data into PRCP5 P26 Command 86h Write BUF data into PRDP P26 Command 84h Write BUF data into PRDR P26 Command 8Ah Write BUF data into PRDS P26 Command 82h Write BUF data into PRFH P26 Command 81h Write BUF data into PRFL P26 Command 88h Write BUF data into PRIP P26 Command 87h Write BUF data into PRMD P26 Command 85h Write BUF data into PRMG P26 Command 80h Write BUF data into PRMV P26 Command 83h Write BUF data into PRUR P26 Command 89h Write BUF data into PRUS P26 Terminal name 7 Write signal P7 Command BCh Write BUF data into the RCI register P26 Command A7h Write BUF data into the RCMP1 regis P26 Command A8h Write BUF data into the RCMP2 regis P26 Command A9h Write BUF data into the RCMP3 regis P26 Command AAh Write BUF data into the RCMP4 regis P26 Command ABh Write BUF data into the RCMP5 regis P26 Command A3h Write
104. BUF data into the RCUN1 regis P26 Command A4h Write BUF data into the RCUN2 regis P26 Command A5h Write BUF data into the RCUN3 regis P26 Command A6h Write BUF data into the RCUN4 regis P26 Command 96h Write BUF data into the RDP register P26 Command 94h Write BUF data into the RDR register P26 Command 9Ah Write BUF data into the RDS register P26 Command 9Ch Write BUF data into the RENV1 regis P26 Command 9Dh Write BUF data into the RENV2 regis P26 Command 9Eh Write BUF data into the RENV3 regis P26 Command 9Fh Write BUF data into the RENV4 regis P26 Command AOh Write BUF data into the RENV5 regis P26 Command Ath Write BUF data into the RENV6 regis P26 Command A2h Write BUF data into the RENV7 regis P26 Command 9Bh Write BUF data into the RFA register P26 Command 92h Write BUF data into the RFH register P26 Command 91h Write BUF data into the RFL register P26 Command 98h Write BUF data into the RIP register P26 Command ACh Write BUF data into the RIRQ register P26 Command 97h Write BUF data into the RMD register P26 Command 95h Write BUF data into the RMG register P26 Command 90h Write BUF data into the RMV register P26 Terminal name 14 Wait request signal P7 Command 93h Write BUF data into the RUR register P26 Command 99h Write BUF data into the RUS register P26 ojojojojojojojojojojojojojojojojojojojojojojojojojojojo
105. CL memory until the start of the next circular interpolation operation The range for this value is 0 to 2 147 483 647 This register is shared by all axes and the value is same when read from any axis 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 53 8 3 42 RIPS register This register is used to check the interpolation setting status and the operation status Read only This register is shared by all axes and the value is same when read from any axis 15 14 13 Bit name 12 0 IPFy PEN 11 7 10 9 8 6 5 4 0 IPSy IPSx 0 IPEy IEN 0 IPLy Ps SED1 SEDO SDM1 SDMO IPCC IPCW IPE IPL Description IPLx 1 X axis is in linear interpolation 1 mode IPLy 1 Y axis is in linear interpolation 1 mode Not defined Always set to 0 IPEx 1 X axis is in linear interpolation 2 mode IPEy 1 Y axis is in linear interpolation 2 mode Not defined Always set to 0 IPSx 1 X axis is in circular interpolation mode IPSy 1 Y axis is in circular interpolation mode 10 to 11 Not defined Always set to 0 12 IPFx 1 X axis is specified for constant synthetic speed 13 IPFy 1 Y axis is specified for constant synthetic speed 14 to 15 Not defined Always set to 0 16 IPL 1 Executing linear interpolation 1 17 IPE 1 Executing linear inte
106. EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 Emergency stop Operation 2 Emergency stop Operation 3 High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 Emergency stop Operation 2 Operation 3 9 5 1 7 Zero return operation 6 ORM 0110 Constant speed operation lt Sensor EL gt EL Operation 1 Stop when FA speed lt EL is OFF High speed operation lt Sensor EL gt EL Operation 1 FA speed Stop when EL is OFF Note Positions marked with reflect the ERC signal output timing when Automaticall output an ERC signal is selected for the zero stopping position Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is 0 the LSI will output an ERC signal at positions marked with an asterisk 70 9 5 1 8 Zero return operation 7 ORM 0111 Constant speed operation lt Sensor EL EZ EZD 0001 gt EZ EL Operation 1 T peration Se FA speed High speed operation lt Sensor EL EZ EZD 0001 gt EZ Et __ tf EL Operation 1 Pp EA speed 9 5 1 9 Zero return operation 8 ORM 1000 Constant speed operation lt Sensor EL EZ EZD 0001 gt EZ EL Operation 1 High speed operation lt Sensor EL EZ EZD 0001 gt EZ EL Operation 1 9 5 1 10 Zero re
107. EZ EL Operation 1 Emergency Operation 2 pane Operation 3 o High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 Operation 2 Operation 3 Note Positions marked with po LIL SLL LLL po Emergency a stop Emergency L stop reflect ERC signal output timing when Automatically output an ERC signal is selected for the zero stopping position 68 9 5 1 4 Zero return operation 3 ORM 0011 Constant speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG JI EZ LI LLL S A O A EL Operation 1 L N 2 lt Emergency Operation 2 Stop Emergency Operation 3 sog 9 5 1 5 Zero return operation 4 ORM 0100 Constant speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG 1 n UE EL 1 Operation 1 e pA speed High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG EZ Se a ee EN EL Operation 1 FA speed Emergency t Operation 2 SOE TT Emergency Operation 3 Sto Note Positions marked with reflect the ERC signal output timing when Automaticall output an ERC signal is selected for the zero stopping position 69 9 5 1 6 Zero return operation 5 ORM 0101 Constant speed operation lt Sensor
108. H PRFL x PRFH PRFL 2 x PRUS x PRUR PRDR 2 PRMG 1 x 32768 and PRUS PRFL x PRUS x PRUR PRDR 2 x 8 GC PRMG 1 x 32768 _ PRMG 1 x 32768 x PRMV PRFH lt PRSU _ PRUS PRFL PRUR PRDR 2 ii Eliminate the linear acceleration deceleration range When prov lt PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMG 1 x 32768 Change to S curve acceleration deceleration without a linear acceleration deceleration range PRUS 0 PRDS 0 PRFH S E 1 x 32768 x PRMV_ PRFL2 PRUR PRDR 2 x 2 PRMV Positioning amount PREL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 89 3 2 When PRUS lt PRDS i Set up a small linear acceleration deceleration range When PRMV PRFH PRFL x PRFH PRFL x PRUR PRDR 2 2x PRUSx PRUR 1 2x PRDS x PRDR 1 PRMG 1 x 32768 and PRDS PREL x PRDS x PRUR 2 x PRDR 3 PRUS x PRUR 1 x 4 SS ce PRMG 1 x 32768 A A B PRUR PRDR 2 PRFH lt However A PRUS x PRUR 1 PRDS x PRDR 1 B PRMG 1 x 32768 x PRMV 2 x Ax PRFL PRUR PRDR 2 x PRFL x PRUR PRDR 2 ii Eliminate the linear acceleration deceleration range and set up a small linear acceleration section When PRMV lt PRDS
109. L are met P51 ESC3 Register bi REST 2 Stopped when the comaprator3 conditions detect out of step are met P51 ESC4 Register bi REST 3 Stopped when the comparator4 conditions are met P51 ESC5 Register bi REST 4 Stopped when the comparator5 conditions are met P51 ESDT Register bi REST 12 Stopped by an operation data error P51 ESEE Register bi REST 16 An EA EB input error occurred P51 ESEM Register bi REST 9 Stops by inputting CEMG ON input P51 111 ESIP Register bi REST 13 When any other axis in an interpolation operation stops in an emergency this axis P51 stops simultaneously ESML Register bi REST 6 Stopped because the EL input turned ON P51 100 ESPE Register bi REST 17 A PA PB input error occurred P51 59 149 Label Type Position Description Reference ESPL Register bi REST 5 Stopped because the EL input turned ON P51 100 ESPO Register bi REST 14 The PA PB input buffer counter overflowed P51 59 ESSD Register bi REST 10 Deceleration stop caused by the SD input turning ON P51 102 ESSP Register bi REST 8 Stops by inputting CSTP ON input P51 110 EZL Register bi RENV2 23 Set the input logic for the EZ signal 0 Falling 1 Rising P39 64 EZx Terminal name 60 X axis e
110. N the end point draw function If the end point of the circular interpolation is set within the shaded areas the axes will not stop moving perpetual circular motion Circular interpolation precision The circular interpolation function draws a circular from the current position to the end coordinate moving CW or CCW The positional deviation from the specified curve is 0 5 LSB The figure on the right is an example of how to draw a simple circle with a radius of 11 units The LSB refers the minimum feeding unit of the PRMV register setting value It corresponds to the resolution of mechanical system size of the cells in the figure right Interporation track Solid line A circle of radius 11 Dotted line A circle of radius 11 0 5 80 Circular interpolation with acceleration deceleration To use circular interpolation with acceleration deceleration you have to enter the number of circular interpolation pulses required circular interpolation step numbers in the PRCI register for the control axis To calculate the number of pulses required for circular interpolation break the area covered by the X and Y axes into 8 0 to 7 sections using the center coordinate of the circular interpolation as the center point See the figure below The output pulse status of each axis in each area is as follows X axis output pulse Y axis output pulse Output according to the Always output interpolation calculation result Al
111. NTER1 command position 01 COUNTER2 mechanical position 10 COUNTERS deflection counter 11 COUNTER4 general purpose 10 to 12 C2S0 to 2 Select a comparison method for Comparator 2 Note 2 001 RCMP2 data Comparison counter regardless of counting direction 010 RCMP2 data Comparison counter while counting up 011 RCMP2 data Comparison counter while counting down 100 RCMP2 data gt Comparison counter data 101 RCMP2 data lt Comparison counter data 110 Use as negative end software limit RCMP2 gt COUNTER 1 Others Treats that the comparison conditions do not meet Note 4 13 to 14 C2D0 to 1 Select a process to execute when the Comparator 2 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 15 C2RM 1 Use COUNTER2 for ring counter operation by using Comparator 2 See 11 11 5 Ring counter function 16 to 17 C3C0 to 1 Select a comparison counter for Comparator 3 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTERS deflection counter 11 COUNTER4 general purpose 18 to 20 C3S0 to 2 Select a comparison method for comparator 3 Note 2 001 RCMP3 data Comparison counter regardless of counting direction 010 RCMP3 data Comparison counter while counting up 011 RCMP3 data Comparison counter while counting down
112. O to 1 bits 18 to 19 in the PRMD register for the axes you want to start Write a start command and put the LSI in the waiting for CSTA input status Then start the axes simultaneously by either of the methods described below 1 By writing a simultaneous start command the LSI will output a one shot signal of 8 reference clock cycles approx 0 4 usec when CLK 19 6608 MHz from the CSTA terminal 2 Input hardware signal from outside Supply a hardware signal by driving the terminal with open collector output 74LS06 or equivalent STA signals can be supplied as level trigger or edge trigger inputs However when level trigger input is selected if STA is turned on or a start command is written the axis will start immediately After connecting the CSTA terminals on each LSI each axis can still be started independently using start commands To release the waiting for STA input condition write an immediate stop command 49h 1 To start axes controlled by different LSIs simultaneously connect the LSIs as follows 5V 2 To start simultaneously from an external circuit or use a single axis as an external start connect the LSIs as follows 5V CSTA CSTA CSTA CSTA 5 k to 10 k ohm STA STA STA STA 1 cies ES Simultaneous start One axis external start For start signal supply a one shot input signal with a pulse width of at least 4 reference clock cycles approx 0 2 usec when CLK 19 6608 MHz 107
113. P Command D8h Copy RIP data to BUF P26 RRIPS Command FFh Copy RIPS data to BUF P26 RRIRQ Command ECh Copy RIRQ data to BUF P26 RRIST Command F3h Copy RIST data to BUF P26 RRLTC1 Command EDh Copy RLTC1 data to BUF P26 RRLTC2 Command EEh Copy RLTC2 data to BUF P26 RRLTC3 Command EFh Copy RLTC3 data to BUF P26 RRLTC4 Command FOh Copy RLTC4 data to BUF P26 RRMD Command D7h Cop RMD data to BUF P26 RRMG Command D5h Copy RMG data to BUF P26 RRMV Command DOh Copy RMV data to BUF P26 RRPLS Command F4h Copy RPLS data to BUF P26 RRSDC Command F6h Copy RSDC data to BUF P26 RRSPD Command F5h Copy RSPD data to BUF P26 RRSTS Command Eih Copy RSTS data to BUF P26 RRUR Command D3h Copy RUR data to BUF P26 RRUS Command D9h Copy RUS data to BUF P26 153 Label Type Position Description Reference RSDC Register name Automatically calculated value for the ramping down point P28 53 RSPD Register name EZ count Monitor current speed P28 52 RST Terminal name 2 Reset signal P7 94 RSTS Register name Extension status P28 50 RTO to 15 Register bits RENV7 0 15 Enter the RT time for the vibration reduction function P45 125 RUR Register name Acceleration rate P31 84 RUS Register name S curve range during accele
114. P2M1 P2M0 P1M1 P1MO POM1 POMO 31 30 29 28 27 26 25 24 23 22 21 2 19 18 17 416 POFF EOFF SMAX PMSK END PDIR PIM1 PIMO EZL EDIR EIM1 EIMO PINF EINF P1L POL Bit name Detail IEND Regardless of whether a normal or emergency stop occurs the PCL will output an INT signal when stopped PMSK _ Masks output pulses SMAX 1 Enables the currently working axis to be specified for the start when the specified axis stops function EOFF _ 1 Disables EA EB inputs POFF _ 1 Disables PA PB inputs 157 2 6 RENV4 register Bit 7 C1RM bit 15 C2RM and bit 23 IDXM have been added 15 144 13 12 1 10 9 8 7 6 5 4 3 2 14 0 C2RM C2D1 C2D0 C2S2 C2S1 C2S0 C2C1 C2C0 C1RM C1D1 C1D0 C1S2 C1S1 C180 C1C1 C1C0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 416 C4D1 C2D0 C4S3 C4S2 C4S1 C4S0 C4C1 C4C0 IDXM C3D1 C3D0 C3S2 C3S1 C3S0 C3C1 C3C0 Bit name Detail C1RM 1 Sets COUNTER1 for ring counter operation using Comparator 1 C2RM 1 Sets COUNTER2 for ring counter operation using Comparator 2 IDXM 0 Output an IDX signal while COUNTER4 RCMP2 1 When COUNTER4 becomes 0 by counting down the PCL will output an IDX signal for two CLK cycles This is only valid when C4S0 to C4S3 are set 1000 1001 or 1010 2 7 RENV5 register Bits 24 CU1L to bit 27 CU4L have been added 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 LTOF LTFD LTM1 LTMO o IDL2 IDL1 IDLO C5D1 C5D0 C582 C5S1 C5S0 C5C2 C5C1 C
115. Pulse length control Vibration restricution circuit RUS RDS RFA Counter 1 Comparator 1 Comparator 2 Comparator 3 Comparator 4 Comparator 5 Encoder I F circuit Counter 2 S Mechanical position counter Pulsar I F circuit Counter 3 Deflection counter pee Counter 4 General purpose SE counter Register and control CLK Current speed RSDC Current speed Ramp down point calculation circuit ELx ELx SDx ORGx DRx DRx PEx POx to P7x Circuit for X axis R Idling control OUTx DIRx EAx EBx PAx PBx EZx 1 Sensor input i Switch input For general purpose port 12 6 CPU Interface 6 1 Setting up connections to a CPU 6 2 Precautions for designing hardware This LSI can be connected to four types of CPUs by changing the hardware settings Use the IFO and IF1 terminals to change the settings and connect the CPU signal lines as follows Setting status IF1 IFO CPU type CPU signal to connect to the 6025B terminals RD terminal WR terminal AO terminal WRQ terminal 5V R W LDS DTACK RD HWR GND WAIT RD WR GND READY L L L H EE H H RD WR Apply a CMOS level clock to the CLK terminal To reset the LSI hold the RST signal LOW and input the CLK signal for at least 8 clock cycles Connect unused PO
116. R2 At start up the difference between the RMV setting and the value stored in COUNTER2 is loaded into the positioning counter RPLS The PCL moves in the direction to the zero position When the positioning counter value reaches zero it stops operation If the PRMV register value is made equal to the COUNTER2 value and the positioning operation is started the PCL will immediately stop operation without outputting any command pulses Command position 0 return operation MOD 44h This mode continues operation until the COUNTER1 command position value becomes zero The direction of movement is set automatically by the sign for the value in COUNTER1 when starting This operation is the same as when positioning specify the absolute position in COUNTER by entering zero in the PRMV register however there is no need to specify the PRMV register Machine position 0 return operation MOD 45h This mode is used to continue operations until the value in COUNTER2 mechanical position becomes zero The number of output pulses and feed direction are set automatically by internal calculations based on the COUNTER2 value when starting This operation is the same as when positioning specify the absolute position in COUNTER2 by entering zero in the PRMV register However there is no need to specify the PRMV register One pulse operation MOD 46h 4Eh This mode outputs a single pulse This operation is identical to a positioning operation in
117. RMG e Reference clock frequency Hz FL speed pps PRFL x PRMG 1 x 65536 PRFH FH speed setting register 16 bit Specify the speed for FH low speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh When used for high speed operations acceleration deceleration operations specify a value larger than PRFL The speed will be calculated from the value placed in PRMG E Reference clock frequency Hz FH speed pps PRFH x PRMG 1 x 65536 144 PRUR Acceleration rate setting register 16 bit Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration MSMD 0 in the PRMD register PRFH PRFL x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s 2 S curve acceleration without a linear range MSMD 1 in the PRMD register and PRUS register 0 Acceleration time s IPREN PRALI XIERUR x8 Reference clock frequency Hz 3 S curve acceleration with a linear range MSMD 1 in the PRMD register and PRUS register gt 0 PRFH PRFL 2 x PRUS x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s PRDR Deceleration rate setting register 16 bit Normally specify the deceleration
118. RRFL 9th WRFL Ch RPRFL 81h WPRFL Operation speed D2h RRFH 92h WRFH C2h RPRFH 82h WPRFH Acceleration rate D3h RRUR 93h WRUR C3h__ RPRUR 83h WPRUR Deceleration rate D4h RRDR 94h WRDR C4h_ RPRDR 84h WPRDR is magnification D5h RRMG 95h WRMG Cep RPRMG 85h WPRMG Ramping down point D6h RRDP 96h WRDP C6h_ RPRDP 86h WPRDP Operation mode D7h RRMD 97h WRMD Ch RPRMD 87h WPRMD a G t RRIP 98h WRIP C8h RPRIP 88h WPRIP Acceleration S curve range Deceleration S curve range Feed amount DBh RRFA 9Bh WRFA correction speed Environment setting 1 DCh RRENV1 9Ch WRENV1 Environment setting 2 DDh RRENV2 9Dh WRENV2 Environment setting 3 DEh RRENV3 9Eh WRENV3 Environment setting 4 DFh RRENV4 9Fh WRENV4 Environment setting 5 EOh RRENV5 AOh WRENV5 Environment setting 6 Eth RRENV6 Ath WRENV6 Environment setting 7 E2h RRENV7 A2h WRENV7 COUNTERT E3h RRCUN1 A3h WRCUN1 command position COUNTER2 mechanical position COUNTER3 deflection counter COUNTERS general Een RRCUN4 A6h WRCUN4 purpose Data for comparator 1 E7h RRCMP1 A7h WRCMP1 Data for comparator 2 E8h RRCMP2 A8h WRCMP2 Data for comparator 3 E9h RRCMP3 A9h WRCMP3 Data for comparator 4 EAh RRCMP4 AAh WRCMP4 Data for comparator 5 EBh RRCMP5 ABh WRCMP5 RPRCP5 WPRCP5 Event INT setting ECh RRIRQ ACh WRIRQ COUNTER latched EDh RRLTC1 data COUNTER2 latched data COUNTER3 latched data COUNTERS latched FOh RRLTC4 da
119. TA input but for this axis CUN4R Reset COUNTER4 general purpose PRESHF Shift the operation pre register data ERCOUT Output an ERC signal PCPSHF Shift the RCMP5 pre register ERCRS Reset the ERC signal PRSET Set the speed change data in the working pre register lt Register control commands gt Register 2nd pre register Description Read command Write command Read command Write command COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol Number of feed pulses L DOh RRMV 90h WRMV COh RPRMV 80h WPRMV target position Initial speed Dih RRFL 9th WRFL Cth RPRFL_ 81h WPRFL Operation speed D2h RRFH 92h WRFH C2h RPRFH 82h WPRFH Acceleration rate D3h RRUR 93h WRUR C3h RPRUR 83h WPRUR Deceleration rate D4h RRDR 94h WRDR C4h RPRDR 84h WPRDR Speed magnification rate D5h RRMG 95h WRMG C5h RPRMG 85h WPRMG Ramping down point D6h RRDP 96h WRDP C6h RPRDP_ 86h WPRDP Operation mode D7h RRMD 97h WRMD C7h RPRMD 87h WPRMD Circular interpolation center D8h RRIP 98h WRIP C8h RPRIP 88h WPRIP EC Go RRUS 99h WRUS Con RPRUS 89h WPRUS accelerating S curve range while decelerating Feed speed to correct feed DBh RRFA opt WRFA distance Environment setting 1 DCh RRENV1 9Ch WRENV1 Environment setting 2 DDh RRENV2 9Dh WRENV2 Environment setting 3 DEh RRENV3 9Eh WRENV3 Environment setting 4 DFh RRENV4 9Fh WRENV4 Environment setting 5 EOh RRENV5 AOh WRENV5 Environment set
120. TER3 or the current speed are copied when triggered by the LTC an ORG input or an LTCH command When the LTFD in the RENV5 register is 0 the register latches the COUNTERS data When the LTFD is 1 the register latches the current speed When the LTFD is 1 and movement on the axis is stopped the latched data will be 0 Data range when LTFD is 0 32 768 to 32 767 Data range when LTDF is 1 0 to 65535 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 S S Bits marked with a will be the same as bit 15 when LTFD bit 14 in the RENV5 register is 0 sign extension and they will be 0 when the LTFD is 1 8 3 33 RLTC4 register Latched data for COUNTER4 general purpose Read only The contents of COUNTER4 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 43 2 1 0 For details about the counter data latch see section 11 10 Counter Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 49 8 3 34 RSTS register The extension status can be checked Read only 15 14 13 12 11
121. Twro DO to D7 Towr d 135 12 5 2 CPU I F 2 IF1 H IFO L 8086 Item Condition Address setup time for RD 4 Address setup time for WR 4 Address hold time for RD WR CS setup time for RDV CS setup time for WR J CS hold time for RD WR T WRQ ON delay time for CS 4 WRQ signal LOW time Data output delay time for RD 4 Data output delay time for WRQ T Data float delay time for RD T WR signal width Data setup time for WR 4 Data hold time for WR Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H lt Read cycle gt A1 to A3 Tar Trwa CS Tcsr Trwes gt Ae i WRQ x d Teor Fer RD d TRDHD DO to D RE 7 TRoLD TwrHo lt Write cycle gt A1 to A3 CS WRQ WR Twro k DO to D15 J Town J 136 12 5 3 CPU I F 3 IF1 L IFO H H8 Item Condition Address setup time for RD 4 Address setup time for WR 4 Address hold time for RD WR CS setup time for RDV CS setup time for WR J CS hold time for RD WR T WRQ ON delay time for CS 4 WRQ signal LOW time Data output delay time for RD 4 Data output delay time for WRQ T Data float delay time for RD T WR signal width Data setup time for WR T Data
122. U3H Register bi RENV3 30 Stop the count on COUNTER3 deflection P44 114 CU3L Register bi RENV5 26 Reset COUNTER3 deflection right after latching the count value P44 114 CU3R Register bi RENV3 22 Reset COUNTERS deflection when the zero return is complete P44 114 CU4B Register bi RENV3 27 Operate COUNTER4 general purpose backlash slip correction P44 114 CU4C Register bi RENV3 19 Reset COUNTER4 general purpose by turning ON the CLR input P44 114 CU4H Register bi RENV3 31 Stop the count on COUNTER4 general purpose P44 114 CU4L Register bi RENV5 27 Reset COUNTER4 general purpose right after latching the count value P44 114 CU4R Register bi RENV3 23 Reset COUNTER4 general purpose when the zero position operation is complete P44 114 CUN1R Command 20h Reset COUNTER1 command position P24 114 CUN2R Command 21h Reset COUNTER2 mechanical position P24 114 CUN3R Command 22h Reset COUNTER3 deflection counter P24 114 CUN4R Command 23h Reset COUNTER4 general purpose P24 114 DO Terminal name 18 Data bus 0 LSB P8 D1 Terminal name 19 Data bus 1 P8 D2 Terminal name 20 Data bus 2 P8 D3 Terminal name 21 Data bus 3 P8 D4 Terminal name 22 Data bus 4 P8 D5 Terminal name 23 Data bus 5 P8 D6 Terminal name 24 Data bus 6 P8 D7 Terminal name 25 Data bus 7 P8 D8 Terminal name 27 Data bus 8 P8 D9 Terminal name 28 Data bus 9 P8 D10 Terminal name 29 Data bus 10 P8 D11 Terminal name 30 Data bus 11 P8 D12 Terminal name 31 Data bus 12 P8 D13 Termin
123. UFB3 Read from the input output buffer bits 24 to 31 16 lt When used with th 1 Write cycle e 8086 I F gt Address signal Processing detail COMW Write the axis assignment and control command OTPW Change the status of the general purpose output port only bits assigned as outputs are effective BUFWO Write to the input output buffer bits O to 15 BUFW1 Address signal Write to the input output buffer bits 16 to 31 Processing detail MSTSW Read the main status bits 0 to 15 SSTSW Read the sub status or general purpose input output port BUFWO Read from the input output buffer bits Oto 15 BUFW1 Read from the input output buffer bits 16 to 31 lt When used with the H8 or 68000 I F gt 1 Write cycle Address signal Processing detail COMW Write the axis assignment and control command OTPW Change the status of the general purpose output port only bits assigned as outputs are effective BUFWO Write to the input output buffer bits 0 to 15 BUFW1 Address signal Write to the input output buffer bits 16 to 31 Processing detail MSTSW Read the main status bits 0 to 15 SSTSW Read the sub status or general purpose input output port BUFWO Read from the input output buffer bits 0 to 15 BUFW1 Read from the input output buffer bits 16 to 31 17 6 5
124. UNTER1 command position RENV3 WRITE CU2R bit 21 1 Reset COUNTER2 mechanical position 23 16 CU3R bit 22 1 Reset COUNTER3 deflection n CUAR bit 23 1 Reset COUNTER4 general purpose Setting when latched lt Set CU4L to 1L bits 24 to 27 in RENV5 gt CU1L bit 24 1 Reset COUNTER1 command position RENV5 CU2L bit 25 1 Reset COUNTER2 machine position CU3L bit 26 1 Reset COUNTERS deviation CUAL bit 27 1 Reset COUNTER4 general purpose Action for the CLR signal lt Set CLRO to 1 bit 20 to 21 in RENV1 gt 00 Clear on the falling edge 10 Clear ona LOW level 01 Clear on the rising edge 11 Clears on a HIGH level Reading the CLR signal lt SCLR bit 13 in RSTS gt 0 The CLR signal is OFF 1 The CLR signal is ON Set event interrupt cause lt Set IRCL bit 13 in RIRQ gt 1 Output an INT signal when resetting the counter value by turning the CLR signal ON Read the event interrupt cause lt ISCL bit 13 in RIST gt RIST 1 When you want to reset the counter value by turning ON the CLR signal 15 n Counter reset command lt CUN1R to CUN4R Control command gt Control command 20h Set COUNTER1 command position to zero DOR ZTH 22h 23h 21h Set COUNTER2 mechanical position to zero 22h Set COUNTERS
125. User s Manual For PCL6025B Pulse Control LSI NPM Nippon Pulse Motor Co Ltd Preface Thank you for considering our pulse control LSI the PCL6025B To learn how to use the PCL6025B read this manual to become familiar with the product The handling precautions for installing this LSI are described at the end of this manual Make sure to read them before installing the LSI Precautions 1 Copying all or any part of this manual without written approval is prohibited 2 The specifications of this LSI may be changed to improve performance or quality without prior notice 3 Although this manual was produced with the utmost care if you find any points that are unclear wrong or have inadequate descriptions please let us know 4 We are not responsible for any results that occur from using this LSI regardless of item 3 above Explanation of the descriptions in this manual 1 The x and y of terminal names and bit names refer to the X and Y axes respectively 2 Terminal names with a hash mark e g RST are negative logic terminals Their logic cannot be changed Terminals without a hash mark in front of the name are positive logic Their output logic can be changed 3 When describing the bits in registers n refers to the bit position A 0 means that the bit is in position O and that it is prohibited to write to any bit other than the 0 bit Finally this bit will always return a 0 when read
126. When the axis is started at constant speed the signal on the ALM terminal will cause an immediate stop To stop using deceleration keep the ALM input ON until the axis stops operation If the ALM signal is ON when a start command is written the LSI will not output any pulses The minimum pulse width of the ALM signal is 80 reference clock cycles 4 usec if the input filter is ON If the input filter is OFF the minimum pulse width is 2 reference clock cycles 0 1 usec When CLK 19 6608 MHz The input logic of the ALM signal can be changed The signal status of the ALM signal can be monitored by reading SSTSW sub status Stop method when the ALM signalis ON lt Set ALMM bit 8 in RENV1 gt RENV1 WRITE 0 Stop immediately when the ALM signal is turned ON 15 8 1 Deceleration stop high speed start only when the ALM signal is turned oe SS ON Input logic setting of the ALM signal lt Set ALML bit 9 in RENV1 gt RENV1 WRITE 0 Negative logic 15 1 Positive logic Read the ALM signal lt SALM bit 11 in SSTSW gt SSTSW 0 The ALM signal is OFF 15 1 The ALM signal is ON Reading the cause of a stop when the ALM signal is turned ON lt ESAL bit 7 in REST gt 1 Stop due to the ALM signal being turned ON Set the ALM input filter lt Set FLTR bit 26 in RENV1 gt 1 Apply a filter to the ALM input When a filter i
127. X OX 4X 3 124 11 12 11 13 Backlash correction and slip correction This LSI has backlash and slip correction functions These functions output the number of command pulses specified for the correction value in the speed setting in the RFA correction speed register The backlash correction is performed each time the direction of operation changes The slip correction function is performed before a command regardless of the feed direction The correction amount and method is specified in the RENV6 environment setting 6 register The operation of the counter COUNTER 1 to 4 can be set using the RENV3 environment setting 3 register Enter the correction value lt BRO to 11 bits O to 11 in RENV6 gt RENV6 WRITE 15 Backlash or slip correction amount value 0 to 4095 7 8 n 0 n nnn nn Set the correction method lt ADJO to 1 bits 12 amp 13 in RENV6 gt RENV6 WRITE 00 Turn the correction function OFF 15 8 01 Backlash correction 10 Slip correction Action for backlash slip correction lt CU1B to 4B bit 26 to 27 in RENV3 gt RENV3 WRITE CU1B bit 16 1 Enable COUNTER1 command position 31 24 CUZ2B bit 17 1 Enable COUNTER2 mechanical position CU3B bit 18 1 Enable COUNTER3 deflection CU4B bit 19 1 Enable COUNTER4 general purpose n n
128. al HIGH input voltage Inputs and input output terminals except CLK 2 4 CLK terminal 4 0 LOW output voltage loL 8 mA HIGH output voltage lon 8 MA Vdd5 0 4 LOW output current Vo 0 4 V HIGH output current Von 2 4 V 8 Internal pull up resistance Item Condition 30 Reference clock frequency Reference clock cycle Reference clock HIGH width Reference clock LOW width Tou a Tex Tecw 134 12 5 AC characteristics 2 CPU I F 12 5 1 CPU I F 1 IF1 H IFO H Z80 Item Condition Address setup time for RD 4 Address setup time for WR 4 Address hold time for RD WR CS setup time for RDV CS setup time for WR 4 CS hold time for RD WR T WRQ ON delay time for CS 4 WRQ signal LOW time Data output delay time for RD 4 Data output delay time for WRQ T Data float delay time for RD T WR signal width Data setup time for WR T Data hold time for WR Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H lt Read cycle gt A1 to A3 CS Jee Trwcs WRQ d ger i SEN ea RD TROHD DO to D7 bb A TROLD Two lt Write cycle gt A1 to A3 Trwa J CS Tcsw k WRQ S Fj Teswt i Twar WR Twr k
129. al name 32 Data bus 13 P8 D14 Terminal name 33 Data bus 14 P8 D15 Terminal name 34 Data bus 15 MSB P8 DIRx Terminal name 63 Motor drive direction signal for the X axis P9 97 DIRy Terminal name 102 Motor drive direction signal for the Y axis P9 97 DRF Register bit RENV1 27 Apply a filter to DR DR signal input P37 62 DRL Register bit RENV1 25 Select DR DR signal input logic 0 Negative logic 1 Positive logic P37 62 DRx Terminal name 52 Manual input for the X axis P9 62 DRx Terminal name 53 Manual input for the X axis P9 62 DRy Terminal name 91 Manual input for the Y axis P9 62 DRy Terminal name 92 Manual input for the Y axis P9 62 DTMF Register bit RENV1 28 Turn OFF the direction change timer 0 2 msec P37 EAx Terminal name 58 Encoder A phase signal for the X axis P9 EAy Terminal name 97 Encoder A phase signal for the Y axis P9 EBx Terminal name 59 Encoder B phase signal for the X axis P9 EBy Terminal name 98 Encoder B phase signal for the Y axis P9 ECZO to 3 Register bit RSPD 16 19 Read the count value of the EZ input to monitor the zero return P52 EDIR Register bit RENV2 22 Reverse the EA EB input count direction P39 113 EIMO to 1 Register bit RENV2 20 21 Specify the EA EB input parameters P39 113 EINF Register bit RENV2 18 Apply a noise filter to the EA EB input P39 113 ELLx Terminal name 127 Select the input logic of the end limit signal for the X axis P8 100 ELLy Terminal name 128 Select the input logi
130. al on the PCS terminal COMBO Symbol Description 28h STAON Alternative to a PCS terminal input 7 3 6 LTCH input counter latch command Entering this command has the same result as inputting a signal on the LTC terminal COMBO Symbol Description 29h LTCH Alternative to an LTC latch counter terminal input 24 7 4 Register control command By writing a Register Control command to COMBO Address 0 when a Z80 I F is used the LSI can copy data between a register and the I O buffer When using the I O buffer while responding to an interrupt a precaution is required reading the I O buffer contents before using it and returning it to its original value after use 7 4 1 Procedure for writing data to a register the axis assignment is omitted 1 Write the data that will be written to a register into the I O buffer addresses 4 to 7 when a Z80 I F is used The order in which the data is written does not matter However secure two reference clock cycles between these writings 2 Then write a register write command to COMBO address 0 when a Z80 I F is used After writing one set of data wait at least four cycles approx 0 2 usec when CLK 19 6608 MHz before writing the next set of data In both case1 and case 2 when the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically A0 to
131. al purpose P41 112 CLK Terminal name 119 Reference clock 19 6608 MHz as standard P7 CLRO to 1 Register bi RENV1 20 21 Select the CLR input mode P37 114 CLRx Terminal name 46 Clear the counter input for the X axis P10 114 CLRy Terminal name 86 Clear the counter input for the Y axis P10 114 CMEMG Command 05h Emergency stop P22 105 CMSTA Command 06h Output CSTA simultaneous start signal P22 108 CMSTP Command 07h Output CSTP simultaneous stop signal P22 110 CNDO to 3 Register bit RSTS 0 3 Operation status monitor P50 CNTD Command 56h Remaining high speed start pulses FH constant speed gt Deceleration stop P22 CNTFH Command 55h Remaining pulses FH constant speed start pulses P22 CNTFL Command 54h Remaining pulses FL constant speed start pulses P22 CNTUD Gemeen 57h oe high speed start pulses accelerate gt FH constant speed gt deceleration P22 COMBO Byte map name 0 when Z80 Write control command P16 18 COMB1 Byte map name 1 when Z80 Axis selection P16 18 COMW Word map name 0 when 8086 Assign an axis or write a control command P17 18 COUNTER1 Circuit name 28 bit counter for command position control P2 112 COUNTER2 Circuit name 28 bit counter for mechanical position control P2 112 COUNTER3 Circuit name 16 bit counter for the deflection counter P2 112 COUNTER4 Circuit name 28 bit counter for the general purpose counter P2 112 CS Terminal name 5 Chip select signal P7 CSTA Terminal name 36 Simultaneous start signal P8 107
132. als cannot be wired ORed The INT signal output can be masked by setting the RENV1 environment setting 1 register If the INT output is masked INTM 1 in RENV1 and when the interrupt conditions are satisfied the status will change However the INT signal will not go LOW but will remain HIGH While the interrupt conditions are satisfied and if the output mask is turned OFF INTM 0 in RENV 1 the INT signal will go LOW 131 Read the interrupt status lt SENI bit2 SERR bit 4 SINT bit 5 in MSTSW gt MSTSW READ SENI 1 When IEND 1 and a stop interrupt occurs make this bit 1 7 0 After reading MSTS it will become 0 SERR 1 Becomes 1 when an error interrupt occurs Becomes 0 by reading REST SINT 1 Becomes 1 when an event interrupt occurs Becomes 0 by reading RIST Set the interrupt mask lt INTM bit 29 in RENV1 gt RENV1 WRITE 1 Mask INT output 34 Setting a stop interrupt lt IEND bit 27 in RENV2 gt 1 Enable a stop interrupt Select the stop interrupt mode lt MENI bit 7 of PRMD gt 1 When there is data for the next operation in the pre register the PCL will not output a stop interrupt Read the cause of the error interrupt lt RREST Read command gt Read command Copy the data in the REST register error interrupt cause to BUF F2h Read the event interrupt cause lt RRIST Read
133. and decreasing speed separately using Linear and S curve acceleration deceleration Acceleration rate setting range 1 to 65 535 16 bit Deceleration rate setting range 1 to 65 535 16 bit Ramp down point automatic setting Automatic setting within the range of deceleration time lt acceleration time x 2 Feed speed automatic correction function Automatically lowers the feed speed for short distance positioning moves Manual operation input Manual pulsar input pushbutton switch input Counter COUNTER1 Command position counter 28 bit COUNTER2 Mechanical position counter 28 bit COUNTERS Deflection counter 16 bit COUNTERS General purpose counter 28 bit Comparators 28 bits x 5 circuits axis Interpolation functions Linear interpolation Circular interpolation Operating temperature 40 to 85 C Two power supplies of 5V 10 and 3 3 V 10 128 pin QFP 3 Terminal Assignment Diagram x a e os CH a STAx DUT a VDD5 a EZx a EBx a EAx a PBx u PAx a GND a PEx a DRx a VDD3 a PCSx a GND a LTCx a CLRx a INPx a ALMx a ORGx a SDx a ELx a ELx a VDD5 FUPx t a CEMG FDWx t 4 CSTP MVCx lt t q ECSTA BSYx t a GND ERCx t lt D15 VDD5 gt lt
134. as two operation modes one is PCL6025 compatible and the other is the PCL6025B mode Select the operation mode using SMAX in the RENV2 register When SMAX 0 the PCL6025 compatible mode is selected PCL6025 compatible mode In order to use Another axis stops as a start condition the axis specifying this condition X axis must be ready to start its process and then it can wait for the other axis to stop At this point the other axis the Y axis can be started and stopped For example if the X and Y axes are performing circular interpolation and if Both axes stop is set as a start condition in the pre register for the next operation when X and Y are waiting for both axes to stop so that they can start the linear interpolation at the end of the circular interpolation since they are already stopped the change from operation to stop will not occur while they are waiting Therefore the X and Y axes will never start the linear interpolation In other words the working axis cannot be specified for the MAX setting to start itself PCL6025B mode When start when another axis stops is specified as the start condition for the next operation in a specific pre register the working axis can be called out in the MAX setting so that it starts itself on the next operation at the end of a previous operation Example Settings Operation mode for the X axis in initial operation MSYO to 1 00 MAXO to 1 00 Operation mode calling for th
135. ates tenes E A ebe e 105 RE E a ET 106 11 7 External start simultaneous start 2 0 0 ceeseseececececeseesseeeeeneeceausssseeeeeeeeseeseeeeeeeeaeeaaaeseeeeeeeees 107 11 7 1 STA signal HCSTA STA EE 107 RE LAE E RE 108 11 8 External stop simultaneous stop 109 RED Ee nee EE 111 a Eu Deel 112 11 10 1 Counter type and input Method ccecececceeceeeeeeeeee cece aeeeeaee sense ceaeeesaaeseeaeeseeeeesaeeeeaeeeenees 112 V1 1 0 2 COUNTS TESOL sde eege SEENEN dees 114 11 10 3 Latch the counter and count condition ooo eect eeeeeene ee eeeeaaeeeeeeaaeeeeeeaaeeeseeaaeeeeneaaeeeeeeaaes 115 1110 4 St p the Counte srianan sareestegecseeeddaneeneacentongeadaraeastecsthteaandevecacdenssagdh des teases tasausteyesieeustees 116 a HAO oela EA A E E 117 11 11 1 Comparator types and functions s eesseesseeeeeeeiesiesitsttestinttinttinttnnttnnttnnntnnntnuntnuntnnnenn nnt 117 11 11 2 Software limit function 121 11 11 3 Out of step stepper motor detection unchon 122 11 11 4 IDX synchronous signal output function 123 T1 11 5 RINGiCOUNE function sees tasks eeh Ger Ee ies ege eege REES eES ee 124 11 12 Backlash correction and slip correchon eee eeeeeeeeeenneeeeeeetaeeeeeeaaeeeeeeaaeeeseeaaeeeseeaaeeeeeeeaeeeenaaes 125 11 13 Vibration restriction FUNCTION 2 cee cee eeeece cece eee ceaeeeeeeeceeeeecaaeeesaaeseeeeeceaaeeseaaeseeeesaeeesaeseaeesenees 125 11 14 Synchronous starting cee eeeee eect ee ceeeeeeaeeeeeeeeceae
136. ating or decelerating the axis until it reaches the correct speed 2 3 Change RFH after the acceleration deceleration is complete The axis will continue accelerating or decelerating until it reaches the new speed An example of changing the speed pattern by changing the speed during S curve acceleration deceleration operation 1 Use a small RFH and if change speed lt speed before change and the axis will accelerate decelerate using an S curve until it reaches the correct speed 5 Use a small RFH and if change speed 2 speed before change and the axis will accelerate decelerate without changing the S curve s characteristic until it reaches the correct speed 4 Use a large RFH while accelerating and the axis will accelerate to the original speed entered without changing the S curve s characteristic Then it will accelerate again until it reaches the newly set speed 2 3 If RFH is changed after the acceleration deceleration is complete the axis will accelerate decelerate using an S curve until it reaches the correct speed 93 11 Description of the Functions 11 1 Reset After turning ON the power make sure to reset the LSI before beginning to use it To reset the LSI hold the RST terminal LOW while supplying at least 8 cycles of a reference clock signal After a reset the various portions of the LSI will be configured as follows Item n x y Reset status initial status Internal registers pre re
137. ation complete timing 56 9 3 Pulsar PA PB input mode This mode is used to allow operations from a pulsar input In order to enable pulsar input bring the PE terminal LOW Set POFF in the RENV2 register to zero It is also possible to apply a filter on the PE input After writing a start command when a pulsar signal is input the LSI will output pulses to the OUT terminal Use an FL constant speed start STAFL 50h or an FH constant speed start STAFH 51h Four methods are available for inputting pulsar signals through the PA PB input terminal by setting the RENV2 environmental setting 2 register Supply a 90 phase difference signal 1x 2x or 4x Supply either positive or negative pulses Note The backlash correction function is available with the pulsar input mode However reversing pulsar input while in the backlash correction is unavailable Besides the above 1x to 4x multiplication the PCL has a multiplication circuit of 1x to 32x and division circuit of 1 to 2048 2048 For setting the multiplication from 1x to 32x specify the PMGO to 4 in the RENV6 and for setting the division of n 2048 specify the PDO to 10 in the RENV6 UP1 UP2 UP3 PA Input I O truth cath n 2048 F gt To international PB circuit circuit division circuit gt control circuit DOWN T DOWN T DOWN PIMO to 1 PMGO to 4 PDO to 10 The timing of the UP1 and DOWN 1 signals will be as
138. ator 5 P28 43 RENV6 Register name Environment setting register 6 Specify the feed amount correction P28 44 RENV7 Register name Environment setting register 7 Specify the vibration reduction function details P28 44 REST Register name Error INT status P51 131 RFA Register name Speed for feeding the feed correction amount P28 35 RFH Register name Operation speed P28 31 RFL Register name Initial speed P28 31 RIP Register name Center position of a circular interpolation Master axis feed amount when executing P35 79 a linear interpolation using multiple LSI chips RIPS Register name Interpolation setting status and operation status P54 RIRQ Register name Enable various event interrupts P48 132 RIST Register name Event INT status P52 132 RLTC1 Register name COUNTER1 command position latch data P49 115 RLTC2 Register name COUNTER2 mechanical position latch data P49 115 RLTC3 Register name COUNTERS deflection counter latch data P49 115 RLTC4 Register name COUNTER4 general purpose latch data P49 115 RMD Register name Operation mode P28 33 RMG Register name Speed magnification rate P32 84 RMV Register name Feed amount or target position P31 84 RPLS Register name Number of pulses remaining to be fed P28 52 RPRCI Command CCh Copy PRCI data to BUF P26 RPRCP5 Command CBh Copy PRCP5 data to BUF P26 RPRDP Command C6h Copy PRDP data to BUF P26 RPRDR Command C4h Copy PRDR data to BUF P26 RPRDS Command CAh Copy PRDS data to BUF P26 RPRFH
139. atures 1 1 Outline The PCL6025B is a CMOS LSI designed to provide the oscillating high speed pulses needed to drive stepper motors and servomotors pulse string input types It can offer various types of control over the pulse strings and therefore the motor performance These include continuous feeding positioning zero return at a constant speed linear acceleration deceleration and S curve acceleration deceleration The PCL6025B controls two axes It can control the linear interpolation circular interpolations of two axes confirm PCL operation status and interrupt output with various conditions It also integrates an interface for servo control drivers These functions can be used with simple commands The intelligent design philosophy reduces the burden on the CPU units to control motors Note carefully The PLC6025B is a PCL6025 LSI with added functions It has the following differences from the PCL6025 Terminal PCL6025B PCL6025 FUPx 65 FUPy 104 Outputs a HIGH while accelerating Outputs a LOW while accelerating FDWx 66 FDWy 105 Outputs a HIGH while decelerating Outputs a LOW while decelerating Outputs a HIGH while at constant Outputs a LOW while at constant MVCx 67 MVCyI106 Speed speed 1 2 Features CPU I F The PCL6025B contains the following CPU interface circuits 1 8 bit interface for Z80 CPU 2 16 bit interface for 8086 CPU 3 16 bit interface for H8 CPU 4 16 bit interface for
140. axis can still be stopped independently by using the stop command 1 Connect the terminals as follows for a simultaneous stop among different LSls 5V _ 5k to 10 k ohm CSTP CSTP aadi CSTP 2 To start simultaneously using an external circuit connect as follows 5V _ 5k to 10k ohm 74LS06 or equivalent Open collector output CSTP CSTP j CSTP CSTP behets Stop signal As a stop signal supply a one shot signal 4 reference clock cycles or more in length approx 0 2 usec when CLK 19 6608 MHz 109 Setting to enable CSTP input lt Set MSPE bit 24 in PRMD gt 1 Enable a stop from the CSTP input Immediate stop deceleration stop PRMD WRITE 31 Dr 0 0 Auto output setting for the CSTP signal lt Set to MSPO bit 25 in the PRMD gt 1 When an axis stops because of an error the PCL will output the CSTP signal Output signal width 8 reference clock cycles PRMD 31 Dr D O Specify the stop method to use when the CSTP signal is turned ON lt Set STPM bit 19 in RENV1 gt 0 Immediate stop when the CSTP signal is turned ON 1 Deceleration stop when the CSTP signal is turned ON RENV1 23 Read the CSTP signal lt SSTP bit 6 in RSTS gt 0 The CSTP signal is OFF 1 The CSTP signal is ON RSTS Read the cause of an
141. below If the next register setting is the same as the current value there is no need to write to the register again Bit length setting range Setting range register Pre register Description 134 217 728 to 134 217 727 8000000h 7FFFFFFh PRFL Initial speed 16 1 to 65 535 OFFFFh RFL PRFH Operation speed 16 1 to 65 535 OFFFFh RFH PRUR Acceleration rate 16 1 to 65 535 OFFFFh RUR PRDR Deceleration rate Note 1 16 0 to 65 535 OFFFFh RDR PRMG Speed magnification rate 12 2 to 4 095 OFFFh RMG PRDP Ramping down point 24 0 to 16 777 215 OFFFFFFh RDP PRUS S curve acceleration range 15 0 to 32 767 7FFFh RUS PRDS S curve deceleration range 15 0 to 32 767 7FFFh RDS PRMV Positioning amount 28 RMV Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleration factors f Acceleration rate Set in PRUR Deceleration rate Set in PRDR y FH speed Set in y gt f 1 T PRFH PRMG Ly d e og d iA A S curve deceleration S curve accel _ f w AN KS range Set in PRDS carpal Se 7 d A g etn Ze of Preset amount fro psotioing E fei operation Set in PRMV e SC LS i et e FL speed Set in gt F 7 7 CP hp Ah ey PRFL PRMG VALY LL ef Ft AE E EZZ ee t Ramping down point for positioning operation Set in PRDP or set automati PRFL
142. c of the end limit signal for the Y axis P8 100 ELM Register bit RENV1 3 Select the process to execute when the EL input is ON 0 Immediate stop 1 P36 74 Deceleration stop ELx Terminal name 40 end limit signal for the X axis P8 100 ELx Terminal name 41 end limit signal for the X axis P8 100 ELy Terminal name 80 end limit signal for the Y axis P8 100 ELy Terminal name 81 end limit signal for the Y axis P8 100 EOFF Register bit RENV2 30 Invalid EA EB input P39 113 EPWO to 2 Register bit RENV1 12 14 Specify the ERC output signal pulse width P36 105 ERCL Register bit RENV1 15 Set the output logic of the ERC signal 0 Negative logic 1 Positive logic P36 105 ERCOUT Command 24h Output an ERC signal P24 106 ERCRST Command 25h Reset the output when the ERC signal is set to level output P24 106 ERCx Terminal name 69 Driver deflection clear output for the X axis P10 105 ERCy Terminal name 80 Driver deflection clear output for the Y axis P10 105 EROE Register bi RENV1 10 Automatic output of the ERC signal P36 105 EROR Register bi RENV1 11 Auto output an ERC signal when the zero return is complete P36 105 ESAL Register bi REST 7 Equals 1 when stopped by the ALM input turning ON P51 108 ESAO Register bi REST 15 Equals 1 when the positioning counter exceeds the count range P51 ESC1 Register bi REST 0 Stopped when the comparator1 conditions SL are met P51 ESC2 Register bi REST 1 Stopped when the comparator2 conditions S
143. cedures for writing are the same as the operation commands 7 3 1 Software reset command Used to reset this LSI COMBO Symbol Description 04h SRST _ Software reset Same function as making the RST terminal LOW Note After writing this command do not access the LSI for at least 12 clock CLK cycles 7 3 2 Counter reset command Reset counters to zero Symbol Description CUN1R _ Reset COUNTER1 command position CUN2R_ Reset COUNTER2 mechanical position CUN3R_ Reset COUNTER3 deflection counter CUN4R Reser COUNTER4 general purpose counter 7 3 3 ERC output control command Control the ERC signal using commands Symbol Description ERCOUT Outputs the ERC signal ERCRST Resets the output when the ERC signal output is specified to a level type output 7 3 4 Pre register control command Cancel the pre register settings and transfer the pre register data to a register See section 8 2 Pre register in this manual for details about the pre register Symbol Description PRECAN Cancel the operation pre register PCPCAN Cancel the RCMP5 operation pre register PRCP5 PRESHF Shift the operation pre register data PCPSHF Shift the RCMP5 operation pre register data PRSET Use the pre register operation for speed pattern change data using a comparator 7 3 5 PCS input command Entering this command has the same results as inputting a sign
144. characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic MSDP 0 in the PRMD register the value placed in the PRDR register will be used as the deceleration rate However when PRDR 0 the deceleration rate will be the value placed in the PRUR When the ramping down point is set automatically the following limitations are applied While in the Linear interpolation 1 or circular interpolation and when the synthetic speed constant control function is applied MIPF 1 in the PRMD arrange that deceleration time acceleration time For other operations arrange deceleration time lt acceleration time x 2 Setting exceeding the above limitations may not decrease the speed to the specified FL speed when stopping In this case use a manual ramping down point MSDP 1 in the PRMD register The relationship between the value entered and the deceleration time is as follows 1 Linear deceleration MSMD 0 in the PRMD register PRFH PRFL x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and PRDS register 0 Deceleration time s REEDS ERE Oe RD RE 28 Reference clock frequency Hz 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and PRDS register gt 0 PRFH PRFL 2
145. conditions are met P48 133 IRC3 Register bi RIRQ 10 Enable an INT when the comparator3 conditions are met P48 133 IRC4 Register bi RIRQ 11 Enable an INT when the comparator4 conditions are met P48 133 IRC5 Register bi RIRQ 12 Enable an INT when the comparator5 conditions are met P48 133 IRCL Register bi RIRQ 13 Enable an INT when the count value is reset by a CLR input P48 133 IRDE Register bi RIRQ 7 Enable an INT when the deceleration is finished P48 133 IRDR Register bi RIRQ 17 Enable an INT when the DR input changes P48 133 IRDS Register bi RIRQ 6 Enable an INT when the deceleration starts P48 133 IREN Register bi RIRQ 0 Enable an INT when there is a normal stop P48 133 IRLT Register bi RIRQ 14 Enable an INT when the count value is latched by an LTC input P48 133 IRN Register bi RIRQ 1 Enable INT by continuing with the next operation P48 133 IRND Register bi RIRQ 3 Enable an INT when writing to the 2nd pre register for comparator is enabled P48 133 IRNM Register bi RIRQ 2 Enable an INT when writing to 2nd pre register for operation is enabled P48 133 IROL Register bi RIRQ 15 Enable an INT when the count value is latched by an ORG input P48 133 IRSA Register bi RIRQ 18 Enable an INT by turning ON the CSTA input P48 133 IRSD Register bi RIRQ 16 Enable an INT by turning ON the SD input P48 133 IRUE Register bi RIRQ 5 Enable an INT when the acceleration is finished P48 133 IRUS Register bi RIRQ 4 Enable an INT when acceleration starts P48
146. cremental target positioning that writes a 1 or 1 to the PRMV register However with this operation you do need not to write a 1 or 1 to the PRMV register Timer operation MOD 47h This mode allows the internal operation time to be used as a timer The internal effect of this operation is identical to the positioning operation However the LSI does not output any pulses they are masked Therefore the internal operation time using the constant speed start command will be a product of the frequency of the output pulses and the RMV register setting Ex When the frequency is 1000 pps and the RMS register is set to 120 pulses the internal operation time will be 120 msec Write a positive number 1 to 134 217 727 into the RMV register The EL input signal SD input signal and software limits are ignored These are always treated as OFF The ALM input signal CSTP input signal and CEMG input signals are effective The backlash slip correction vibration restriction function and when changing direction this timer function is disabled The LSI stops counting from COUNTER1 command position Regardless of the MINP setting bit 9 in the RMD operation mode register an operation complete delay controlled by the INP signal will not occur In order to eliminate deviations in the internal operation time set the METM bit 12 in the PRMD register to zero and use the cycle completion timing of the output pulse as the oper
147. ction data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PSTP 0 ADJ1 ADJO BR11_BR10 BR9 BR8 BR7_ BR6 BR5 BR4 BR3_ BR2 BRI BRO 31 30 29 28 27 26 2 24 23 22 21 20 19 18 17 46 PMG4 PMG3 PMG2 PMG1 PMGO PD10 PD9 PD8 PD7 PD6 PD5 PD4 PD3 PD2 PD PDO Bit Bit name Description 0 to 11 BROto 11 Enter a backlash correction amount or a slip correction amount 0 to 4095 12to13 ADJO to 1 Select a feed amount correction method 00 Turn OFF the correction function 01 Backlash correction 10 Slip correction 14 Not defined Always set to 0 15 PSTP 1 Even if a stop command is written the PCL will operate for the number of pulses that are already input on PA PB Note 1 16 to 26 PDO to 10 Specifies the division ratio for pulses on the PA PB input The number of pulses are divided using the set value 2048 When 0 is entered the division circuit will be OFF 2048 2048 27 to 31 PMGO to 4 Specifies the magnification rate for pulses on the PA PB input The number of pulses are multiplied by the set value 1 Note 1 When PSTP is 1 the Stop command will be ignored when BSYn H OFF regardless of the operation mode Before writing a Stop command check the main status register When SRN 0 change PSTP to 0 and then write a Stop command 8 3 19 RENV7 register This is a register for the Environment 7 settings It is primarily used to enter the time for the vibration reduction function
148. d commands 52h 53h movement on the axis will decelerate and stop when the DR input turns OFF If the DR input for reverse direction turns ON while decelerating movement on the axis will decelerate and stop Then it will resume in the opposite direction Setting example 1 Bring the PE input LOW 2 Specify RFL RFH RUR RDR and RMG speed setting 3 Enter 0000010 for MOD bits 0 to 6 in the RMD operation mode register 4 Write a start command 50h to 53h CND bits 0 to 3 of the RSTS extension status register will wait for 0001 DR input In this condition turn ON the DR or DR input terminal The axis will move in the specified direction using the specified speed pattern as long as the terminal is kept ON 62 9 4 2 Positioning operation using an external switch MOD 56h This mode is used for positioning based on the DR input rising timing When started the data in the RMV register is loaded into the positioning counter When the DR input is ON the LSI will output pulses and the positioning counter will start counting down pulses When the positioning counter value reaches zero the PCL stops operation Even if the DR input is turned OFF or ON again during the operation it will have no effect on the operation If you make the RMV register value 0 and start a positioning operation the PCL will stop operation immediately without outputting any command pulses Turn ON the DR signal to feed in the positive direction T
149. deflection to zero 23h Set COUNTER4 general purpose to zero Note In order to prevent incorrect counts when the count timing and reset timing match the counter will be 1 or 1 never 0 Please note this operation detail when detecting 0 with the comparator function 114 11 10 3 Latch the counter and count condition All the counters can latch their counts using any of the following methods The setting is made in RENV5 environment setting 5 register The latched values can be output from the RLTC1 to 4 registers 1 Turn ON the LTC signal 2 Turn ON the ORG signal 3 When the conditions for Comparator 4 are satisfied 4 When the conditions for Comparator 5 are satisfied 5 When a command is written The current speed can also be latched instead of COUNTER3 deflection Items 1 to 4 above can also be latched by hardware timing The LTC input timing can be set by in RENV1 environment setting 1 An INT signal can be output when a counter value is latched by turning ON the LTC signal or the ORG signal This allows you to identify the cause of an event interrupt Specify the latch method for a counter 1 to 4 lt Set LTMO to 1 bit 12 to 13 in RENV5 WRITE RENV5 gt 15 8 00 Turn ON the LTC signal 01 Turn ON the ORG signal 10 When the conditions for Comparator 4 are satisfied 11 When the conditions for Comparator 5 are satisfied Specify the latch method for the c
150. e EL signal except that it works in the negative direction 3 SD This signal can be used as a deceleration signal or a deceleration stop signal according to the software setting When this is used as a deceleration signal and when this signal turns on during a high speed feed operation the motor on this axis will decelerate to the FL speed If this signal is ON and movement on the axis is started the motor on this axis will run at the FL constant speed When this signal is used as a deceleration stop signal and when this signal turns on during a high speed feed operation the motor on this axis will decelerate to the FL speed and then stop 4 ORG Input signal for a zero return operation For safety make sure the EL and EL signals stay on from the EL position until the end of each stroke The input logic for these signals can be changed using the ELL terminal The input logic of the SD and ORG signals can be changed using software Servomotor I F The following three signals can be used as an interface for each axis 1 INP Input positioning complete signal that is output by a servomotor driver 2 ERC Output deflection counter clear signal to a servomotor driver 3 ALM Regardless of the direction of operation when this signal is ON movement on this axis stops immediately deceleration stop When this signal is ON no movement can occur on this axis The input logic of the INP ERC and ALM signals can be changed using s
151. e n of 2 to 7 The LSI will start the acceleration by beginning its output on the n th pulse Therefore the start speed will be the FL speed and the FL speed can be set to self start speed at near the upper limit If this function is used with the positioning mode the total feed amount will not change Setting idling pulses and the acceleration start timing BSY Whenn 0 OUT 1 2 3 FUP A Start the acceleration from the zero pulse Whenn 1 OUT 1 2 3 FUP A Start the acceleration from the zero pulse FL speed cycle lt gt Whenn 3 OUT 1 2 3 FUP Start the acceleration from the 3rd pulse A Set the number of idling pulses lt Set IDLO to 2 bits 8 to 10 in RENV5 gt RENV5 WRITE Specify the number of idling pulses from 0 to 7 Start accelerating at FL speed after outputting the specified number of pulses Read the idling control counter value lt IDCO to 2 bits 20 to 22 in RSPD gt Read the idling control counter Note While setting the number of idling pulses when you write a High Speed Start 1 command 52h or 56h the PCL will accelerate to FH speed after outputting the specified number of idling pulses at FL speed Then the operation will be the same as the Hig
152. e PCS input on the local axis CSTA signal PDTC 1 Keep the pulse width at a 50 duty cycle DTMF Note1 When a deceleration stop ELM 1 has been specified to occur when the EL input turns ON the axis will start the deceleration when the EL input is turned ON Therefore the axis will stop by passing over the EL position In this case be careful to avoid collisions of mechanical systems Note 2 When deceleration stop is selected this bit remains ON until the PCL decelerates and stops The PCL determines whether it has stopped normally or not according to the stop timing Therefore if an error stop signal is input while decelerating with high speed positioning the PCL may determine whether the stop was normal In this case the PCL will continue to the next operation without canceling the data stored in the pre registers If a constant error stop signal is input the PCL will not continue to the next operation and it will stop with an error 37 8 3 14 RENV2 register This is a register for the Environment 2 settings Specify the function of the general purpose port EA EB input and PA PB input 15 14 13 12 11 10 P7M1 P7MO P6M1 P6MO P5M1 P5MO P4M1 P4M0 P3M1 P3M0 P2M1 P2MO P1M1 P1MO POM1 POMO 3141 30 29 28 27 26 25 24 23 22 2 20 19 148 17 16 POFF EOFF SMAX PMSK IEND PDIR PIM1 PIMO EZL EDIR EIM1 EIMO PINF EINF P4L POL Bits Bit name Description 0 to 1 POMO to 1 Specify the
153. e X axis in the next operation MSYO to 1 11 MAX0 to 1 11 Operation mode for the Y axis in initial operation MSYO to 1 00 MAXO to 1 00 Operation mode calling for the Y axis in the next operation MSYO to 1 11 MAXO to 1 11 X axis positioning operation time gt Y axis positioning operation time 1 When the PCL6025 compatible mode SMAX 0 is selected Stopping MH X axis Initial operation Next operation Operating Stopping Y axis Operating Initial operation Next operation 127 2 When the PCL6025B mode SMAX 1 is selected Stopping X axis Initial operation Next operation Operating Stopping Y axis Operating Initial operation Next operation When using continuous interpolation you may set the next operation in the pre register you don t need to specify any stop conditions rather using the start when another axis stops function The settings are shown in Example 2 below The example below describes only the items related to the operations The settings for speed and acceleration are omitted Example 2 How to set up a continuous interpolation X Y axis circular interpolation followed by an X Y axis linear interpolation Register X axis Y axis Description PRMV 10000 10000 X and Y axes perform an circular PRIP 10000 0 interpolation operation of a 90 curve with PRMD 0000_0064h 0000_0064h a radius of 10000 Start command
154. e operation COUNTER2 mechanical position COUNTERS deflection and COUNTER4 general purpose stop when the RENV3 environment setting 3 register is set to stop By setting the RENV3 register you can stop counting pulses while performing a backlash or slip correction COUNTER4 general purpose can be set to count only during operation BSY low using the RENV3 register By specifying 1 2 of the CLK reference clock signal the time after the start can be controlled Stopping COUNTER1 command lt Set MCCE bit 11 in PRMD gt RMD WRITE 1 Stop COUNTER1 command position 15 8 n Specify the counting operation for COUNTERS 2 to 4 lt Set CU4H to 2H bits RENV3 WRITE 29 to 31 in RENV3 gt 31 24 CU2H bit 29 1 Stop COUNTER2 mechanical position n n aol TT CU3H bit 30 1 Stop COUNTER3 deflection CU4H bit 31 1 Stop COUNTER4 general purpose Setting the counters for backlash or slip correction lt Set CU1B to 4B bits 24 RENV3 WRITE to 27 in RENV3 gt 31 24 CU1B bit 16 1 Enable COUNTER1 command position olaan n CU2B bit 17 1 Enable COUNTER2 mechanical position CU3B bit 18 1 Enable COUNTER3 deflection CU4B bit 19 1 Enable COUNTER4 general purpose Specify the counting conditions for COUNTER4 lt Set BSYC bit 14 in RENV3 WRITE RENV3 gt 15 8
155. e range of 8 388 608 800000h to 8 388 607 7FFFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelerating When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the axis will feed at FL constant speed after decelerating 146 PRUS S curve acceleration range register 15 bit Specify the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssu will be calculated from the value placed in PRMG Reference clock frequency H Ssu pps PRUS x quency Hz PRMG 1 x 65536 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssu and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS S curve deceleration range setting register 15 bit Specify the S curve deceleration range for S curve acceleration deceleration operations in the
156. e setting of SDM and SDLT in the RENV1 register environment setting 1 1 Deceleration lt SDM bit 4 0 SDLT bit 5 0 in RENV1 register gt While feeding at constant speed the SD signal is ignored While in high speed operation the axis decelerates to the FL speed when the SD signal is turned ON After decelerating or while decelerating if the SD signal turns OFF the axis will accelerate to the FH speed If the SD signal is turned ON when the high speed command is written the axis will operate at FL speed When the SD signal is turned OFF the axis will accelerate to FH speed FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL speed FH FH Accelerate to FL FL FH speed SD SD SD ON ON ON signal OFF signal OFF signal OFF OFF 2 Latch and decelerate lt SDM bit 4 0 SDLT bit 5 1 in RENV1 register gt While feeding at constant speed the SD signal is ignored While in high speed operation decelerate to FL speed by turning the SD signal ON Even if the SD signal is turned OFF after decelerating or while decelerating the axis will continue moving at FL speed and will not accelerate to FH speed If the SD signal is turned ON while writing a high speed command the axis will feed at FL speed Even if the SD signal is turned OFF the axis will not accelerate to FH speed FL constant speed operation FH constant speed operation
157. edures below 1 Read the main status of the X axis and check whether bits 2 4 or 5 is 1 2 If bit 2 SENI is 1 a Stop interrupt occurs 3 If bit 4 SERR is 1 read the REST register to identify the cause of the interrupt 4 If bit 5 SINT is 1 read the RIST register to identify the cause of the interrupt 5 Repeat steps 1 to 4 above for the Y axis The steps above will allow you to evaluate the cause of the interrupt and turn the INT output OFF Note 1 When reading a register from the interrupt routine the details of the input output buffer will change If the INT signal is output while the main routine is reading or writing registers and the interrupt routine starts the main routine may produce an error Therefore the interrupt routine should execute a PUSH POP on input output buffer Note 2 While processing all axes in steps 1 to 4 above it is possible that another interrupt may occur on an axis whose process has completed In this case if the CPU interrupts reception mode and is set for edge triggering the PCL will latch the INT output ON and it will not allow a new interrupt to interfere Therefore make sure that after you have reset the interrupt reception status the CPU reads main status of all the axes again Also make sure there is no INT signal output from the PCL Then end the interrupt routine Note 3 When not using the SINT terminal leave it open When using more than one PCL the SINT termin
158. eeeaaeseeeeseaeeesaaaeseeeeeseaeeesaaesseaeeseeeessaeeeeaeseenees 126 11 14 1 Start triggered by another axis Stopping cecceeeeeceeeeeeeeeeceeeeeeeaeeeeeaeeseneeseeeeesaaeeeeaeeeeaees 127 11 14 2 Starting from an internal synchronous signal ccceceeeeceeeeeee cece cesses eeeneeseeeeeseeaeeeeaeeeeaees 129 11 15 Output an interrupt sigma 131 12 Electrical CharacteristiGs siii 1 c2 aeaviis cicenae evil idee eae Sieh ieee aati 134 12 1 Absolute maximum ratings ceeecceceeeeeeeceeeeeee cae eeeaaeeeeeeeecaaeeesaaeseaeeseaeeecaaeseeaeeseaeeesaeeseaeeeenees 134 12 2 Recommended operating conditions 134 12 3 DG characteristicS j c2icecsi cise d Abee Bate Al all Gadel al eal dean 134 12 4 AC characteristics 1 reference clock c ccceceeeseeeceeeeeceeeeeeeaeeeeneeceeeeeeeaaeeeeaeeseeeesaeeeeaetenees 134 12 5 AC characteristics 2 CPU WE 135 12 5 1 CPU I F 1 IF 1 H IFO H ZE 135 12 5 2 CPU I F 2 IF 1 H IFO L BODEN 136 12 5 3 GRIES HE Tt Et Bl Sst tetas eebe genee worth 137 2 5 4 GPU I F 4 IF 1 L IFO L 68000 cance iain an daaar aei aaa tages 138 12 6 Qperation Ar ul e NEE 139 13 Go ufale TEE 141 Appendix List Of Ee UE 142 Appendix ls Ee een EI 142 Appendix 2 Setting speed pattem nedara ran aaa ataa aegen Aena aAa aaa a aE Aaa aae taian 144 Appendix 3 lt Label EE 148 Appendix 4 Differences between the PCL6025 and PCL6025B sssssserresrrrierirsrrerr
159. eeeaeeeeeeeeeeeeeaeeeeeceaeeeeseeeeesenneeeetsaaes 72 9 5 3 Zeto Ee ee UL EE 73 9 6 EL or SL operation ue EE 74 9 6 1 Feed until reaching an EL or SL position eeeecceeceeeeeeeeeeneeeeeeeeeeseeeseeseeseesaeeeeesneesieeeinesieees 74 9 6 2 Leaving an EL or SL position 74 9 7 EZ count Operation mode 75 9 8 Interpolation operations ccecceeeesecceeenceeeeeeeeeeeeeaeeeeseaaeeeeeaeeeeceeaeeeeseaaeeeescaeesesecaeeseseceeeessnaeeeessieeess 76 9 8 1 Interpolation operations ecccccecceeecceeeceeececeececeececeeceaeeeeaeeecaeeecaeeceaeeeeaeeseaeeseaeesseeesesueetsueeeeaeeesaes 76 9 8 2 Interpolation control AXIS cceecceeeceeeeeeeeeceeeeceeeeeeeseneeeeaeeecaeeeeaeeeseaeeseaeeseaeeseaeesseaeseeeeetseeeesneeeeaes 76 9 8 3 Constant synthesized Speed contra 77 9 8 4 Continuous linear interpolation 1 MOD GO 77 9 8 5 Linear interpolation 1 MOD 61h cceeeeceeeceeeeeseeeeneeeeeetaeesaeesaeesaeesaeesieeeaeesieeseesieesieesieesineeaeees 78 9 8 6 Continuous linear interpolation 2 MOD G2hl ce eeeeeceeeeeeeeeeeeteeeeeeeeeesaeesaeesaeeseeeaeetieetneetanees 78 9 8 7 Linear interpolation 2 MOD 63h ou eeeceecceeeceeeeeeeeeneeeeeetaeesaeesaeesaeesaeesaeeeaeesieesaeesieesieesieesinesaeees 79 9 8 8 Circular interpolation ccccccccecceeeeeeeeeeeceeeeeeeecaceeceaeeeeaeeeeeeeecaeesaeeeeaeescaeesseeseaeeeesieetsueeesaseesaes 80 9 8 9 Interpolation operation synchronized with DA PR 82 9 8 10 Opera
160. eeeeeaeeeaeeeaeeeaeeeaeeeeeeeateseeeatesas 35 8 3 13 RENV1 register Environment Setting 1 36 8 3 14 RENV2 register Environment Setting 2 38 8 3 15 RENV3 register Environment Setting 3 40 8 3 16 RENV4 register Environment Setting A 42 8 3 17 RENV5 register Environment Setting D 44 8 3 18 RENV6 register Environment Setting D 45 8 3 19 RENV7 register Environment Setting 7 45 8 3 20 RCUN1 register COUNTER1 lt command position 46 8 3 21 RCUNZ2 register COUNTER2 lt mechanical poestonz 46 8 3 22 RCUN3 register COUNTERS lt deflection Counter gt cccccceeeeeeeeeeeeeeeeeeeeeseeeeeieeeteneeennees 46 8 3 23 RCUN4 register COUNTER4 lt general purpose Counter gt cccccceeeeeeeeeeeeceeeeeeeeeeeeeeeeaees 46 8 3 24 RCMP1 register Comparison data for Comparator 71 47 8 3 25 RCMP2 register Comparison data for Comparator 2 47 8 3 26 RCMP3 register Comparison data for Comparator 2 47 8 3 27 RCMP4 register Comparison data for Comparator A 47 8 3 28 RCMP5 PRCP5 register Comparison data for Comparator D 47 8 3 29 RIRQ register Specify event interruption Cause 48 8 3 30 RLTC1 register COUNTER latch data 48 8 3 31 RLTC2 register COUNTER2 latch data 48 8 3 32 RLTC3 register COUNTERS latch data 49 8 3 33 RLTC4 register COUNTER latch data 49 8 3 34 RSTS register Extension status 50 8 3 35 REST register Error INT status 51 8 3 36
161. een the last pulse and next operation start pulse will be as little as 15x Tc k Tek Reference clock cycle For details see 11 3 2 Control the output pulse width and operation completion timing Cancel the pre register operations Use a pre register Cancel command 26h and a Stop command 49h 4Ah to cancel all the data in the pre registers and their status then becomes undetermined The pre register data are also cancelled if the PCL stops with an error 29 8 2 3 8 2 4 Writing to the comparator pre registers Comparator 5 has a pre register To overwrite the current data write directly to RCMP5 To write to the pre register write to PRCP5 The comparator data will only be set by writing to PRCP5 The status of the comparator pre register can be checked by reading PFC in the RSTS register When the PFC value is 11 SPDF in the main status register MSTSW will be 1 Writing data to the pre register when it is full is not allowed After the conditions have been established the comparator data in the pre register will be shifted when the condition changes from false to true Comparator data can be written regardless of the PCL mode stopped operating The relationship between the pre register writing status and the PFC values are as follows Procedure 2nd pre register 1st pre register Working register 0 0 0 Undetermined Undetermined Undetermined Data 1 is Data 1 is Data 1 is undetermined undetermined undetermi
162. eesaeeseeseesaeeseeeieesieesiresieees 27 e EE 28 ME Ee EE 28 G 2 e EE EE 29 8 2 1 Writing to the Operation pre registers oo eee eeeeeeeeeceeeeceeeeeeeeaeeeaeeeaeeeaeeeaeceaeeseesaeeeaeenteseeeaeeeas 29 8 2 2 Cancel the operation Drereglsier een 29 8 2 3 Writing to the Comparator pre registers eee ee eee cent ceeeee tees eeaeeseaeeesaeeesaeeeeeeeseeeseneeennaeensaees 30 8 2 4 Cancel the comparator pre register data 30 8 3 Description of the registers uc Seitert egegt el del deena ne dete aie eee ee et t 31 8 3 1 PRMV RMV registers Feed amount target positton 31 8 3 2 PRFL RFL registers Initial speed 31 8 3 3 PRFH RFH registers Operation speed 31 8 3 4 PRUR RUR registers Acceleration rate ceeceeeeseeseeeeeeeneeseeeeseeeeeeaeeeaeeeaeeeeeseeesiteeaeeeatesas 31 8 3 5 PRDR RDR registers Deceleration rate oo eeceeceeeeeeeeeeeeeeeceeeeeeeaeeeaeeeaeeeaeeeeeeeeeseeeeeeaeeeas 31 8 3 6 PRMG RMG registers Speed magnification rate 0 0 ee ceeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaeeeaeeeeeeeas 32 8 3 7 PRDP RDP registers Ramping dOWNn point 32 8 3 8 PRMD RMD registers Operation mode 33 8 3 9 PRIP RIP registers Circular interpolation center position master axis feed amount 35 8 3 10 PRUS RUS registers S curve acceleration angel 35 8 3 11 PRDS RDS registers S curve deceleration range 35 8 3 12 RFA register Speed at amount correction 0 eeeeeeeeeeeeeeeeeeeeee
163. eliminate triangle driving However if values in the PRUR and PRDR registers are set so that the deceleration time gt acceleration time x 2 do not use the FH correction function In order to eliminate triangle driving without using the FH correction function MADJ 1 in the PRMD register lower the FH speed before starting the acceleration deceleration operation When using idling control enter a value for PRMV in the equation below after deducting the number of idling pulses The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV5 FH correction function Automatic correction of the maximum speed for changing the feed amount 88 lt To execute FH correction manually gt 1 Linear acceleration deceleration speed MSMD 0 in the PRMD register When BBY PRFH PRFL x PRUR PRDR 2 PRMG 1 x 32768 BREE J PRMG 1 x 32768 x PRMV_ ppf PRUR PRDR 2 2 S curve acceleration without linear acceleration MSMD 1 in the PRMD and the PRUS registers 0 PRDS register 0 When PRMV PRFH PRFL x PRUR PRDR 2 x 2 PRMG 1 x 32768 PRFL PRFH y PRMG 1 x 32768 x PRMV PRUR PRDR 2 x2 3 S curve acceleration deceleration with linear acceleration deceleration MSMD 1 in the PRMD register and the PRUS register gt 0 PRDS register gt 0 3 1 When PRUS PRDS i Set up a small linear acceleration range i p g When PRMV lt PRF
164. er for execution or stopping SCP1 Set to 1 when the COMPARATOR 1 comparison conditions are met SCP2 Set to 1 when the COMPARATOR 2 comparison conditions are met SCP3 Set to 1 when the COMPARATOR 3 comparison conditions are met SCP4 Set to 1 when the COMPARATOR 4 comparison conditions are met SCP5 Set to 1 when the COMPARATOR 5 comparison conditions are met SEOR When a positioning override cannot be executed writing the RMV register while stopped this signal changes to 1 After the main status is read it changes to 0 SPRF Set to 1 when the pre register for the subsequent operation data is full SPDF Set to 1 when the pre register for comparator 5 is full Status change timing chart 1 When the continuous mode MOD 00h 08h is selected Start commnad Stop command LI LIRead main status WR RD SSCM SRUN SENI SEND BSY OUT 2 When the DA PB continuous mode MOD 01h is selected Start commnad Stop command WR RD PA PB SSCM SRUN SENI SEND BSY OUT rees main status 19 3 When the DR continuous mode MOD 02h is selected Start commnad Stop command WR l J LJ Read main status RD 4 When the auto stop mode is selected such as positioning operation mode MOD 41h Start commnad WR l Read main status a A RD ssM__ o EL SpUN TF EL 6 5 5 Reading the sub status and input output port SSTSW SSTSB IOPB SSTSW
165. er from the air and the moisture will creep into them as time passes even when they are stored in a dry room Dry them before soldering if there is any chance they may have absorbed moisture To dry them out we recommend keeping them at a high temperature 125 C 5 for 20 to 36 hours However please note the LSI must not be exposed to high heat more than 2 times 6 When using an infrared or air reflow system to apply solder carefully observe the following restrictions and the total number of reflow the chips more than two times 160 Temperature profile Temperature profile temperature at the surface of the plastic in an infrared reflow furnace must be within the range shown in the figure below Maximum temperature The maximum temperature at the plastic surface must not exceed 260 C peak and not more than 250 for 10 seconds Profile Also we recommend that the soldering should be performed at as low a temperature as possible and for as little time as possible to reduce the thermal stress on the package Temperature C Not more than 10 ae seconds at 250 C 250 leen 220 4f gt 200 Less 140 Time Within 35 sec n i 60 to 120 sec Profile the lead free solders can be used 7 Do not use a solder dip method as it may cause a rapid temperature change in the packages and may damage the devices 4 Other precautions 1 When the LSI will be used in poor environment
166. er to get 100 kpps output PRMG 149 95h 2 Since the 2x mode is selected to get an operation speed 100 kpps PRFH 50000 C350h 3 In order to set a start speed of 10 pps the rate magnification is set to the 2x mode PRFL 5 0005h 4 In order to make the acceleration deceleration time 300 msec set PRUR 28 494 from the equation for the acceleration time and the PRUR value PRFH PRFL x PRUR 1 A Reference clock frequency Hz Acceleration time s 50000 5 x PRUR 1 x4 19 6608 x 10 0 3 PRUR 28 494 However since only integers can be entered for PRUR use 28 or 29 The actual acceleration deceleration time will be 295 msec if PRUR 28 or 305 msec if PRUR 29 An example of the speed pattern when PRUR 29 Speed 100kpps Operation speed 10pps Start speed Time 305 ms 305 ms 92 10 5 Changing speed patterns while in operation By changing the RFH RUR RDR RUS or RDS registers during operation the speed and acceleration can be changed on the fly However if the ramping down point was set to automatic MSDP 0 in the PRMD register for the positioning mode do not change the values for RFL RUR RDR RUS or RDS The automatic ramping down point function will not work correctly An example of changing the speed pattern by changing the speed during a linear acceleration deceleration operation Speed A eda 1 Use a small RFH while acceler
167. eration during interpolation Acceleration deceleration operations Acceleration and deceleration linear and S curve can be used with Linear interpolation 1 and circular interpolation operations However set the MSDP and MADJ in the PRMD register the same for all of the interpolated axes To control the ramp down point while using linear interpolation1 the PCL executes a comparison of RPLS and RSDC for the longest axis The RSDC setting for any shorter axes will be invalid However if more than one axis has the same length and they are the longest axes to specify a ramp down point manually you must enter the same value for all of the interpolated axes To control the ramp down point while using circular interpolation the PCL executes a comparison of RCIC and RSDC on the control axis Therefore to specify a ramp down point manually write to RSD on the control axis Error stop If any of the axes stops with an error all of the axes being interpolated will stop SERR 1 By reading the REST error stop cause register you can determine which axis actually stopped with an error SD input When SD input is enabled MSDE bit 8 in the PRMD register is set to 1 and if the SD input turns ON either of the axes both axes will decelerate or decelerate and stop Idling control If any axis is in idling range none of the axes being interpolated will accelerate Correction function When phases are changed during circular interpolation
168. erpolation for two axes 3 Linear interpolation 2 for one to two axes Interpolation control axis In Circular interpolation and Linear interpolation 1 specify the speed for one axis only This axis is referred to as the interpolation control axis On the PCL6025B interpolation control is limited to the X axis When linear interpolation 2 is selected each axis will be used to control the interpolation Relationship between an interpolation operation and the axes used for interpolation control Interpolation operation Interpolation control axis Linear interpolation 1 of the X and Y axes X axis Circular interpolation of the X and Y axis X axis 76 9 8 3 Constant synthesized speed control This function is used to create a constant synthesized speed for linear interpolation 1 and circular interpolation operations When linear interpolation 2 is selected this function cannot be used To enable this function set the MIPF bit 15 in the PRMD operation mode register to 1 for the axes that you want to have a constant synthesized speed When the same interpolation mode is selected the axes whose MIPF bit is set to 1 will have a longer pulse output interval multiplied by the square root of two V2 for two axis simultaneous output When the synthesized constant speed control bit is turned ON MIPF 1 the synthesized speed while performing interpolation will be the operation speed PRFH or the initial speed PRFL
169. error input lt ESSP bit 8 in REST gt 1 When stopped because the CSTP signal turned ON 15 Simultaneous stop command lt CMSTP Operation command gt Outputs a one shot pulse of 8 reference clock cycles in length from the CSTP terminal The CSTP terminal is bi directional It can receive signals output from other PCLs 110 Operation command 07h 11 9 Emergency stop This LSI has a CEMG input terminal for use as an emergency stop signal While in operation if the CEMG input goes LOW or if you write an emergency stop command all the axes will stop immediately While the CEMG input remains LOW no axis can be operated The logical input of the CEMG terminal cannot be changed When the axes are stopped because the CEMG input was turned ON the LSI will output an SINT signal By reading the REST register the cause of the error interruption can be determined The status of the CEMG terminal can be monitored by reading the REST register extension status Read the CEMG signal lt SEMG bit 7 in RSTS gt RSTS READ 0 The CEMG signal is OFF 1 The CEMG signal is ON Read the cause of an error interrupt lt ESEM bit 9 in REST gt 1 Stopped when the CEMG signal was turned ON 16 Emergency stop command lt CMEMG Operation command gt Operation command The operation is the same a
170. ese pre registers are used to set the initial speed stop seed for high speed with acceleration deceleration operations RFL is the register for PRFL 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 The setting range is 1 to 65 535 However the actual speed pps may vary with the speed magnification rate setting in the PRMG register 8 3 3 PRFH RFH registers These pre registers are used to specify the operation speed RFH is the working register for PRFH Write to this register to override the current speed 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 The setting range is 1 to 65 535 However the actual speed pps may vary with the speed magnification rate set in the PRMG register 8 3 4 PRUR RUR registers These pre registers are used to specify the acceleration rate RUR is the register for PRUR 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 Setting range is 1 to 65 535 8 3 5 PRDR RDR registers These pre registers are used to specify the deceleration rate RDR is the register for PRDR 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 The normal setting range is 1 to 65 535 When PRDR 0 the deceleration rate will be the value set by PRUR Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an am
171. follows by setting of the PIMO to PIM1 in the RENV2 1 When using 90 phase difference signals and 1x input PIM 00 PA PB UP1 DOWN 1 2 When using 90 phase difference signals and 2x input PIM 01 PA PB UP1 DOWN 3 When using 90 phase difference signals and 4x input PIM 10 PA PB UP1 DOWN 4 When using two pulse input PA PB UP1 DOWN 1 57 When the 1x to 32x multiplication circuit is set to 3x PMG 2 on the RENV6 operation timing will be as follows UP1 DOWN 1 UP2 DOWN2 When the n 2048 division circuit is set to 512 2048 PD 512 on the RENV6 operation timing will be as follows UP2 DOWN2 UP3 DOWN3 The pulsar input mode is triggered by an FL constant speed start command 50h or by an FH constant speed start command 51h Pulsar input causes the PCL to output pulses with some pulse
172. fy the input logic using the ELL terminal The terminal status can be checked using an SSTSW command signal sub status ELx 41 Input U Negative Input end limit signal in the negative direction See Note 6 ELy 81 When this signal is ON while feeding in negative direction the motor on that axis will stop immediately or will decelerate and stop Specify the input logic using the ELL terminal The terminal status can be checked using an SSTSW command signal sub status SDx 42 Input U Negative Input deceleration signal SDy 82 Selects the input method LEVEL or LATCHED inputs The input logic can be selected using software The terminal status can be checked using an SSTSW command signal sub status Signal name BE Se Logic Description ORGx 43 Input U Negative Input zero position signal ORGy 83 Used for zero return and other operations Edge detection The input logic can be selected using software The terminal status can be checked using an SSTSW command signal sub status ALMx 44 Input U Negative Input alarm signal See Note 6 ALMy 84 When this signal is ON the motor on that axis stops immediately or will decelerate and stop The input logic can be selected using software The terminal status can be checked using an SSTSW command signal sub status OUTx 62 Output Negative Outputs command pulses for controlling a motor or outputs OUTy 102 direc
173. fy the pulse width of the ERC output signal 000 12 usec 001 102 usec 010 409 usec 011 1 6 msec 100 13 msec 101 52 msec 110 104 msec 111 Level output 15 ERCL Specify the ERC signal output logic 0 Negative logic 1 Positive logic 16 to 17 ETWO to 1 Specify the ERC signal OFF timer time 00 0 usec 10 1 6 msec 01 12 usec 11 104 msec 18 STAM Specify the CSTA signal input type 0 Level trigger 1 Edge trigger 19 STPM Specify a stop method using CSTP input 0 Immediate stop 1 Deceleration stop Note 2 36 Bits Bit name Description 20 to 21 CLRO to 1 Specify a CLR input 00 Clear on the falling edge 10 Clear on a LOW 01 Clear on the rising edge 11 Clear on a HIGH INPL Specify the INP signal input logic 0 Negative logic 1 Positive logic LTCL __ Specify the operation edge for the LTC signal 0 Falling 1 Rising PCSL Specify the PCS signal input logic 0 Negative logic 1 Positive logic DRL Specify the DR DR signal input logic 0 Negative logic 1 Positive logic FLTR 1 Apply a filter to the EL EL SD ORG ALM or INP inputs When a filter is applied signal pulses shorter than 4 usec are ignored DRF 1 Apply a filter on the DR DR or PE inputs When a filter is applied signals pulses shorter than 32 msec are ignored 1 Turn OFF the direction change timer 0 2 msec function INTM 1 Mask an INT output Changes the interrupt circuit PCSM _ 1 Only allow th
174. gister Control command buffer Axis assignment buffer Input output buffer 0 INT terminal HIGH WRQ terminal HIGH IFB terminal HIGH DO to D7 terminals High Z impedance D8 to D15 terminals High Z impedance POn to P7n terminals Input terminal CSTA terminal HIGH CSTP terminal HIGH OUTn terminal HIGH DIRn terminal HIGH ERCn terminal HIGH BSYn terminal HIGH 94 11 2 Position override This LSI can override change the target position freely during operation There are two methods for overriding the target position 11 2 1 Target position override 1 By rewriting the target position data RMV register value the target position can be changed The starting position is used as a reference to change target position 1 If the new target position is further away from the f original target position during acceleration or constant speed operation the axis will maintain the operation using the same speed pattern and it will complete the positioning operation at the position specified in the new data new RMV value T Further away 2 If the new target position is further away from the original target position during deceleration the axis will accelerate from the current position to FH speed and complete the positioning operation at the position specified in the new data new RMV value Assume that the current speed is Fu and when RFL Fu a curve of next accele
175. h 00040063h 00040063h LSI A LSI B po 8 5 2 10 CSTA _ CST 15k to 10 value k ohm RIP value 10 10 10 10 Operation 1000 1000 speed pps pps pps pps Master axis slave axis Slave Master axis axis X axis output pulse gt Y axis output pulse X axis output pulse S 1 2 3 4 5 6 7 8 9 10 Y axis output pulse 2 1000pps Note If you start linear interpolation 2 while PRIP 0 an operation data error ESDT of REST is 1 will occur 79 9 8 8 Circular interpolation This function provides CW circular interpolation MOD 64h and CCW circular interpolation MOD 65h between the X and Y axes If only one axis is specified for circular interpolation and a start command is written a data setting error will occur Circular interpolation takes the current position as the starting point coordinate 0 0 regardless of the values in the counters COUNTERT to 4 After specifying the speed for each axis being interpolated specify whether or not to apply constant synthetic speed control MIPF in the PRMD register for each axis the end points the PRMV register value and the center point the PRIP register value If the end point is 0 the starting point both axes will draw a simple circle The synthetic speed used in the circular in
176. h Speed Start 2 command 99 11 5 Mechanical external input control 11 5 1 EL EL signal When an end limit signal a EL signal when feeding in the direction in the feed direction turns ON while operating the axis will stop immediately or decelerate and stop After stopping even if the EL signal is turned OFF the axis will remain stopped For safety keep the EL signal ON until the axis reaches the end of the stroke If the EL signal is ON when writing a start command the axis cannot start moving in the direction of the particular EL signal that is ON By setting ELM in the RENV1 environment setting 1 register the stopping pattern for use when the EL signal is turned ON can be set to immediate stop or deceleration stop high speed start only The minimum pulse width of the EL signal is 80 reference clock cycles 4 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycles 0 1 usec The EL signal can be monitored by reading SSTSW sub status By reading the REST register you can check for an error interrupt caused by the EL signal turning ON When in the timer mode this signal is ignored Even in this case the EL signal can be monitored by reading SSTSW sub status The input logic of the EL signal can be set for each axis using the ELL input terminal Set the input logic of the EL signal lt ELL input terminal gt L Positive logic input H Negative log
177. hanical position when the CLR input turns ON CU3C Reset COUNTERS deflection counter when the CLR input turns ON CU4C CU1R Reset COUNTER1 command position when the zero return is complete CU2R Reset COUNTER2 mechanical position when the zero return is complete CU3R Reset COUNTER4 general purpose when the CLR input turns ON Reset COUNTERS deflection counter when the zero return is complete CU4R Reset COUNTER4 general purpose when the zero return is complete CU1B sch sch ad sch d en ee Operate COUNTER1 command position while in backlash slip correction mode CU2B Operate COUNTER2 mechanical position while in backlash slip correction mode CU3B Operate COUNTER3 deflection counter while in backlash slip correction mode CU4B 1 1 Operate COUNTER4 general purpose while in backlash slip correction mode Not defined Always set to 0 CU2H 1 Stop the counting operation on COUNTER2 mechanical position Note 1 CU3H 1 Stop the counting operation on COUNTERS deflection counter CU4H 1 Stop the counting operation on COUNTER4 general purpose Note 1 To stop the counting on COUNTER1 command position change MCCE bit 11 in the RMD register 41 8 3 16 RENV4 register This register is used for Environment 4 settings Set up comparators 1 to 4
178. he IDX signal using negative logic for the output pulses Counting range 0 to 4 Settings RENV2 00002000h RENV3 00000000h RENV4 23000000h RCMP4 4 DIR OUT UU UUUU PU UU UU U P6n CP4n COUNTER4 0 1X 2X 3X 4X OX 1X 2X 3X AA 0 1 OX 4X 3X 2X 1X OX 4X 3X 2X 1 Output example 2 IDXM 1 Count output Regardless of the feed direction the PCL will output the IDX signal using negative logic for the output pulses Counting range 0 to 4 Settings RENV2 00002000h RENV3 00000000h RENV4 23800000h RCMP4 4 DIR ee ou UUIIEIEUTUTIEIEUU annn P6nICP4n TTT COUNTER4 OX IX2XSXAXOXDXEXEXAXOX 1 XOX DOXDOXD XDD OOE 123 11 11 5 Ring count function COUNTER1 and 2 have a ring count function for use in controlling a rotating table Set C1PM 1 C1S0 to 2 000 and C1C0 to 1 00 in RENV4 and COUNTER will be in the ring count mode Then the PCL can perform the following operations Count value Count up from the value in RCMP1 until reaching 0 Count value Count down from 0 until the count equals the value in RCMP1 Set C2PM 1 C2S0 to 2 000 and C2C0 to 1 01 in RENV4 and COUNTER2 will be in the ring count mode Then the PCL can perform the following operations Count value Count up from the value in RCMP2 until reaching 0 Count value Count down from 0 until the count equal
179. he opposite direction at RFA constant speed until the ORG signal turns OFF Then the axis will move back in the original direction at RFA speed and stop instantly when ORG turns ON again Zero return operation 2 After the ORG signal turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop immediately when the LSI finishes counting EZ pulses After the ORG signal turns ON when feeding at high speed the axis will start decelerating At the same time the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will stop instantly Zero return operation 3 After the ORG signal turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop instantly when the LSI finishes counting EZ pulses After the ORG signal turns ON when feeding at high speed the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will decelerate and stop Zero return operation 4 After the ORG signal turns ON when feeding at constant speed the axis will stop immediately Then the axis will start to feed in the opposite direction at FA speed After the ORG signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly After the ORG signal turns ON when feeding at high speed the axis will decelerate and stop Then the axis will start to feed in the opposite directio
180. he square inside the circle Find the distance between the two contact points on the square from 1 and 2 above and enter this value in the PRCI register N lt wo a End point To continue the end point draw function set MPIE in the PRMD register to 1 Then enter the value in the PRCI register after adding number of pulses required for the end point draw function Note 1 The PRCI register value is used to trigger the start of the deceleration timing When a smaller value is entered the PCL will start deceleration sooner and the FL constant time will apply When a larger value is entered the PCL will delay the beginning of deceleration and then will have to stop suddenly 81 However the interpolation trajectory is equal to the constant speed circular interpolation Note 2 To specify a ramp down point manually think of the PRCI setting as a number of output pulses so that the PRDP calculation formula for the positioning operation can be used However this formula cannot be used when the synthesized constant speed operation is ON In this case there is no other way to obtain a ramp down point except by changing the RICI value and conducting a test 9 8 9 Interpolation operation synchronized with PA PB This function uses the PA PB input signal after magnification or division instead of the internal clock Any PA PB input after the interpolation operation is complete will be ignored 9 8 10 Op
181. hen C4S0 to 3 1000 to 1010 for Comparator 4 lt IDX synchronous signal output gt select COUNTER4 general purpose for use as the comparison counter Other counters cannot be used for this function Enter a positive value for the comparator setting The bit assignments for various comparison methods are as follows C1S0 to 2 RENV4 bits 2 to 4 C2S0 to 2 RENV4 bits 10 to 12 C3S0 to 1 RENV4 bits 18 to 20 C4S0 to 3 RENV4 bits 26 to 29 C5S0 to 2 RENV5 bits 3 to 5 Processing method when comparator conditions are satisfied The processing method that is used when the conditions are satisfied can be selected from the table below Processing method when the Comparator 1 Comparator 2 Comparator 3 Comparator 4 Comparator 5 conditions are met C1D0 to 1 C2D0 to 1 C3D0 to 1 CADO to 1 C5D0 to 1 Do nothing 00 00 00 00 00 Immediate stop operation 01 01 01 01 01 Deceleration stop operation 10 10 10 10 10 Change operation data to 44 44 44 44 44 pre register data Do nothing is mainly used for INT output external output of comparison result or internal synchronous starts To change the speed pattern while in operation change the operation data to the values stored as pre register data The PRMV setting will also be transferred to the RMV However this does not affect operation The bit assignments to select a processing method are as follows C1D0
182. hen METM 1 when the output pulse is OFF in the PRMD register T Output pulse width M we Ge gt OUT Last pulse Next start pulse BSY When set to complete when the output pulse is OFF the time interval Min from the last pulse until the next starting pulse output will be Tmn 15 x Tork ox Reference clock cycle Setting the operation complete timing lt Set METM bit 12 in PRMD gt PRMD 0 At the end of a cycle of a particular output frequency 1 Complete when the output pulse turns OFF WRITE 15 Setting the output pulse width lt Set PDTC bit 31 in RENV1 gt 0 Automatically change between a constant output pulse and a constant duty cycle approx 50 in accord with variations in speed 1 Keep the output pulse width at a constant duty cycle approx 50 98 11 4 Idling control When starting an acceleration or a deceleration operation it can be started after the output of a few pulses at FL speed idling output Set the number of pulses for idling in IDL of the RENV5 register environment setting 5 If you will not be using this function enter a value n of O or 1 The LSI will start the acceleration at the same time it begins outputting pulses Therefore the start speed obtained from an initial 2 pulse cycle will be faster than the FL speed To use this function enter a valu
183. hen the ORG input is ON P20 103 SPCS Register bi RSTS 8 Equals 1 when the PCS input signal is ON P50 108 SPDF Main status bit MSTSW 15 Equals 1 when the pre register for comparator 5 is full P19 30 SPEL Sub status bit SSTSW 12 Equals 1 when the EL input is ON P19 100 SPRF Main status bit MSTSW 14 Equals 1 when the next operation pre register is full P19 29 SPSTA Command 2Ah The same process as the CSTA input P22 SRST Command 04h Software reset P24 SRUN Main status bit MSTSW 1 Equals 1 while starting P19 SSCO to 1 Main status bits MSTSW 7 6 _ Sequence code P19 SSCM Main status bit MSTSW 0 Equals 1 when a start command has already been written P19 SSD Sub status bit SSTSW 15 Equals 1 when the SD input is ON latched signal P20 102 SSTA Register bit RSTS 5 Equals 1 when the CSTA input signal is ON P50 108 SSTP Register bit RSTS 6 Equals 1 when the CSTP input signal is ON P50 110 SSTSB Byte map name Se USING Used to read the sub status P16 SSTSW Word map name ae Used to read the sub status general input output port P17 STAD Command 52h High speed start 1 FH constant speed gt deceleration stop P21 STAFH Command 51h Start using FH constant speed P21 STAFL Command 50h Start using FL constant speed P21 STAM Register bit RENV1 18 Select CSTA signal input specification 0 Level trigger 1 Edge trigger P36 108 STAx Terminal name 49 X axis simultaneous start signal P8 107 STAy Terminal name 88 Y axis simultaneous start signal P8 107 ST
184. hen the comparator s conditions are satisfied ZZ dih d Comparison data Each comparator can select the data for comparison from the items in the following table Comparator 1 Comparator 2 Comparator 3 Comparator 4 C1C0 to 1 C2CO to 1 C3C0 to 1 C4C0 to 1 00 00 00 00 000 Comparison data COUNTER1 command position COUNTER2 mechanical position COUNTER3 deflection i i i i COUNTERS 11 L ste Lo qq am ie 011 general purpose i i i i Positioning counter 100 Current speed 101 Pre register None None Yes SL SL Use Use Major application COUNTER1 COUNTER1 IDX output as a ring as a ring counter counter 01 01 01 01 001 410 410 410 40 010 O Comparison possible Blank Comparison not possible SL SL are used for software limits If COUNTER3 deflection is selected as the comparison counter the LSI will compare the absolute value of the counter with the comparator data Absolute value range 0 to 32 767 The bit assignments of the comparison data settings are as follows C1C0 to 1 RENV4 bits 0 to 1 C2CO to 1 RENV4 bits 8 to 9 C3CO to 1 RENV4 bits 16 to 17 C4C0 to 1 RENV4 bits 24 to 25 C5CO to 2 RENV5 bits 0 to 2 117 Comparison method Each comparator can be assigned a comparison method from the table below Comparator 1_ Comparator 2 Comparator 3 Comparator 4 Comparator 5 Co
185. ic input Stop method to when the EL signal turns ON lt Set ELM bit 3 in RENV1 gt RENV1 WRITE 0 Immediate stop by turning ON the EL signal 1 Deceleration stop by turning ON the EL signal Reading the EL signal lt SPEL bit 12 SMEL bit 13 in SSTSW gt SPEL 0 Turn OFF the EL signal SPEL 1 Turn ON the EL signal SMEL 0 Turn OFF the EL signal SMEL 1 Turn ON the EL signal Reading the stop cause when the EL signal turns on lt ESPL bit 5 ESML bit in REST gt ESPL 1 Stop by turning ON the EL signal ESML 1 Stop by turning ON the EL signal Setting the EL input filter lt Set FLTR bit 26 in RENV1 gt RENV1 WRITE 1 Apply a filter to the EL input 31 24 Apply a filter and any signals shorter than 4 usec pulse width are ignored nj n Note 1 Operation after turning ON the EL signal may be different for the zero return operation 9 5 1 the zero search operation 9 5 3 and the EL or SL operation mode 9 6 See the description of each operation mode 100 11 5 2 SD signal If the SD signal input is disabled by setting MSDE in the PRMD register operation mode the SD signal will be ignored If the SD signal is enabled and the SD signal is turned ON while in operation the axis will 1 decelerate 2 latch and decelerate 3 decelerate stop or 4 latch and deceleration stop according to th
186. ically set values When a positive value is entered the PCL will start deceleration earlier and the FL speed range will be used longer When a negative value is entered the PCL will start deceleration later and will not reach the FL speed When number of pulses left drops to less than a set value the motor on that axis starts to decelerate Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension QO 8 3 8 PRMD RMD registers These pre registers are used to set the operation mode RMD is the register for PRMD 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 19 18 17 16 Bits Bit name Description Setting basic operation mode 0 to 6 MOD Set operation mode 000 0000 00h Continuous positive rotation controlled by command control 000 1000 08h Continuous negative rotation controlled by command control 000 0001 01h Continuous operation controlled by pulsar PA PB input 000 0010 02h Continuous operation controlled by external signal DR DR input 001 0000 001 1000 001 0010 001 1010 001 0101 10h Positive rotation zero return operation 18h Negative rotation zero return operation 12h Positive feed leaving from the zero position Negative feed leaving fro
187. igh speed the motor on that axis will decelerate to the FL constant speed and stop If this command is written while the axis is being fed at FL constant speed the motor on that axis will stop immediately 2 Simultaneous stop command Stop the motor on any axis whose CSTP input stop function has been enabled by setting the RMD register Symbol Description CMSTP Outputs one shot of pulses from the CSTP terminal to stop movement on that axis 3 Emergency stop command Stops an axis in an emergenc Description Emergency stop same as a CEMG signal input 7 1 5 NOP do nothing command COMBO Symbol Description 00h NOP This command does not affect the operation 22 7 2 General purpose output bit control commands These commands control the individual bits of output terminals PO to P7 When the terminals are designated as outputs the LSI will output signals from terminals PO to P7 Commands that have not been designated as outputs are ignored The write procedures are the same as for the Operation commands In addition to this command by writing to a general purpose output port OTPB Address 2 when a Z80 I F is used you can set 8 bits as a group See section 7 5 General purpose output port control COMBO Symbol Description COMBO Symbol Description 10h PORST Make PO LOW 18h POSET Make PO HIGH 11h P1RST Make P1
188. ignal to stop the axis P9 106 ALMy Terminal name 84 Y axis driver alarm signal to stop the axis P9 106 ASO to 15 Register bi RSPD 0 15 Monitor current speed P52 BRO to 11 Register bi RENV6 0 11 Specify a backlash correction or slip correction amount P45 125 BSYC Register bi RENV3 14 Increment decrement COUNTER4 only while in operation BSY L P41 116 BSYx Terminal name 68 Operation monitor output for the X axis P10 BSYy Terminal name 107 Operation monitor output for the Y axis P10 BUFBO Byte map name 4 for Z80 Write read the input output buffer bits 0 to 7 P16 18 BUFB1 Byte map name 5 for Z80 Write read the input output buffer bits 8 to 15 P16 18 BUFB2 Byte map name 6 for Z80 Write read the input output buffer bits 16 to 23 P16 18 BUFB3 Byte map name 7 for Z80 Write read the input output buffer bits 24 to 31 P16 18 BUFWO Word map name 4 for 8086 Write read the input output buffer bits 0 to 15 P17 18 BUFW1 Word map name 6 for 8086 Write read the input output buffer bits 16 to 31 P17 18 C1C0 to 1 Register bi RENV4 0 1 Select a comparison counter for comparator1 P42 117 C1D0 to 1 Register bi RENV4 5 6 Select a process to execute when the comparator1 conditions are me P42 118 C1S0 to 2 Register bi RENV4 2 4 Select a comparison method for comparator1 P42 118 C1RM Register bi RENV4 7 Set COUNTERY1 for ring count operation using Comparator 1 P42 118 C2CO0 to 1 Register bi RENV4 8 9 Select a comparison counter for comparator2
189. ill be calculated from the value placed in PRMG Reference clock frequency Hz Ssu pps PRUS x PRMG 1 x 65536 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssu and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS S curve deceleration range setting register 15 bit Specify the S curve deceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssp will be calculated from the value placed in PRMG z Reference clock frequency Hz Ssa PISI F PROS X PRMG 1 x 65536 In other words speeds between the FH speed and FH speed Ssp and between FL speed Ssp and the FL speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve deceleration without a linear component 87 10 3 Manual FH correction When the FH correction function is turned ON MADJ 0 in the PRMD register and when the feed amount is too small for a normal acceleration and deceleration operation the LSI will automatically lower the FH speed to
190. ing a PCS signal Control command 28h Note A Position Override 2 cannot be executed while performing an interpolation operation 96 11 3 Output pulse control 11 3 1 Output pulse mode There are four types of common command pulse output modes and two types of 2 pulse modes and two types of 90 phase difference modes Common pulse mode Outputs operation pulses from the OUT terminal and outputs the direction signal from the DIR terminal 2 pulse mode Outputs positive direction operation pulses from the OUT terminal and outputs negative direction operation pulses from the DIR terminal The output mode for command pulses is set in PMD bits 0 to 2 in RENV1 environment setting 1 If motor drivers using the common pulse mode need a lag time since the direction signal changes until receiving a command pulse use a direction change timer When DTMF bit 28 in the RENV1 environment setting 1 is set to 0 the operation can be delayed for one direction change timer unit 0 2 msec after changing the direction identification signal Setting the pulse output mode lt Set PMDO to 2 bits 0 to 2 in RENV1 gt _ RENV1 WRITE When feeding in the When feeding in the 7 0 PMD KS say es f ege 0 to 2 positive direction negative direction a OUT output DIR output OUT output DIR output 000 High Low 001 High 010 Lo
191. it for four reference clock cycles approx 0 2 usec when CLK 19 6608 MHz The WRQ terminal outputs a wait request signal AO to A2 2h X Next address CS WR DO to D7 NK fo 4 reference clock cycles 7 5 2 Command bit allocation 7 6 5 4 3 2 1 0 OTP7 OTP6 OTP5 OTP4 OTP3 OTP2 OTP1 OTPO L Output Po Output P1 Output P2 0 LOW level Output P3 1 HIGH level Output P4 Output P5 Output P6 Output P7 27 8 Registers 8 1 Table of registers The following registers are available for each axis 2nd Details pre register name RMV Feed amount target position PRMV RFL Initial speed PRFL RFH Operation speed PRFH RUR Acceleration rate PRUR RDR Deceleration rate PRDR RMG Speed magnification rate PRMG RDP Ramping down point PRDP RMD Operation mode PRMD RIP Circular interpolation center position master axis feed PRIP amount with linear interpolation and with multiple chips RUS S curve acceleration range PRUS RDS S curve deceleration range PRDS RFA Speed at amount correction RENV1 Environment setting 1 specify I O terminal details RENV2 Environment setting 2 specify general purpose port details RENV3 Environment setting 3 specify zero return and counter details RENV4 Environment setting 4 specify details for comparators 1 to 4 RENV5 Environment setting 5 specify details for comparator 5 RENV6 Environment setti
192. ith an SSTSW sub status command An input filter can be applied to the ORG input signal and EL input signal by setting the RENV1 register Set the ORG signal input logic lt Set ORGL bit 7 in RENV1 gt RENV1 WRITE 0 Negative logic 7 1 Positive logic n Read the ORG signal lt SORG bit14 in SSTSW gt ss 0 Turn OFF the ORG signal 1 Turn ON the ORG signal Set the EZ signal input logic lt Set EZL bit 23 in RENV2 gt 0 Falling edge 1 Rising edge Set the EZ count lt Set EZDO to 3 bits 4 to 7 in RENV3 gt Specify the number for EZ to count up to that will indicate a zero return completion Enter the value the count minus 1 in EZDO to 3 Setting range 0 to 15 Read the EZ signal lt SEZ bit 10 in RSTS gt RSTS 0 Turn OFF the EZ signal 15 1 Turn ON the EZ signal Set the EL signal input logic lt ELL input terminal gt L Positive logic input H Negative logic input Specify a method for stopping when the EL signal turns ON lt Set ELM bit 3 RENV1 WRITE in RENV1 gt 0 Immediate stop when the EL signal turns ON 1 Deceleration stop when the EL signal turns ON Read the EL signal lt SPEL bit 12 SMEL bit 13 in SSTSW gt SSTSW READ SPEL 0 Turn OFF EL signal SPEL 1 Turn ON EL signal 15 SMEL 0 Turn OFF EL signal SMEL 1 T
193. itioning operation specify target Positive direction when PRMV 0 increment position Negative direction when PRMV lt 0 Positioning operation specify the Positive direction when PRMV COUNTER1 absolute position in COUNTER1 Negative direction when PRMV lt COUNTER1 Positioning operation specify the Positive direction when PRMV COUNTER2 absolute position in COUNTER2 Negative direction when PRMV lt COUNTER2 Return to command position 0 Positive direction when COUNTER1 0 COUNTER 1 Negative direction when COUNTER1 gt 0 Return to machine position 0 Positive direction when COUNTER2 0 COUNTER2 Negative direction when COUNTER2 gt 0 One pulse operation Positive direction One pulse operation Negative direction Timer operation Positioning operation specify a target position using an incremental value MOD 41h This is a positioning mode used by placing a value in the PRMV target position register The feed direction is determined by the sign set in the PRMV register When starting the RMV register setting is loaded into the positioning counter RPLS The PCL instructs to feed respective axes to zero direction When the value of the positioning counter drops to 0 movement on the axes stops When you set the PRMV register value to zero to start a positioning operation the LSI will stop outputting pulses immediately Positioning operation specify the absolute position in COUNTER1 MOD 42h
194. ive P37 104 INPx Terminal name 45 In position input for the X axis P10 104 INPy Terminal name 85 In position input for the Y axis P10 104 INT Terminal name 13 Interrupt request signal P7 131 INTM Register bi RENV1 29 Mask the INT output terminal P37 132 IOPO to 7 Sub status bits SSTSW 0 7 Read the PO to P7 terminal status P20 IOPB Byte map name Ke Read the general I O port P16 IPCC Register bi RIPS 19 Executing a CCW circular interpolation P54 IPCW Register bi RIPS 18 Executing a CW circular interpolation P54 IPE Register bi RIPS 17 Executing a linear interpolation by entering master axis feed amount P54 IPEx Register bi RIPS 4 X axis linear interpolation mode from a specified master axis feed amount P54 IPEy Register bi RIPS 5 Y axis linear interpolation mode from a specified master axis feed amount P54 IPFx Register bi RIPS 12 Specify a synthetic constant speed for the X axis P54 IPFy Register bi RIPS 13 Specify synthetic constant speed for the Y axis P54 IPL Register bi RIPS 16 Executing a normal linear interpolation P54 IPLx Register bi RIPS 0 X axis is in normal linear interpolation mode P54 IPLy Register bi RIPS 1 Y axis is in normal linear interpolation mode P54 IPSx Register bi RIPS 8 X axis is in circular interpolation mode P54 IPSy Register bi RIPS 9 Y axis is in circular interpolation mode P54 IRC1 Register bi RIRQ 8 Enable an INT when the comparator1 conditions are met P48 133 IRC2 Register bi RIRQ 9 Enable an INT when the comparator2
195. lection counter which can be used to compare command pulses and encoder signals EA EB It can be used to detect out of step operation and to confirm a position by using a comparator Idling pulse output function This function outputs a preset number of pulses at the self start frequency FL before a high speed start acceleration operation When the initial speed is set higher during the acceleration this function is effective in preventing out of step operation Operation mode The basic operations of this LSI are continuous operation positioning zero return linear interpolation and circular interpolation By setting the optional operation mode bits you can use a variety of operations lt Examples of the operation modes gt 1 Start stop by command 2 Continuous operation and positioning operation using PA PB inputs manual pulsar 3 Operate for specified distances or in continuous operation using DR DR signals drive switch 4 Zero return operation 5 Positioning operation using commands 6 Hardware start of the positioning operation using CSTA input 7 Change the target position after turning ON the PCS Delay control Variety of zero return sequences The following patterns can be used 1 Feeds at constant speed and stops when the ORG signal turns on 2 Feeds at constant speed and stops when an EZ signal is received after the ORG signal turns on 3 Feeds at constant speed reverses when the ORG signal tu
196. lerating to FL speed FH FL Time SN lt x Acceleration Deceleration 85 The relationship between the value entered and the deceleration time is as follows 1 Linear deceleration MSMD 0 in the PRMD register PRFH PRFL x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and PRDS register 0 Deceleration time s ERE PREE De EROR EUS Reference clock frequency Hz 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and PRDS register gt 0 PRFH PRFL 2 x PRDS x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s e PRMG Magnification rate register 12 bit Specify the relationship between the PRFL and PRFH settings and the speed in the range of 2 to 4 095 OFFFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows Reference clock frequency Hz PRMG 1 x 65536 Magnification rate Magnification rate setting example when the reference clock 19 6608 MHz Output speed unit pps Setting Magnification rate Output speed range Magnification rate Output speed range 2999 OBB7h 0 1 0 1 to 6 553 5 5 Sto 327 675 1499 5DBh 0 2 0 2 t
197. lesex TW4 6JQ UK Phone 44 20 8538 0315 Fax 44 20 8538 0316 Web http www npm co jp E mail int l npm co jp Nippon Pulse America Inc 4 Corporate Drive Radford VA 24141 U S A Phone 1 540 633 1677 Fax 1 540 633 1674 Web http www nipponpulse com E mail info nipponpulse com Nippon Pulse Shanghai Co Ltd Room 1072 No 555 Pudongdadao Road Shanghai 200120 China Phone 86 21 6859 2622 2623 Fax 86 21 6859 2628 Web http Awww npmchina com E mail yi npmshanghai sina net MNAL No PCL 6025B 1 1B 5205 0 5 5205 ims 163
198. m the zero position Zero search in the positive direction 001 1101 1Dh Zero search in the negative direction 1Ah 15h 010 0000 20h Feed to EL or SL position 010 1000 28h Feed to EL or SL position 010 0010 22h Move away from the EL or SL position 010 1010 2Ah Move away from the EL or SL position Feed in the positive direction for a specified number of EZ counts 010 1100 2Ch Feed in the negative direction for a specified number of EZ counts 100 0001 100 0010 42h 100 0011 43h 100 0100 44h 010 0100 24h 41h Positioning operation specify the incremental target position Positioning operation specify the absolute position in COUNTER1 Positioning operation specify the absolute position in COUNTER2 Zero return of command position COUNTER7 100 0101 45h Zero return of mechanical position COUNTER2 100 0110 46h Single pulse operation in the positive direction Single pulse operation in the negative direction Timer operation 100 1110 4Eh 100 0111 47h 101 0001 51h Positioning operation controlled by pulsar PA PB input 101 0010 52h Positioning operation is synchronized with PA PB specify the absolute position of COUNTER1 Positioning operation is synchronized with PA PB specify the absolute position of COUNTER2
199. mparator 5 IRUS Starting acceleration IRUE Ending acceleration IRDS Starting deceleration IRDE Ending deceleration IRC1 The comparator 1 conditions were met IRC2 The comparator 2 conditions were met IRC3 The comparator 3 conditions were met IRC4 The comparator 4 conditions were met IRC5 The comparator 5 conditions were met IRCL The count value was reset by a CLR input IRLT The count value was latched by an LTC input IROL The count value was latched by an ORG input IRSD The SD input turned ON IRDR The DR input changed IRSA The STA input turned ON The CSTA and STA signals are ORed Not defined Always set to 0 8 3 30 RLTC1 register Latched data for COUNTER1 command position Read only The contents of COUNTER1 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 8 3 31 RLTC2 register Latched data for COUNTER2 mechanical position Read only The contents of COUNTER2 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 48 8 3 32 RLTC3 register Latched data for COUNTER3 deflection counter or current speed Read only The contents of COUN
200. mparison method 0 to2 i Oto3 i Oto2 Comparator Comparison i l l i i i counter regardless of count 1 001 001 001 0001 001 direction Comparator ka Comparison 010 010 010 0010 010 counter Count up only i A i Comparator bi Comparison 011 011 011 0011 011 counter Count down only Comparator gt Comparison 400 400 400 0100 400 counter l i Comparator lt Comparison 401 401 401 0101 401 counter Use for software limits 110 410 IDX synchronous signal output regardless of 1 1000 counting direction i i i IDX synchronous signal i i See output count up only i i IDX synchronous signal 4010 output count down only i Use COUNTERT as a ring 001 14010 counter i i i i i Use COUNTER2 as a ring 001 1010 counter O Comparison possible Blank Comparison not possible When used for software limits Comparator 1 is a positive direction limit value and the comparison method is comparator lt comparison counter Comparator 2 is the negative limit value and the comparison method is comparator gt comparison counter Select COUNTER1 command position for the comparison counter Comparator 3 must not have C3S0 to 2 set to a value of 110 Setting any of the values may result in failing to satisfy the comparison conditions W
201. n Speed change using the comparator When the comparator conditions are met you can use the function which changes the operation data to the values stored as pre register data This function is used to change the speed when a specified position is reached Also Comparator 5 has a pre register function and can be specified for use in changing the speed at specified positions In this case use the Pre register set command 4Fh to specify several sets of speed data If the speed change data data used with set commands are left in Pre registers 1 and 2 when the current operation completes Example 1 or if the speed change data is left in Pre register 1 and some next operation data exists in Pre register 2 Example 2 the PCL will ignore the speed change data and shift the data in the pre registers Then in Example 2 the PCL will start the next operation after shifting the data in the pre registers Example 1 PFM 11 PFM 00 Pre register 2 Speed change data 2 Pre register 2 Speed change data 2 set undetermined Pre register 1 Speed change data 1 Complete current Pre register 1 Speed change data 2 set operation undetermined Register Current operation gt Register Speed change data 1 data set undetermined Example 2 PFM 11 PFM 01 Pre register 2 Next operation data Pre register 2 Next operation data set undetermined Pre register 1 Speed
202. n P34 77 MOD Register bits RMD 0 6 Operation mode selection P33 MPCS Register bi RMD 14 Start control positioning using a PCI input P34 96 MPIE Register bi RMD 27 aun enter an end point pull in operation at the end of arc interpolation P34 MSDE Register bi RMD 8 Decelerate decelerate and stop when the SD input turns ON P34 102 MSDP Register bi RMD 13 Specify the ramping down point manually P34 MSMD Register bi RMD 10 S curve acceleration deceleration linear accel decel when 0 P34 MSNO to 1 Register bits RMD 16 17 Sequence number used to control the operation block P34 MSPE Register bi RMD 24 Enable CSTP input P34 110 MSPO Register bi RMD 25 Output a CSTP simultaneous stop signal when stopped by an error P34 110 MSTSBO Byte map name Senen using Read the main status bits 0 to 7 P16 MSTSB1 Byte map name pe USING Read the main status bits 8 to 15 P16 MSTSW Word map name 9 Wen Using Read the main status bits bits 0 to 15 P17 MSY0 to 1 Register bit RMD 18 19 Synchronization start timing P34 126 MVCx Terminal name 67 Monitor output while the X axis is feeding at constant P10 MVCy Terminal name 106 Monitor output while the Y axis is feeding at constant P10 NOP Command 00h Invalid command P22 ORGL Register bit RENV1 7 Select the input logic for the ORG signal 0 Negative logic 1 Positive logic P36 64 ORGx Terminal name 43 Zero position signal for X axis P8 64 ORGy Terminal name 83 Zero position signal for Y axis P8 64 ORMO to 3
203. n at FA speed After the ORG signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly Zero return operation 5 After the ORG signal turns ON when feeding at constant speed the axis will stop immediately Then the axis will start feeding in the opposite direction at FL speed After the ORG signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly After the ORG signal turns ON when feeding at high speed the axis will decelerate and stop Then the axis will start to feed in the opposite direction accelerating from FL to FH speed After the ORG signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will decelerate and stop Zero return operation 6 After the EL signal turns ON when feeding at constant speed the axis will stop immediately Then the axis will start feeding in the opposite direction at FA speed When the EL signal turns OFF the axis will stop instantly After the EL signal turns ON when feeding at high speed if ELM is 0 the axis will 65 stop immediately If ELM is 1 the axis will decelerate and stop from that position RENV3 WRITE Then from the stopped position the axis will start to feed in the opposite 7 0 direction at FA speed When the EL signal turns OFF the axis will stop instantly n
204. n the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in the equation below 1 Linear deceleration MSMD 0 of the PRMD register PRFH PRFL x PRDR 1 PRMG 1 x 32768 However the optimum value for a triangle start without changing the value in the PRFH register while turning OFF the FH correction function MADJ 1 in the PRMD register will be calculated as shown in the next equation below When using idling control modify the value for PRMV in the equation below by deducting the number of idling pulses from the value placed in the PRMV register The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV 5 Optimum value Number of pulses Optimum value Number of pulses PRMV x PRDR 1 PRUR PRDR 2 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and the PRDS register 0 PRFH PRFL x PRDR 1 x 2 PRMG 1 x 32768 Optimum value Number of pulses 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and the PRDS register gt 0 PRFH PRFL x PRFH PRFL 2 x PRDS x PRDR 1 Optimum value Number of pulses PRMG 1 x 32768 Start deceleration at the point when the positioning counter value lt PRDP set value lt When set to automatic MSDP 0 in the PRMD register gt This is an offset value for the automatically set ramping down point Set in th
205. nal after the ORG input is turned ON COUNTER reset timing When counting the EZ signal 0100 Zero return operation 4 Stops immediately deceleration stop when feeding at high speed by turning the ORG input ON and feeds in the reverse direction at RFA constant speed Stops immediately by counting the EZ signal COUNTER reset timing When counting the EZ signal 0101 Zero return operation 5 Stop immediately deceleration stop when feeding at high speed and reverse direction when the ORG input is turned ON Then stop immediately when counting the EZ signal COUNTER reset timing When counting the EZ signal 0110 Zero return operation 6 Stop immediately deceleration stop when ELM 1 by turning ON the EL input and reverse at RFA constant speed Then stop immediately by turning OFF the EL input COUNTER reset timing When EL input is OFF 0111 Zero return operation 7 Stop immediately deceleration stop when ELM 1 by turning ON the EL input and reverse direction at RFA constant speed Then stop immediately by counting the EL signal COUNTER reset timing When stopped by counting the EL input 1000 Zero return operation 8 Stop immediately deceleration stop when ELM 1 and reverse direction by turning ON the EL signal Then stop immediately deceleration stop when feeding at high speed when counting the EZ signal COUNTER reset timing When counting the EZ signal 40 Bit name Description
206. ncoder Z phase signal P9 64 EZy Terminal name 99 Y axis encoder Z phase signal P9 64 ETWO to 1 Register bits RENV1 16 17 Specify the ERC signal OFF timer P36 105 EZDO to 3 Register bits RENV3 4 7 Enter an EZ count value for a zero return P41 64 FCHGH Command 41h Change immediately to FH speed P22 FCHGL Command 40h Change immediately to FL speed P22 FDWx Terminal name 66 Monitor output while the X axis is decelerating P10 FDWy Terminal name 105 Monitor output while the Y axis is decelerating P10 FLTR Register bi RENV1 26 Apply input filter P37 FSCHH Command 43h Accelerate to FH speed P22 FSCHL Command 42h Decelerate to FL speed P22 FTO to 15 Register bits RENV7 16 31 Enter an FT time for the vibration reduction function P45 125 FUPx Terminal name 65 Monitor output while the X axis is accelerating P10 FUPy Terminal name 104 Monitor output while the Y axis is accelerating P10 IDCO to 2 Register bits RSPD 20 22 Monitor the idling count 0 to 7 pulses P52 99 IDLO to 2 Register bits RENV5 8 10 Enter the number of idling pulse 0 to 7 pulses P44 99 IDXM Register bi RENV4 23 Select IDX output specification 0 Level output 1 Pulse output P43 123 IEND Register bi RENV2 27 Specify that the stop interrupt will be output P39 132 IFO Terminal name 3 CPU I F mode selection 0 P7 IF1 Terminal name 4 CPU I F mode selection 1 P7 IFB Terminal name 16 Busy CPU I F P8 INPL Register bi RENV1 22 Select input logic of INP signal 0 Negative 1 Posit
207. nd 1 52h 2 Start deceleration by writing a deceleration stop command 4Ah When the deceleration stop command 49h is written to the register the PCL immediately stops When idling pulses are added by setting IDL in RENV5 toa non zero value after outputting idling pulses at FL speed the PCL will accelerate to FH speed 1 Write high speed start command 1 52h 2 Start deceleration when a ramping down point is reached or by writing a deceleration stop command 4Ah When positioning with a high speed start command 1 52h the ramping down point is fixed to the manual setting regardless of the setting for MSDP bit 13 in the PRMD If the ramping down point setting PRDP is zero the axis will stop immediately High speed operation 2 f FH 1 Write high speed command 2 53h 2 Start deceleration by writing a deceleration stop command 4Ah When the deceleration stop command 49h is written to the register the PCL starts deceleration 83 1 Write high speed start command 2 53h 2 Start deceleration when a ramping down point is reached or by writing a deceleration stop command 4Ah If the ramping down point is set to manual MSDP 1 in the PRMD and the ramping down value PRDP is zero the axis will stop immediately 10 2 Speed pattern settings Specify the speed pattern using the registers pre registers shown in the table
208. ned Write Data 2 to PRCP5 Prats GE Data 1 is set undetermined undetermined Data 3 is Write Data 3 to PRCP5 Data 2 is set Data 1 is set undetermined Data 3 is Data 3 is Initial status Write Data 1 to PRCP5 Comparison result for Data 1 changes from true Data 2 is set undetermined undetermined to false Also by setting an event interrupt cause in the RIRQ register IRND the PCL can be set to output an INT signal as the 2nd pre register changes from set to undetermined status when the operation is complete Cancel the comparator pre register data The pre register cancel command 27h will cancel the pre register data and its status becomes undetermined However please note that the register will not change to the undetermined status 30 8 3 Description of the registers The initial value of all the registers and pre registers is 0 Please note that with some registers a value of 0 is outside the allowable setting range 8 3 1 PRMV RMV registers These registers are used to specify the target position for positioning operations The set details change with each operation mode PMV is the register for PRMV 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 See aE SL oe EE Setting range 134 217 728 to 134 217 727 By changing the RMV register while in operation the feed length can be overridden 8 3 2 PRFL RFL registers Th
209. next command writing a register and writing the I O buffer and between reading a register and reading the UO buffer When the WRQ output signal is used by connecting it to the CPU the CPU automatically ensures this waiting time If you want to use a CPU that does not have this waiting function arrange the program sequence so that access is only allowed after confirming that the IFB output signal is HIGH 1 When not using WRQ AO to A2 lt Oh gt lt Next address CS S WR A f E DO to D7 lt Command gt lt Command Secure 4 reference clock cycles using the applica tion program 2 When using WRQ AO toA2 lt Oh X Next address X CS j WR WRQ o DO to D7 lt Command X lt Command Ke le gt Automatically secure 4 reference clock cycles 7 1 2 Start command 1 Start command If this command is written while stopped the motor will start rotating If this command is written while the motor is operating it is taken as the next start command Symbol Description STAFL FL constant speed start STAFH FH constant speed start STAD High speed start 1 FH constant speed gt deceleration stop Note 1 STAUD High speed start 2 Acceleration gt FH constant speed gt Deceleration stop Note 1 Note 1 For details see section 10 1 Speed patterns 21 2 Residual
210. ng 6 specify details for feed amount correction RENV7 Environment setting 7 specify vibration reduction control details RCUN1 COUNTER1 command position RCUN2 COUNTER2 mechanical position RCUN3 COUNTERS deflection counter RCUN4 COUNTER4 general purpose counter RCMP 1 Comparison data for comparator 1 RCMP2 Comparison data for comparator 2 RCMP3 Comparison data for comparator 3 RCMP4 Comparison data for comparator 4 RCMP5 Comparison data for comparator 5 RIRQ Specify event interruption cause RLTC1 COUNTER1 command position latch data RLTC2 COUNTER2 mechanical position latch data RLTC3 COUNTERS deflection counter latch data RLTC4 COUNTER4 general purpose latch data RSTS Extension status REST Error INT status RIST Event INT status RPLS Positioning counter number of residual pulses to feed RSPD EZ counter current speed monitor RSDC Automatically calculated ramping down point RCI Number of steps for interpolation RCIC Circular interpolation step counter RIPS Interpolation status Register name Z O CO N OO Or amp G N gt DDD DD DDD g 28 8 2 Pre registers 8 2 The following registers and start commands have pre registers RMV RFL RFH RUR RDR RMG RDP RMD RIP RUS RDS RCI and RCMP5 The term pre register refers to
211. ng a command or by providing a CLR signal They can also be latched by writing a command or by providing an LTC or ORG signal The PCL6045B can also be set to reset automatically soon after latching these signals The COUNTER1 COUNTER2 and COUNTER4 counters have a ring count function that repeats counting through a specified counting range Comparator There are five comparator circuits for each axis They can be used to compare target values and internal counter values The counter to compare can be selected from COUNTER1 command position counter COUNTER2 mechanical position counter COUNTER3 deflection counter and COUNTER4 a general purpose counter Comparators 1 and 2 can also be used as software limits SL SL Software limit function You can set software limits using two of the comparator s circuits When the mechanical position approaches the software limit range the LSI will instruct the motors to stop immediately or to stop by deceleration After that these axes can only be moved in the direction opposite their previous travel Backlash correction function Slip correction function Both the backlash and slip corrections are available Backlash correction corrects the feed amount each time the feed direction is changed Slip correction corrects the feed amount regardless of the feed direction However the backlash correction cannot be applied while performing a circular interpolation Synchronous signal
212. nly used to keep a terminal from floating If it is connected in a wired OR circuit an external pull up resistor 5 k to 10 K ohms is required As a noise prevention measure pull up unused terminals to VDD5 using an external resistor 5 k to 10 K ohms Note 3 If an output terminal is not being used leave it open Note 4 Positive refers to positive logic Negative refers to negative logic means that the logic can be changed using software means that the logic can be changed by the setting on another terminal The logic shown refers only to the initial status of the terminal The DIR terminal is initially in a 2 pulse mode Note 5 Use the RENV2 register to select an output signal When PO to P7 are set up as output terminals they can be controlled simultaneously as 8 bits or one bit at a time using output bit control commands depending on what is written to the output port OTPB When PO and P1 are set up as one shot pulse output terminals they will output a one shot signal T Approx 26 msec using the output bit control command Note 6 When a deceleration stop is selected latch the input signal ON until the PCL stops operation 11 5 Block Diagram CS RD WR RST ELLx ALMx PCSx ERCx INPx CLRx LTCx BSYx INT IFB WRQ CEMG Arc interpolation circuit Linear i interpolation deceleration pulse circuit generator circuit FH correction circuit Acceleration
213. nput Stopped by turning ON the EL input Stopped by turning ON the ALM input Stopped by turning ON the CSTP input Stopped by turning ON the CEMG input Deceleration stopped by turning ON the SD input Always 0 Stopped by an operation data error Simultaneously stopped with another axis due to an error stop on the other axis during an interpolation operation Stopped by an overflow of PA PB input buffer counter occurrence Stopped by an over range count occurrence while positioning in an interpolation operation An EA EB input error occurred does not stop An PA PB input error occurred does not stop 0 1 2 3 4 5 6 7 8 9 CH N wo _ E ol O ESEE ESPE N Event interrupt causes lt The corresponding interrupt bit is set to 1 and then an interrupt occurred gt Set cause Cause RIST RIRQ git Bit name IREN IRNX IRNM IRND IRUS IRUE IRDS IRDE Event interrupt cause wW Automatic stop The next operation starts continuously When it is possible to write an operation to the 2nd pre register When itis possible to write to the 2nd pre register for Comparator 5 When acceleration starts When acceleration ends When deceleration starts When deceleration ends When the Comparator 1 conditions are satisfied IRC1 When the Comparator 2 conditions are satisfied IRC2 When the Comparator 3 conditions a
214. ns are satisfied When the Comparator 4 conditions are satisfied When the Comparator 5 conditions are satisfied When the acceleration is started When the acceleration is complete When the deceleration is started When the deceleration is complete Others Internal synchronous output signal is OFF Specify the input for the internal synchronous signal lt Set SYIO to 1 bits 20 to RENV5 WRITE 21 in RENV5 gt 23 00 Use an internal synchronous signal output by the X axis 01 Use an internal synchronous signal output by the Y axis Read the operation status lt CND bits 0 to 3 in RSTS gt RSTS 0011 Wait for an internal synchronous signal 0100 Wait for another axis to stop n Select the aa interrupt HINT output cause lt Set bit 4 to 12 of RIRQ gt bit 4 1 When the acceleration is started bit 5 bit 6 1 When the deceleration is started bit 7 1 When the deceleration is complete When the acceleration is complete bit 8 Aes the Comparator 1 conditions are satisfied IRC2 bit 9 i When the Comparator 2 conditions are satisfied bit 10 1 When the Comparator 3 conditions are satisfied bit 11 1 When the Comparator 4 conditions are satisfied IRC5 bit 12 1 When the Comparator 5 conditions are sati
215. o 13 107 0 10 10 to 655 350 599 257h 0 5 0 5 to 32 767 5 20 20 to 1 310 700 299 12Bh 1 1 to 65 535 50 50 to 3 276 750 149 95h 2 2 to 131 070 100 to 6 553 500 e PRDP Ramping down point register 24 bits Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the value specified in the PRDP changes with the ramping down point setting method MSDP in the PRMD register lt When set to manual MSDP 1 in the PRMD register gt The number of pulses at which to start deceleration set in the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in the equation below 1 Linear deceleration MSMD 0 of the PRMD register PRFH PRFL x PRDR 1 PRMG 1 x 32768 Optimum value Number of pulses However the optimum value for a triangle start without changing the value in the PRFH register while turning OFF the FH correction function MADJ 1 in the PRMD register will be calculated as shown the equation below When using idling control modify the value for PRMV in the equation below by deducting the number of idling pulses from the value placed in the PRMV register The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV5 PRMV x PRDR 1 PRUR PRDR 2 Optimum value Number
216. of pulses 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and the PRDS register 0 PRFH PRFL x PRDR 1 x 2 PRMG 1 x 32768 Optimum value Number of pulses 86 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and the PRDS register gt 0 PRFH PRFL x PRFH PRFL 2 x PRDS x PRDR 1 Optimum value Number of pulses PRMG 1 x 32768 Start deceleration at the point when the positioning counter value PRDP set value lt When set to automatic MSDP 0 in the PRMD register gt This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelerating When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the axis will feed at FL constant speed after decelerating PRUS S curve acceleration range register 15 bit Specify the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssu w
217. oftware The ERC signal is a pulsed output The pulse length can be set 12 usec to 104 msec A level output is also available Output pulse specifications Output pulses can be set to a common pulse or 2 pulse mode The output logic can also be selected Emergency stop signal HCEMG input When this signal turns on movement on both axes stops immediately While this signal is ON no movement is allowed on either axes Interrupt signal output An INT signal interrupt request can be output for many reasons The INT terminal output signal can use ORed logic for lots of conditions on each axis When more than one 6025B LSI is used wired OR connections are not possible 2 Specifications Item Description Number of axes 2 axes X and Y axis Reference clock Standard 19 6608 MHz Max 20 MHz Positioning control range 134 217 728 to 134 217 727 28 bit Ramp down point setting range 0 to 16 777 215 24 bit Number of registers used for setting speeds Three for each axis FL FH and FA speed correction Speed setting step range 1 to 65 535 16 bits Speed magnification range Multiply by 0 1 to 100 Multiply by 0 1 0 1 to 6 553 5 pps Multiply by 1 1 to 65 535 pps Multiply by 100 100 to 6 553 500 pps When the reference clock is 19 6608 MHz Acceleration deceleration characteristics Selectable acceleration deceleration pattern for both increasing
218. on 1 2 axes synchronized with PA PB input Linear interpolation 1 for 2 axes Linear interpolation 1 synchronized with PA PB input Continuous linear interpolation 2 for Continuous linear interpolation 2 1 to 2 axes synchronized with PA PB input Linear interpolation 2 for 1 to 2 axes Linear interpolation 2 synchronized with PA PB input Circular interpolation CW CW circular interpolation synchronized with PA PB input Circular interpolation CCW CCW circular interpolation synchronized with PA PB input Continuous linear interpolation is the same as the linear interpolation used to feed multiple axes at specified rates and to start and stop feeding using commands such as the continuous mode commands Interpolation 1 executes an interpolation operation between the two axes in the LSI Interpolation 2 is used to control three axes or more using more than one LSI and to control feeding using linear interpolation Independent operation of the un interpolated axes is also possible The interpolation settings and operation status can be monitored by reading the RIPS interpolation status register The RIPS register is shared by the X and Y axes Reading from any axis will return the identical information Write start and stop commands to both axes by setting SELx and SELy in COMB1 Interpolation operations that can be combined with this LSI 1 Linear interpolation 1 for two axes 2 Circular int
219. on 3 High speed operation lt Sensor EL ELM 0 ORG gt Even if the axis stops normally it may not be at the zero position However COUNTER2 mechanical position provides a reliable value ORG EL Operation 1 Emergency stop Operation 2 Emergency stop Operation 3 High speed operation lt Sensor EL ELM 1 ORG gt Even if the axis stops normally it may not be at the zero position However COUNTER2 mechanical position provides a reliable value ORG EL Operation 1 S N Emergency stop Operation 2 We A cic Operation 3 High speed operation lt Sensor EL ELM 1 SD SDM 0 SDLT 0 ORG gt ORG SD EL Operation 1 Operation 2 Emergency stop wo Emergency stop Note Positions marked with reflect the ERC signal output timing when Automaticall output an ERC signal is selected for the zero stopping position Operation 3 Operation 4 67 9 5 1 2 9 5 1 3 Zero return operation 1 ORM 0001 Constant speed operation lt Sensor EL ELM 0 ORG gt ORG EL Operation 1 r Se FA speed ee stop Operation 2 Emergency stop Operation 3 High speed operation lt Sensor EL ORG gt ORG EL Operation 1 FA speed Emergency a i stop Operation 2 Emergency Operation 3 sg Zero return operation 2 ORM 0010 Constant speed operation lt Sensor EL ELM 0 ORG EZ EZD 0001 gt ORG
220. on using a pulsar input MOD 55h Except for using COUNTER2 instead of COUNTER the operation details are the same as for MOD 54h Continuous linear interpolation 1 using pulsar input MOD 68h Performs continuous linear interpolation 1 synchronized with the pulsar input For continuous linear interpolation 1 operation details see section 9 8 Interpolation operations Linear interpolation 1 using pulsar input MOD 69h Performs linear interpolation 1 synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For linear interpolation 1 operation details see section 9 8 Interpolation operations Continuous linear interpolation 2 using pulsar input MOD 6Ah Performs continuous linear interpolation 2 synchronized with the pulsar input For continuous linear interpolation 2 operation details see section 9 8 Interpolation operations 9 3 10 Linear interpolation 2 using pulsar input MOD 6Bh Performs linear interpolation 2 synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For linear interpolation 2 operation details see section 9 8 Interpolation operations 9 3 11 CW circular interpolation using pulsar input MOD 6Ch Performs CW circular interpolation synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For CW circular interpolation operation details see section 9 8 In
221. oning amount 8000000h 7FFFFFFh RMV PRFL Initial speed FL speed 1 to 65 535 OFFFFh RFL PRFH Operation speed FH speed 1 to 65 535 OFFFFh RFH PRUR Acceleration rate 1 to 65 535 OFFFFh RUR PRDR Deceleration rate Note 1 0 to 65 535 OFFFFh RDR PRMG Speed magnification rate 2 to 4 095 OFFFh RMG PRDP Ramping down point 0 to 16 777 215 OFFFFFFh RDP PRUS S curve acceleration range Oto 32 767 7FFFh RUS PRDS S curve deceleration range Oto 32 767 7FFFh Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleration factors f Acceleration rate Set in PRUR Deceleration rate Set in PRDR 7 FH speed Set in y e ae f ZS Wa PRFH PRMG od L AR Z a f 14 A A S curve deceleration S curve accel _ f er 4 AN KS range Set in PRDS eration range N 7 SLM Set in PRUS a ZS gt Se y Preset amount fro psotioing Wi operation Set in PRMV IT d Lg FL speed Set in gt 7 5 PPPE PRFL PRMG E gt pas vi a Z Fa sat t Rampling down point for positioning opera tion Set in PRDP or set automatically PRFL FL speed setting register 16 bit Specify the speed for FL low speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh The speed will be calculated from the value in P
222. operation of the PO FUP terminals 00 General purpose input 01 General purpose output 10 Output the FUP acceleration signal 11 General purpose one shot signal output T 26 msec Note 1 2 to 3 P1MO to 1 Specify the operation of the P1 FDW terminals 00 General purpose input 01 General purpose output 10 Output the FDW deceleration signal 11 General purpose one shot signal output T 26 msec Note 1 4to5 P2M0 to 1 Specify the operation of the P2 MVC terminal 00 General purpose input 01 General purpose output 10 Output the MVC constant speed feeding signal with negative logic 11 Output the MVC constant speed feeding signal with positive logic 6 to 7 P3MO to 1 Specify the operation of the P3 CP1 SL terminals 00 General purpose input 01 General purpose output 10 Output the CP1 satisfied the Comparator 1 conditions signal with negative logic 11 Output the CP1 satisfied the Comparator 1 conditions signal with positive logic 8 to 9 P4MO to 1 Specify the operation of the P4 CP2 SL terminals 00 General purpose input 01 General purpose output 10 Output the CP2 satisfied the Comparator 2 conditions signal with negative logic 11 Output the CP2 satisfied the Comparator 2 conditions signal with positive logic 10 to 11 P5M0 to 1 Specify the operation of the P5 CP3 terminals 00 General purpose input 01 General purpose output 10 Output the CP3 satisfied the Comparator
223. ors is to delete command pulses and even after the command pulses stop the servomotor systems keep feeding until the count in the deflection counter reaches zero This LSI can receive a positioning complete signal INP signal from a servo driver in place of the pulse output complete timing to determine when an operation is complete When the INP signal input is used to indicate the completion status of an operation the BSY signal when an operation is complete the main status bits 0 to 5 of the MSTSW stop condition and the extension status CNDO to 3 operation status will also change when the INP signal is input The input logic of the INP signal can be changed The minimum pulse width of the INP signal is 80 reference clock cycles 4 usec when the input filter is ON If the input filter is OFF the minimum pulse width will be 2 reference clock cycles 0 1 usec When CLK 19 6608 MHz If the INP signal is already ON when the PCL is finished outputting pulses it treats the operation as complete without any delay The INP signal can be monitored by reading the RSTS register extension status Set the operation complete delay using the INP signal lt Set MINP bit 9 in PRMD WRITE PRMD gt 15 8 0 No operation complete delay waiting for the INP signal 1 Operation complete status BSY delay until the INP signal turns ON Input logic of the INP signal lt Set INPL bit 22 in RENV1 gt RENV1 WRITE 0 Negative logic 23
224. output function The LSI can output pulse signals for each specified rate interval Simultaneous start function Multiple axes controlled by the same LSI or controlled by multiple sets of this LSI can be started at the same time Simultaneous stop function Multiple axes controlled by the same LSI or controlled by multiple sets of this LSI can be stopped at the same time by a command by an external signal or by an error stop on any axis Vibration restriction function Specify a control constant in advance and add one pulse each for reverse and forward feed just before stopping Using this function vibration can be decreased while stopping Manual pulsar input function By applying manual pulse signals PA PB you can rotate a motor directly The input signals can be 90 phase difference signals 1x 2x or 4x or up and down signals In addition to the magnification rates above the PCL6025B contains an integral pulse number magnification circuit which multiplies by 1x to 32x and a pulse quantity division circuit which is divided by 1 to 2048 EL signal and software limit settings can be used and the PCL will stop outputting pulses It can also feed in the opposite direction Direct input of operation switch Positive and negative direction terminals tDR are provided to drive a motor with an external operation switch These switches turn the motor forward and backward Out of step detection function This LSI has a def
225. p symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 31 8 3 6 PRMG RMG registers These pre registers are used to set the speed magnification rate RMG is the register for PRMG 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 The setting range is 2 to 4 095 Sets the relationship between the speed register PRFL RFL PRFH RFH RFA values and the operation speeds The actual operation speed pps is a product of the speed magnification rate and the speed register setting Setting example when the reference clock is 19 6608 MHz Speed Operation speed Speed Operation speed setting magnification rate setting range pps magnification rate range pps 0 1 to 6 553 5 5x 5 to 327 675 0 2 to 13 107 0 10x 10 to 655 350 0 5 to 32 767 5 20x 20 to 1 310 700 1 to 65 535 50x 50 to 3 276 750 2 to 131 070 100x 100 to 6 553 500 Setting 8 3 7 PRDP RDP registers These pre registers are used to set a ramping down point deceleration start point for positioning operations RDP is the 2nd register for PRDP 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 Bits marked with a symbol are ignored when written and change their setting Then read according to the setting of MSDP bit 13 in the PRMD register Setting details Offset for automat
226. ped by an EL signal while operating in the specified direction the axis will execute a zero return operation ORM 0000 and a leaving the zero position by positioning in the opposite direction Then it will execute a zero return operation in the specified direction When leaving the zero position by positioning the axis will repeat the positioning operation for the number of pulses specified in the RMV target position register until the zero position has been left Enter a positive number 1 to 134 217 727 in the RMV register MOD 15h Zero search operation in the positive direction 1Dh Zero search operation in the negative direction 9 5 3 1 Zero return operation 0 ORM 0000 Constant speed operation lt Sensor EL ORG gt Ss a l Operation 1 Operation 2 TT Operation 3 EF RMV setting value High speed operation lt Sensor EL ORG gt Even if the axis stops normally it may not be at the zero position However COUNTER2 mechanical position provides a reliable value ORG EL Operation 1 Operation 2 gt Operation 3 A Sa lt RWV setting value 13 9 6 9 6 1 9 6 2 EL or SL operation mode The following four modes of EL or SL soft limit operation are available Operation mode Direction of movement Operate until reaching the EL or SL position Positive direction Operate until reaching the EL or SL position Negati
227. pose output port terminal P7 LOW P23 P7SET Command 1Fh Set the general purpose output port terminal P7 HIGH P23 PAx Terminal name 56 Manual pulsar phase A input for the X axis P9 57 PAy Terminal name 95 Manual pulsar phase A input for the Y axis P9 57 PBx Terminal name 57 Manual pulsar phase B input for the X axis P9 57 PBy Terminal name 96 Manual pulsar phase B input for the Y axis P9 57 PCPCAN Command 27h Clear the pre register PRCP5 for RCMP5 P24 30 PCSL Register bi RENV1 24 Set the input logic for the PCSn signal 0 Negative logic 1 Positive logic P24 37 108 PCSx Terminal name 50 Start positioning control for the X axis P10 108 PCSy Terminal name 89 Start positioning control for the Y axis P10 108 PDO to 10 Register bi RENV6 16 26 Set a division rate for PA PB inputs P45 57 PDIR Register bi RENV2 26 Reverse the counting direction of the PA and PB inputs P39 59 PEx Terminal name 54 Enable the PA PB DR DR inputs for X axis P9 57 62 PEy Terminal name 93 Enable the PA PB DR DR inputs for Y axis P9 57 62 PFCO to 1 Register bits RSTS 18 19 Used as a status monitor for the RCMP5 pre register P30 50 PFMO to 1 Register bits RSTS 20 21 Used as a status monitor of the working pre register P30 29 PIMO to 1 Register bits RENV2 24 25 Specify the PA and PB input details P39 59 PINF Register bi RENV2 19 Apply a noise filter to the PA PB inputs P39 113 PMDO to 2 Register bits RENV1 0 2 Specify the output pulse details P36 9
228. ration P35 84 SALM Sub status bit SSTSW 11 Equals 1 when the ALM input is ON P20 106 SCLR Register bit RSTS 13 Equals 1 when the CLR input signal is ON P49 113 SCP1 Main status bit MSTSW 8 Equals 1 when the CMP1 comparison conditions are met P19 118 SCP2 Main status bit MSTSW 9 Equals 1 when the CMP2 comparison conditions are met P19 118 SCP3 Main status bit MSTSW 10 Equals 1 when the CMP3 comparison conditions are met P19 118 SCP4 Main status bit MSTSW 11 Equals 1 when the CMP4 comparison conditions are met P19 118 SCP5 Main status bit MSTSW 12 Equals 1 when the CMP5 comparison conditions are met P19 118 SDIN Register bi RSTS 15 Equals 1 when the SD input signal is ON P50 104 SDIR Register bi RSTS 4 Set the operation direction 0 Plus direction 1 Minus direction P50 SDL Register bi RENV1 6 Set the input logic of the SD signal 0 Negative logic 1 Positive logic P36 102 SDLT Register bi RENV1 5 Specify the latch function for the SD input 0 ON 1 OFF P36 102 SDM Register bi RENV1 A Select the process to execute when the SD input is ON 0 Deceleration only 1 P36 102 Decelerate and stop SDMO to 1 Register bits RIPS 20 21 Current phase of a circular interpolation P54 SDRM Register bi RSTS 12 Equals 1 when the DR input signal is ON P50 62 SDRP Register bi RSTS 11 Equals 1 when the DR input signal is ON P50 62 SDSTP Command 4Ah Deceleration stop P22 SDx Terminal name 42 Ramping down signal for the X axis P8 100 SDy Terminal name
229. ration will be equal to a normal acceleration curve Further away T t 3 If the axis has already passed over the new target position or the target position is changed to a position that is closer than the original position during deceleration movement on the axis will decelerate and stop Then the movement will reverse and complete the positioning operation at the position specified in the new data new RMV value Already passed 1 position The axis accelerates decelerates only when starting in high speed The target position data RMV register value can be rewritten any number of times until the positioning operation is complete Note1 If the ramping down point is set to automatic and the deceleration time gt acceleration time X 2 it may be the case that the axis cannot reduce the speed to the FL level as shown below In this case if the target position is set closer than original position and the axis is decelerating the axis will decelerate along the deceleration curve to the new override position and then slow to the FL speed and finally stop Then it will start moving to the new position Therefore the axis will overrun the original target position during deceleration shaded area Speed Target position change Normally the PCL stops feeding FH without decelerating to FL speed When an override is specified the PCL will decelerate to FL speed i Lil LiL Time gt lt gt Acceleration Decelera
230. re satisfied IRC3 When the Comparator 4 conditions are satisfied IRC4 When the Comparator 5 conditions are satisfied IRC5 When the counter value is reset by a CLR signal input IRCL When the counter value is latched by an LTC input IRLT When the counter value is latched by an ORG input IROL When the SD input is turned ON IRSD When the DR input changes IRDR When the DR input changes When the STA input is turned ON IRSA INIIAI BR G N gt o CO 00 N O O01 AI OIN gt O 133 12 Electrical Characteristics 12 1 Absolute maximum ratings Item Rating 0 3 to 6 0 Power supply voltage 0 3 to 4 5 Input voltage 0 3 to Vaad 0 3 Input current 10 Storage temperature Item Symbol 40 to 125 12 2 Recommended operating conditions Rating Vad 4 5 to 5 5 Power s ly voltage W upply voltag Val 3 0 to 3 6 Ambient temperature TJ 12 3 DC characteristics Item Symbol 40 to 70 Condition Static current lag consumption lag CLK 0 MHz No load lad Current consumption lad CLK 20 MHz Output frequency 6 666667 MHz No load Output leakage current loz Input capacitance LOW input current lit HIGH input current LOW input voltage Inputs and input output terminals except CLK CLK termin
231. rns on Status of SD input terminal SINP Becomes 1 when the INP input signal turns on SEST Becomes 1 when the STA input signal turns on 18 to 19 PFCO to 1 Used to monitor the condition of the RCMP5 pre register 20 to 21 PFMO to 1 Used to monitor the condition of the operation pre registers other than RCMP5 22 to 31 Not defined Always set to 0 50 8 3 35 REST register Used to check the error interrupt cause Read only The corresponding bit will be 1 when that item has caused an error interrupt This register is reset when read 145 44 AG AO wer 10 Bi 8 OP 4 3 2 1 0 ESAO ESPO ESIP ESDT 0 ESSD ESEM ESSP ESAL ESML ESPL ESC5 ESC4 ESC3 ESC2 ESC1 Bit name Description ESC1 Stopped when Comparator 1 conditions were met SL ESC2 Stopped when Comparator 2 conditions were met SL ESC3 Stopped when Comparator 3 conditions were met ESC4 Stopped when Comparator 4 conditions were met ESC5 Stopped when Comparator 5 conditions were met ESPL Stopped by the EL input being turned ON ESML Stopped by the EL input being turned ON ESAL Stopped by the ALM input being turned ON ESSP Stopped by the CSTP input being turned ON ESEM Stopped by the CEMG input being turned ON ESSD Decelerated and stopped by the SD input being turned ON Not defined Always set to 0 ESDT Stopped by an operation data error Note 1 ESIP Simultaneous stop with another axis due to an error
232. rns on and stops when an EZ signal is received 4 Feeds at constant speed and stops when the EL signal turns on Normal stop 5 Feeds at constant speed reverses when the EL signal turns on and stops when an EZ signal is received 6 Feeds at high speed decelerates when the SD signal turns on and stops when the ORG signal turns on 7 Feeds at high speed decelerates when the ORG signal turns on and stops when an EZ signal is received 8 Feeds at high speed decelerates and stops after the ORG signal turns on Then it reverse feeds and stops when an EZ signal is received 9 Feeds at high speed decelerates and stops by memorizing the position when the ORG signal turns on and stops at the memorized position 10 Feeds at high speed decelerates to the position stored in memory when an EZ signal is received after the ORG signal turns on Then returns to the memorized position if an overrun occurs 11 Feeds at high speed reverses after a deceleration stop triggered by the EL signal and stops d when an EZ signal is received Mechanical input signals The following four signals can be input for each axis 1 EL When this signal turns on while feeding in the positive direction movement on this axis stops immediately with deceleration When this signal is ON no further movement occurs on the axis in the positive direction The motor can be rotated in the negative direction 2 EL Functions the same as th
233. rpolation 2 18 IPCW 1 Executing a CW directional circular interpolation 19 IPCC 1 Executing a CCW directional circular interpolation 20 to 21 SDMO to 1 Current phase of a circular interpolation 00 1st phase 01 2nd phase 10 3rd phase 11 4th phase 22 to 23 SEDO to 1 Final phase in a circular interpolation 00 1st phase 01 2nd phase 10 3rd phase 11 4th phase 24 to 31 Not defined Always set to 0 54 9 Operation Mode Specify the basic operation mode using the MOD area bits 0 to 6 in the RMD operation mode register 9 1 9 2 1 9 2 2 Continuous operation mode using command control This is a mode of continuous operation A start command is written and operation continues until a stop command is written Operation method Direction of movement Continuous operation from a command Positive direction Continuous operation from a command Negative direction Stop by turning ON the EL signal corresponding to the direction of operation When operation direction is positive EL can be used When operation direction is negative EL is used In order to start operation in the reverse direction after stopping the motion by turning ON the EL signal a new start command must be written Positioning operation mode The following seven operation types are available for positioning operations Operation method Direction of movement Pos
234. s 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 if it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances 161 November 28 2008 No DA70119 0 0E 162 The specifications may be changed without notice for improvement NPM Nippon Pulse Motor Co Ltd Tokyo Office London Office USA China Nippon Pulse Motor Co Ltd Tachihi Bldg No 3 1 Sakae cho 6 Chome Tachikawa City Tokyo 190 0003 Japan Phone 81 42 534 7701 Fax 81 42 534 0026 Web http Awww npm co jp E mail int l npm co jp Nippon Pulse Motor Co Ltd Vista Business Centre 50 Salisbury Road Hounslow Midd
235. s applied pulses less than 4 usec pulse in width will be ignored 106 11 7 External start simultaneous start 11 7 1 STA signals CSTA STA This LSI can be started when triggered by an external signal on the CSTA terminals Set MSY bits 18 to 19 in the PRMD register to 01 operation mode and the LSI will start feeding when the CSTA or STA goes LOW The CSTA terminal bi directional is used for simultaneously starting multiple LSIs The STA terminal input is used to start a single axis using an external signal The CSTA is the commoned version of the STA terminal When you want to control multiple axes using more than one LSI connect the CSTA terminal on each LSI Then set all of the axes to waiting for STA input and they will all start at the same time In this example a start signal can be output through the CSTA terminal Combined use of the CSTA and STA terminals is supported The input logic on the CSTA terminals cannot be changed By setting the RIRQ register event interrupt cause the INT signal can be output together with a simultaneous start when the STA input is ON By reading the RIST register the cause of an event interrupt can be checked The operation status waiting for STA input and status of the STA terminal OR of the CSTA and STA signals can be monitored by reading the RSTS register extension status lt How to make a simultaneous start gt Set MSY
236. s from the FL speed or FH speed pulse outputs being omitted Therefore there may be a difference in the timing between the pulsar input and output pulses up to the maximum internal pulse frequency The maximum input frequency for pulsar signals is restricted by the FL speed when an FL constant speed start is used and by the FH speed when an FH constant speed start is used The LSI outputs INT signals as errors when both the PA and PB inputs change simultaneously or when the input frequency is exceeded or if the input output buffer counter deflection adjustment 16 bit counter for pulsar input and output pulse overflows This can be monitored by the REST error interrupt factor register FP lt speed input I F phase value PMG setting value 1 PD setting value 2048 PD setting value 0 FP lt speed input I F phase value PD setting value 0 lt Examples of the relationship between the FH FL speed pps and the pulsar input frequency FP pps gt PA PB input method PMG setting value PD setting value Usable range o 1x 0 FP lt FH FL 1024 FP lt FH FL x2 FP lt FH FL 3 FP lt FH FL FP lt FH FL x2 FP lt FH FL 3 FP lt FH FL 2 FP lt FH FL FP lt FH FL 6 FP lt FH FL FP lt FH FL 2 FP lt FH FL FP cai PA pa Note When the PA PB input frequency fluctuates take the shortest frequency not average frequency as Frequency of FP above 2 pulse
237. s no need to keep the external signal ON The ORG latch signal is reset when stopped The minimum pulse width of the ORG signal is 80 reference clock cycles 4 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycle 0 1 usec When CLK 19 6608 MHz The input logic of the ORG signal and EZ signal can be changed using the RENV1 register environment setting 1 The ORG terminal status can be monitored by reading SSTSW sub status The EZ terminal status can be monitored by reading the RSTS register extension status For details about the zero return operation modes see 9 5 Zero position operation mode ORG signal and EZ signal timing i When t 2 x Tek counts ORG ii When Terk lt t lt 2 x Terk counting is undetermined EZ L iii When t Tox do not count Teck Reference clock cycle Enabling the ORG and EZ signals lt Set MOD bits 0 to 6 in PRMD gt PRMD WRITE 001 0000 Zero return in the positive direction 7 0 001 0010 Leave zero position in the positive direction 0 001 0101 Zero position search in the positive direction 010 0100 EZ counting in the positive direction 001 1000 Zero return in the negative direction 001 1010 Leave zero position in the negative direction 001 1101 Zero position search in the negative direction 010 1100 EZ count operation in the negative direction Set the zero return method lt Set ORMO to 3 bits 0 to
238. s the value in RCMP2 Set COUNTER to ring counter operation lt set C1RM C1D0 to 1 C1S0 to 2 RENV4 WRITE and C1C0 to 1 in RENV4 gt 7 0 n 10000000 Operate COUNTER1 as a ring counter Set COUNTER2 to ring count operation lt set C2RM C2D0 to 1 C2S0 to 2 RENV4 WRITE and C2C1 to 0 in RENV4 gt 15 10000001 Operate COUNTER2 as a ring counter Even if the value for PRMV outside the range of 0 to the value in RCMPn the PCL will continue to perform positioning operations When driving a rotating table with 3600 pulses per revolution and when RCMP1 3599 MOD 41h and RMV 7200 the table will rotate twice and the value in COUNTER1 when stopped will be the same as the value before starting Note To use the ring counter function set the count value between 0 and the value in RCMPn If the value is outside the range above the PCL will not operate normally Set the comparator conditions C1S0 to 2 C2S0 to 2 when using a counter as a ring counter to 000 Setting example RENV4 XXXXXX80h COUNTER is in ring counter mode C1RM 1 C1S0 to 2 000 C1CO0 to 1 00 RCMP 1 4 Count range 0 to 4 DIR OUT COUNTER4 0 X 1X 2X 3X 4X OX 1X 2X 3X 4X 1 OX 4X 3X 2X IX OX 4X 3X 2X I
239. s used provide a pull up resistor 5k to 10k ohms on VDD5 One resistor can be used for all 8 lines CSTA 36 Input Negative Input Output terminal for simultaneous start Output When more than one LSI is used and you want to start them Z simultaneously connect this terminal on each LSI The terminal status can be checked using an RSTS command signal extension status STAX 49 Input U Negative Input terminal for external start signal STAy 88 The function is identical with CSTA input However it can be input independent on each axis CSTP 37 Input Negative Input Output terminal for a simultaneous stop See Note 6 Output When more than one LSI is used and you want to stop them ig simultaneously connect this terminal on each LSI The terminal status can be checked using an RSTS command signal extension status CEMG 38 Input U Negative Input for an emergency stop While this signal is LOW the PCL cannot start If this signal changes to LOW while in operation both of the motors will stop operation immediately ELLx 127 Input U Specify the input logic for the EL signal ELLy 128 LOW The input logic on EL is positive HIGH The input logic on EL is negative ELx 40 Input U Negative Input end limit signal in the positive direction See Note 6 ELy 80 When this signal is ON while feeding in the positive direction the motor on that axis will stop immediately or will decelerate and stop Speci
240. s when a CEMG signal is input 05h Note In a normal stop operation the final pulse width is normal However in an emergency stop operation the final pulse width may not be normal It can be triangular Motor drivers do not recognize triangle shaped pulses and therefore only the PCL counter may count this pulse Deviation from the instructed position control Therefore after an emergency stop you must perform a zero return to match the instructed position with the mechanical position 111 11 10 Counter 11 10 1 Counter type and input method In addition to the positioning counter this LSI contains four other counters These counters offer the following functions Control command position and mechanical position Detect a stepper motor that is out of step using COUNTERS deflection counter and a comparator Output a synchronous signal using COUNTER4 general purpose and a comparator The positioning counter is loaded with an absolute value for the RMV register target position with each start command regardless of the operation mode selected It decreases the value with each pulse that is output However if MPCS bit 14 of the RMD register operation mode is set to 1 anda position override 2 is executed the counter does will not decrease until the PCS input turned ON Input to COUNTER1 is exclusively for output pulses However COUNTERS2 to 4 can be selected as follows by setting the RENV3 regi
241. ses the axis will stop decelerate and stop Zero return operation 9 After the process in zero return operation 0 has executed it returns to zero operates until COUNTER2 0 Zero return operation 10 After the process in zero return operation 3 has executed it returns to zero operates until COUNTER2 0 Zero return operation 11 After the process in zero return operation 5 has executed it returns to zero operates until COUNTER2 0 Zero return operation 12 After the process in zero return operation 8 has executed it returns to zero operates until COUNTER2 0 Settings after a zero return complete lt SetCU1R to 4R bits 20 to 23 in RENV3 gt RENV3 WRITE CU1R bit 20 1 Reset COUNTER1 command position 23 16 CU2R bit 21 1 Reset COUNTER2 mechanical position CUBR bit 22 1 Reset COUNTER3 deflection counter njn ailin CU4R bit 23 1 Reset COUNTER4 general purpose Setting the ERC signal for automatic output lt Set EROR bit 11 in RENV1 gt RENV1 WRITE 0 Does not output an ERC signal when a zero return is complete 15 8 1 Automatically outputs an ERC signal when a zero return is complete 66 9 5 1 1 Zero return operation 0 ORM 0000 Constant speed operation lt Sensor EL ELM 0 ORG gt ORG EL ON o Operation 1 f Emer ency stop Operation 2 Geier Emergency stop Operati
242. sfied 126 Read the event interrupt INT output cause lt Bit 4 to 12 of RIST gt RIST READ ISUS bit 4 1 When the acceleration is started 7 ISUE bit 5 1 When the acceleration is complete A ISDS bit 6 1 When the deceleration is started ISDE bit 7 1 When the deceleration is complete 19 ISC1 an bit 8 1 When the Comparator 1 conditions are satisfied bit 9 1 When the Comparator 2 conditions are satisfied bit 10 1 When the Comparator 3 conditions are satisfied bit 11 1 When the Comparator 4 conditions are satisfied bit 12 1 When the Comparator 5 conditions are satisfied oo oO QN000 aK ON 11 14 1 Start triggered by another axis stopping If the start condition for the X axis is specified as a Stop of the Y axis and if the Y axis stops after operating the X axis will start moving if it is currently stopped Example 1 below shows an example of how to set the stop of the Y axis as a condition for starting the X axis Example 1 After setting steps 1 to 3 start and stop the Y axis and then the X axis will start 1 Set MSYO to 1 bits 18 to 19 in PRMD for the X axis to 11 Start triggered by another axis stopping 2 Set MAXO to 1 bits 20 to 21 in PRMD for the X axis to 11 When the Y axis and then the X axis stops 3 Write a start command for the X axis The start when another axis stops function h
243. signal to an external CPU After this terminal is turned ON the signal will return to OFF when a RESET error interrupt cause or RIST event interrupt cause signal is received The output status can be checked with an MSTSW main status command signal The INT output signal can be masked When more than one 6025B LSI is used a wired OR connection between INT terminals is not allowed WRQ 14 Output Negative Outputs a wait request signal to cause a CPU to wait The LSI needs 4 reference clock cycles to process each command If the WRQ signal is not used make sure that an external CPU does not access this LSI during this interval Signal name Gel Sek Logic Description IFB 16 Output Negative Signal used to indicate that the LSI is processing commands Use this signal to make connections with a CPU that does not have a wait control input terminal When the LSI receives a write command from a CPU this signal will go LOW When the LSI finishes processing this signal will go HIGH The LSI makes sure that this terminal is HIGH and then proceeds to the next step DO to D7 18to25 Input Positive Bi directional data bus Output When connecting a 16 bit data bus connect the lower 8 signal lines here D8 to D15 27 to 34 Input Positive Bi directional data bus Output When connecting a 16 bit data bus connect the upper 8 signal lines here When a Z80 I F IF1 H IFO H i
244. srrerisrreernrresrn 156 1 How to identify programs specifically and only for the PCL6025 and PCLGO2pb 156 2 Additional items on the PCL6025B ossa enginn enan ainan eee eeeaaeeeeeeeeceaeeeeaaeseeaeeseeeeseaeeeeaaaesseeeeeeaees 156 2 1 Main Status EE 156 2 2 OperatiOM Tu ue BEER 156 2 3 Register CONtrOlMCOMMANG EE 156 2 4PRMD RMD register eiee ices eaaa aaar aaa aa EENEG aera Eaa E a Ea 157 2 5 DEN Eet a a a a a veh a a a a aaa a aa aai apea aaraa ena E a Ta aha 157 EE Ce UE 158 2 BIEN NR Ve Ett merantai eise sde RER aiana ara paa Teh aa aaa aa ANA Eei area SE dee 158 2 8 DEN WE registereren aena raad tanana taaa aiaa aaa aana paa ea aa a aani aa vast EA ees 158 ER E TEE 159 221 0 AGIG FEIS ent stegsct cist deceit a7 gk covets BCEE a aAa aaea na eaaa aaan eine wishin aaa i e EARNAN EA eases 159 2 11 Stop in the middle of a circular interpolation eeeeeceeeeeeeeeeeeeeceeeeeeaeeeeeeeeeeeeessaeeeeaeeeeaes 159 2 12 Improved precision of FH speed corrective calculattons 159 Handling Precautions deu AEN Eed 160 T DESIGN PrECAUTIONS 2 2 i 225 es scdseveticects pate hanes teat nacht pda ata AAAA ISAAA AT desparate eee 160 2 Precautions for transporting and storing LSIS c ccceeccecsseeeeeeeeseeeeecaeeeeaaeseeaeeeeaeeeesaaeeteneeeeeeeeeas 160 3 Precautions for installation ccecceeceeeceeeeeeeceeeeeeee see eeceaeeeeaeeeeeeee sage eeeaaeseeeeeseaeeeeaeeeeaeseaeeseeeeees 160 4 Other LEE 161 Vi 1 Outline and Fe
245. ster environment setting 3 COUNTER1 COUNTER2 COUNTER3 COUNTER4 Command position ere Deflection General purpose position Deflection Up down counter counter 28 28 16 28 Possible Possible Possible Possible Encoder EA EB input Not possible Possible Possible Possible Pulsar PA PB input Not possible Possible Possible Possible 1 2 of reference clock Not possible Not possible Not possible Not possible Note When using pulsar input use the internal signal result after multiplying or dividing Up down counter Up down counter Specify COUNTER2 mechanical position input lt C120 to 21 bit 8 to 9 in RENV3 WRITE RENV3 gt 15 8 n 10 PA PB input Set COUNTER3 deflection input lt CI30 to 31 bit 10 to 11 in RENV3 gt RENV3 WRITE 00 Measure the deflection between output pulses and EA EB input 15 01 Measure the deflection between output pulses and PA PB input 10 Measure the deflection between EA EB input and PA PB input Set COUNTER4 general purpose input lt C140 to 41 bit 12 to 13 in RENV3 gt 11 Reference clock CLK 2 The EA EB and PA PB input terminal that are used as inputs for the counter can be set for one of two signal input types by setting the RENV2 environment setting 2 register 1 Signal input method Input 90 phase difference signals 1x 2
246. stop on the other axis during interpolation ESPO An overflow occurred in the PA PB input buffer counter ESAO An out of range count occurred in the positioning counter during interpolation ESEE An EA EB input error occurred Does not stop ESPE A PA PB input error occurred Does not stop Not defined Always set to 0 Note 1 In any of the following cases ESDT will be 1 1 Write a Start command using linear interpolation 1 mode MOD 60h 61h 68h and 69h on only one axis 2 Write a Start command using circular interpolation mode MOD 64h 65h 6Ch and 6Dh on only one axis 3 Write a Start command using the circular interpolation mode after setting PRIP arc center coordinates to 0 0 4 Write a Start command using linear interpolation 2 mode MOD 62h 63h 6Ah and 6Bh while RIP is 0 51 8 3 36 RIST register This register is used to check the cause of event interruption Read only When an event interrupt occurs the bit corresponding to the cause will be set to 1 This register is reset when read 15 4144 143 12 11 10 ISOL ISLT ISCL ISC5 ISC4 ISC3 ISC2 ISC1 ISDE ISDS ISUE ISUS ISND ISNM ISN ISEN 20 19 18 17 46 ISSA ISMD ISPD ISSD Bit name Description ISEN Stopped automatically ISN The next operation starts continuously ISNM Available to write operation to the 2nd pre register ISND _ Available to write operation to the 2nd pre
247. t allowed To change the current operating status before the operation is complete such as when you want to change the speed write the new data directly to the working register The relationship between the write status of the pre registers and the possible PFM values are as follows Procedure 2nd pre register 1st pre register Working register Initial status 0 Undetermined 0 Undetermined 0 Undetermined Write Operation Data 1 Data 1 is undetermined Data 1 is undetermined Data 1 is undetermined Write a Start command Data 1 is undetermined Data 1 is undetermined Data 1 is set Write Operation Data 2 and a Start command while in operation Data 2 is undetermined Data 2 is set Data 1 is set Write Operation Data 3 and Start command while in operation Data 3 is set Data 3 is set Data 1 is set 8 2 2 The operation using Operation Data 1 is complete Data 3 is undetermined Data 3 is set Data 2 is set Also by setting an event interrupt cause in the RIRQ register IRNM the PCL can be set to output an INT signal as the 2nd pre register changes from set to undetermined status when the operation is complete Note When you want the next operation to start automatically using the pre registers set the operation completion timing to cycle completion METM 0 on RMD When pulse completion METM 1 on RMD is set the time betw
248. t immediately 01 The PCL starts on a STA input CSTA STA or command 06h 2Ah 10 Start with an internal synchronous start signal 11 Start when a specified axis stops moving MAX 0 to 1 Specify an axis to check for an operation stop when the value of MSY 1 to O is 11 Setting examples 01 Starts when the X axis stops 10 Starts when the Y axis stops 11 Starts when both the X and Z axes stop Not defined Always set to 0 MSPE 1 Deceleration stop or immediate stop by CSTP input This is used for a simultaneous stop with another axis when this other axis stops with an error MSPO 1 Outputs a CSTP simultaneous stop signal when stopping due to an error MADJ Specify an FH correction function 0 ON 1 OFF When S shaped deceleration is selected MSMD 1 and the operation is set to use linear interpolation 1 MOD 61h with a constant synthesized speed control MIPF 1 make sure to turn this bit ON MPIE 1 After the circular interpolation operation is complete the PCL will draw to the end point automatically Not defined Always set to 0 34 8 3 9 PRIP RIP registers These pre registers are used to set the center position for circular interpolation or a master axis feed amount for linear interpolation 2 RIP is the register for PRIP 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 When MOD bits 0 to 6
249. ta Extension status Eih RRSTS Error INT status F2h RREST Event INT status F3h RRIST Positioning counter F4h RRPLS EZ counter speed F5h RRSPD monitor Ramping down point F6h RPSDC Circular interpolation ECh RRCI stepping number Circular interpolation EDh RRCI stepping counter Interpolation status FFh RRIPS D9h RRUS 99h WRUS C9h RPRUS 89h WPRUS DAh RRDS 9Ah WRDS CAh RPRDS 8Ah WPRDS E4h RRCUN2 A4h WRCUN2 E5h RRCUN3 A5h WRCUN3 EEh RRLTC2 EFh RRLTC3 26 7 5 General purpose output port control command 7 5 1 By writing an output control command to the output port OTPB Address 2 when using a Z80 interface the PCL will control the output of the PO to P7 terminals When the I O setting for PO to P7 is set to output the PCL will output signals from terminals PO to P7 to issue the command When writing words to the port the upper 8 bits are discarded However they should be set to zero to maintain future compatibility The output status of terminals PO to P7 are latched even after the I O setting is changed to input The output status for each terminal can be set individually using the bit control command Command writing procedures Write control data to output port OTPB Address 2h when a Z80 I F is used To continue with the next command the LSI must wa
250. tail Monitors the use conditions of the RCMP5 pre register Monitors the use conditions of the operation pre registers other than RCMP5 2 10 RCIC register A register to read the circular interpolation step count value has been added Read only 21 20 0 0 Step count value 2 11 Stop in the middle of a circular interpolation The PCL6025 cannot resume the remainder of a circular interpolation when stopped in the middle of the operation The PCL6025B can continue the operation using the Residual Amount Start command 54h to 57h 2 12 Improved precision for the FH correction calculation The PCL6025 can produce a large deviation using the calculated results from certain combinations of PRFL PRFH PRUR and PRDR values If this happens the automatically calculated result for the ramp down point can also have a large deviation and the LSI will drive the axes at FL speed and then stop The PCL6025B has improved the FH correction calculation precision as compared with the PCL6025 Therefore for positioning operations using small feed amounts the speed curve may change 159 Handling Precautions 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
251. terpolation operations 9 3 12 CCW circular interpolation using pulsar input MOD 6Dh Performs CCW circular interpolation synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For CCW circular interpolation operation details see section 9 8 Interpolation operations 61 9 4 External switch DR operation mode This mode allows operations with inputs from an external switch To enable inputs from an external switch bring the PE terminal LOW After writing a start command when a DR DR signal is input the LSI will output pulses to the OUT terminal Set the RENVI environment 1 register to specify the output logic of the DR input signal The INT signal can be set to send an output when DR input is changed The RSTS extension status register can be used to check the operating status and monitor the DR input It is also possible to apply a filter to the DR or PE inputs Set the input logic of the DR DR signals lt Set DRL bit 25 in RENV1 gt RENV1 WRITE 0 Negative logic 24 1 Positive logic Applying a DR or EP input filter lt Set DRF bit 27 in RENV1 gt TE 1 Apply a filter to DR input or PE inputs 24 When a filter is applied pulses shorter than 32 msec will be ignored Setting an event interrupt cause lt Set IRDR bit 17 in RIRQ gt TE 1 Output the INT signal when DR signal changed input 16
252. terpolation will be the speed set for the axes being interpolated FH FL if the constant synthetic speed control is ON MIPF 1 for both axes Write a start command after setting SELx and SELy in COMB1 to 1 Either axis can be used to write a start command Setting example As shown in the table below specify the MOD MIPF PRMV PRIP and operation speed for each axis and write a start command ex 0351h that will be used by both axes The axes will move as shown on the right Be A B C D h Set xX Y x Y x Y xX value axis axis axis axis axis axis axis axis MOD 64h CW circular interpolation list ees MIPF 1 turn ON constant synthetic speed A 0 0 control o PRMV value 0 0 1001001200 o 100 100 Start point PRIP value 100 0 10 0 100 0 100 O 0 0 0 3rd phase 90 arc 180 arc 270 arc Operation Simple result circle This LSI terminates a circular interpolation operation when either of the axes reaches the end point in the last quadrant and the end point can be specified as the whole number coordinates nearest to the end position For this reason even though the circular interpolation operation is complete the PCL will not be at the end coordinate specified To move to the coordinates of the specified end point when the circular interpolation operation is complete set the MPIE bit in the PRMD register to 1 and turn O
253. this LSI the control address range for each axis is independent It is selected by using address input terminal A3 as shown below Detail X axis control address range 6 4 2 Internal map of each axis The internal map of each axis is defined by AO A1 and A2 address line inputs lt When used with the Z80 UE 1 Write cycle AO to A2 Address signal Y axis control address range Processing detail 000 COMBO Write a control command 001 COMB1 Assign the axis specify a control command for execution 010 OTPB Change the status of the general purpose output port only bits assigned as outputs are effective 011 Invalid 100 BUFBO Write to the input output buffer bits O to 7 101 BUFB1 Write to the input output buffer bits 8 to 15 110 BUFB2 Write to the input output buffer bits 16 to 23 111 AO to A2 BUFB3 Address signal Write to the input output buffer bits 24 to 31 Processing detail 000 MSTSBO Read the main status bits 0 to 7 001 MSTSB1 Read the main status bits 8 to 15 010 IOPB Read the general purpose input output port 011 SSTSB Read the sub status 100 BUFBO Read from the input output buffer bits 0 to 7 101 BUFB1 Read from the input output buffer bits 8 to 15 110 BUFB2 Read from the input output buffer bits 16 to 23 111 B
254. ting 6 Eth RRENV6 Ath WRENV6 Environment setting 7 E2h RRENV7 A2h WRENV7 COUNTER command Can RRCUN1 A3h WRCUN1 position COUNTER2 mechanical position COUNTERS deflection counter COUNTER4 general purpose Comparator 1 data E7h RRCMP1 A7h WRCMP 1 Comparator 2 data E8h RRCMP2 A8h WRCMP2 Comparator 3 data E9h RRCMP3 A9h WRCMP3 Comparator 4 data EAh RRCMP4 AAh WRCMP4 Comparator 5 data EBh RRCMP5 ABh WRCMP5 RPRCP5 Enable various event interrupts INTs ECh RRIRQ ACh WRIRQ COUNTER latch data EDh RRLTC1 COUNTER2 latch data EEh RRLTC2 COUNTERS latch data EFh RRLTC3 COUNTERS latch data FOh RRLTC4 Extension status Eih RRSTS Error INT status F2h RREST Event INT status F3h RRIST Positioning counter F4h RRPLS EZ counter speed monitor F5h RRSPD Ramping down point F6h RRSDC Number of steps for circular ECh RRCI interpolation Counter of steps for circular EDh RRCIC interpolation Interpolation status FFh RRIPS Zz O oOiOOizAOnlolbutaib l gt CH DAh RRDS 9Ah WRDS CAh RPRDS 8Ah WPRDS E4h RRCUNZ A4h WRCUN2 E5h RRCUNS ASh WRCUN3 E6h RRCUN4 A6h WRCUN4 143 Appendix 2 Setting speed pattern Bit length setting range Setting range Register Pre register Description 134 217 728 to 134 217 727 PRMV Positi
255. ting the PRMD operation mode register in advance Start triggered by another axis stopping Start triggered by an internal synchronous signal from another axis The internal synchronous signal output is available with 9 types of timing They can be selected by setting the RENV5 environment setting 5 register By setting the RIRQ event interrupt cause register an INT signal can be output at the same time the internal synchronous signal is output You can determine the cause of event interrupt by reading the RIST register The operation status can be checked by reading the RSTS extension status register Specify the synchronous starting method lt Set MSYO to 1 bits 18 to 19 in PRMD gt PRMD WRITE 10 Start with an internal synchronous signal 11 Start triggered by another axis stopping Select an axis for confirming a stop setting example lt Specify the axis using MAXO to 1 bits 20 to 21 in PRMD gt 01 Start when the X axis stops 10 Start when the Y axis stops 11 Start when both the X and Y axes have stopped Select the synchronous starting mode lt Set SMAX bit 29 in RENV2 gt 0 PCL6025 compatible mode 1 PCL6025B mode Specify the internal synchronous signal output timing lt Set SYO1 to 3 bits 16 to 19 in RENV5 gt 0001 When the Comparator 1 conditions are satisfied 0010 When the Comparator 2 conditions are satisfied When the Comparator 3 conditio
256. ting up Use as IDX synchronous signal output while counting down Others Treats that the comparison conditions do not meet 30 to 31 C4D0 to 1 Select a process to execute when the Comparator 4 conditions are met Note 1 Note 2 Note 3 Note 4 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed When COUNTERS deflection counter is selected as the comparison counter the LSI compares the counted absolute value and the comparator data Absolute value range 0 to 32 767 When you specify C1S0 to 2 110 positive software limit or C2S0 to 2 110 negative software limit select COUNTER1 command position as the comparison counter When C4S0 to 3 is set to 1000 to 1010 synchronous signal output select COUNTER4 general purpose for the comparison counter The other counters cannot be selected To set the comparator select a positive value When this bit is used as software limit the PCL stops operation regardless of the settings for selecting a process when the conditions are satisfied However when the PCL is operating and 10 Deceleration stop is selected it only uses a deceleration stop when operating at high speed In all other cases it stops immediately ba 8 3 17 RENV5 register This is a register for the Environment 5 settings Settings for Comparator 5 are i
257. tion To avoid creating an overrun condition make sure that the deceleration time is less than two times the acceleration time or if the deceleration time is more than double the acceleration time make the ramping down point a manual setting 95 Note 2 The position override is only valid while feeding If the LSI starts decelerating by changing the target to a closer position and if you perform a position override to a position further away during this deceleration the LSI will not re accelerate It will feed to the more distant target after decelerating to FL speed Also if you overshoot the target position to lower than the initial RMV setting value during deceleration using the automatic ramp down point setting the LSI will not accelerate using the target position override If you change the target position with the position override function while decelerating with the auto ramp down function the LSI will accelerate again Note 3 The position override is only valid while feeding If you perform a position override operation just before stopping the PCL may not accept the position override command To see if the position override command was accepted check the SEOR bit in the main status after issuing the override command If the PCL has ignored the override command the SEOR will be 1 Please note if an override command is written into the RMV register 90h while the axis is stopping the PCL changes SEOR
258. tion during Interpolatton nnee nnt 82 10 Speed Patterns sce ela ae E en ei Ge le ee EE 83 1021 Speed patterns EE 83 10 2 Speed pattern Settings 4 nerd a eege eegend ee seed ge 84 1023 Manuial FH Correction EE 88 10 4 Example of setting up an acceleration deceleration speed pattern ccccceeseeeeeeeeseeeeteteetenees 92 10 5 Changing speed patterns while in Operation ceccceceeceseeceeeeeeeeeeeeeeeeeeeesaeeteaeeeseeeeseneeseneeeeaees 93 iv TT Description Of the FUNCTIONS seheckseecustedecdedl ev veSheededcabiantectinel etuachlzesshertavdecdesdl seve ESA aeaa akan aaiae ti 94 TAHA ROS E A E E E A cuvshebeveceuideu E E E E E etext EC EE rege E EE 94 UNE Ea E EE 95 1122 1 Target POSITION Ouere tectee ciecurce tae Eak SES EKE AE SEEE ATES OEE KAE EEEREN EEUE ERENT 95 11 2 2 Target position override 2 PCS signal seesseesseesseeesneesnnesnnesntsnnsnntnnesnnetnnesnnsennnennnenn nenn 96 11 3 lee Ree Ire 97 1123 1 Output pulse MOUS EE 97 11 3 2 Control the output pulse width and operation complete timing ssssessssssssrsssrrssrrssrnssrnsssrnsss 98 RES IAM COM te EE 99 11 5 Mechanical external input Control ceeecee cece ceeeeeee cece eeeeeeeeeeeeeeeesaeeeeeeneeeecessneeeeeeneeaeeeenenaes 100 NEEN BL Ee EE 100 NEE BEER 101 TOS ORG EZ LEE EE 103 116 SOrvOMOtOr EE 104 E Eo TE EA E E A nied Gur ovatus teasesaes 104 lte EE SONAN erana anaana ee a aE AAA Ee A AETA EAE aA nage t
259. tion signals When Common Pulse mode is selected Outputs pulses and the feed direction is determined by DIR signal When 2 pulse output mode is selected Outputs pulses in the positive direction The output logic can be changed using software DIRx 63 Output Negative Output command pulses for controlling a motor or outputs DIRy 102 direction signal When Common Pulse mode is selected Outputs a direction signal When 2 pulse output mode is selected Output pulses in the negative direction The output logic can be changed using software EAx 58 Input U Input this signal when you want to control the mechanical EBx 59 position using the encoder signal EAy 97 Input a 90 phase difference signal 1x 2x 4x or input positive EBy 98 pulses on EA and negative pulses on EB When inputting 90 phase difference signals if the EA signal phase is ahead of the EB signal the LSI will count pulses The counting direction can be changed using software EZx 60 Input U Negative Input a marker signal this signal is output once for each turn of EZy 99 the encoder when using the marker signal in zero return mode Use of the EZ signal improves zero return precision The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status PAX 56 Input U Input for receiving external drive pulses such as manual pulsar PBx 57 You can input 90 phase difference signals
260. to 1 RENV4 bits 5 to 6 C2D0 to 1 RENV4 bits 13 to 14 C3D0 to 1 RENV4 bits 21 to 22 C4D0 to 1 RENV4 bits 30 to 31 C5D0 to 1 RENV5 bits 6 to 7 118 How to set the INT output external output of comparison results and internal synchronous starting Set an event interrupt cause lt Set IRC1 to 5 bit 8 to 12 in RIRQ gt IRC1 bit 8 1 Output INT signal when the Comparator 1 conditions are satisfied Output INT signal when the Comparator 2 conditions are satisfied Output INT signal when the Comparator 3 conditions are satisfied Output INT signal when the Comparator 4 conditions are satisfied Output INT signal when the Comparator 5 conditions are satisfied IRC2 bit 9 1 IRC3 bit 10 1 IRC4 bit 11 1 IRC5 bit 12 1 RIRQ 15 WRITE 8 nnn Read the event interrupt cause lt ISC1 to 5 bit 8 to 12 in RIST gt IRC1 bit 8 1 When the Comparator 1 conditions are satisfied IRC2 bit 9 1 When the Comparator 2 conditions are satisfied IRC3 bit 10 1 When the Comparator 3 conditions are satisfied bit 11 1 When the Comparator 4 conditions are satisfied IRC5 bit 12 1 When the Comparator 5 conditions are satisfied RIST 15 READ 8 ni n n Read the comparator condition status lt SCP1 to 5 bits 8 to 12 in MSTSW gt SCP1 bit 8 1 When the Comparator 1 conditions are satisfied
261. to P7 terminals to VDD5 through a pull up resistor 5 k to 10 K ohms When connecting a CPU with an 8 bit bus pull up terminals D8 to D15 to VDD5 using an external resistor 5 k to 10k ohms Shared use of one resister for the 8 lines is available Use the ELL terminal to change the EL signal input logic AO WAIT To supply and shut down the power turn both the 5 V and 3 3 V power supplies ON and OFF simultaneously if possible Turning ON only one power supply may feed current to the other side which can shorten the life of the LSI if this condition continues over time 13 6 3 CPU interface circuit block diagram 1 Z80 interface Z80 Decode circuit PCL6025B CLK System reset 2 8086 interface 8086 Decode circuit A4 A19 ALE A16 A19 ADO AD15 A1 A19 PCL6025B CLK Interrupt con E trol circuit RD e WR READY RESET MN MX GND System reset System reset 14 3 H8 interface H8 PCL6025B Decode circuit System reset GND 4 68000 interface 68000 PCL6025B Decode CLK circuit GND Interrupt control IPLO IPL2 circuit 5V System reset Note For the 8086 H8 and 68000 interfaces only word 16 bit access is available Byte 8 bit access is not available 15 6 4 Address map 6 4 1 Axis arrangement map In
262. top FCHGH Immediate change to FH constant speed FL constant speed start for remaining number of pulses FSCHL Decelerate to FL speed FH constant speed start for remaining number of pulses FSCHH Accelerate to FH speed High speed start 1 for remaining number of pulses STOP Immediate stop High speed start 2 for remaining number of pulses SDSTP Deceleration stop lt General purpose port control commands gt Description Description Set the PO terminal LOW Set the PO terminal HIGH Set the P1 terminal LOW Set the P1 terminal HIGH Set the P2 terminal LOW Set the P2 terminal HIGH Set the P3 terminal LOW Set the P3 terminal HIGH Set the P4 terminal LOW Set the P4 terminal HIGH Set the P5 terminal LOW Set the P5 terminal HIGH Set the P6 terminal LOW Set the P6 terminal HIGH Set the P7 terminal LOW lt Control commands gt Symbol Description Symbol Set the P7 terminal HIGH Description NOP Invalid command PRECAN Clear the operation pre register SRST Software reset PCPCAN Clear the RCMP5 pre register CUN1R Reset COUNTER1 command position STAON Substitute PCS input CUN2R Reset COUNTER2 mechanical position LTCH Substitute LTC input CUN3R Reset COUNTERS deflection counter SPSTA Uses the same process as the CS
263. ts main use 15 LTOF LTFD LTM1 LTMO 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 31 30 29 Bit name 28 0 D IDL1 IDLO C5D1 C5D0 C5S2 C5S1 C5S0 C5C2 C5C1 C5C0 27 26 25 24 CU4L CU3L CU2L CU1L 23 22 21 20 19 18 17 16 0 Sait SYI0 SYO3 SYO2 SYO1 SYOO Description C500 to 2 Select a comparison counter for comparator 5 000 COUNTER1 command position 011 COUNTER4 general purpose 001 COUNTER2 mechanical position 100 Positioning counter 010 COUNTERS deflection counter 101 Current speed data C5S0 to 2 Select a comparison method for comparator 5 001 RCMP5 data Comparison counter regardless of counting direction 010 RCMP5 data Comparison counter while counting up 011 RCMP5 data Comparison counter while counting down 100 RCMP5 data gt Comparison counter 101 RCMP5 data lt Comparison counter Others Treats that the comparison conditions are not met C5D0 to 1 Select a process to execute when the Comparator 5 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 8 to 10 IDLO to 2 Enter the number of idling pulses 0 to 7 pulses 11 Not defined Always set to 0 12 to 13 LTMO to 1 Specify the latch timing for a counter COUNTER to 4 00 When the LTC input turns ON 01 On an ORG input 1
264. tting example RENV4 00003838h Use Comparator 1 as positive direction software limit Use Comparator 2 as negative direction software limit Set to stop immediately when the software limit is reached RCMP1 100 000 Positive direction limit value RCMP2 100 000 Negative direction limit value Negative directiion limit position Positive directiion limit position RGMP2 100 000 RGMP1 100 000 Normal operation zone Unable to feed in the Able to feed in Able to feed in Unable to feed in the negative direction the negative the positive positive direction direction direction Operation from the negative direction limit position Operation from the positive direction limit position Specify the comparison method for Comparator 1 lt Set C1S to 2 bits 2 to 4 RENV4 WRITE in RENV4 gt 110 Use as a positive direction software limit Specify the process to use when the Comparator 1 conditions are met lt Set C1D0 to 1 bits 5 to 6 in RENV4 gt 01 Immediate stop 10 Deceleration stop nj n Specify the comparison method for Comparator 2 lt Set C2S0 to 2 bits 10 to RENV4 12 in RENV4 gt 15 110 Use as a negative direction software limit Specify the process to use when the Comparator 2 conditions are met lt Set R C2D0 to 1 bits 13 to 14 in RENV4 gt 15 01 Immediate stop 10 Deceleration stop
265. turn operation 9 ORM 1001 High speed operation lt Sensor EL ORG gt ORG m EL Operation 1 l l Emergency stop Operation 2 Z Emergency Operation 3 KS Note Positions marked with reflect the ERC signal output timing when Automaticall output an ERC signal is selected for the zero stopping position Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is 0 the LSI will output an ERC signal at positions marked with an asterisk 71 9 5 1 11 Zero return operation 10 ORM 1010 High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 Emergency stop Operation 2 Emergency Operation 3 sto 9 5 1 12 Zero return operation 11 ORM 1011 High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG nn nm JI EL Operation 1 Emergency Operation 2 sel Emergency Operation 3 stop 9 5 1 13 Zero return operation 12 ORM 1100 High speed operation lt Sensor EL EZ EZD 0001 gt nn nn bn H EL Operation 1 Note Positions marked with reflect the ERC signal output timing when Automaticall output an ERC signal is selected for the zero stoppin Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is 0 the LSI will output an ERC signal at positions marked with an asterisk 9
266. tween command pulses and pulsar signals and between encoder signals and pulsar signals Setting range 32 768 to 32 767 31 30 29 28 27 26 25 24 23 22 21 2019 18 17 16 15 14131211109 8 765 43 210 amp amp amp QIRIR Bw Bla BBS 8 3 23 RCUN4 register This is a register used for COUNTER4 general purpose counter It can count four types of signals Command pulses encoder signals EA EB input pulsar signals PA PB input and 1 2 ticks of the reference clock Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 For details about the counters see section 11 10 Counters Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 46 8 3 24 RCMP 1 register Specify the comparison data for Comparator 1 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 1 0 8 3 25 RCMP2 register Specify the comparison data for Comparator 2 Setting range 134 217 728 to 134 217 27 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 43 2 1 0 8 3 26 RCMP3 register Specify the comparison data for Comparator 3 Setting range 134 217 72
267. urn ON EL signal 7 0 Applying an input filter to the EL and ORG inputs lt Set FLTR bit 26 in RENV1 gt 1 Apply a filter to the EL and ORG inputs By applying a filter pulses shorter than 4 usec will be ignored 64 9 5 1 Zero return operation After writing a start command the axis will continue feeding until the conditions for a zero return complete are satisfied MOD 10h Positive direction zero return operation 18h Negative direction zero return operation When a zero return is complete the LSI will reset the counter and output an ERC deflection counter clear signal The RENV3 register is used to set the basic zero return method That is whether or not to reset the counter when the zero return is complete Specify whether or not to output the ERC signal in the RENV1 register For details about the ERC signal see 11 6 2 ERC signal Set the zero return method lt Set ORMO to 3 bits 0 to 3 in RENV3 gt RENV3 WRITE 0000 Zero return operation 0 H 0 Stop immediately deceleration stop when feeding at high speed when the 7 n ORG signal turns ON COUNTER reset timing When the ORG input signal turns ON Zero return operation 1 The axis will stop immediately or make a deceleration stop when feeding at high speed when the ORG signal turns ON Then it will feed in t
268. urn ON the DR signal to feed in the negative direction By turning ON the EL signal corresponding to the feed direction the axis will stop operation and issue an error interrupt INT output 63 9 5 Zero position operation mode The following six zero position operation modes are available Operation mode Direction of movement Zero return operation Positive direction Zero return operation Negative direction Leaving the zero position operation Positive direction Leaving the zero position operation Negative direction Zero position search operation Positive direction Zero position search operation Negative direction Depending on the operation method the zero position operation uses the ORG EZ or EL inputs Specify the input logic of the ORG input signal in the RENV1 environment 1 register This register s terminal status can be monitored with an SSTSW sub status command Specify the input logic of the EZ input signal in the RENV2 environment 2 register Specify the number for EZ to count up to for a zero return complete condition in the RENV3 environment 3 register This register s terminal status can be monitored by reading the RSTS extension status register Specify the logic for the EL input signal using the ELL input terminals Specify the operation to execute when the signal turns ON immediate stop deceleration stop in the RENV1 register This register s terminal status can be monitored w
269. urrent speed lt Set LTFD bit 14 in RENV5 gt RENV5 WRITE 1 Latch the current speed instead of COUNTER 3 deflection 15 Specify latching using hardware lt Set LTOF bit 15 in RENV5 gt 1 Do not latch 1 to 4 above with hardware timing Specify the LTC signal mode lt Set LTCL bit 23 in RENV1 gt 0 Latch on the falling edge 1 Latch on the rising edge Set an event interrupt cause lt Set IRLT bit 14 and IROT bit 15 in RIRQ gt IRLT 1 Output an INT signal when the counter value is latched by the LTC signal being turned ON IROT 1 Output an INT signal when the counter value is latched by the ORG signal being turned ON Read the event interrupt cause lt ISLT bit 14 ISOL bit 15 in RIST gt RIST READ ISLT 1 Latch the counter value when the LTC signal turns ON 15 ISOL 1 Latch the counter value when the ORG signal turns ON Read the LTC signal lt SLTC bit 14 in RSTS gt 0 The LTC signal is OFF 15 1 The LTC signal is ON Counter latch command lt LTCH Control command gt Control command Latch the contents of the counters COUNTER1 to 4 29h 115 11 10 4 Stop the counter COUNTER1 command position stops when the PRMD operation mode register is set to stop the counter while in timer mod
270. used as a reverse constant speed for a zero return operation 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 1110 9 8 7 6 5 4 3 2 Although the setting range is 1 to 65 535 the actual speed pps varies with the speed magnification rate setting in the RMG register Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 35 8 3 13 RENV1 register This register is used for Environment setting 1 This is mainly used to set the specifications for input output terminals 15 14 13 12 11 10 ERCL EPW2 EPW1 EPWO EROR EROE ALML ALMM ORGL SDL SDLT SDM ELM PMD2 PMD1 PMDO 31 30 PDTC PCSM INTM DTMF DRF FLTR DRL PCSL LTCL 29 28 27 26 25 24 23 22 21 20 19 18 17 16 NPL CLR1 CLRO STPM STAM ETW1 ETWO Bits Bit name Description Oto2 PMDO to2 Specify OUT output pulse details Positive direction Negative direction PMDO to 2 OUT output DIR output OUT output DIR output 000 LI LI High LILI Low 001 ILI i High 2 L _ low 010 Low e
271. ve Reset a specified counter from COUNTER to 4 CLRy 86 The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status LTCx 47 Input U Negative Latch counter value of specified counters available on more LTCy 87 than one from COUNTER to 4 The input logic can be changed using software The terminal status can be checked using an RSTS command signal FUPx 65 Output Positive Output is HIGH while accelerating FUPy 104 FDWx 66 Output Positive Output is HIGH while decelerating FDWy 105 MVCx 67 Output Positive Output is HIGH while at constant speed MVCy 106 ERCx 69 Output Negative Outputs a deflection counter clear signal to a servo driver as a ERCy 108 pulse The output logic and pulse width can be changed using software ALEVEL signal output is also available The terminal status can be checked using an RSTS command signal BSYx 68 Output Negative Outputs a LOW signal while feeding BSYy 107 POx FUPx 71 Input Positive Common terminal for general purpose I O and FUP See Note POy FUPy 110 Output 5 As an FUP terminal it outputs a LOW signal while accelerating As a general purpose UO terminal three possibilities can be specified input terminal output terminal and one shot pulse output terminal The usage output logic of the FUP and one shot pulse parameters can be changed using software P1x FDWx 72 Input Positive Common terminal for general purpose
272. ve direction Leave from the EL or SL positions Positive direction Leave from the EL or SL positions Negative direction To specify the EL input signal set the input logic using the ELL input terminal Select the operation type immediate stop deceleration stop when the input from that terminal is ON in the RENV1 Environment setting 1 register The status of the terminal can be monitored using the SSTSW sub status For details about setting the SL software limit see section 11 11 2 Software limit function Select the EL signal input logic lt ELL input terminal gt L Positive logic input H Negative logic input Select the stop method to use when the EL signal is turned ON lt Set RENV1 WRITE ELM bit 3 in RENV1 gt 7 0 0 Stop immediately when the EL signal turns ON 1 Decelerates and stops when the EL signal turns ON Reading the EL signal lt SPEL bit 12 SMEL bit 13 in SSTSW gt SSTSM READ SPEL 0 Turn OFF EL signal SPEL 1 Turn ON EL signal 15 SMEL 0 Turn OFF EL signal SMEL 1 Turn ON EL signal Setting the EL input filter lt Set the FLTR bit 26 in RENV1 gt 1 Apply a filter to the EL input After applying a filter signals shorter than 4 usec will be ignored Feed until reaching an EL or SL position This mode is used to continue feeding until the EL or
273. w 011 Setting the direction change timer 0 2 msec function lt Set DTMF bit 28 in RENV1 WRITE RENV1 gt 31 24 0 ON S 9 1 OFF 97 11 3 2 Control the output pulse width and operation complete timing In order to increase the stopping speed this LSI controls the output pulse width When the output pulse speed is slower than 1 8192 of reference clock approx 2 4 Kops when CLK 19 6608 MHz the pulse width is constant and is 4096 cycles of the reference clock approx 200 usec when CLK 19 6608 MHz For faster pulse speeds than this the duty cycle is kept constant approx 50 By setting PDTC bit 13 in the RENV1 register environment setting 1 the output pulse width can be set to make a constant duty cycle 50 Also when setting METM operation completion timing setting in the PRMD register operation mode the operation complete timing can be changed 1 When METM 0 the point at which the output frequency cycle is complete in the PRMD register Output pulse cycle k gt gt 10x Tow OUT Last pulse 1st pulse of the next operation BSY 2 W
274. ways output Output according to the interpolation calculation result Always output Output according to the interpolation calculation result Output according to the Always output interpolation calculation result Output according to the Always output interpolation calculation result Always output Output according to the interpolation calculation result Always output Output according to the interpolation calculation result Output according to the Always output interpolation calculation result The table above shows the PCL output pulses for either of the axes in each area Therefore the number of pulses required for circular interpolation the number of circular interpolation steps is equal to the number of pulses to move around this side of a square that is surrounded by the circle used for the circular interpolation For example to draw a 90 arc with radius a the number of pulses required for circular interpolation will be ay2 x 2 Enter this value in the PRCI register Y axis To obtain the number of steps for any start and end points follow the procedure below 1 First determine the area that the start point belongs to area 0 to 7 Then draw a horizontal vertical line to find the contact point with the square inside the circle Next determine the area that the end point belongs to area 0 to 7 Then draw a vertical horizontal line to find the contact point with t
275. x 4x Counter direction Count up when the EA input phase is leading Count down when the EB input phase is leading 2 Signal input method Input 2 sets of positive and negative pulses Counter direction Count up on the rising edge of the EA input Count down on the falling edge of the EB input The counter direction or EA EB and PA PB input signals can be reversed 112 The LSI can be set to sense an error when both the EA and EB input or both the PA and PB inputs change simultaneously and this error can be detected using the REST error interrupt cause register Set the input signal filter for EA EB EZ lt Set EINF bit 18 in RENV2 gt 0 Turn OFF the filter function 1 Turn ON the filter function Input signals shorter than 3 reference clock cycles are ignored RENV2 23 WRITE 16 ni Setting the EA EB input lt Set EIMO to 1 bit 20 to 21 in RENV2 gt 00 90 phase difference 1x 10 90 phase difference 4x 01 90 phase difference 2x 11 2 sets of up or down input pulses RENV2 WRITE 16 Specify the EA EB input count direction lt Set to EDIR bit 22 in RENV2 gt 0 Count up when the EA phase is leading Or count up on the rising edge of EA 1 Count up when the EB phase is leading Or count up on the rising edge of EB Enable disable EA EB input lt Set EOFF bit 30 in RENV2 gt 0 Enable EA EB input
276. ymbol Detail 4Fh PRSET Pre register set command 2 3 Register control command The following command has been added Read command Write command 2nd Read command Write command Details pre COMBO Symbol COMBO Symbol register COMBO Symbol COMBO Symbol Circular interpolation FDh RRCIC step counter 156 2 4 PRMD RMD register Bit 7 MENI and operation mode MOD details have been added 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 19 18 17 16 Bit name Detail MOD The following operation modes have been added 100 0010 42h Positioning operation specify an absolute position in COUNTER1 100 0011 43h Positioning operation specify an absolute position in COUNTER2 100 0010 52h Positioning operation synchronized with PA PB specify an absolute position in COUNTER 1 100 0011 53h Positioning operation synchronized with PA PB specify an absolute position in COUNTER2 110 1000 68h Continuous linear interpolation 1 synchronized with PA PB 110 1010 6Ah Continuous linear interpolation 2 synchronized with PA PB 110 0011 6Bh Linear interpolation 2 synchronized with PA PB 1 When a pre register is already set the PCL will not output an INT signal even if IEND is changed to 1 2 5 RENV2 register Bits 27 to 31 have been added 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 P7M1 P7MO P6M1 P6M0 P5M1 P5MO P4M1 P4Mo P3M1 P3MO

PCL6025B_Use`rs Manual - Nippon Pulse Motor Taiwan

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