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MCX304 User`s Manual

1. Symbol Description Minimum Standard Maximum 3 05 Height from the installation face to the top end of the A y 0 120 package main unit A1 0 09 0 19 0 29 Height from the installation face to the bottom end of 0 004 0 007 0 011 the package main unit A2 2 5 2 7 2 9 Height from the top to the bottom of the package 0 098 0 106 0 114 main unit b 0 2 0 3 0 4 Pin width 0 008 0 012 0 016 E 0 10 0 15 0 25 Pin thickness 0 004 0 006 0 010 D 23 5 23 8 24 1 Maximum length in the package length direction 0 925 0 937 0 949 including pins D1 19 8 20 0 20 2 Length of the package main unit excluding pins 0 780 0 787 0 795 E 17 5 17 8 18 1 Maximum length in the package width direction 0 689 0 701 0 713 including pin E1 13 8 14 0 14 2 Width of the package main unit excluding pins 0 543 0 551 0 559 0 65 Pin pitch standard size 0 026 L 0 6 0 8 1 0 Length of the flat section of the pins that contacts 0 024 0 031 0 039 the installation face Length from the center of the outer most pin to the 0 575 i a Zd outer most pin section of the package main unit in 0 023 AA the length direction 0 825 Length from the center of the outer most pin to the Ze 0 032 outer most pin section of the package main unit in the width direction H 0 10 Angle of the pin flat section for the installation face 70 NOV
2. Fig 2 29 Concept of Input Signal Filter Circuit As the condition the noise duty ratio time ratio under which noise is generated in the signal must be 1 4 or less In bits D11 to D8 FE3 to FEO of the nWR3 register set whether the filter function of each input signal is enabled or signals are passed through as shown below When 1 is set in each bit the filter function of the signal is enabled Specification bit nWR3 D8 FEO Filter Enable signal EMGN nLMTP nLMTM nSTOPO nSTOP1 D9 FE1 nSTOP2 D10 FE2 nINPOS nALARM D11 FE3 nEXPP nEXPM 2 The EMGN signal is set using the D8 bit of the WR3 register of the X axis 33 NOVA electronics Inc 3 Pin Assignments and Signal Description USTOP1 USTOPO XDR IVE OUTO DCC YDRIVE OUTO DCC ZDRIVE OUTO DCC UDRIVE OUTO DCC XEXPP s 3 3 es ei EN PO SN OTN EECH ec El na D SO 0 CO OO eo ECH D OO eo CECHO OO eo CC CHE E st preleje JJA COOL et CC OO E ATOM EE OS eee SSSI a ON ES SY Sr SE ISO Att E a E En ll et e E e EA EA EA SHH e NNN Hu DD D D S2NNNNNNNZ O gt gt gt 2 A A A NOVA elec MCX304 Pin 1 mark See Chapter 14 for the 100 pin QFP package 23 8 X 17 8mm pin pitch 0 65mm Ub MCX304 M34 GND UECA PPIN ZECB PMIN ZECA PPIN YECB PMIN YECA PP IN XECB PMIN XECA PPIN gt UPM DIR VDD GND gt UPP PLS gt ZPM DIR ZPP PLS gt
3. 52 6 1 Range Setting 52 6 2 Jerk Setting 5 Sone seo 2299 02H HH SOHO a poe Se Sa 53 6 3 Acceleration Setting gt ss S545 seco Se HT TRAE Se Sioa Sse se SSeS 53 6 4 Deceleration Setting 3 5225 EE EE EE 54 6 5 Initial Speed Setting 5529222223927 22259 sas SR See SSeS are 54 6 6 Drive Speed Setting 54 6 7 Output Pulse Number gt io tono oso 2 55 6 8 Manual Decelerating Point Setting 55 6 9 Logical Position Counter Setting TIT TIT TITO 55 6 10 Real position Counter Setting 56 6 11 COMP Register Setting 56 6 12 COMP Register Setting 27235 235222 03370 DRE RO oa ER ERAS 56 6 13 Acceleration Counter Offsetting TITO III TIT TIT 56 6 14 NOP For Axis Switching 7 57 6 15 Automatic Home Search Mode Setting 57 6 16 Home Search Speed Setting nnn nnn nnn nnn nnn nnn nnn nnn nnn ne 57 7 Commands for Reading Data 58 7 1 Logical Position Counter Reading TIT 58 7 2 Real position Counter Reading 9 58 7 3 Current Drive Spe
4. 9 2 2 5 Pulse Width and Speed Accuracy 11 2 3 Position Optreeg 13 2 3 1 Logic Position Counter and Real position Counter 13 2 3 2 Compare Register and Software Limit 13 2 3 3 Position Counter Variable Ring 7 7 7 7 7 7 7 7 7 7 7 7 14 2 3 4 Clearing a Real Position Counter Using an External Signal 14 2 4 Automatic Home Search nnn nnn nnn nnn nnn nnn nnn nc nr nrne 16 2 4 1 Operation of Each Step TIT rrr rrr nrc cans 16 2 4 2 Deviation Counter Clearing Signal Output 18 2 4 3 Setting a Search Speed and a Mode 18 2 4 4 Execution of Automatic Home Search and the Status 19 2 4 5 Errors Occurring at Automatic Home Search 20 2 4 6 Notes on Automatic Home Search 21 2 4 7 Examples of Automatic Home Search 22 Zo GU Sass Sr ss eae a a zi ete a aia aaa ai 26 2 6 Other Functions 2 9292222 oo Span 27 2 6 1 Driving By External Pulses 27 2 6 2 Pulse Output Type Selection 28 2 6 3 Pulse Input Type Selection 29 2 6 4 Hardware Limit Signals 29 2 6 5 Interface to Servo Motor Drivers
5. B1 Update history Nov 14 2012 Revised for the reason ofa literal error Jan 25 2012 Ver 1 11 ii Introduction has been changed into some attentions and a warning Exclamation Marks are added to the font of each attention and warning Prevent Electrostatic Discharge is added P80 Chapter 15 Storage and Recommended Installation Conditions is added P81 Chapter 15 specifications is changed to chapter 16 12 07 2011 Ver 1 10 P21 from active to inactive from inactive to active 09 05 2011 Ver 1 9 P5 EI Changing a Drive speed During Driving and Fig 2 5 has been deleted P5 33 Chapter 2 The figure number of Fig 2 6 Fig 2 29 is carried one because of Fig 2 5 having been deleted P10 e The drive speed may not reach the specified speed during fixed pulse S curve acceleration deceleration driving has been added P45 The low word data writing 16 bit WD15 WD0 is for register RR6 setting and the high word data writing 16 bit WD31 WD16 is for register RR7 setting The low word data writing 16 bit WD15 WD0 is for register WR6 setting and the high word data writing 16 bit WD31 WD16 is for register WR7 setting P73 12 1 DC Characteristics Reservation Temperature Preservation Temperature P75 12 2 3 Input Pulses a In A B quadrature pulse input mode when nECA and nECB input pulses are changed the value of real position counter will be changed to the value of those input pulses changed after the pe
6. 29 2 6 6 Emergency Stop oo T TT TTTTTTT 30 20 7 Status QUIT E ASAS ARSS ARAS RS AA SAA 30 2 6 8 General Purpose Input Output Signal 31 2 6 9 Input Signal Filter 33 3 Pin Assignments and Signal Description 34 4 Register 38 4 1 Register Address by 16 bit Data Bus E 38 4 2 Register Address by 8 bit Data Bus 7 7 7 7 777 77 77 77 7 7 7 7 39 4 3 CommandiRegister WRO 3 225 gt 2328 EE EE EES 40 4 4 Mode Register1 WR1 40 4 5 Mode Register2 W 2 2532 Soo SSS ste ea ee 41 4 6 Mode Register3 WR3 gt rrr TIT 43 4 7 Output Register WR4 WR5 e 44 4 9 Data Register WDGIWP 77 45 4 10 Main Status Register RRO 45 411 Status Register 12 ARV S 2 229 pep Skea Pan SSS SES 46 NOVA electronics Inc MCX304 iv 4 12 Status Register 2 RR2 e 0 47 4 13 Status Register 3 RR3 48 4 14 Input Register RR4 RR5 48 4 15 Data Read Register RR6 RR7 7 7 7 7 49 5 Command Lists 50 6 Commands for Data Writing
7. V is the parameter determining the speed of constant speed period in trapezoidal driving In constant speed driving the drive speed is the initial speed The drive speed calculation is shown in the following formula A 8 000 000 Drive Speed PPS V x R Multiple If the setting drive speed is lower than the initial speed the acceleration deceleration will not be performed and the driving is 5 NOVA electronics Inc MCX304 M55 constant speed During the encoder Z phase searching at a low peed driving if the user want to perform the sudden stop once the Z phase is detected the drive speed should be set lower than the initial speed Drive speed can be altered during the driving When the drive speed of next constant speed period is set the acceleration deceleration will be performed to reach the new setting drive speed then a constant speed driving starts In automatic home search this drive speed is used for high speed search speed of Stepl and the high speed drive speed of Step4 Note a In fixed S curve acceleration deceleration driving there is no way to change the drive speed during the driving In continuous S curve acceleration deceleration driving the S curve profile cannot be exactly tracked if the speed alterations during the acceleration deceleration it is better to change the drive speed in the constant speed period b In fixed trapezoidal driving the frequent cha
8. a The pulses nPP nPM and nPLS of each axis will start outputting after 10 CLK cycles CLK 16MHz and 625nSECmax from WRN b nDRIVE will become Hi level after 4 CLK cycles when WRN is T for each axis b nDRIVE will become Hi level after 4 CLK cycles from WRN for each axis 03 25 2010 Ver 1 8 P11 Added When the fixed S curve acceleration deceleration driving is performed the driving speed does not seldom reach the setting value P54 CP 1 073 741 824 1 073 741 824 CM 1 073 741 824 1 073 741 824 P84 Comparison Register NOVA electronics Inc MCX314As 11 HH COMP Register Position comparison range 1 073 741 824 1 073 741 824 H COMP Register Position comparison range 1 073 741 824 1 073 741 824 PB8 Our email address 10 19 2009 Ver 1 7 P10 Added SV must be set as more than 100 to the constraint of S curve Acceleration Deceleration Driving p55 Separated two cases such as Trapezoidal Acceleration Deceleration Driving and S curve Acceleration Deceleration Driving more clearly and added SV must be set as more than 100 to 6 5 Initial Speed Setting 10 02 2009 Ver 1 6 P42 43 WR2 D9 Descriptions 18 12 2008 Ver 1 5 PB1 B2 Added Appendix B Technical Information I I 6 8 2008 Ver 1 4 PB1 B6 Added Appendix B Technical Information 3 7 2006 Ver 1 3 P75 76 the following items in the table Wavelength Width Reservation Time Hold Time Established Time Se
9. 10 3 Example of Connection with H8 CPU H8 3048 pia ety dul Example of 16 bit Bus Mode Connection MCX304 XTAL EXTAL 7 16MHz CLK RDN WRN CSN A2 A1 AO 1 D15 DO indicates high resistance pul up 5V s Address Assignment in Mode 5 Address Write Register Read Register 80000 WRO RRO Sa 80002 WR1 D I From the reset circuit 80004 WR2 RR2 Orther system 80006 WR3 RR3 80008 WR4 RR4 8000A WR5 RR5 8000C WR6 RR6 Low order data D15 D0 8000E WR7 RRZ High order data D31 D16 H8 3048 Example of 8 bit Bus Mode Connection MCX304 XTAL indicates high resistance pul up INTN H16L8 RESETN From the reset circuit of the system D NOVA electronics Inc 10 4 Connection Example MCX304 M65 The figure shown below illustrates the example of X axis driving system All of 4 axes can be assigned in the same way Stepper Servo Encoder Limit Home Near Home i ERSE E E ERSE ESERSE a Pfaff d a a Limit Positioning Conpletion CW Pulse XPP CCW Pulse I F XPM i i Error Counter Clear et XOUTO MCX304 EC AB Z otor Drives XINPOS Manual Operation Alarm EC A B Z 10 5 Pulse Output Interface Output to Motor Drivers in Differential Circuit ap xecA B XSTOPZ VF XAL
10. DO D1 D2 D3 D4 D5 D6 D7 D8 D9 WR2 SLMT SLMT LMTMD HLMT HLMT CMPSL PLSMD PLS L DIR L PINMD D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO INP E INP L ALM E ALM L PIND1 PINO PINMD DIR L PLS L PLSMD CMPSL HLMT HLMT LMTMD SLMT SLMT Enable disable setting for COMP register which is used as the direction software limit 1 enable 0 disable Once it is enabled during the direction driving if the value of logical real position counter is larger than that of COMP the decelerating stop will be performed The DO SLMT bit of register RR2 will become 1 Under this situation further written direction driving commands will not be executed Note When a position counter variable ring is used a software over run limit cannot be used Enable disable setting for COMP register which is used as the direction software limit 1 enable 0 disable Once it is enabled during the direction driving if the value of logical real position counter is smaller than that of COMP the decelerating stop will be performed The D1 SLMT bit of register RR2 will become 1 Under this situation further written direction driving commends will not be executed The bit for controlling stop type when the hardware limits nLMTP and nLMTM input signals are active 0 sudden stop 1 decelerating stop Setting the logical level of direction limit input
11. For logical position counter LP setting void Ip int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x09 Il ep axis assignment data For real position counter EP setting void ep int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x0a compp axis assignment data For COMP CP setting void compp int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x0b compm axis assignment data For COMP CM setting void compm int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x00 accofst axis assignment data For acceleration counter shift AO setting void accofst int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x0d 68 MCX304 M68 NOVA electronics Inc readlp axis assignment For logical position counter LP reading long readip int axis long a long d6 long d7 outpw adr wr0 axis lt lt 8 0x10 d6 inpw adr rr6 d7 inpw adr rr7 a d6 d7 lt lt 16 return a I readep axis assignment For rea
12. The load capacity for outputting types A B and bi direction type A and B are 20 50pf So the reflection will happen if the PCB wiring is more than 60cm 37 NOVA electronics Inc 4 Register MCX304 M38 This chapter indicates the user how to access all the registers in MCX304 and what are the mapping addresses of these registers 4 1 Register Address by 16 bit Data Bus As shown is the table below when 16 bit data bus is used the access address of read write register is 8 bit E Write Register in 16 bit Data Bus All registers are 16 bit length Address Symbol Register Name Contents A2 A1 AO 0 0 0 WRO Command Register for setting axis assignment and command software reset XWR1 X axis mode register 1 for setting the logical levels of external decelerating sudden stop YWR1 Y axis mode register 1 enable disable the valid invalid of interrupt for each axis and the geons ZWR1 Z axis mode register 1 mode in the real position counter UWR1 U axis mode register 1 XWR2 X axis mode register 2 for setting the limit signal mode driving pulse mode encoder input YWR2 Y axis mode register 2 signal mode the logical levels and enable disable of servo motor SE ZWR2 Z axis mode register 2 signal for each axis and the action mode in the real position counter UWR2 U axis mode register 2 XWR3 X axis mode register 3 for setting the manual deceleration individually decelerating and 01
13. 1 By inputting a home signal in both nSTOPO and nSTOP1 high speed search is enabled by using only one home signal See Example of home search using a home signal only in Section 2 4 7 N HOME HOME STOPO STOP1 Encoder Z phase Deceleration Stop at Detection of Near Home Step 1 High speed Near Home Search Instant Stop at Detection of Step2 Low speed Home Search Instant Stop at Detection of Z Step 3 Low speed Z phase Search phase Step 4 High speed Offset Drive lt a Fig 2 23 Prototype of Automatic Home Search Using This IC 2 4 1 Operation of Each Step In each step it is possible to specify in mode setting execution non execution and the search direction If non execution is specified the function proceeds with the next step without executing the step MStep 1 High speed near home search Dri tput in th ified direction at rive pulses are ou pu in specified direc ion a E E the speed that is set in the drive speed V until the STOPO Search Direction near home signal nSTOPO becomes active To perform high speed search operation set a higher value for the drive speed V than the initial speed Specified SV Acceleration deceleration driving is performed Search Direction E gt and when the near home signal nSTOPO becomes active the operation stops by decelerating Irregular 3 Irregular 1 Irregular 2 Irregular operation 1 The near
14. 4x10 PPS Multiple 500 e Output pulse Number 0 268 435 455 fixed drive Speed Curve Constant speed linear acceleration parabola S curve acceleration deceleration drive Fixed Drive Deceleration Mode auto non symmetrical trapezoidal acceleration is also allowed manual e Output pulse numbers and drive speeds changeable during the driving e Independent 2 pulse system or 1 pulse 1 direction system selectable O Logical levels of drive pulse selectable E Encoder Input O A B quadrature pulse style or Up Down pulse style selectable O Pulse of 1 2 and 4 divisions selectable A B quadrature pulse style E Position Counter O Logic Position Counter for output pulse range 2 147 483 648 2 147 483 647 Real Position Counter for feedback pulse range 2 147 483 648 2 147 483 647 Data read and write possible E Comparison Register e COMP Register Position comparison range 1 073 741 824 1 073 741 824 e COMP Register Position comparison range 1 073 741 824 1 073 741 824 O Status outputs for the comparisons of position counters O Software limit functioned E Automatic home search Automatic execution of Step 1 high speed near home search Step 2 low speed home search Step 3 low speed encoder Z phase search Step 4 high speed offset drive Enable Disable of each step and search direction selectable O Deviation counter clear output Clear pulse width within the range of 10u 20msec and logical level se
15. DO SLMT During the direction driving when logical real position counter gt COMP COMP enabled and used as software limit D1 SLMT During the direction driving when logical real position counter lt COMP COMPenabled and used as software limit D2 HLMT When external direction limit signal nLMTP is on its active level D3 HLMT When external direction limit signal nLMTM is on its active level D4 ALARM When the alarm signal n ALARM for servo motor is on its active level D5 EMG When emergency stop signal EMGN becomes Low level D7 HOME Error during automatic home search execution When encoder z phase signal nSTOP2 is already active at the start of step 3 it will become 1 D12 8 HMST4 0 Automatic home search execution state displays the current executing action during automatic home search execution Please refer to 2 4 4 47 NOVA electronics Inc MCX304 M48 In driving when hardware software limit is active the decelerating stop or sudden stop will be executed Bit SLMT will not become 1 during the reverse direction driving 4 13 Status Register 3 RR3 Each axis is with status register 3 The axis specified by NOP command or the condition before decides which axis s register will be read This register is for reflecting the interrupt factor When interrupt happens the bit with the interrupt factor becomes 1 The user should set the interrupt factor through register WR1 to p
16. For deviation counter clearing output the pin is shared with nDRIVE OUTO and DCC output signals When this bit is set to 1 the pin is set to deviation counter clearing output D12 DCC L Specify a deviation counter clearing output logical level 0 Active High 1 Active Low D15 13 DCCW2 0 Specify an active pulse width of deviation counter clearing output D15 D14 D13 Clearing pulse width DCCW2 DCCW1 DCCWO USEC 0 0 0 10 0 0 1 20 0 1 0 100 0 1 1 200 1 0 0 1 000 1 0 1 2 000 1 1 0 10 000 Note CLK 16MHz 1 1 1 20 000 At resetting all the mode setting bits of each axis are reset to 0 2 4 4 Execution of Automatic Home Search and the Status E Execution of automatic home search Automatic home search is executed by an automatic home search execution command 62h Automatic home search can be executed by writing the command code 62h with the axis assignment to WRO register after correctly setting an automatic home search mode and speed parameter for each axis This function can be executed for each axis individually or for all the axes collectively E Suspension of automatic home search To suspend automatic home search operation write a drive decelerating stop command 26h or a drive instant stop command 27h for the axis The step currently being executed is suspended and automatic home search terminates Main status register Bits D11 to D8 of the main status register RRO indicate the
17. Smith hysteresis voltage Consuming current lio OMA CLK 16MHz Notel INTN output signal has no items for high level output voltage due to the open drain output E Pin Capacity Input Output capacity Ta 25 C f 1MHz D15 DO Input capacity Other input pins ay a NOVA electronics Inc MCX304 M74 12 2 AC Characteristics Ta 0 83 C VDD 5V 5 Output load condition 85 pF 1 TTL 12 2 1 Clock CLK Input Signal CL tWH tWL tCYC Symbol Item Min Max Unit CLK Cycle CLK Hi Level Width CLK Low Level Width 12 2 2 Read Write Cycle Read Cycle Write Cycle A2 A0 Valid Address o Valid Address CSN RDN WRN D15 DO AS Data Input a The figure shown above is used for 16 bit data bus accessing H16L8 Hi For 8 bit data bus H16L8 Low the address signals shown in the figure become A3 A0 and data signals become D7 D0 b At a read cycle the data signal D15 D0 becomes an output state as soon as both RDN and CSN become low and stays in the output state during tDF even if RDN is reset to High Avoid the occurrence of bus conflict collision Address Setup Time to RDN CSN Setup Time to RDN Output Data Delay Time from RDN Output Data Hold Time from RDN 7 CSN Hold Time from RDN 7 Address Hold Time from RDN 7 Address Setup Time to WRN CSN Setup Time to WR
18. WRO Axis Asignment Command code D6 0 Command code setting Please refer to chapter 5 and the chapters following for further description of command codes D11 8 Axis assignment When the bits of the axis are set to 1 the axis is assigned The assignment is not limited only for one axis but for multi axes simultaneously It is possible to write the same parameters also However the data reading is only for one assigned axis D15 RESET IC command resetting When this bit is set to 1 but others are 0 the IC will be reset after command writing After command writing don t access this IC within 875 nSEC When CLK 16 MHz maximum When 8 bit data bus is used the reset is activated when the command 80h is written to register WROH RESET bit should be set to 0 when the other commands are written 4 4 Mode Register1 WR1 Each axis is with mode register WR1 The axis specified by NOP command or the condition before decides which axis s register will be written The register consists of the bit for setting enable disable and enable logical levels of input signal STOP2 STOPO decelerating stop sudden stop during the driving and bit for occurring the interrupt enable disable Once SP2 SP0 are active when the fixed continuous driving starts and also when STOP signal becomes the setting logical level the decelerating stop will be performed during the acceleration deceleration driving and the sudden stop will be performed durin
19. d is near that of initial speed Therefore before driving starts prepare judgmental speed which is middle one between initial speed and setting speed Driving speed initial speed 2 initial speed When execute deceleration stop command during driving make sure status is accelerating ASND 1 or constant speed driving CNST 1 and driving speed is same or faster than judgmental speed 2 Hardware limit nLMTP M signal at deceleration stop mode Case Basically use hardware limit nLMTP M signal at Sudden stop mode when fixed pulse driving in S curve acceleration deceleration Out of necessity when use hardware limit at deceleration stop mode prepare the following measures If multi axes are controlled in the same time 1 When interruption from IC can be used is effective 1 When interruption from IC can be used Constant speed area b area on Figure 3 is set as occurrence factor of interruption But this interruption is also happened when there is d area just before driving stops on Figure 3 such as when driving speed reaches initial speed or when acceleration becomes O zero There should occur d area definitely if the trouble is happened just before driving stops driving speed hasn t reached initial speed yet acceleration becomes 0 and decelerating stop requirement is executed The measure is to judge if the trouble happens or not in the timing of interruption when d area ends Make constant speed area fi
20. E Contents of integral type filters Equipped with integral filters in the input column of each input signal One time constant can be selected from eight types E Electrical Characters O Temperature Range for Driving 0 83 C 32 F 181 F Power Voltage for Driving 5V 5 e Input Output Signal Level CMOS TTL connectable e Input Clock Pulse 16 000 MHz Standard E Package 100 pin plastic QFP pitch 0 65mm Dimension 23 8 x 17 8 x 3 05 mm 230 NOVA electronics Inc MCX304 A1 AppendixA Profile of Speed curve The following curves are based on the test records from MCX304 output drive pulses and speed curve traces The perfect S curve acceleration deceleration is the curve drive without linear acceleration deceleration before the appointed drive speed is reached Partial S curve acceleration deceleration is with a period of linear acceleration deceleration before the appointed drive speed is reached N 40KPPS Perfect S curve acceleration deceleration R 800000 Multiple 10 K 700 A D 200 SV 100 V 4000 A0 0 Auto Deceleration mode Jerk 893K PPS SEC2 40K Acceleration 250K PPS SEC Initial speed 1000 PPS PpS N Drive speed 40K PPS 20K P 10000 P 20000 P 30000 Output Pulse P 50000 j P 5000 i 4 S NW 1 0 2 0sec MI 40KPPS Partial S curve acceleration deceleration R 800000 Multiple 10 K 300 A D 150 SV 100 V 4000 A0 0 Auto Deceleration mode 40K Je
21. Low active Sins Z phase STOP2 signal High 500 ep active pps High speed X Z Phase oto 3500 pulse offset driving Ges Coupler Step 4 20 000pps Motor Driver Output in the direction e For high speed search in Step 1 and offset driving in Step 4 acceleration deceleration driving is performed where linear acceleration is applied at the speed within the range from the initial speed 1 000pps to 20 000pps in 0 2 seconds acceleration speed 19 000 0 2 95 000 pps sec e When Z phase of Step 3 is High active deviation counter pulses of 100psec are output from the XDRIVE OUTO DCC output signal pin The logical level is High active e At completion of Step 4 the logical position counter value and the real position counter value are cleared Parameter and mode setting WRO 010Fh Write X axis selection WR1 0010h Write Input signal logical setting XSTOPO and XSTOP1 Low active XSTOP2 High active See 4 4 WR3 4D00h Write Input signal filter setting See 4 6 D15 D13 010 filter delay 512usec D9 0 XSTOP2 signal Disables the filter through D8 1 XSTOP1 0 signal Enables the filer WR6 495Fh Write Writes an automatic home search mode in WR6 D15 D13 010 Deviation counter clearing pulse width 100usec D12 O Deviation counter clearing output logical level Active High D11 1 Deviation counter clearing output Enable output from the XDCC pin D10 O Uses a limit signal as the home si
22. NOVA electronics Inc MCX304 B4 speed driving speed hasn t reached initial one initial speed time acceleration F acceleration becomes 0 0 SE 4 time Figure 2 Driving speed and acceleration just before driving completion Deceleration status of accelerating ASND constant speed driving CNST and decelerating DSND can be read out according to RR1 resister of IC The status is shown as Figure 3 as below speed d driving speed Figure 3 Status of deceleration shown by RR1 resister The timing when the trouble may possibly happen is shown as d on Figure 3 At this time status of deceleration is constant speed driving CNST 1 Besides in case the trouble such as outputting pulse continuously happens all of ASND CNST and time DSND will become 0 even though RR1 D2 ASND _ __ A its driving RRO nDRV 1 RR1 D3 CNST fl 0 RR1 D4 DSND C 0 RRO DO 3 nDRV lg MT initial speed acceleration Workaround 1 When deceleration stop command 26h is executed Case Basically once deceleration starts it isn t necessary to execute deceleration stop command Therefore deceleration stop command should be prohibit See nRR1 D4 DSND normally to know it s decelerating or not Timing when the trouble happens is in d as shown on Figure 3 if deceleration stop command is executed In d DSND status bit is 0 and CNST status bit is 1 Therefore the fo
23. include lt conio h gt define adr 0x08E0 JI Basic address define wro 0x0 Command register define wrt 0x2 Mode register 1 define wr2 0x4 Mode register 2 define wr3 0x6 Mode register 3 define wr4 0x8 Output register define wr6 Oxc Low word bits data writing register define wr7 Oxe High word bits data writing register define rrO 0x0 Main status register define rr1 0x2 IStatus register 1 define rr2 0x4 IStatus register 2 define rr3 0x6 IStatus register 3 define rr4 0x8 IInput register 1 define rr5 Oxa Input register 2 define rr6 Oxc Low word bits data reading register define rr7 Oxe IHigh word bits data reading register wreg 1 axis assignment data Write register 1 setting void wreg1 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr1 wdata wreg 2 axis assignment data Write register 2 setting void wreg2 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr2 wdata wreg 3 axis assignment data Write register 3 setting void wreg3 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr3 wdata JI command axis assignment data For writing commands void command int axis int cmd outpw adr wr0 axis lt lt 8 cmd range axis assignment data For range R setting void range int axis long wdata outpw adr wr7 w
24. 000 1 RROH 0010 XWR1L YWR1L ZWR1L UWR1L 001 0 XRR1L YRR1L ZRR1L URR1L 001 1 XWR1H YWR1H ZWR1H UWR1H 001 1 XRR1H YRR1H ZRR1H URR1H 010 0 XWR2L YWR2L ZWR2L UWR2L 0 100 XRR2L YRR2L ZRR2L URR2L 010 1 XWR2H YWR2H ZWR2H UWR2H 010 1 XRR2H YRR2H ZRR2H URR2H 0110 XWR3L YWR3L ZWR3L UWR3L 0 11 0 XRR3L YRR3L ZRR3L URR3L O 111 XWR3H YWR3H ZWR3H UWR3H O 111 XRR3H YRR3H ZRR3H URR3H 1000 WR4L 1000 RR4L 100 1 WR4H 100 1 RR4H 101 0 WR5L 10 10 RR5L 1 0 1 1 WR5H 101 1 RR5H 1100 WR6L 1100 RR6L 110 1 WR6H 110 1 RR6H 1110 WR7L 1110 RR7L 1111 WR7H 1111 RR7H 39 NOVA electronics Inc MCX304 M40 4 3 Command Register WRO Command register is used for the axis assignment and command registration for each axis in MCX304 The register consists of the bit for axis assignment bit for setting command code and bit for command resetting After the axis assignment and command code have been written to the register this command will be executed immediately The data such as drive speed setting and data writing command must be written to registers WR6 and WR7 first Otherwise when the reading command is engaged the data will be written and set through IC internal circuit to registers RR6 and RR7 When using the 8 bit data bus the user should write data into the high word byte H then low word byte L It requires 250 nSEC maximum to access the command code when CLK 16MHz Please don t write the next command into WRO within this time
25. 2 4Vmin Low level output current IOL 4mA VOL 0 4Vmax Up to 10 LSTTL can be driven Output B It is open drain type output 4mA driving buffer Low level output current IOL 4mA VOL 0 4Vmax Pull up to 5V with high impedance if this output is used Bi directional A Input side is TTL Smith trigger Because there is no pull high resister for those signals in this IC the user should pull up the data bus with high impedance The user should pull up to 5V with high impedance about 100 kQ when bits D15 D8 are not used Output side is CMOS level output 8mA driving buffer Hi level output current IOH 8mA VOH 2 4Vmin Low level output current IOL 8mA VOL 0 4Vmax Bi directional B Input side is Smith trigger input in TTL level which is pulled up to VDD with high impedance dozens of KQ hundreds of kQ CMOS and TTL can be connected The internal input column of this IC has an integral filter circuit See Section 2 6 9 for the filter function Output side is CMOS level output 4mA driving buffer Hi level output current IOH 4mA VOH 2 4Vmin Low level output current IOL 4mA VOL 0 4Vmax E Notes for the Design of Circuitry a De coupling Capacitor Please connect VDD and GND with one or two De coupling capacitors about 0 1 uF b Noise Generated by Terminal Induction The noise will exist because the inductance is in these pins The user can add a capacitor 10 100pF to pins to reduce the noise c Reflection on Transfer Path
26. 4 driving direction JI D6 0 Step 4 Disable II D5 0 Step 3 search direction JI D4 0 Step 3 Disable 1D3 1 Step 2 search direction direction II D2 1 Step 2 Enable 11 D1 0 Step 1 search direction II DO 0 Step 1 Disable hsspeed 0x8 30 Step 2 search speed 300pps command Oxf 0x62 I All axes execute automatic home search hswait Oxf all axes wait for termination of driving if inpw adr rr0 amp 0x0010 Error message printf X axis Home Search Error Yn cd tra amp 0x0020 printf Y axis Home Search Error Yn PREE amp 0x0040 printf Z axis Home Search Error n i inpw adri rro amp 0x0080 printf U axis Home Search Error n MCX304 M70 ii E ete piete tities RIG RR IRI IRE sete see lee ete IIE IRR void main void int wr3save JI WR3Register Data Save int count outpw adr wr0 0x8000 Software reset for count 0 count lt 2 count command 0x3 0xf X and Y axes mode setting outpw adr wr1 0x0000 Mode register 1 D15 9 0 All the interrupt disabled D8 O D7 0 D6 0 D5 0 STOP2 signal Disable D4 0 STOP2 signal logic Low Active 70 NOVA electronics Inc outpw adr wr2 0xe000 wr3save 0x4d00 outpw adr wr3 wr3save accofst 0x3 0 range 0x3 800000 acac 0x3 1010 acc 0x3 100 dec 0x3 100 startv 0x3 100 speed 0x3 4000 pulse 0x3 100000 Ip 0x3 0 ep 0x3 0 command Oxc
27. Comment Range R Acceleration A Deceleration D Initial speed SV Drive speed V Number of output pulses P Not required at continuous driving Note e In the case of acceleration gt deceleration Fig 2 12 the following condition is applied to the ratio of the acceleration and the deceleration V D Deceleration pps sec D gt A x A Acceleration pps sec Where CLK 16MHz 4 x 40 V Drive Speed pps For instance if the driving speed V 100kps deceleration D must be greater than 1 40 of acceleration A The value must not be less than 1 40 of the acceleration e If acceleration gt deceleration Fig 2 12 the greater the ratio of acceleration A to deceleration D becomes the greater the number of creep pulses becomes about maximum of 10 pulse when A D 10 times When creep pulses cause a problem solve the problem by increasing the initial speed or setting a minus value to the acceleration counter offset NOVA electronics Inc MCX304 M9 2 2 4 S curve Acceleration Deceleration Driving This IC creates an S curve by increasing reducing acceleration decelerations in a primary line at Speed acceleration and deceleration of drive speed i y Drive Speed Figure 2 13 shows the operation of S curve acceleration deceleration When driving starts the acceleration increases on a straight line at the specified jerk K In this case the speed data forms a secondary parabolic curve section a When a
28. Constant Speed Driving Speed pps 980 time SEC Speed Deceleration Acceleration Dive 2222223 Speed 4 Acceleration slope lt Output pulse is too low not sutable for the requirement of drive speed Initial Speed time Fig 2 8 Trapezoidal Driving Symmetrical When the decelerating stop command is performed during the acceleration or when the pulse numbers of the fixed drive do not reach the designated drive speed the driving will be decelerating during acceleration as shown in Fig 2 9 By setting a triangle prevention mode such triangle form can be transformed to a trapezoid form even if the number of output pulses low See the section of triangle prevention of fixed driving To perform symmetrical linear acceleration driving the following parameters must be set parameters marked by will be set when needed Parameter name Symbol Comment Range R Acceleration A Acceleration and deceleration O Beete D Deceleration when acceleration and deceleration are set individually Initial Speed SV Drive Speed V O Number of Output Pulse P Not required for continuous driving NOVA electronics Inc MCX304 M7 E The example of setting Trapezoidal Driving Shown in the figure right hand side acceleration is form the initial speed 500 PPS to 15 000 PPS in 0 3 sec Speed Range R 4 000 000 Multiple 2 pps Acceleration A 193 15 000 500 0 3 48 333 15 000 48 333 1
29. Oxf outpw adr wr1 0x0000 outpw adr wr2 0x0000 outpw adr wr3 0x4d00 MCX304 M7 1 D3 0 STOP 1 signal Disable D2 0 STOP1 signal logic Low Active D1 0 STOPO signal Disable D0 O STOPO signal logic Low Active Mode register 2 D15 1 INPOS input Enable D14 1 INPOS input logic Hi active D13 1 ALARM input Enable D12 0 ALARM input logic Low active ID11 0 D10 0 Encoder input division 1 1 D9 O Encoder input mode 2 phase pulse D8 O Drive pulse direction logic D7 O Drive pulse logic Positive logic D6 O Drive pulse mode 2 pulse D5 O COMP target Logical position counter D4 O over run limit logic Low Active D3 O over run limit logic Low Active D2 0 Over run limit stop mode Decelerating stop D1 O Software over run limit Disable DO O Software over run limit Disable Mode register 3 D15 13 010 Input signal filter delay 512u 1D12 0 D11 1 EXPP and EXPM signal filter Enable D10 1 INPOS and ALARM signal filter Enable D9 O STOP2 signal filter Disable D8 1 EMGN LMTP M STOP1 and 0 filter Enable D7 0 Drive state output Disable D6 O LP EP variable range function Disable D5 O Triangle form prevention at linear acceleration Disable D4 0 External operation signal operation Disable ID3 0 D2 0 Acceleration deceleration curve Lineracceleration trapezoid D1 0 Deceleration Use Acceleration value
30. The logic position counter counts the number of output pulse and the real position counter counts the feedback number of pulse from the external encoder or linear scale E Compare Register and Software Limit Each axis has two 32 bit compare registers for logical position counter and real position counter The comparison result can be read from the status registers The comparison result can be notified by an interrupt signal These registers can be also functioned as software limits E Input Signal Filter The IC is equipped with an integral type filter in the input step of each input signal It is possible to set for each input signal whether the filter function is enabled or the signal is passed through A filter time constant can be selected from eight types MCX304 E 24V nLMTP AR Se a vi a LIMIT e Ti Built in Filter E Driving by External Signal It is possible to control each axis by external signals The direction fixed driving continuous driving or in MPG mode can be also performed through the external signals This function is used for JOG or teaching modes and will share the CPU load E Input for Home Search Each axis has three external input signals to deceleration stop during driving Applying those input signals can perform high speed near home search home search and encoder Z signal search E Servo Motor Feedback Signals Each axis includes input pins for servo feedback signals such as in positi
31. automatic decelolartion DO O Deceleration for fixed driving automatic deceleration X and Y axes operation parameter initial setting IIAO 0 II R 800000 Multiple 10 K 1010 Jerk 619KPPS SEC2 II A 100 Accleration deceleration 125KPPS SEC II D 100 Deceleration 125KPPS SEC II SV 100 Initial speed 1000PPS IIV 4000 Drive speed 40000PPS P 100000 Output pulse number 100000 II LP 0 Logical position counter 0 EP 0 Real position counter 0 Z and U axes mode setting Mode register 1 D15 9 O All the interrupt disabled ID8 0 D7 0 D6 O D5 0 STOP2 signal Disable D4 0 STOP2 signal logic Low Active D3 0 STOP1 signal Disable D3 0 STOP1 signal logic Low Active D2 0 STOPO signal Disable D1 0 STOPO signal logic Low Active Mode register 2 D15 0 INPOS input Disable D14 0 INPOS input logic Low active D13 0 ALARM input Disable 11D12 0 ALARM input logic Low active ID11 0 D10 0 Encoder input division 1 1 D9 O Encoder input mode 2 phase pulse D8 O Drive pulse direction logic D7 O Drive pulse logic Positive logic D6 O Drive pulse mode 2 pulse D5 O COMP target Logical position counter D4 O over run limit logic Low Active D3 O over run limit logic Low Active D2 O Over run limit stop mode Decelerating stop D1 0 Software over run limit Disable DO O S
32. be set 8 while resetting 56 NOVA electronics Inc MCX304 M57 6 14 NOP for Axis Switching Command Data Range Data Length NOP for axis switching No execution is performed Use this command for switching the axis for selecting the registers from WR1 WR3 registers and RR1 RR3 registers 6 15 Automatic Home Search Mode Setting Command Data Range Data Length Automatic Home Search Mode Setting To perform automatic home search mode setting set each mode to WR6 register per bit and then write the command 60h to WRO register with an axis assignment Please refer to 2 4 3 6 16 Home Search Speed Setting Command Data Range Data Length Home search speed Set a low speed home search speed of step 2 and 3 Home search speed HV calculation is shown in the following formula 8 000 000 Home Search Speed PPS HV x _ _ R Multiple Set a value lower than the initial speed SV to stop driving immediately when the search signal becomes active See section 2 4 for details of automatic home search 57 NOVA electronics Inc MCX304 M58 7 Commands for Reading Data Data reading commands are used to read the register contents of each axis After a data reading command is written into register WRO this data will be set in registers RR6 and RR7 The host CPU can reach the data through reading registers RR6 and RR7 Reading data for registers WR6 and WR7 is bi
33. deceleration driving Set an acceleration and a deceleration individually for S curve deceleration fixed driving In case of manual deceleration please set DO bit of register WR3 to 1 and use command 07h for presetting deceleration point As to the other operation the setting is as same as that of fixed driving NOVA electronics Inc MCX304 M5 E Offset Setting for Acceleration Deceleration Driving Speed The offset function can be used for compensating the pulses when the decelerating speed does not Offset Pulse reach the setting initial speed during the S curve fixed driving MCX304 will calculate the acceleration deceleration point automatically and Gg Initial Speed will arrange the pulse numbers in acceleration equal to that in deceleration The method is calculating the time Fig 2 5 Offset for Deceleration output acceleration pulses and comparing them with the remaining pulses When the remaining pulses are equal to or less the pulses in acceleration it starts the deceleration When setting the offset for deceleration MCX304 will start deceleration early for the offset The greater is the positive value set for the offset the closer the automatic declaration point becomes increasing the creep pulses at the initial speed at deceleration termination If a negative value is set for the offset value output may stop prematurely before the speed reaches the initial speed see Fig 2 6 The default value f
34. disabled 0 1 continuous driving mode 1 0 fixed driving mode 1 1 MPG mode When the continuous driving mode is engaged the direction drive pulses will be output continuously once the nEXPP signal is on the Low level the direction pulses will be output continuously once the nEXPM signal is on the Low level When the fixed driving mode is engaged the direction fixed driving starts once the nEXPP signal is falling to the Low level from the Hi level the direction fixed driving starts once the nEXPM signal is falling to the Low level from the Hi level In MPG mode fixed driving in the direction is activated at f of the nEXPP signal when the nEXPM signal is at the Low level The fixed driving is activated at of the nEXPP signal when the nEXPM signal is at the Low level Prevent triangle waveforms during fixed driving at the trapezoidal acceleration deceleration 0 disable 1 enable Note WR3 D5 bit should be reset to 0 when continuous driving is performed after fixed driving Enable the variable ring function of logical position and real position counter 0 disable 1 enable Set whether the input signal filter function enables or signal passes through 0 through 1 enable Specification bit Filter Enable signal D8 FEO EMGN nLMTP nLMTM nSTOPO nSTOP1 D9 FE1 nSTOP2 D10 FE2 nINPOS nALARM D11 EES nEXPP nEXPM 2 The EMGN signal is set using the D8 bit of the WR3 register of the X axis Se
35. driving execution of the axis These bits also indicate execution of automatic home search When automatic home search of each axis starts these bits are set to 1 and the state is maintained from the start of Step 1 operation to the end of Step 4 operation At termination of Step 4 the bits are reset to 0 H E D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RRO o o o U HOM Z HOM Y HOM X HOM U ERR Z ERR Y ERR X ERR U DRV Z DRV Y DRV X DRV AA H PA AO H Automatic Home Search Error of Each Axis Driving of Each Axis Execution State of Each Axis The D3 to DO n DRV bits that indicate drive status of each axis are set to 1 during outputting drive pulse However the bits sometimes indicate 0 in a flash at the change of the steps or while outputting deviation counter clearing The D7 to D4 n ERR bits that indicate an error of each axis sometimes indicate 1 in spite of normal operation when the limit signal in the search direction is set in regular operation of Step 1 or 2 Check these error bits at termination of automatic home search instead of monitoring during execution of automatic home search 19 NOVA electronics Inc E Status register 2 MCX304 M20 Bits D7 to DO of status register 2 RR2 indicate error information and bits D12 to D8 indicate a home search execution state H D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR2 HMST4 HMST3 HMST2 HMST1 HMSTO
36. electronics Inc MCX304 M62 9 Other Commands Note It requires 250 nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 9 1 Automatic Home Search Execution Command Automatic home search execution This command executes automatic home search Before execution of command the automatic home search mode and correct parameters must be set See section 2 4 for details of automatic home search 9 2 Deviation Counter Clear Output Command Deviation counter clear output This command outputs deviation counter clear pulses from the nDRIVE OUTO DCC output pin Before issuing this command set output enable a pulse logical level and a pulse width in using the extension mode setting command See section 2 4 2 for details 62 NOVA electronics Inc MCX304 M63 10 Connection Examples 10 1 Connection Example for 68000 CPU 68000 MCX304 Clock Generator 16MHz A indicates high resistance pull up 1 Add Decoder G OC 5V 74LS348 5V 7415138 TO OO aaa From the reset circuit of the system 10 2 Connection Example for Z80 CPU Z80 MCX304 Clock Generator 16MHz 74LS139 WRN indicates high resistance pul up 5V From the reset circuit of the system 63 NOVA electronics Inc MCX304 M64
37. instance the only frequencies that can be output are double 4 000 MHz triple 2 667 MHz quadruple 2 000 MHz five times 1 600 MHz six times 1 333 MHz seven times 1 143 MHz eight times 1 000 MHz nine times 889 KHz 10 times 800 KHz Any fractional frequencies cannot be output It is not very stable to set any desired drive speed However MCX304 can make any drive speed in using the following method 11 NOVA electronics Inc MCX304 M12 For instance in the case of the range setting value R 80 000 magnification 100 and drive speed setting value V 4900 the speed of driving pulses of 4900x100 490 KPPS is output Since this period is not a multiple integer of the SCLK period pulses of 490KPPS cannot be output under a uniform frequency Therefore as shown in Fig 2 18 MCX304 combines 16 times and 17 times of SCLK period in a rate of 674 326 to generate an average 490K PPS Fig 2 17 The Driving Pulse of 490KPPS According to this method MCX304 can generate a constant speed driving pulse in a very high accuracy In general the higher of the drive speed the lower of the accuracy But for MCX304 it still can maintain relative accuracy when the drive speed is high Actually the accuracy of driving pulse is still within 0 1 Using oscilloscope for observing the driving pulse we can find the jitter about 1SCLK 125nSEC This is no matter when putting the driving to a motor because the jitter will be absorbed b
38. output pulses For fixed driving in acceleration deceleration the E time Fig2 1 Fixed Driving following parameters must be set Parameter name Symbol Comment Range R When acceleration and deceleration Acceleration Deceleration A D are equal the setting of deceleration is not required Initial Speed SV Drive Speed V Number of Output Pulse P E Changing the Number of Output Pulse in Driving The number of output pulse can be changed in the fixed driving If the command is for increasing the output pulse the pulse output profile is shown as Fig 2 2 or 2 3 If the command is for decreasing the output pulses the output pulse will be stopped immediately as shown in Fig 2 4 Furthermore when in the S curve acceleration deceleration driving mode the output pulse number Fig2 2 Change of Output sme change will occur to an incomplete deceleration S curve Pulse Number in Driving Change of Output Pulse time Fig2 3 Changing The Number Fig2 4 Changing The Pulse Number of Output Pulse During Deceleration Less Than Output Pulse Number E Manual Setting Deceleration for fixed Acceleration Deceleration Driving As shown in Fig 2 1 generally the deceleration of fixed acceleration deceleration driving is controlled automatically by MCX304 However in the following situations it should be preset the deceleration point by the users The change of speed is too often in the trapezoidal fixed acceleration
39. return to 0 after the drive pulse output is finished D7 4 n ERR Displaying error status of each axis 45 NOVA electronics Inc MCX304 M46 If any of the error bits D7 D0 of each axis s RR2 register and any of the error finish bits D15 D12 of each axis s RR1 register becomes 1 this bit will become 1 D11 9 n HOM Displaying automatic home search running status of each axis Once automatic home search of each axis starts these bits become 1 during the period from stepl of the start to step 4 of the finish After finished step 4 bits return to 0 4 11 Status Register 1 RR1 Each axis is with status register 1 The axis specified by NOP command or the condition before decides which axis s register will be read Status of Driving Finishing The register can display the comparison result between logical real position counter and COMP the acceleration status of acceleration deceleration driving jerk of S curve acceleration deceleration and the status of driving finishing DO CMP Displaying the comparison result between logical real position counter and COMP register 1 logical real position counter gt COMP register 0 logical real position counter lt COMP register D1 CMP Displaying the comparison Speed 4 result between logical real position counter and COMP register 1 logical real position counter lt COMP register 0 logical real position counter Acc
40. stops by setting the limit At termination the error bit nRR2 D3 2 of the limit of the opposite direction is set to 1 Kept OFF The axis moves in the opposite direction after setting the limit in the specified direction in Step 2 low speed home search and terminates by setting the limit of the opposite direction At termination the error limit nRR2 D3 2 of the limit of the reverse direction is set to 1 Failure in the device of the Kept ON Operation stops due to an error in Step 3 low speed Z phase search Z phase nSTOP2 sensor and nRR2 D7 is set to n wiring path Kept OFF Operation stops in Step 3 low speed Z phase search by setting the limit in the specified direction The error bit of the limit in the specified direction nRR2 D3 2 is set to 1 at termination 2 4 6 Notes on Automatic Home Search Search speed A home search speed HV must be set to a low speed to increase the home search position precision Set a value lower than the initial speed to stop the operation immediately when the input signal becomes active For encoder Z phase search of Step 3 the relationship between the Z phase signal delay and the home search speed HV becomes important For instance if a total of the photo coupler delay time of the Z phase signal path and delay time of the integral filter incorporated in the IC is the maximum 500usec the home search speed must be set so that the encoder Z phase output is ON for more than Imse
41. the diagram One time constant can be selected from eight time constants using the bits D15 to D13 FL2 to FLO of the nWR3 register Using the bits D11 to D8 FE3 to 0 of the nWR3 register it is possible to set whether the XLMTP XLMTM filter function is enabled or the signal is passed through for XSTOPO a number of input signals At reset all the bits in the nWR3 register are cleared to 0 so that the filter function is disabled XSTOP1 for all the input signals and the signals pass XSTOP2 Select a filter time constant from eight stages as shown in the table below When a time constant is increased the XINPOS removable maximum noise width increases however the signal delay time also increases Therefore set an ALARM appropriate value Normally set 2 or 3 for FL2 to FLO XEXPP Removable maximum noise width 1 75uSEC 224uSEC 448uSEC 896uSEC 1 792mSEC 3 584mSEC 7 168mSEC 14 336mSEC Input signal delay time SEH FL2 0 2uSEC 256uSEC 512uSEC 1 024mSEC 2 048mSEC 4 096mSEC 8 192mSEC 16 384mSEC NI ODO Oy BR ON a O 1 Noise width Noise width UL Il INI TC IN Noise duty ratio TC D15 D14 D13 D12 D11 MCX304 M33 D10 D9 D8 FL2 FLA FLO FE3 FE2 FE1 FEO T Oscillation Circuit para e pa A Ms e Ep A Aa e Ep DI pag o LFe i Lp pe
42. when PMIN pulse input Count down when PPIN pulse input D8 SMOD Setting for prioritizing to reach specified drive speed during S curve acceleration deceleration driving 1 enable For the following bits the interrupt is set 1 enable 0 disable D9 P2 C Interrupt occurs when the value of logical real position counter is larger than or equal to that of COMP register D10 P lt C Interrupt occurs when the value of logical real position counter is smaller than that of COMP register D11 P lt C Interrupt occurs when the value of logical real position counter is smaller than that of COMP register D12 P2C Interrupt occurs when the value of logical real position counter is larger than or equal to that of COMP register D13 C END Interrupt occurs at the start of the constant speed drive during an acceleration deceleration driving D14 C STA Interrupt occurs at the end of the constant speed drive during an acceleration deceleration driving D15 D END Interrupt occurs when the driving is finished D15 D0 will be set to 0 while resetting 4 5 Mode Register2 WR2 Each axis is with mode register WR2 The axis specified by NOP command or the condition before decides which axis s register will be written WR2 can be used for setting 1 external limit inputs 2 driving pulse types 3 encoder signal types and 4 the feedback signals from servo drivers 41 NOVA electronics Inc MCX304 M42
43. when external deceleration signal is enabled and active e when external limit switch signals nLMTP nLMTM become active f when nALARM signal is enabled and active and g when EMGN signal is on the Low level cca 99 Above factors a and b can be controlled by the host CPU and factor c can be confirmed by register RR2 even the driving is finished As for factors d g the error status is latched in RR2 until next driving command or a clear command 25h is written After the driving is finished if the error factor bits D15 D12 become 1 n ERR bit of main status register RRO will become 1 Status bit of driving finishing can be cleared when next driving command is written or when the finishing status clear command 25h is used 4 12 Status Register 2 RR2 Each axis is with status register 2 The axis specified by NOP command or the condition before decides which axis s register will be read This register is for reflecting the error information and the automatic home search execution status As for D7 to DO bits when an error occurs the error information bit is set to 1 When one or more of D7 to DO bits of RR2 register are 1 n ERR bits of main status register RRO become 1 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR2 HMST4 HMsT3 HMST2 HMST1 HMSTO HOME o eme ara HLMT HLMT SLMT SLMT Automatic home search execution state Error Information
44. when they are Hi 0 Low 1 Hi Input Signal Pin Number Function of Input Signal Register and Bit indicate status Xx Y Z U X Y Z U nSTOPO 58 65 74 82 Drive stop signal for near home RR4 DO RR4 D8 RR5 DO RR5 D8 nSTOP1 57 64 73 81 Drive stop signal for home RR4 D1 RR4 D9 RR5 D1 RR5 D9 nSTOP2 56 63 72 80 Drive stop signal for Z phase RR4 D2 RR4 D10 RR5 D2 RR5 D10 nEXPP 87 89 93 95 External drive operation signal direction RR4 D4 RR4 D12 RR5 D4 RR5 D12 nEXPM 88 92 94 96 External drive operation signal direction RR4 D5 RR4 D13 RR5 D5 RR5 D13 nINPOS 52 59 68 75 Servo motor in position input signal RR4 D6 RR4 D14 RR5 D6 RR5 D14 nALARM 53 60 69 77 Servo motor alarm input signal RR4 D7 RR4 D15 RR5 D7 RR5 D15 Me NOVA electronics Inc MCX304 M32 D15 D14 D13 D12 D11 RR4 D15 D14 D13 D12 D11 INP D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR5 U ALM U ue ue U ST2 U ST1 U STO Z ALM Z INP zex z Z ST2 Z ST1 Z STO q NOVA electronics Inc 2 6 9 Input Signal Filter This IC is equipped with an integral type filter in the input stage of each input signal Figure 2 30 shows the filter EE configuration of each input signal of the X axis The same circuit is provided to the Y Z and U axes also The time constant of the filter is determined by the T oscillation EMON circuit in
45. 00x10 40000 PPS 2 2 5 Pulse Width and Speed Accuracy E Duty Ratio of Drive Pulse The period time of direction pulse driving of each axis is decided by system clock SCLK The tolerance is within 1SCLK For CLK 16MHz the tolerance is 125nSEC Basically the duty ratio of each pulse is 50 as show in Fig 2 16 When the parameter setting is R 8 000 000 and V 1000 Multiple 1 V 1000PPS the driving pulse is 500uSEC on its Hi level and 500uSEC on its Low level and the period is ImSEC R 8000000 SV 1000 V 1000 Fig 2 15 High Low Level Width of Driving Pulse Output V 1000PPS However during the acceleration deceleration driving the Low level pulse length is shorter than that of Hi level pulse during the acceleration the Low level pulse is longer than that of Hi level pulse during the deceleration See Fig 2 17 Acceleration Area Constant Speed Area Deceleration Area TTT OO gt SS OO tHA tLA tHA gt tLA tHC tLC tHD lt tLD Fig 2 16 Comparison of Drive Pulse Length in Acceleration Deceleration Ml The Accuracy of Drive Speed The clock SCLK running in MCX304 is half of external input clock CLK If CLK input is standard 16MHz SCLK will be 8MHz Therefore the user had better driving the pulse speed in an exact multiple of SCLK period 125nSEC Otherwise the driving pulse will not very stable The frequency speed of driving pulse of MCX304 can be there are all exact the multiple of 125nSEC For
46. 0PPS 11 xP 50000 II yP 25000 Il Fixed drive Release of S curve acceleration deceleration Z axis Constant speed and Fixed driving I1SV 40 Initial speed 400PPS I V 40 Drive speed 400PPS II P 700 Il Fixed drive 700 pulse drive in the direction at 400pps II P 350 Il Fixed drive 350 pulse drive in the direction at 400pps 72 NOVA electronics Inc 12 Electrical Characteristics 12 1 DC Characteristics E Absolute Maximum Rated Power Voltage 0 3 7 0 Input voltage 0 3 al Vop 0 3 Input Current 10 Preservation Temperature Power Voltage 40 125 4 75 5 25 Ambient Temperature E DC Characteristics High level input voltage 0 85 Condition MCX304 M73 If the user wishes to operate the IC below 0 C please make contact with our R amp D engineer Ta 0 83 C Vpp 5V 15 Low level input voltage High level input current Vin Voo Low level input current Vin 0V D15 D0 Input signal Vin 0V Input signal besides D15 D0 High level output voltage lou 1yA Note 1 lou 4mA Output signal besides D15 D0 lou 8mA D15 D0 Output signal Low level output voltage lot 1uA lot 4mA Output signal besides D15 D0 lot 8mA D15 D0 Output signal Output leakage current Vout Vpp or OV D15 DO INTN
47. 1 YWR3 Y axis mode register 3 S curve acceleration deceleration mode for each axis external ZWR3 Z axis mode register 3 operation mode and input signal filter UWR3 U axis mode register 3 10 0 WR4 Output register 1 for setting the general output nOUT3 0 value 10 1 WR5 Output register 2 for setting the general output nNOUT3 0 enable disable 110 WR6 Data writing register 1 for setting the low word 16 bit D15 D0 for data writing 111 WR7 Data writing register 2 for setting the high word 16 bit D31 D16 for data writing e Each axis is with WR1 WR2 and WR3 mode registers Each register is for 4 axis data writing at the same address Before those registers have been accessed the host CPU should specify which axis is going to be accessed by writing a NOP command into WRO The bits of nWR1 nWR2 nWR3 nWR4 and nWR5 will be cleared to 0 after the resetting It will be unknown for other registers 38 NOVA electronics Inc MCX304 M39 E Read Register in 16 bit Data Bus All registers are 16 bit length Address Symbol Register Name Contents A2 A1 AO 0 0 0 RRO Main status register error status driving status automatic home search running status XRR1 X axis status register 1 comparison result acceleration state and jerk state YRR1 Y axis status register 1 finishing status GER ZRRI Z axis status register 1 URRI U axis status register 1 XRR2 X axis status register 2 error message automati
48. 1 or 2 E Symptom at sensor failure This section describes the symptoms when a failure occurs regularly in the sensor circuit such as a home search signal or a limit signal Analysis of intermittent failures caused by noise around the cable path loose cable or unstable operation of the device is difficult and such failures are not applicable to this case These symptoms may occur due to a logical setting error or signal wiring error at the development of a customer system D NOVA electronics Inc MCX304 M21 Failure cause Symptom Failure in the device of the limit Kept ON The axis does not advance to the direction and the limit error bit sensor and wiring path nRR2 D3 2 is set to 1 at termination Kept OFF The axis runs into the mechanical terminal point and the home search operation does not terminate Failure in the device of the near Kept ON Although Step 1 is enabled and automatic home search is started from the home nSTOPO sensor and signal OFF position the axis advances to Step 2 without executing Step 1 wiring path high speed near home search Kept OFF Operation stops in Step 1 high speed near home search by setting the limit and proceeds with irregular operation of Step 2 The home search result is correct however the operation is not normal Failure in the device of the home Kept ON The axis moves in the opposite direction in Step 2 low speed home search nSTOP1 sensor and wiring path and
49. 10 using limit signals bit of extension mode setting to 1 Over Run Limit in the Search Direction STOPO STOP1 LMTM Active MCX304 N eal Section XSTOPI X direction Step 1 Search a gt g Photo Over Run Limit Direction ZS Coupler L 8 E E XLMTM 6 55 O A Step 2 A 2 Vi Operation As shown in the diagram on the right hand side the function moves the axis to the limit at high speed in the direction in Step 2 When the limit signal becomes active the function stops operation by decelerating and advances to Step 2 The function exits control from the limit in the opposite direction by irregular operation of Step 2 and stops operation when Limit Signal Active is detected at low speed in the search direction When the automatic home search starting position is within the limit point A in the diagram on the right hand side operation starts from Step 2 without execution of Step 1 Parameter and mode setting WRO 010Fh Write WR1 0000h Write WR2 0004h Write WR3 4F00h Write WR6 054Fh Write WRO 0160h Write WR6 3500h Write WR7 lt 000Ch Write WRO 0100h Write Selects X axis Input signal logical setting XSTOPO Low active XSTOP1 Low active See 4 4 D4 0 Limit signal logic Low active see 4 5 D2 1 Limit stop mode Decelerating stop Input signal filter setting See 4 6 D15 D13 010 Filter delay 512usec D
50. 11 13 7 5 3 1 D9 15 high word 8bit data when 16 bit bus Depends on 15 nOUT3 H16L8 signal General output signal can be set Enable Disable by WRS register and output level can be set by WR4 register Disable can be set to each bit of WR5 register by 0 and Enable by 1 Also each output signal can be set to each bit of WR4 register for Low by 0 and for Hi by 1 When resetting each bit of WR4 and 5 registers are cleared to 0 H L WR4 Output level settings 0 Low 1 Hi H L D15 Du D13 D12 D11 D10 D D8 D D D5 D4 D3 D2 D1 DO WR5 UOT3E UOT2E UOT1E UOTOE ZOT3E ZOT2E ZOT1E ZOTOE YOT3E YOT2E YOT1E YOTOE XOT3E XOT2E XOT1E XOTOE Output Enable Disable 0 Disable 1 Enable Note a nOUTO output will be indefinite if output is enabled NOUTOE 1 and deviation counter clear output DCC is also enabled in automatic home search b nOUTI output shares the terminal with nSTOP2 input The terminal becomes output status by Enable nNOUTIE 1 c nOUT2 3 output shares the terminal with D15 8 data bus signal When 16 bit bus nOUT2 3 output cannot be used E Input Signal As shown in the table below CPU can take in each input signal status in real time by reading RR4 5 register And these signals can be used as general porpose input signal when the functions of these input signals are not used Each bit in register indicates 0 when input signals are Low respectively and indicates 1
51. 12 5M PPS SEC2 pps S Acceleration 1 25M PPS SEC N N Initial speed 1000 PPS SZ H A Drive speed 400K PPS 200K P 20000 A P 100000 P 200000 Output Pulse P 400000 LL J 1 0 2 0sec A NOVA electronics Inc mM 40KPPS Non symmetrical Trapezoidal acceleration deceleration R 800000 Multiple 10 A 400 D 100 SV 50 V 4000 AO 0 Acceleration 500K PPS SEC Deceleration 125K PPS SEC Initial Speed 500PPS Drive Speed 40K PPS 40K PPS 40K N P 5000 N e S P 2000 P 10000 P 20000 Qutput Pulse P 30000 N MCX304 A3 Individual acceleration deceleration WR3 D1 1 Triangle form prevention ON WR3 D5 1 R 800000 Multiple 10 A 100 D 400 SV 50 V 4000 A0 0 Acceleration 125K PPS SEC Deceleration 500K PPS SEC Initial Speed 500PPS Drive Speed 40K PPS P 5000 y P 2000 P 10000 P 20000 P 30000 1 2sec R 800000 Multiple 10 A 400 D 40 SV 50 V 4000 AO 0 Acceleration 500K PPS SEC Deceleration 50K PPS SEC Initial Speed 500PPS Drive Speed 40K PPS J 1 2sec R 800000 Multiple 10 A 40 D 400 SV 50 V 4000 A0 0 Acceleration 50K PPS SEC Deceleration 500K PPS SEC Initial Speed 500PPS Drive Speed 40K PPS 40K 40K PPS a PPS E a a A P 5000 P 10000 P 20000 Output Pulse P 30000 P 5000 P 10000 P 20000 P 30000 A gt an S D s W a K Si gt SCH i i 1 6sec 1 6sec A3 NOVA electronics Inc
52. 25 M 193 Initial Speed SV 250 500 M 250 Drive Speed V 7 500 15 000 M 7 500 500 Please refer Chapter 6 0 3 time SEC E Triangle Prevention of Fixed Driving The triangle prevention function prevents a triangle form in linear acceleration fixed driving even if the number of Speed output pulses is low When the number of pulses that were Accelerating e P 2x Pa Pd utilized at acceleration and deceleration exceeds 1 2 of the Stop P Output Puse Number i y Pa Number df pulses total number of output pulses during acceleration this IC A Pc utilized at acceleration stops acceleration and enters a constant speed mode Pd Number cf pulses The triangle prevention function is disabled at resetting utilized at deceleration The function can be enabled by setting bit D5 to 1 of the WR3 register Note time Fig 2 9 Triangle Prevention of Linear When continuous driving or automatic home searching Acceleration Driving are performed after fixed driving WR3 D5 bit must be reset to 0 in advance 2 2 3 Non Symmetrical Trapezoidal Acceleration When an object is to be moved using stacking equipment the acceleration and the deceleration of vertical transfer need to be changed since a gravity acceleration is applied to the object This IC can perform automatic deceleration in fixed driving in non symmetrical linear acceleration where the acceleration and the deceleration are different It is not necessar
53. 4 Axes Motor Control IC MCX304 Users Manual 2007 07 02 Ver 1 0 2012 11 14 Ver 1 11 NOVA electronics NOVA electronics Inc MCX304 ii Prevent Electrostatic Discharge ATTENTION This IC is sensitive to electrostatic discharge which can cause internal damage and affect normal operation Follow these guidelines when you handle this IC Touch a grounded object to discharge potential static Wear an approved grounding wrist strap Do not touch pins of this IC D Store this IC in appropriate static safe packaging when not in use WARNING This IC is not designed or intended to be fail safe or for use in any application requiring fail safe performance such as in life support or safety devices or systems that could lead to death personal injury or severe property or environmental damage individually and collectively critical applications Customer must be fully responsible for the use of this IC in critical applications Provide adequate design and operating safeguards in order to minimize risks associated with customer s applications when incorporating this IC in a system EE ATTENTION Before using this IC read this manual thoroughly to ensure correct usage within the scope of the specification such as the signal voltage signal timing and operation parameter values i ATTENTION This IC is equipped with a function that performs decelerating stop Fora fixed pulse drive with S curve deceleration of
54. 8 1 XLMTM XSTOP1 0 signals Enables the filter Writes an automatic home search mode in WR6 D15 D13 000 D12 0 D11 O Deviation counter clearing output Disable D10 1 Using a limit signal as a home signal Enable D9 O Z phase signal AND home signal Disable D8 1 Clearing the logical real position counter Enable D7 O Step 4 driving direction direction D6 1 Step 4 Enable D5 O Step 3 search direction D4 O Step 3 Disable D3 1 Step 2 search direction direction D2 1 Step 2 Enable D1 1 Step 1 search direction direction DO 1 Step 1 Enable Set an automatic home search mode to the X axis Range 8 000 000 Multiple 10 24 NOVA electronics Inc MCX304 M25 WR6 004Ch Write Acceleration speed 95 000 PPS SEC WRO 0102h Write 95000 125 10 76 WR6 0064h Write Initial speed 1000 PPS WRO 0104h Write WR6 07D0h Write Speed of Steps 1 and 4 20000 PPS WRO 0105h Write WR6 0032h Write Speed of Step 2 500 PPS WRO 0161h Write WR6 ODACh Write Offset driving pulse count 3500 WR7 0000h Write WRO 0106h Write Notes on using limit signals The same search direction must be applied for Steps 1 and 2 For Step 3 Z phase search apply a direction opposite to the direction of Steps 1 and 2 For Step 4 also offset driving apply a direction opposite to Steps 1 and 2 and make sure that automatic home search operation stop
55. 8 Input A External Operation direction drive starting signal from external source YEXPM 92 F When the fixed driving is commanded from an external source direction driving will start if this signal is down ZEXPM 94 Otherwise when the continuous driving is commanded from an external UEXPM 96 source driving will start if this signal is on the Low level EMGN 97 Input A Emergency Stop input signal to perform the emergency stop for all axes F When this signal is on the Low level every axis will stop the operation immediately EMG bit of register RR2 of each axis will become 1 The low level pulse width should be more than 2CLK Note For this signal its logical levels cannot be selected GND 8 15 28 40 Ground 0V Terminal 50 66 76 All of the 10 pins must be connected to OV 90 98 100 VDD 9 16 41 67 5V Power Terminal 91 All of the 5 pins must be connected to 5V 36 NOVA electronics Inc MCX304 M37 E Input Output Circuit Input A Smith trigger input in TTL level which is pulled up to VDD with high impedance dozens of kQ hundreds of kQ CMOS and TTL can be connected The user should open or pull up with 5V if the input is not used The signal with F symbol has an integral filter circuit in the internal input column of this IC See Section 2 6 9 for the filter function Output A It is CMOS level output 4mA driving buffer Hi level output current IOH 4mA VOH
56. A electronics Inc MCX304 M80 15 Storage and Recommended Installation Conditions 15 1 MCX304 Storage and Recommended Installation Conditions 15 1 1 Storage of this IC Note the following items in regard to the storage of this IC 1 Do not throw or drop the IC Otherwise the packing material could be torn damaging the airtightness 2 Store the IC under the temperature 30 C or lower and humidity 90 RH or lower and use the IC within 12 months 3 If the IC usage date has expired remove any dampness by baking it under the temperature 125 C for 20 hours If damp proofing is damaged before expiration apply damp removal processing also 4 Apply device corruption prevention using static electricity before applying dampness removal processing 5 After opening the damp proof package store the IC under 30 C 70 RH or lower and install it within seven days Make sure that baking processing is applied before installation of the IC that is left in the storage for a time that exceeds the expiration period as indicated above 15 1 2 Standard Installation Conditions by Soldering Iron The standard installation conditions for the IC by soldering iron are as follows 1 Installation method Soldering iron heating the lead section only 2 Installation conditions 400 C for 3 seconds or less per each lead 15 1 3 Standard Installation Conditions by Solder Reflow The standard installation conditions for the IC by solder reflow are as foll
57. ARM Motor Drives MCX304 CW 3 o CW Am26LS31 COW Am26LS32 O CCW Twist Pair Shield Cable GND o E Open Collector TTL Output Motor Drives MCX304 5V o CW O AM A y K XPP gt o o CW o Y DN ww o ro ai zs St XPM Do o Mo gt 74LS06 Twist Pair Shield Cable GND For drive pulse output signals we recommend the user to use twist pair shield cable due to the concern of EMC 65 NOVA electronics Inc MCX304 M66 10 6 Connection Example for Input Signals Limit signals often pick up some noise since complicated cabling is normally involved A photo coupler alone may not be able to absorb this noise Enable the filter function in the IC and set an appropriate time constant FL 2 3 MCX304 Disable SSES O Integral Filter To the internal circuit Enable O X Axis Over Run Limit 10 7 Connection Example for Encoder The following diagram is the example for the encoder signal which is differential line drive output Then this signal can be received through the high speed photo coupler IC which can direct 1t to MCX304 MCX304 Motor Drives 220 ECA oe AWWA O O XECA x ak i eem 4 ee O O TLP115A an 66 NOVA electronics Inc MCX304 M67 11 Example Program The example of C program for MCX304 is shown in this section This is a 16 bit bus configuration program include lt stdio h gt
58. DIR External Signal External Operation Section UP ES Logical Position Counter 32bit Down INT Internal i Generator Real Position UP Wave ECA PPIN POL Counter 32bit pown Change ECB PMIN LMTP Input Lo JI Integrated LMTM SE register MM Signal Filter INFOS MP ALARM Section SC EMGN Noel STOP1 0 Compare register SC STOP2 0UT1 General Output OUTO OUT3 0 Deviation Counter Clear _ gt DRIVE OUTO DCC Drive status output OUT2 3 shared with D15 D8 Note 1 EMGN is for all axes use Fig 1 2 Functional Block Diagram of Axis Control Section NOVA electronics Inc MCX304 M4 2 The Descriptions of Functions 2 1 Pulse Output Command There are two kinds of pulse output commands fixed driving output and continuous driving output 2 1 1 Fixed Driving Output When host CPU writes a pulse numbers into MCX304 for fixed driving and configures the performance such as acceleration Speed deceleration and speed MCX304 will generate the pulses and A S Sa y 4 Driving Speed output them automatically Fixed driving operation is performed at acceleration deceleration As shown in Fig 2 1 automatic F Auto Deceleration deceleration starts when the number of pulses becomes less than the number of pulses that were utilized at acceleration and Stop Specific driving terminates at completion of the output of the specified Initial Speed Output Pulse P
59. Data Range Data Length Real position counter setting 2 147 483 648 2 147 483 647 4 bytes EP is the parameter setting the value of real position counter Real position counter counts Up Down according to encoder pulse input The data writing and reading of real position counter is possible anytime 6 11 COMP Register Setting Command Data Range Data Length COMP register setting 1 073 741 824 1 073 741 823 4 bytes CP is the parameter setting the value of COM register COMP register is used to compare with logical real position counter and the comparison result will be output to bit DO of register RR1 Also it can be used as the direction software limit The value of COMP register can be written anytime 6 12 COMP Register Setting Command Data Range Data Length COMP register setting 1 073 741 824 1 073 741 823 4 bytes CM is the parameter setting the value of COMP register COMP register is used to compare with logical real position counter and the comparison result will be output to bit DO of RR register Also it can be used as the direction software limit The value of COMP register can be written anytime 6 13 Acceleration Counter Offsetting Command Data Range Data Length Acceleration Counter Offsetting 32 768 32 767 2 bytes AO is the parameter executing acceleration counter offset The offset value of acceleration counter will
60. HOME o ewe ARALM HLMT AHLMT SLMT 4 SLMT Automatic Home Search Execution State L L STOP2 Signal Error at Autoamtic Home Search The error information bit D7 HOME is set to 1 when the encoder Z phase signal nSTOP2 is already active at the start of Step 3 during execution of automatic home search This bit is cleared when the next drive command or an automatic home search command is written The bit can also be cleared by a termination status clearing command 25h An automatic home search execution state indicates the details of the operation that is currently being executed in automatic home search Execution state Execution step Operation details 0 Waits for an automatic home search execution command 3 Step 1 Waits for activation of the STOPO signal in the specified search direction 8 Waits for activation of the STOP1 signal in the direction opposite to the specified search direction irregular operation 12 Step 2 Waits for deactivation of the STOP1 signal in the direction opposite to the specified search direction irregular operation 15 Waits for activation of the STOP1 signal in the specified search direction 20 Step 3 Waits for activation of the STOP2 signal in the specified search direction 25 Step 4 Offset driving in the specified search direction 2 4 5 Errors Occurring at Automatic Home Search The following table lists the errors that may occur during execution of automa
61. MCX304 B1 Appendix B Important notice I Notice for fixed pulse or continuous pulse driving in S curve acceleration deceleration Symptom When using fixed pulse driving or continuous pulse driving in S curve acceleration deceleration driving is performed at an initial speed without acceleration Occurrence Condition 1 When fixed pulse driving or continuous pulse driving is performed in S curve acceleration deceleration mode WR3 D2 1 2 the value of Drive speed V Initial speed SV is lower than the half value of V SV which is driven just before 3 And in the driving just before wnen ACC counter which is used in S curve acceleration deceleration driving in the IC is not returned to 0 at the end of driving Workaround Before start of driving use following steps to workaround this behavior with an inspection command to clear the internal ACC counter This command is not described in the manual When fixed pulse driving or continuous pulse driving is performed in S curve acceleration deceleration mode WR3 D2 1 write 44h command just before all the drive commands are written Example Set mode for S curve acceleration deceleration Set Range R Set Jerk K Set Acceleration A Set Initial speed SV Set Drive speed V Set Output pulse number P WRO lt Axis assignment 44h Command for workaround WRO lt Axis assignment 20h Fixed pulse drive in the direction Waits for termination of drivi
62. N WRN Low Level Width Setup Time of Input Data to WRN 7 Hold Time of Input Data from WRN 7 CSN Hold Time from WRN 7 Address Hold Time from WRN 7 ZS NOVA electronics Inc MCX304 M75 12 2 3 Input Pulses E Quadrature Pulses Input Mode A B phases Count up Count down nECA nECB nPPIN nPMIN a In quadrature pulses input mode when nECA and nECB input pulses are changed the value of real position counter will be reflected in maximum 8 SCLK cycles b In UP DOWN pulse input mode the value of real position counter will be reflected in maximum 8 SCLK cycles from nPPIN and nPMIN input f nECA and nECB Phase Difference Time tCYCx2 20 nPPIN and nPMIN Hi Level Width tCYCx2 20 nPPIN and nPMIN Low Level Width tCYCx2 20 nPPIN and nPMIN Cycle tCYCx4 20 nPPIN T lt nPMIN 7 between Time tCYCx4 20 tCYC is a cycle of CLK 12 2 4 General Purpose Input Output Signals The figure shown at the lower left hand side illustrates the delay time when input signals nSTOP2 0 nEXPP nEXPM nINPOS and nALARM are read through RR4 and RRS registers When filter is disabled The figure shown at the lower right hand side illustrates the delay time when writing general output signal data into WR4 Input Signal D15 0 D15 0 nOUT3 0 tD KEES tDl Input Signal Data Delay Time tDO WRN 7 gt nOUT3 0 Setup Time 32 ns 275 NOVA electronic
63. NOVA electronics Inc MCX304 M77 13 4 Sudden Stop The following figure illustrates the timing of sudden stop The sudden stop input signals are EMGN nLMTP M When the sudden stop mode is engaged and n ALARM When sudden stop input signal becomes active or the sudden stop command is written it will stop the output of pulses immediately CLK Signal Command WEN A nPP nPM nPLS nDRIVE The width of the pulse for an instant stop input signal must be more than 2 CLK cycles even if input signal filter is disabled When the input signal filter is enabled the input signal will be delayed according to the constant value at filtering 13 5 Decelerating Stop The following figure illustrates the timing of decelerating stop input signal and decelerating commands The decelerating stop signal are nSTOP2 0 and nLMTP M When the decelerating mode is engaged When speed decelerating signals become active or the decelerating stop command is written the decelerating stop function will be performed Signal Command WRN Active nPP ap ap UUUUUUUUUUUUU UL LI LI bo LL L NRR1 D4 DSND A If the input signal filter is disabled the input signal is delayed according to the value of the time constant of the filter 277 NOVA electronics Inc MCX304 M78 14 Package Dimensions NOVA elec MCX304 i 78 NOVA electronics Inc MCX304 M79 Size mm inch
64. P and nEXPM is normally set on Hi In MPG mode the A phase signal is connected to nEXPP input and the B phase signal to nEXPM input E Fixed Driving Mode Set bits D4 and D3 of register WR3 to 1 and 0 respectively and set all the parameters of fixed driving Once nEXPP is falling down to the Low level the direction fixed driving will start once nEXPM is raising to the Hi level the direction fixed driving will start The width of Low level signal must be larger than 4 CLK cycle Before this driving is finished a new Hi to Low level falling down of the signal is invalid XEXPP XEXPM op e U UUU E Fig 2 25 Example of The Constant Driving by External Signal E Continuous Driving Mode Set bits D4 and D3 of register WR3 to b 0 and 1 respectively and set all the parameters of continuous driving Once nEXPP is falling down to the Low level the direction continuous driving will start once nEXPM is raising to the Low level the direction continuous driving will start When nEXPP and nEXPM returns to the Hi level from the Low level the decelerating stop will be performed in trapezoidal driving and the sudden stop in constant speed driving ABRES Low period XEXPM Low period XPP Fig 2 26 Example of The Continuous Driving by External Signal 27 NOVA electronics Inc MCX304 M28 E MPG mode Set the bits D4 and D3 of the WR3 register to 1 and set the necessary speed parameter for drivin
65. PPS WR6 07DOh Write WRO 0105h Write Speed of Steps 1 and 4 20000 PPS WR6 0032h Write Speed of Step 2 500 PPS D NOVA electronics Inc MCX304 M24 WRO 0161h Write WR6 ODACh Write WR7 0000h Write WRO 0106h Write Offset driving pulse count 3500 E Example of home search using a limit signal For a simple home search a limit signal of one side is used as an alternative home signal However the following two conditions are applied a When high speed search operation is performed decelerating stop must be able to be performed sufficiently within the distance from the limit signal activation position to the mechanical limit position b The automatic home search position is not beyond the limit signal active section in the search direction In this example a limit signal in one direction is used as an alternative home signal Connect XLMTM input to the XSTOPO and XSTOPI input pins as shown in the diagram on the left hand side Note This IC pin signal must be connected If an external signal is connected from the photo coupler of each signal an operation error may occur due to the photo coupler delay time difference e Since high speed search of Step 1 is performed set the limit stop mode to a decelerating stop mode Section 4 5 WR3 D2 bit e Set the same logical level for the XLMTM XSTOPO and XSTOPI signals Section 4 5 WR3 D4 bit and Section 4 4 WR1 DO and D2 bits e Set D
66. YPM DIR gt YPP PLS gt XPM DIR gt XPP PLS gt INTN TESTN NOVA electronics Inc E Signal Description MCX304 M35 Signals KOOO YOOO ZOOO and UOOO are input output signals for X Y Z and U axes where n stands for X Y Z and U If the signals are named OOON they are negative active or low active See the end of this chapter for description of input output circuits An integral filter circuit is available in the internal input column of this IC for the input signals with F symbol See Section 2 6 9 for the filter function Signal Name Pin No Input Output Signal Description CLK 99 Input A Clock clock signal for internal synchronous loop of MCX304 The standard frequency is 16 MHz This signal is for drive speed acceleration deceleration and jerk If the frequency setting is not 16 MHz the setting values of speed and acceleration deceleration are different D15 UOUT3 1 Bi directional A DATA BUS General Output 2 3 high word 8 bit data signal when 16 bit data bus H16L8 Hi DADU 2 When CSN Low and RDN Low these signals are for outputting Otherwise D13 ZOUT3 3 they are high impedance inputs When 8 bit data bus H16L8 Low is used D12 ZOUT2 4 these 8 signal paths cannot be used as data bus but can be used as general purpose output signal DITYOUTS 3 These signals should be pull up to 5V through high impedance D10 YOUT2 6 about 100 KQ when data bus is 8 bit and n
67. abolic Acceleration Deceleration NOVA electronics Inc MCX304 M10 Therefore the total the number of pulse p t from time 0 to t is the integrated of speed p t 1 3 x at The total output pulse is 1 3 2 3 1 2 3 1 1 3 x at 4 at so p t 1 12 total pulse output Therefore when the output pulse in acceleration of S curve is more than 1 12 of total output pulse MCX304 will stop increasing acceleration and start to decrease the acceleration value In the constant acceleration part when the output pulse in acceleration reaches 4 1 of total output pulse MCX304 will start to decrease the acceleration value Ml The Decelerating Stop for Preventing the Triangle Driving Profile When the decelerating stop is commanded during the Speed A acceleration deceleration driving the acceleration is decreasing then the deceleration starts when the acceleration reaches 0 E Constraints for S curve Acceleration Deceleration Driving time a The drive speed cannot be changed during the fixed S curve 2 Decrease the Acceleration value Accelerationi Deceleration acceleration deceleration driving b When the fixed S curve acceleration deceleration driving is performed the change of the numbers of output pulse during f ges 6 e the deceleration will not result a normal S curve driving 1 Request for ias Stop time profile 3 Acc become zero Dec begins c If an extremely low value is set as the initia
68. als can be used as general input signal when they are not used as function except for EMGN signal Please refer to 2 6 8 is NOVA electronics Inc MCX304 M49 Bit Name Input Signal n STO n STOPO n ST1 n STOP1 n ST2 n STOP2 EMG EMGN n EX nEXPP n EX nEXPM n INP nINPOS n ALM nALARM 4 15 Data Read Register RR6 RR7 According to the data read command the data of internal registers will be set into registers RR6 and RR7 The low word 16 bits D15 DO is set in RR6 register and the high word 16 bits D31 D16 is set in RR7 register for data reading H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO are row eon row oi ron nor roo ror ror row oom a nea rez nor 0 H E D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RD31 RD30 RD29 RD28 RD27 RD26 RD25 RD24 RD23 RD22 RD21 RD20 RD19 RD18 RD17 RD16 The data is binary formatted 2 s complement is for negatives 492 NOVA electronics Inc 5 Command Lists E Write Commands MCX304 M50 Code Command Symbol Data Range Data Length 00h Range setting R R 8 000 000 multiple 1 16 000 multiple 500 4 bytes 01 Jerk setting K 1 65 535 2 Acceleration increasing rate 02 Acceleration setting A 1 8 000 2 03 Deceleration setting D 1 8 000 2 04 Initial speed setting SV 1 8 000 2 05 Drive speed setting V 1 8 000 2 06 Output pulse numbe
69. arch speed HV until the home signal nSTOP1 becomes active When the home signal nSTOP1 becomes active the motor drives in the direction opposite to the specified search direction at the home search speed HV until the home signal nSTOP1 becomes inactive When the home signal nSTOP1 becomes inactive the function executes Step 2 from the beginning 3 The limit signal in the search direction becomes active during execution Driving stops and the same operation as for 2 is performed MI Step 3 Low speed Z phase search Drive pulses are output in the specified direction at the speed that is set as the Over Run Limit in the home search speed HV until the STOP2 on Direction encoder Z phase signal nSTOP2 Normal Operation becomes active To perform low speed Specified Search Direction E gt search operation set a lower value for the home search speed HV than the initial speed SV A fixed speed driving mode is applied and driving Error 3 Error 1 Error 2 stops instantly when the encoder Z phase signal nSTOP2 becomes active As the search condition for stopping driving the AND condition of the encoder Z phase signal nSTOP2 and the home signal nSTOP1 can be applied A deviation counter clear signal can be output for a servomotor when the encoder Z phase signal nSTOP2 rises to active See Section 2 4 2 The real position counter EP can be cleared when an encoder Z phase signal nSTOP2 rises to act
70. are Limit Each axis has as shown in Fig 2 19 two 32 bit registers which can compare the logical positions with the real positions The logical position and real position counters are selected by bit D5 CMPSL of WR2 register The main function of COMP Register is to check out the upper limit of logical real position counter When the value in the logical real position counters are larger than that of COMP Register bit DO CMP of register RR1 will become 1 On the other hand COMP Register is used for the lower limit of logical real position counter When the value of logical real position counter become smaller than hat of COMP Register bit D1 CMP of register RR1 will become 1 Fig 2 20 is an example for COMP 10000 COMP 1000 COMP and COMP registers can be used as software limit RR1 D0 0 Si RR1 DO 0 OP RR1 DO 1 COMP registerCP 10000 RR1 D1 1 RR1 D1 0 RR1 D1 0 COMP registerCM 1000 AAA tt tt ht HH HH 1000 O 10000 Fig 2 19 Example of COMP Register Setting When DO and D1 bits of WR2 register are set to 1 it enables the software limit In driving if the value of logical real counter is larger than COMP the decelerating stop will be performed and DO SLMT of RR2 register will change to 1 If the value of logical actual counter is smaller than that of COMP the DO bit of RR2 register will change to 0 automatically Host CPU can write the COMP and COMP registers any time However whe
71. ation Use Acceleration value automatic decelolartion DO O Deceleration for fixed driving automatic deceleration Z and U axes operation parameter initial setting IIAO 0 II R 800000 Multiple 10 K 1010 Jerk 619KPPS SEC2 ILA 100 Accleration deceleration 125KPPS SEC IID 100 Deceleration 125KPPS SEC II SV 50 Initial speed 500PPS IIN 40 Drive speed 400PPS II P 10 Output pulse number 10 II LP 0 Logical position counter 0 Mea General output register initial setting output register 00000000 00000000 output enable register 00000000 00000000 All axes home search Mea X and Y axes linear acceleration driving I A 200 Accleration deceleration 250KPPS SEC IIV 4000 Drive speed 40000PPS II xP 80000 II yP 40000 11 fixed drive Waits for termination of driving X axis non symmetrical linear acceleration driving Acceleration deceleration individual non symmetrical mode II xA 200 Accleration deceleration 250KPPS SEC II xD 50 Deceleration 62 5KPPS SEC IIXV 4000 Drive speed 40000PPS I xP 80000 II fixed drive II Waits for termination of driving Release of acceleration deceleration individual mode X and Y axes S curve acceleration deceleration driving S curve mode K 1010 Jerk 619KPPS SEC2 I A 200 Accleration deceleration 250KPPS SEC IIV 4000 Drive speed 4000
72. c E Step 3 Z phase search starting position In Z phase search of Step 3 the function stops search driving when the Z phase signal nSTOP2 changes from inactive to active Therefore the Step 3 starting position that is Step 2 stop position must be stable and must be different from this change point Normally adjust mechanically so that the Step 3 starting position becomes the 180 opposite side to the encoder Z phase position E Software limit Disable the software limit during execution of automatic home search If software limit is enabled automatic home search is not performed correctly Set a software limit after setting a real position counter following normal completion of automatic home search E Logical setting of each input signal Use the bits WR1 D2 D4 and D7 of the WR1 register for input signal nSTOPO 1 2 of active logical setting that is used by automatic home search At automatic home search the contents set in the bits WR1 D1 D3 and D5 that enable disable each signal are ignored 21 NOVA electronics Inc MCX304 M22 2 4 7 Examples of Automatic Home Search E Example of home search using a near home home or a Z phase signal Operation Search Search Input signal and logical level ee MCX304 direction speed X Near Home X Home Near home signal STOPO Photo Step 1 20 000pps Coupler signal Low active XSTOPO DEJ Home STOP1 signal XSTOP1 Ae Step 2 500pps
73. c home search execution state YRR2 Y axis status register 2 GE ZRR2 Z axis status register 2 URR2 U axis status register 2 XRR3 X axis status register 3 interrupt message 011 YRR3 Y axis status register 3 ZRR3 Z axis status register 3 URR3 U axis status register 3 ER RR4 Input register 1 I O input for X and Y axes 101 RR5 Input register 2 I O input for Z and U axes 110 RR6 Data reading register 1 low word of data register D15 DO 111 RR7 Data reading register 2 high word of data register D31 D16 e Each axis is with RRI RR2 and RR3 mode registers Each register is for 4 axis data writing at the same address Before those registers have been accessed the host CPU should specify which axis is going to be accessed by writing a NOP command into WRO 4 2 Register Address by 8 bit Data Bus In case of the 8 bit data bus access the 16 bit data bus can be divided into high and low word byte As shown in the table below xxxxL is the low word byte D7 D0 of 16 bit register xxxx xxxxH is the high word byte D15 8 of 16 bit register xxxx Only for the command register WROL WROH the user must write to the high word byte WROH then to the low word byte WROL E Write Register in 8 bit Data Bus E Read Register in 8 bit Data Bus Address Write Register Address Read Register A3 A2 A1 AO A3 A2 A1 AO 000 0 WROL 0 0 0 0 RROL 000 1 WROH
74. cceleration reaches Initial Speed designation value A acceleration is maintained In Time this case the speed data forms an increase on a straight Acceleration line section b Deceleration If the difference between the specified drive speed Designati V and the current speed becomes less than the speed Se value that was utilized at the increase of acceleration the acceleration starts to decrease towards 0 The decrease ratio is the same as the increase ratio and the acceleration decreases in a linear form of the specified Acceleration Deceleration Time jerk K In this case the speed data forms a secondary Fig 2 12 S Curve Acceleration Deceleration Driving parabolic curve section c Thus the case that acceleration has a constant part in its acceleration this book calls it The Partial S curve Acceleration On the other hand if the difference between the specified drive speed V and the current speed becomes less than the speed that was utilized at the increase of acceleration before acceleration reaches designation value A section shifts from a to c without b section Thus the case that acceleration does not have a constant part in its acceleration it calls The Perfect S curve Acceleration Please refer to example of parameter settings described later and appendix regarding cases of the partial S curve acceleration and the perfect S curve acceleration Also at the deceleration the speed for
75. culation is shown in the following formula i 62 5 x10 8 000 000 Jerk PPS SEC x K L R i Multiple Because the setting range of jerk is 1 65 535 the jerk range is shown as follows When Multiple 1 954 PPS SEC 62 5 x 10 PPS SEC When Multiple 500 477 x 10 PPS SEC 31 25 10 PPS SEC Note This book uses the word jerk to express increase decrease of acceleration deceleration and increase decrease rate per unit 6 3 Acceleration Setting Command Data Range Data Length Acceleration setting 2 bytes In linear acceleration deceleration driving A is the parameter determining the acceleration at acceleration and deceleration at deceleration Acceleration deceleration increases on a straight line from 0 to the specified value when S curve acceleration deceleration driving Please refer to Fig 2 13 The acceleration calculation is shown in the following formula 8 000 000 Acceleration PPS SEC A x 125 x o R Multiple For the range of A is from 1 8 000 the actual acceleration range is shown as follows When Multiple 1 125 PPS SEC 1 x 10 PPS SEC When Multiple 500 62 5 x 10 PPS SEC 500 x 10 PPS SEC 53 NOVA electronics Inc MCX304 M54 6 4 Deceleration Setting Command Data Range Data Length Deceleration setting 2 bytes In linear acceleration deceleration driving D is the parameter determ
76. data gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x00 ll acac axis assignment data For Jerk K setting void acac int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x01 ll acc axis assignment data For acceleration deceleration A setting void acc int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x02 67 NOVA electronics Inc dec axis assignment data For deceleration D setting void dec int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x03 startv axis assignment data For initial speed SV setting void startv int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x04 speed axis assignment data For drive speed V setting void speed int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x05 pulse axis assignment data For output pulse output P setting void pulse int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x06 decp axis assignment data For manual deceleration DP setting void decp int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x07 II Ip axis assignment data
77. direction at 20 000pps Il Step2 Home stop1 signal low speed search in the direction at 500pps JI Step3 Z phase stop2 signal low speed search in the direction at 500pps Deviation counter clear output at Z phase search JI Step4 700 pulse offset high speed drive in the direction at 20 000pps Z axis home search JI Step1 high speed search None H Step2 Home stop1 signal low speed search in the direction at 400pps JI Step3 Z phase search None JI Step4 20 pulse offset drive in the direction at 400pps U axis home search JI Step1 high speed search None IJ Step2 Home stop1 signal low speed search in the direction at 300pps JI Step3 Z phase search None JI Step4 Offset drive None void homesrch void hsmode 0x3 0x497f II X and Y axes home search mode setting D15 D13 010 Deviation counter clear pulse width 100 y sec 11D12 0 Deviation counter clear output logical level Hi 11D11 1 Deviation counter clear output Enable II D10 0 Use of limit signal as a home signal Disable 11 D9 0 Z phase signal and home signal Disable 11 D8 1 Logical Real position counter clear Enable 11D7 0 Step 4 driving direction direction 11 D6 1 Step 4 Enable II D5 1 Step 3 search direction direction 69 MCX304 M69 NOVA electronics Inc 11 D4 1 Step 3 Enable 11 D3 1 Step 2 search direction direc
78. e are two types of pulse output independent 2 pulse type when the driving is in direction the pulse output is from nPP PLS when the driving is in direction the pulse output is from nPM DIR 1 pulse 1 direction type nPP PLS is for pulse outputting and nPM DIR is for direction signal outputting pulse direction is set on the positive logical level deet Pulse Output Waveform Pulse Output Type Drive Direction nPP PLS Signal nPM DIR Signal Direction aunn pewlene Independent 2 pulse Low level Direction n n Direction M I Low level 1 pulse 1 direction Direction ic Hi level Bit D6 PLSMD of register WR2 is used for the selection of pulse output type Additionally bits D7 PLS L and D8 DIR L of register WR2 can be used for pulse outputting direction and logical level setting 28 NOVA electronics Inc MCX304 M29 Note Please refer to Chapter 13 2 13 3 for the pulse signal nPLS and direction signal nDIR in 1 pulse 1 direction pulse outputting 2 6 3 Pulse Input Type Selection For real position counter A B quadrature pulse type and Up Down pulse type can be selected for pulse input E A B quadrature pulse input mode A B quadrature pulse input mode can be set by setting the D9 PINMD bit of the WR2 register to 0 In this mode at the time of reset WR1 D7 0 when A phase is advancing
79. earch using a home search signal only In this example high speed home search is triggered by one home signal that is input to both the STOPO and STOP pins of this IC Operation MCX304 inputsidnalandilodic ilevel Search Search Photo X Home nput signal and logical leve P g 3 direction speed Coupler JUL Near home STOPO Signal XSTOPO yy Step 1 20 000pps XSTOP1 SS Low active Home STOP1 signal Step 2 i 500pps Low active Step 3 Not executed 3500 pulse offset driving in Step 4 20 000pps the direction As shown in the table the same search direction is specified for the signal logical levels of Step 1 and Step 2 An opposite logical level may also be set High speed home search is performed in Step 1 and operation stops by decelerating when the home signal becomes active If the stop position is within the home signal active section controls escapes in the opposite direction by the irregular operation of Step 2 and searches a home in operation of Step 2 If the Step 1 stop position passed through the home signal Over Run Limit in the active section the limit in the search direction is set in Step STOPO STOP1 Search Direction 2 In this case irregular operation O is performed M Active Active e rer Section Section When the automatic home search starting position is in Search point A as shown in the diagram the function performs Step 1 Dire mi irregular operation of Step 2
80. ectronics Inc MCX304 v 10 7 Connection Example for Encoder 66 11 Example Program RS O OR 67 12 Electrical Characteristics 73 12 1 DC Characteristics III 73 12 2 AG Characteristics EE oa 74 12 2 1 Clock 74 12 2 2 Read Write Cycle ee P S9 9222252 9 SES 2 SR 74 12 23 e ee 75 12 2 4 General Purpose Input Output Signals 75 13 Timing of Input Output Signals 76 13 1 Power Or Reset 222222330 SOSA 76 13 2 Fixed or Continuous Driving 76 13 3 Start Driving after Hold Command 76 13 4 Sudden Stop 3252 AO REA E A a 77 13 5 Decelerating Stop o 0 77 14 Package Dimensions sasea RA 78 15 Storage and Recommended Installation Conditions 80 16 1 Storage and Recommended Installation Conditions of MCX304 80 16 1 1Storage of this 16 2 23 3 252 EE 80 16 1 2 Standard Installation Conditions by Soldering Iron 80 16 1 3 Standard Installation Conditions by Solder Reflow 80 16 Specifications eee o eee esa i i 81 Appendix A Speed Profile of Acceleration Deceleration Drive Ai Appendix B Important Notice
81. ed Reading TIT TIT TITS 58 7 4 Current Acceleration Deceleration Reading 58 8 Driving Commands 59 8 1 Direction Fixed Driving S 2 9291509922 59 8 2 Direction Fixed Driving 59 8 3 Direction Continuous Driving 9 TIT TIT TIT 60 8 4 Direction Continuous Driving 2 60 8 5 Drive Status Holding 60 8 6 Drive Status Holding Release Finishing Status Clear 60 8 7 Decelerating Stop gt 2322297 3232224223229 HRS RSS TIO OS Se 61 8 8 sudden Stop ee aa a REPARTO DA RAE DA O pe 61 9 Other Commands 62 9 1 Automatic Home Search Execution TIT TIT TIT TITS 62 9 2 Deviation Counter Clear Output o TIT TIT 62 10 Connection Examples 63 10 1 Connection Example for 68000 CPU TIT TIT TIT TITS 63 10 2 Connection Example for Z80 CPU TIT TIT TT TIT 63 10 3 Connection Example for H8 CPU 64 10 4 Connection Example 259 2409 2529525 252920202054 65 10 5 Pulse Output Interface 65 10 6 Connection Example for Input Signals 66 NOVA el
82. eleration deceleration driving but the low speed constant driving from the beginning For processing constant speed driving the following parameters will be preset accordingly Parameter name Symbol Comment Range R Set a value higher than the Initial Speed SV i drive speed V Drive Speed V Not required for continuous Number of Output Pulse P W driving E Example for Parameter Setting of Constant Speed The constant speed is set 980 PPS as shown in the right Figure Range R 8 000 000 Initial Speed SV 980 Multiple 1 Initial Speed Drive Speed Should be less than initial speed Drive Speed V 980 Please refer each parameter in Chapter 6 2 2 2 Trapezoidal Driving Symmetrical In linear acceleration driving the drive speed accelerates in a primary linear form with the specified acceleration slope from the initial speed at the start of driving When the acceleration and the deceleration are the same symmetrical trapezoid in fixed driving the pulses utilized at acceleration are counted When the remaining number of output pulses becomes less than the number of acceleration pulses deceleration starts Deceleration continues in the primary line with the same slope as that of acceleration until the speed reaches the initial speed and driving stops at completion of the output of all the pulses automatic deceleration Speed Initial Speed Drive Speed sup time Fig 2 7
83. eleration gt COMP register Deceleration l gt CNST 1 i DSND 1 _ Time Deceleration D2 ASND It becomes when in acceleration AASND 1 ACNST 1 ADSND 1 IAASND 1 ACNST 1 ADSND 1 Tin D3 CNST It becomes 1 when in constant speed driving D4 DSND It becomes 1 when in deceleration D5 AASND In S curve it becomes 1 when acceleration deceleration increases D6 ACNST In S curve it becomes 1 when acceleration deceleration keeps constant speed D7 ADSND In S curve it becomes 1 when acceleration deceleration decreases D10 8 STOP2 0 Ifthe driving is stopped by one of external decelerating stop signals nSTOP2 0 it will become 1 D12 LMT If the driving is stopped by direction limit signal nLMTP it will become 1 D13 LMT If the driving is stopped by direction limit signal nLMTM it will become 1 D14 ALARM Ifthe driving is stopped by nALARM from servo drivers it will become 1 D15 EMG If the driving is stopped by external emergency signal EMGN it will become 1 46 NOVA electronics Inc MCX304 M47 E The Status Bits of Driving Finishing These bits are keeping the factor information of driving finishing The factors for driving finishing in fixed driving and continuous driving are shown as follows a when all the drive pulses are output in fixed driving when deceleration stop or sudden stop command is written c when software limit is enabled and is active CT d
84. en the driving changes from the D13 C END D5 C END o constant speed region into the decelerating region in the acceleration deceleration driving when the driving changes from the D14 C STA D6 C STA E accelerating region into the constant speed region D15 D END D7 D END when the driving is finished Each factor of interrupt can be masked by setting levels in nWR1 register bits 1 enable and 0 disable When interrupt is generated during the driving and if the interrupt is generated each bit in nRR3 will be set to 1 INTN will be on the Low level After the nRR3 status has been read from the host CPU nRR3 will be cleared from 1 to 0 and INTN will return to the High Z level 26 NOVA electronics Inc MCX304 M27 2 6 Other Functions 2 6 1 Driving By External Pulses Fixed driving and continuous driving can be controlled by either commands or external signals which can reduce the load of host CPU By inputting an encoder 2 phase signal of MPG jog feed of each axis is enabled Each axis has two input signals nEXPP and nEXPM In fixed drive mode and a continuous drive mode the nEXPP signal triggers driving in the direction and the nEXPM signal in the direction nEXPP controls direction pulse output and nEXPM controls direction command D3 and D4 bits of register WR3 are for the setting in driving The user should preset the parameters and commands The default level of nEXP
85. er function is used Please refer to 2 6 8 4 9 Data Register WR6 WR7 Data registers are used for setting the written command data The low word data writing 16 bit WD15 W DO is for register WR6 setting and the high word data writing 16 bit WD31 WD16 is for register WR7 setting H L WR6 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR7 WD31 WD30 WD29 WD28 WD26 WD25 WD22 WD21 WD20 WD18 The user can write command data with a designated data length into the write register It does not matter to write WR6 or WR7 first when 8 bit data bus is used the registers are WR6L WR6H WR7L and WR7H The written data is binary formatted 2 complement is for negatives For command data the user should use designated data length The contents of WR6 and WR7 are unknown while resetting 4 10 Main Status Register RRO This register is used for displaying the driving and error status of each axis H E D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO o o o U HOM Z HOM Y HOM X HOM U ERR Z ERR Y ERR X ERR U DRV Z DRV Y DRV X DRV Le Automatic Home Search Error Status of each axis Driving Status of each axis Execution of each axis RRO D3 0 n DRV Displaying driving status of each axis When the bit is 1 the axis is an outputting drive pulse when the bit is 0 the driving of the axis is finished Once the in position input signal nINPOS for servomotor is active nINPOS will
86. erform the interrupt H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO ws CI TII II peene ee To generate an interrupt interrupt enable must be set for each factor in the WR1 register D1 P2C Once the value of logical real position counter is larger than that of COMP register D2 P lt C Once the value of logical real position counter is smaller than that of COMP register D3 P lt C Once the value of logical real position counter is smaller than that of COMP register D4 P2C Once the value of logical real position counter is larger than that of COMP register D5 C END When the pulse output is finished in the constant speed drive during an acceleration deceleration driving D6 C STA When the pulse output is started in the constant speed drive during an acceleration deceleration driving D7 D END When the driving is finished When one of the interrupt factors occurs an interrupt the bit of the register becomes 1 and the interrupt output signal INTN will become the Low level The host CPU will read register RR3 of the interrupted axis the bit of RR3 will be cleared to 0 and the interrupt signal will return to the non active level For a 8 bit data bus all the bits are cleared when the RR3L register is read 4 14 Input Register RR4 RR5 RR4 and RRS are used for displaying the input signal status The bit is 0 if the input is on the Low level the bit is 1 if the input is on the Hi level These input sign
87. erk so that the value of acceleration deceleration must 200K be set greater than 200KPPS SEC not to be the partial S curve PS Pd Range R 800000 Multiple 10 0 0 2 04 SEC Jerk K 625 62 5x106 625 x10 NOVA electronics Inc MCX304 M11 1000x103 PPS SEC2 Acceleration A 160 125x160x10 200x10 PPS SEC Initial Speed SV 100 100x10 1000 PPS Drive Speed V 4000 4000x10 40000 PPS Please refer each parameter in Chapter 6 E Example of Parameter Setting 2 Partial S Curve Acceleration Deceleration As shown in the diagram in this example the partial S curve Speed acceleration is applied firstly it reaches from initial speed of 0 to Pst 10KPPS in 0 2 seconds by parabolic acceleration and then reaches 40000 from 10KPPS to30KPPS in 0 2 sec by acceleration on a straight line finally reaches from 30KPPS to 40KPPS in 0 2 sec by 30000 parabolic acceleration The first acceleration must increase up to 10 000PPS in 0 2 sec on a straight line At this time the integral value is equal to the rising speed 10 000PPS Therefore the acceleration at 0 2 sec is 10 000 x 10000 2 0 2 100KPPS SEC and the jerk is 100K 0 2 500KPP SEC 0 0 2 04 0 6 SEC Acceleration Range R 800000 Multiple 10 ee Jerk K 1250 62 5 10 1250 x10 500x10 100K PPS SEC Acceleration A 80 125x80x10 100x10 PPS SEC Initial Speed SV 100 100x10 1000 PPS o 62 0 4 06 SEG Drive Speed V 4000 40
88. etting stop mode of hardware limit nLMTP M signal as decelerating stop WR2 D2 1 driving is started and hardware limit of progress direction becomes active just before finishing driving 3 When software limit is enabled WR2 D0 1 1 driving is started and hardware limit of progress direction becomes active just before finishing driving 4 When nSTOP 2 0 signals are enabled WR1 D5 3 1 fixed pulse driving is started and those signals become active just before finishing driving This trouble won t happen when trapezoidal liner acceleration deceleration drive or constant speed drive is performed This trouble won t be happened when continuous pulse driving in S curve acceleration deceleration This trouble won t happen when any of Sudden stop command EMGN signal LMT signal of Sudden stop and ALARM signal is outputted Fixed pulse driving in S curve acceleration deceleration is performed as that driving speed and initial speed becomes equal and acceleration becomes zero 0 when driving finished which means all pulse outputted But it s impossible to make driving speed amp initial speed equal and acceleration zero 0 in all combinations of parameters because of the problem of calculation accuracy This trouble will happen if it is in the above mentioned occasion or as the factors of deceleration stop accidentally and driving speed hasn t reached initial speed yet but acceleration has become zero 0 showing on Figure 2 D
89. for driving starting This command is to hold on the start of driving When this command is used for starting multi axis driving simultaneously the user may write other commands after the drive status holding command is registered The drive start holding release command 25h can be written to start the driving In driving even this command is written the driving will not be stopped The next command will be held 8 6 Drive Status Holding Release Finishing Status Clear Command Drive status holding release finishing status clearing This command is to release the drive status holding 24h and start the driving Also this command can clear the finishing status bits D15 8 of register RR1 and the automatic home search STOP2 signal error bit D7 HOME of register RR2 60 NOVA electronics Inc MCX304 M61 8 7 Decelerating Stop Command Decelerating stop in driving This command performs the decelerating stop when the drive pulses are outputting If the drive speed is lower than the initial speed the driving will be suddenly stopped when this command is engaged Once the driving stops this command will not work 8 8 Sudden Stop Command Sudden stop in driving This command performs the sudden stop when the drive pulses are output Also the sudden stop can be performed in acceleration deceleration driving Once the driving stops this command will not work 61 NOVA
90. fore decides which axis s register will be written WR3 can be used for manual deceleration individual deceleration S curve acceleration deceleration the setting of external operation mode the setting of input signal filter and so on DO D1 WR3 MANLD DSNDE D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO Setting manual automatic deceleration for the fixed acceleration deceleration driving 0 automatic deceleration 1 manual deceleration The decelerating point should be set if the manual deceleration mode is engaged Setting decelerating rate which is in accordance with the rate of the acceleration or an individual decelerating rate 0 acceleration 1 deceleration When 0 is set acceleration value is used as acceleration deceleration during acceleration deceleration driving When 1 is set acceleration value is used during acceleration driving and deceleration value is O NOVA electronics Inc MCX304 M44 D2 D4 3 D5 D6 D11 8 D15 13 SACC EXOP1 0 AVTRI VRING FE3 0 FL2 0 used during deceleration driving 1 should be set for non symmetrical trapezoidal acceleration deceleration driving Setting trapezoidal driving S curve driving 0 trapezoidal driving 1 S curve driving Before S curve driving is engaged jerk K should be set Setting the external input signals nEXPP nEXPM for driving D4 EXOP1 D3 EXOPO 0 0 external signals
91. g and the output pulse number Connect the A phase signal of the encoder to nEXPP input and the B phase signal to nEXPM input The fixed driving is activated when the nEXPM signal is at a Low level and the nEXPP signal is at the rising edge When the output pulse number is set to 1 one drive pulse is output at each of the rising edge and falling edge of the nEXPP signal If the output pulse number is set to P the P number of drive pulses is output Normal rotation Reverse rotation XEXPP 4 M A Y A phase XEXPM B phase xe h Le DP Fig 2 27 Example Output Pulse 1Driving by MPG Normal rotation Reverse rotation Fig 2 28 Example of Output Pulse 2 Driving by MPG Set the speed parameter in the following conditions to complete output of all the P number of drive pulses with a period from the rising edge falling edge of the nEXPP signal to the next rising edge falling edge V2FxPx2 V Drive speed pps P Output pulses F Frequency Hz at the maximum speed of MPG encoder For instance under the condition where the maximum frequency of MPG is F 500Hz and the output pulse is P 1 the drive speed must be V 1000PPS or greater Since acceleration deceleration driving is not applied set the initial speed SV to the same value as the drive speed However when a stepping motor is used for driving the drive speed must not exceed the automatic activation frequency of the motor 2 6 2 Pulse Output Type Selection Ther
92. g the constant speed driving H L D15 D14 D13 D12 D11 D10 D9 D8 D7 Dp D5 D4 D3 D D1 DO WR1 D END C STA C END SMOD EPINV EPCLR SP2 E SP2 L SP1 E sP1 L sPo E sPo L Interruput Enable Disable Drive Stop Input Signal 40 NOVA electronics Inc MCX304 M41 D5 3 1 SPm E The bit for setting enable disable of driving stop input signal STOPm 0 disable 1 enable D4 2 0 SPm L The bit for setting enable logical levels for input signal STOPm 0 stop on the Low level 1 stop on the Hi level In automatic home search the logical level of STOP signal that is used is set in these bits The Enable Disable bits D5 D3 and D1 are set to Disable D6 EPCLR When driving stops triggered by the nSTOP2 signal the real position counter is cleared When the nSTOP2 signal is changed to the Active level while this bit is set to 1 the driving stops and the real position counter EP is cleared The WR1 D5 SP2 E bit must be set to 1 and the Enable level must be set in the WR1 D4 SP2 L bit D7 EPINV Reverse increase decrease of real position counter D7 EPINV Input pulse mode Increase Decrease of real position counter A B phase mode Count up when A phase is advancing 0 Count down when B phase is advancing Up Down pulse mode Count up when PPIN pulse input Count down when PMIN pulse input A B phase mode Count up when B phase is advancing 4 Count down when A phase is advancing Up Down pulse mode Count up
93. gnal Disable D9 O Z phase AND home signal Disable D8 1 Logical real position counter area Enable D7 O Step 4 driving direction direction D6 1 Step4 Enable D5 O Step 3 search direction direction D4 1 Step 3 Enable D3 1 Step 2 search direction direction D2 1 Step 2 Enable Di 1 Step 1 search direction direction DO 1 Step 1 Enable WRO 0160h Write Set an automatic home search mode to the X axis WR6 3500h Write Range 8 000 000 Scaling factor 10 WR7 000Ch Write WRO 0100h Write WR6 004Ch Write Acceleration speed 95 000 PPS SEC WRO 0102h Write 95000 125 10 76 WR6 0064h Write Initial speed 1000 PPS WRO 0104h Write WR6 07D0h Write Speed of Steps 1 and 4 20000 PPS WRO 0105h Write WR6 0032h Write Speed of Steps 2 and 3 500 PPS WRO 0161h Write WR6 ODACh Write Offset driving pulse count 3500 WR7 0000h Write WRO 0106h Write WRO 0162h Write Starts execution of automatic home search 22 NOVA electronics Inc MCX304 M23 After start of the execution the function monitors the RRO D8 X HOM bit and terminates automatic home search if the bit is reset to 0 from 1 If automatic home search did not terminate normally due to an error the RRO D4 X ERR bit is set to 1 after termination Analyze the error based on the contents of the XRR2 D7 bits D5 to DO and bits XRR1 D15 to D12 E Example of home s
94. heck if driving has finished or not If it s finished make it finished as it goes because driving has finished normally But if it s not finished yet surely trouble have happened because status is shown as it s still driving even though driving has gone out d area Check if hard limit is ON or OFF Since RR1 D12 bit becomes 1 if limit is ON and RR1 D13 bit becomes 1 if limit is ON if it s D12 1 or D13 1 judge forward limit is ON If trouble has happened it becomes ASND CNST DSND 0 Check them all Execute sudden stop command 27h es B6 NOVA electronics Inc MCX304 B7 2 When interruption can t be used In d area on Figure 3 if forward limit is active the trouble will happen more exactly saying it will seldom happen There isn t any method to avoid it before it happens So immediately after the trouble happens take means to stop driving If the trouble happens Ce area on Figure 3 status keeps driving RRO nDRV 1 status of acceleration deceleration is 0 in ASND CNST DSND This is completely abnormal state So the example of measure is shown as follows d DRIVING STARTS RRO DRV bit FORWARD LIMIT O RR1 D12 13 RR1 ASND CNST DSND bit ASND CNST DSND 0 SUDDEN STOP COMMAND 27h d DRIVING COMPLETION D When start fixed pulse driving in S curve acceleration deceleration always read out status of progress directional hardware limit RR1 D12 D13 with t
95. home signal nSTOPO is already active before Step 1 starts Proceeds with Step 2 2 The limit signal in the detection direction is already active before Step 1 starts Proceeds with Step 2 3 The limit signal in the detection direction is activated during execution Stops driving and proceeds with Step 2 NOVA electronics Inc MCX304 M17 N Step 2 Low speed home search Drive pulses are output in the specified Over Run Limit in the direction at the speed that is set as the home STOP1 Irregular Search Direction detection speed HV until the home signal Normalt Operation Irregular 3 nSTOP1 becomes active To perform Specified Search gt low search operation set a lower value for Direction the home search speed HV than the initial speed SV A constant speed driving mode is To Normal Operation applied and the operation stops instantly when the home signal nSTOP1 becomes active Irregular operation 1 The home signal nSTOP1 is already active before Step 2 starts The motor drives the axis in the direction opposite to the specified search direction at the home search speed HV until the home signal nSTOP1 becomes inactive When the home signal nSTOP1 becomes inactive the function executes Step 2 from the beginning 2 The limit signal in the search direction 1s active before Step 2 starts The motor drives the axis in the direction opposite to the specified search direction at the home se
96. i 16 bit data bus is selected for processing the 16 bit data reading writing in IC when the setting is Low 8 bit data bus D7 D0 is active for data reading writing TESTN 31 Input A Test terminal for internal circuit test Please open or connect it to 5V INTN 32 Output B Interrupt outputting an interrupt signal to the host CPU If any interrupt factor occurs the interrupt the level is Low when the interrupt is released it will return to the Hi Z level XPP PLS 33 Output A Pulse Pulse direction dive pulse outputting YPP PLS 35 When the reset is on the Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is ZPP PLS 37 selectable UPP PLS 39 When the 1 pulse 1 direction mode is selected this terminal is for drive output XPM DIR 34 Output A Pulse Pulse direction dive pulse outputting YPM DIR 36 When the reset is on the Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is ZPM DIR 38 selectable UPM DIR 42 When the 1 pulse 1 direction mode is selected this terminal is direction signal XECA PPIN 43 Input A Encoder A Pulse in signal for encoder phase A input YECA PPIN 45 This input signal together with phase B signal will make the Up Down pulse transformation to be the input count of real position counter ZECA PPIN 47 When the Up Down pulse input mode
97. imer interruption If limit signal becomes active read out bit status of ASND D2 CNST D3 and DSND D4 in RR1 resister and execute Sudden stop command 27h one time only if all those 3 bits are 0 3 Software limit Case In fixed pulse driving the target position goal can be calculated from present position logical position counter value and number of output pulse If target position is over value of software limit don t drive to avoid the trouble B7 NOVA electronics Inc MCX304 B8 4 Deceleration stop with STOP 2 0 SignallCase Normally deceleration stop with STOP 2 0 signal is performed during continuous pulse driving But out of necessity when deceleration stop with STOP IN signal is performed during fixed pulse driving in S curve deceleration there isn t any method to avoid it before the trouble happens like chapter 2 2 So the example of measure is shown as follows G DRIVING STARTS gt RRO DRV bit See RR1 D8 11 IS STOP SIGNAL ACTIVE ASND CNST DSND 0 RR1 ASND CNST DSND bit SUDDEN STOP COMMAND 27h no DRIVING COMPLETION gt If you need more assistance please e mail us at novaelec_info novaelec co jp B8
98. ing 21 direction fixed driving 22 direction continuous driving 23 direction continuous driving 24 Drive start holding Drive start holding release 25 stop status clear 26 Decelerating stop 27 Sudden stop E Other Commands Code Command 62h Automatic home search execution 63 Deviation counter clearing output Note Please do not write the codes not mentioned above The unknown situation could happen due to IC internal circuit test 51 NOVA electronics Inc MCX304 M52 6 Commands for Data Writing Data writing is used for setting driving parameters such as acceleration drive speed output pulse numbers It is possible to write the same data for more than one axis simultaneously if more those axes are assigned If the data length is two bytes WR6 register can be used If the data is 4 bytes WR6 7 register can be used Then the axis assignment and command code will be written into register WRO for execution Writing data for registers WR6 and WR7 is binary and 2 s complement for negatives Each data should be set within the permitted data range If the setting data out of range the driving can not be done Note a It requires 250 nSEC maximum to access the command code when CLK 16MHz Please don t write the next command or data into WRO when the present command is written b Except acceleration offset AO the other parameters are unknown while resetting So please per set prope
99. ining the deceleration at deceleration in the acceleration deceleration individual settings mode WR3register D1 1 Deceleration increases on a straight line from 0 to the specified value when S curve acceleration deceleration driving in this mode The deceleration calculation is shown in the following formula i 8 000 000 Deceleration PPS SEC D x 125 x o R Multiple 6 5 Initial Speed Setting Command Data Range Data Length Initial speed setting 2 bytes SV is the parameter determining the speed of initial speed The initial speed calculation is shown in the following formula i 8 000 000 Initial Speed PPS SV x R Multiple In trapezoidal Linear accerelation decerelation driving for stepper motors the user should set the initial speed smaller than the self starting frequency of stepper motors Also for a servo motor if the value that is set is too low creep or premature termination may occur In this case it is appropriate to set the value larger than J acceleration For instance when acceleration 125000 PPS SEC the value should be larger than 125000 354 PPS In fixed pulse S curve acceleration deceleration driving if the value that is set is too low such as SV is set less than 100 creep or premature termination may occur as well Set the intial speed value SV as more than 100 6 6 Drive Speed Setting Command Data Range Data Length Drive speed setting 2 bytes
100. input signals of each axis to perform decelerating sudden ee stop for each axis and nSTOPO is assigned near home search signal and Mele I 64 65 E nSTOP1 is assigned home signal Enable disable and logical levels can be set ZSTOP1 0 73 74 for nSTOP1 O The active pulse width should be more than 2CLK when the USTOP1 0 81 82 signal is enabled with a disabled filter function The signal status can be read from register RR4 RR5 XDRIVE Drive General Output 0 Deviation Counter Clear Drive status output nDRIVE 83 general output nOUTO and deviation counter clear output DCC share the OUTO DCC same pin YDRIVE Drive status display output NDRIVE is set to a High level while drive pulses OUTO DCC 84 are output and can be used as general output nOUTO See chapter 2 6 8 4 7 Output A and 4 8 A deviation counter clear output DCC signal is output for a servo ZDRIVE 85 motor driver The signal can be output by setting the mode in automatic home OUTO DCC search See Sections 2 4 2 and 2 4 3 At resetting the drive status display output is set UDRIVE 86 OUTO DCC XEXPP 87 Input A External Operation direction drive starting signal from external source YEXPP 89 D When the fixed driving is commanded from an external source direction driving will start if this signal is down ZEXPP 93 Otherwise when the continuous driving is commanded from an external UEXPP 95 source driving will start if this signal is on the Low level XEXPM 8
101. is selected this terminal is for UP UECA PPIN 49 pulses input Once the input pulse is up f the real position counter is counting up XECB PMIN 44 Input A Encoder B Pulse in signal for encoder phase B input YECB PMIN 46 This input signal together with phase A signal will make the Up Down pulse transformation to be the input count of real position counter ZECB PMIN 48 When the Up Down pulse input mode is selected this terminal is for DOWN UECB PMIN 51 pulses input Once the input pulse is up tT the real position counter is counting down 35 NOVA electronics Inc MCX304 M36 Signal Name Pin No Input Output Signal Description XINPOS 52 Input A In position input signal for servo driver in position YINPOS 59 F Enable disable and logical levels can be set as commands When enable is set and after the driving is finished this signal is active and standby n DVR bit ZINPOS 68 of main status register returns to 0 UINPOS 75 XALARM 53 Input A Servo Alarm input signal for servo driver alarm YALARM 60 F Enable disable and logical levels can be set as commands When it is enable and when this signal is in its active level the ALARM bit of RR2 register ZALARM 69 becomes 1 UALARM 77 XLMTP 54 Input A OVER Limit signal of direction over limit YLMTP 61 F During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active When the filte
102. ition counter also The count operation will be as follows Increment in the direction 9998 9999 0 1 Decrement in the direction 1 0 9999 9998 Notes The variable ring function enable disable is set for each axis however a logical position counter and a real position counter cannot be enabled disabled individually e Ifa variable ring function is enabled a software limit function cannot be used 2 3 4 Clearing a Real Position Counter Using an External Signal This function clears a real position counter at rising of the Z phase active MCX304 level when Z phase search is applied in nSTOPO ro Near Home Sensor home search Normally home search is performed by bz i Home Senger assigning a near home signal a home signal and an encoder Z phase signal nPP PM Drive Pulse Mato Motor to nSTOPO to nSTOP2 signals and executing continuous driving When Driving EC A B Circuit the specified signal is activated driving nSTOP2 EC Z Encoder will stop and then the logical position real position counters are cleared by the CPU This function is Fig 2 21 Example of Signal Connection for Clearing useful for solving the problem of The Real Position Counter by The STOP2 Signal Z phase detection position slippage that occurs due to a delay of the servo system or the mechanical system even if a low Z phase search drive speed is set To clear a real positio
103. ive See Section 2 3 4 Notes 1 If the encoder Z phase signal nSTOP2 is already active at the start of Step 3 an error occurs and 1 is set in bit D7 of the nRR2 register Automatic home search ends Adjust the mechanical system so that Step 3 always starts from nSTOP active state with a stable encoder Z phase signal nSTOP2 2 If the limit signal in the search direction is already active before the start of Step 3 an error occurs and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register Automatic home search ends 3 If the limit signal in the search direction becomes active during execution search operation is interrupted and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register Automatic home search ends MI Step 4 High speed offset drive The function outputs as many driving pulses as the output pulse numbers P that is set in the specified direction at the speed that is set in the drive speed V Use this step to move the axis from the mechanical home position to the operation home position Through mode setting the logical position counter and real position counter can be cleared after moving If the drive direction limit signal becomes active before the start or during execution of Step 4 the operation stops due to an error and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register 17 NOVA electronics Inc MCX304 M18 2 4 2 Deviatio
104. l position counter EP reading long readep int axis long a long d6 long d7 outpw adr wr0 axis lt lt 8 0x11 d6 inpw adr rr6 d7 inpw adr rr7 a d6 d7 lt lt 16 return a wait axis assignment For waiting for drive stop void wait int axis wile adro amp axis hsmode axis assignment data For automatic home search mode HM setting void hsmode int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x60 hsspeed axis assignment data For automatic home search low speed HV setting void hsspeed int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x61 hswait axis assignment For waiting for automatic home search void hswait int axis while inpw adr rr0 axis lt lt 8 homesrch All of 4 axes home search Il X axis home search II Step1 Near home stop0 signal high speed search in the direction at 20 000pps UI Step2 Home stop1 signal low speed search in the direction at 500pps II Step3 Z phase stop2 signal low speed search in the direction at 500pps JI Deviation counter clear output at Z phase search JI Step4 3500 pulse offset high speed drive in the direction at 20 000pps Y axis home search JI Step1 Near home stop0 signal high speed search in the
105. l speed for fixed Fig 2 14 The rule of 1 12 of Parabolic driving of S curve acceleration deceleration premature Acceleration Deceleration termination output of the specified driving pulses is completed and terminated before the speed reaches the initial speed or creep output of specified driving pulses is not completed even if the speed reaches the initial speed and the remaining driving pulses are output at the initial speed may occur Set initial speed value SV more than 100 d When the fixed S curve acceleration deceleration driving is performed the driving speed does not seldom reach the setting value e The drive speed may not reach the specified speed during fixed pulse S curve acceleration deceleration driving E Example of Parameter Setting 1 Perfect S Curve Acceleration Deceleration As shown in the diagram in this example the perfect S curve acceleration is applied to reach from the initial speed Speedi of 0 to 40KPPS in 0 4 seconds 40000 The speed must be 20 000PPS half of 40 000PPS in 0 2 sec half of 0 4 sec and then must reach to 40 000PPS in rest of 0 2 sec At this time the acceleration increases on a 20000 straight line in 0 2 sec and the integral value is equal to the starting speed 20 000PPS Therefore the acceleration at 0 2 sec is 20 000 x 2 0 2 200KPPS SEC and the jerk is 0 SC SCH Se 5 i i 200K 0 2 1 000KPP SEC ee For the perfect S curve the speed curve only depends on the j
106. lectable E Interrupt Interpolations Excluded O The factors of occurring interrupt the start finish of a constant speed drive during the acceleration deceleration driving the end of the driving the volume of position counter gt the volume of COMP the volume of position counter lt the volume of COMP the volume of position counter 2 the volume of COMP the volume of position counter lt the volume of COMP Enable disable for these factors selectable E External Signal for Driving e EXPP and EXPM signals for fixed pulse continuous drive e Driving in MPG mode encoder input E External Deceleration Sudden Stop Signal e STOPO 2 3 points for each axis Enable disable and logical levels selectable E Servo Motor Input Signal ALARM Alarm INPOS In Position Check DCC Deviation counter clear output Enable disable and logical levels selectable E General Input Output Signal e Input Signal 7 points for each axis Any input signal can only be used when the function is not used e Output Signal 4 points for each axis Any output signal shares the other function output pins and can only be used when the function is not used 81 NOVA electronics Inc MCX304 M82 E Limit Signals Input O 1 point for each and side Logical levels and decelerating sudden stop selectable E Emergency Stop Signal Input e EMG 1 point in all axes Sudden stop the drive pulse of all axes when on Low level
107. llowing two 2 solutions will be proposed 1 When interruption from IC can be used When deceleration starts interruption will be occurred to prohibit execution of deceleration stop command 26h until B4 NOVA electronics Inc MCX304 B5 driving completion Flag of prohibition against deceleration stop command is prepared and it will be clear before driving starts Enable constant speed area completion interruption WR1 D13 C END 1 Fixed pulse driving starts and if interruption is occurred read RR3 D5 C END within interruption process routine and status bit is 1 constant speed area is completed which is same as deceleration starts So make flag of prohibition against deceleration stop command 1 Besides it is possible that CNST constant speed area will occur just before driving completion Then return WR1 D13 status bit from 1 to 0 in order to prevent interruption On the other hand within task see flag and if it s 1 don t execute deceleration stop command 2 When interruption can t be used Terms when deceleration stop command should be executed in accelerating and constant speed driving such as a and b on Figure 3 Status of deceleration for both d timing when the trouble happens and b constant speed driving is same as constant speed driving as shown on Figure 3 But there is difference of driving speed between two Driving speed in b is near that of setting driving speed Driving speed in
108. ls can be set by bit from D5 to 0 of WR1 register of each axis For the application of high speed searching the user can set MCX304 in the acceleration deceleration continuous driving mode and enable STOP2 1 0 in WR1 And then MCX304 will perform the decelerating stop when the external signal STOP2 1 0 is active For the application of low speed searching the user can set MCX304 in the constant speed continuous driving and enable STOP2 1 0 Then MCX304 will perform the sudden stop when STOP is active Except the parameter of the number of output pulse the other three parameters for the fixed drive must be set to execute the acceleration deceleration continuous driving 2 2 Acceleration and Deceleration Basically driving pulses of each axis are output by a fixed driving command or a continuous driving command of the direction or direction These types of driving can be performed with a speed curve of constant speed linear acceleration non symmetrical linear acceleration S curve acceleration deceleration according to the mode that is set or the operation parameter value 2 2 1 Constant Speed Driving When the drive speed set in MCX304 is lower than the initial the acceleration deceleration will not be performed instead a constant speed driving starts If the user wants to perform the sudden stop when the home sensor or encoder Z phase signal is active it is better not to perform NOVA electronics Inc MCX304 M6 the acc
109. ms an S curve by increasing decreasing the deceleration in a primary linear form sections d e and f The same operation is performed in acceleration deceleration where the drive speed is changed during continuous driving To perform S curve acceleration deceleration driving set bit D2 to 1 of the nWR3 register and parameters as follows parameters marked by O will be set when needed Parameter name Symbol Comment Range R Jerk K Acceleration A Acceleration deceleration increases from 0 to the value linearly O Deceleration D Deceleration when acceleration and deceleration are set individually Initial Speed SV Drive Speed V O Number of Output Pulse P Not required for continuous driving MT he Prevention of Triangle Driving Profile For fixed driving of linear acceleration deceleration the speed Speed curve forms the triangle form when the output pulses do not reach the pulses required for accelerating to the drive speed or deceleration stop is applied during acceleration In the case of S curve acceleration deceleration driving the following method is applied to maintain a smooth speed curve Initial Speed If the initial speed is 0 and if the rate of acceleration is a then the Acceleration A CS speed at time t in acceleration region can be described as Deceleration following Acceleration Deceleration v t at S t t time Fig 2 13 The rule of 1 12 of Par
110. n Counter Clearing Signal Output This function outputs a deviation counter clearing signal by setting a mode at the activation of the encoder Z phase signal nSTOP2 in Step 3 operation For deviation counter clearing output the pin is shared with nDRIVE OUTO and DCC output signals For the clearing pulse the logical level and the pulse width within the range from 10usec to 20msec can be specified Active Encoder Z phase STOP2 Step 3 low speed Z phase Search Deviation Counter Clear OUTO 104 20msec Deviation counter clearing output becomes active at termination of Z phase search operation in Step 3 and Step 4 starts after completion of clearing pulse output Deviation counter clearing pulses can also be output by a single command deviation counter clear command 63h instead of an automatic home search sequence However the mode following the deviation counter clearing output must be set in advance using an automatic home search mode setting command 60h D11 DCC E Disable enable 1 enable D12 DCC L Logical level O or 1 D15 D13 DCCW2 0 Pulse width 0 7 2 4 3 Setting a Search Speed and a Mode To perform automatic home search the following speed parameters and mode must be set E Setting speed parameters Speed parameter Command code Description High speed search speed that is applied in Steps 1 and 4 The range R acceleration A and initial speed SV must also be set to appropriate values to perfo
111. n MCX304 is reset the register values are random mM NOVA electronics Inc MCX304 M14 2 3 3 Position Counter Variable Ring A logical position counter and a real position counter are 32 bit up down SC 9999 0 12 ring counters Therefore normally when the counter value is incremented 9998 ee ee n A N in the direction from FFFFFFFFh which is the maximum value of the S 32 bit length the value is reset to the value 0 When the counter value is decremented in the direction from the value 0 the value is reset to FFFFFFFFh The variable ring function enables the setting of any value as the maximum value This function is useful for managing the position of the axis in circular motions that return to the home position after one rotation N rather than linear motions i To enable the variable ring function set the D6 RING bit of the WR3 register to 1 and set the maximum value of the logical position counter in 5000 Fig 2 20 Operation of Position Counter i E Se Ring Maximum Value 9999 the COMP register and the maximum value of the real position counter in the COMP register For instance set as follows for a rotation axis that rotates one cycle with 10 000 pulses O To enable the variable ring function set 1 in the D6 bit of the WR3 register O Set 9 999 270Fh in the COMP register as the maximum value of the logical position counter O Set 9 999 270Fh in the COMP register when using a real pos
112. n O O O O O O driving S curve acceleration A O O O A O O O deceleration driving A will be set when needed 8 2 Direction Fixed Driving Command Direction Fixed Driving The setting pulse numbers will be output through the output signal nPM In driving logical position counter will count down 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 59 NOVA electronics Inc MCX304 M60 8 3 Direction Continuous Driving Command Direction Continuous Driving Before the stop command or external signal is active the pulse numbers will be continuously output through the output signal nPP In driving logical position counter will count up 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 8 4 Direction Continuous Driving Command Direction Continuous Driving Before the stop command or external signal is active the pulse numbers will be continuously output through the output signal nPM In driving logical position counter will count down when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 8 5 Drive Status Holding Command Holding
113. n counter with a Z phase signal in encoder Z phase search assign the Z phase signal to nSTOP2 signal as shown Fig 2 22 See below for the procedure for setting a mode or a command for Z phase search accompanied by clearing of the real position counter O Set a range and an initial speed Set a Z phase search drive speed If the value set for the drive speed is lower than the initial speed acceleration deceleration driving is not performed If a Z phase is detected the driving pulse stops immediately O Validate the STOP2 signal and set an active level WR1 D5 SP2 E 1 D4 SP2 L O Low active 1 Hi active 14 NOVA electronics Inc MCX304 M15 O Enable the clearing of the real position counter using the STOP2 signal Set WR1 D6 to 1 Issue the direction or direction continuous driving command As a result of the operations described above driving starts in the specified direction as shown in Fig 2 23 When the Z phase signal reaches an active level the driving pulses stop and the real position counter is cleared at the rising of the Z phase signal active level ZPhase Search Stop pd Driving Pulse LJ LJ LI LI LI LI LI LI 1 STOP2 EC Z E Active Hi Real Position Counter N N 1 N N 3 N 4 N 5 N 6 N 7 0 Fig 2 22 Example of Operation of Clearing The Real Position Counter Using The STOP2 Sign Notes Only the nSTOP2 signal can clear the real position counter The nSTOP1 and nSTOPO sig
114. nals cannot clear the counter e When the input signal filter is invalid an active level width of more than 4CLK cycles is necessary When the input signal filter is valid a time more than double the input signal delay time is necessary e It is recommended to perform Z phase search from the one direction to enhance the position detection precision e When the nSTOP2 signal is already set to an active level at setting WR1 D6 5 4 the real position counter is cleared even if WRI D6 5 4 is set 15 NOVA electronics Inc MCX304 M16 2 4 Automatic Home Search This IC has a function that automatically executes a home search sequence such as high speed near home search low speed home search encoder Z phase search offset driving without CPU intervention The automatic home search function sequentially executes the steps from step 1 to step 4 that are listed below Set execution non execution and a search direction mode for each step In steps 1 and 4 search operation is performed at the high speed that is set in the drive speed In steps 2 and 3 search operation is performed at the low speed that is set in the home search speed Step number Operation Search speed Detection signal Step 1 High speed near home search Drive speed V nSTOPO Step 2 Low speed home search Home search speed HV nSTOP1 Step 3 Low speed Z phase search Home search speed HV nSTOP2 Step 4 High speed offset drive Drive speed V
115. nary and 2 s complement for negatives Note a It requires 250 nSEC maximum to access the command code of data reading where CLK 16MHz After the command is written and passed that time read registers RR6 and 7 b The axis assignment is for one axis If more than 2 axes are assigned the data reading priority are X gt Y gt Z gt U 7 1 Logical Position Counter Reading Command Symbol Data length Logical position counter reading 2 147 483 648 2 147 483 647 4 bytes The current value of logical position counter will be set in read registers RR6 and RR7 7 2 Real position Counter Reading Command Data range Data length Real position counter reading 2 147 483 648 2 147 483 647 4 bytes The current value of real position counter will be set in read registers RR6 and RR7 7 3 Current Drive Speed Reading Command Data range Data length Current drive speed reading 2 bytes The value of current drive speed will be set in read registers RR6 and RR7 When the driving stops the value becomes 0 The data unit is as same as the setting value of drive speed V 7 4 Current Acceleration Deceleration Reading Command Data range Data length Current acceleration deceleration reading 2 bytes The value of current acceleration deceleration will be set in read registers RR6 and RR7 When the driving stops the read data is random number The data unit is as same as the setting value of accelera
116. ng Set Output pulse number P WRO lt Axis assignment 44h Command for workaround WRO lt Axis assignment 21h Fixed pulse drive in the direction BI NOVA electronics Inc MCX304 B2 Waits for termination of driving Change Drive speed V WRO lt Axis assignment 44h Command for workaround WRO lt Axis assignment 22h Continuous pulse drive in the direction Waits for termination of driving II Notice for Compare Register Symptom Although Range of Position Comparison between Position Counter and Compare Register COMP is shown as 2 147 483 648 to 2 147 483 647 signed 32 bitjon User s Manual actually it is 1 073 741 824 to 1 073 741 823 signed 31 bit due to the defect of IC Workaround Don t compare the values over the range such as 1 073 741 824 to 1 073 741 823 B2 NOVA electronics Inc MCX304 B3 III Notice for Fixed pulse driving in S curve acceleration deceleration Symptom When using fixed pulse driving in S curve acceleration deceleration if one of the following occasions to is taken just before finishing driving pulse may be continuously outputted depending on setting value of parameters speedi drive speed initial speed Fi time one of D 4 is excuted here Figure 1 Speed profile of fixed pulse driving in S curve acceleration deceleration D When decelerating stop command 26h was given just before finishing driving When s
117. nges of drive speed may occur residual pulses at the end of deceleration 6 7 Output Pulse Number Command Data Range Data Length Output pulse number 0 268 435 455 4 bytes The number of output pulses indicates the total number of pulses that are output in fixed driving Set with an unsigned 4 bytes data length The output pulse numbers can be changed during the driving In automatic home search this number of output pulses is used for the offset drive pulses at Step 4 6 8 Manual Decelerating Point Setting Command Data Range Data Length Manual decelerating point setting 0 268 435 455 4 bytes DP is the parameter setting the manual deceleration point in fixed acceleration deceleration driving when the manual deceleration mode is engaged In manual deceleration mode the user can set the bit DO of WR3 register to 1 The decelerating point can be set Manual Decelerating Point Output Pulse Number Pulse Number for Deceleration 6 9 Logical Position Counter Setting Command Data Range Data Length Logical position counter setting 2 147 483 648 2 147 483 647 4 bytes LP is the parameter setting the value of logic position counter Logical position counter counts Up Down according to the direction pulse output The data writing and reading of logical position counter is possible anytime 55 NOVA electronics Inc MCX304 M56 6 10 Real position Counter Setting Command
118. nishing interruption of IC active WR1 D13 C END 1 Start fixed pulse driving in S curve acceleration deceleration and when interruption is happened interruption processing is executed as follows B5 NOVA electronics Inc MCX304 B6 d INTERRUPTION PROCESSING 3 no OTHER INTERRUPTION FACTORS D GOES OUT CONSTANT SPEED AREA nRR3 D5 C END 1 This shows the interruption when driving goes into decelerating area c from constant speed area b is normal Make driving finished as it goes DECELERATING AREA nRR1 D4 DSND 1 This shows the interruption when driving has finished normally in area d Make driving finished as it goes DRIVING FINISHES RRO DO X AXIS 0 During driving backward limit never be on So RR1 D12 D13 won t be 1 due to backward limit 4 FORWARD LIMIT IS ON nRR1 D120rD13 1 ASND CNST DSND 0 nRR1 D2 D3 D4 0 6 JUDGED AS TROUBLE HAPPENS SUDDEN STOP COMMAND 27h E PROCESSING FINISHED BR Check if driving goes out constant speed area or not If RR3 D5 C END bit of driving axis is 0 there are other interruption factors Execute those interruption processing Check if driving goes into decelerating area or not If it s RR1 D4 DSND 1 make it finished as it goes because driving goes into c area from b area on Figure 3 If it s RR1 D4 DSND 0 move it to processing because driving has gone out d area 9 C
119. oftware over run limit Disable Mode register 3 D15 13 010 Input signal filter delay 512u ID12 0 D11 1 EXPP and EXPM signal filter Enable D10 1 INPOS and ALARM signal filter Enable D9 0 STOP2 signal filter Disable 71 NOVA electronics Inc accofst Oxc 0 range 0xc 800000 acac 0xc 1010 acc Oxc 100 dec Oxc 100 startv Oxc 50 speed 0xc 40 pulse 0xc 10 Ip Oxc 0 outpw adr wr4 0x0000 outpw adr wr5 0x0000 homesrch acc 0x3 200 speed 0x3 4000 pulse 0x1 80000 pulse 0x2 40000 command 0x3 0x20 wait 0x3 wr3save 0x0002 wreg3 0x1 wr3save acc 0x1 200 dec 0x1 50 speed 0x1 4000 pulse 0x1 80000 command 0x1 0x20 wait 0x1 wr3save amp Oxfffd wreg3 0x1 wr3save wr3save 0x0004 wreg3 0x3 wr3save acac 0x3 1010 acc 0x3 200 speed 0x3 4000 pulse 0x1 50000 pulse 0x2 25000 command 0x3 0x21 wait 0x3 wr3save amp Oxfffb wreg3 0x3 wr3save startv 0x4 40 speed 0x4 40 pulse 0x4 700 command 0x4 0x20 wait 0x4 pulse 0x4 350 command 0x4 0x21 wait 0x4 MCX304 M72 D8 1 EMGN LMTP M STOP1 and filter Enable D7 0 Drive state output Disable D6 O LP EP variable range function Disable D5 O Triangle form prevention at linear acceleration Disable D4 0 External operation signal operation Disable ID3 0 D2 0 Acceleration deceleration curve Lineracceleration trapezoid D1 0 Deceler
120. ogical level are active the command of sudden stop or decelerating stop can be set by bits D3 and D4 HLMT HLMT and D2 LMTMD of register WR2 2 6 5 Interface to Servo Motor Drivers Enable Disable and logical levels of the input signals for connecting servo motor drivers such as nINPOS in position input signal and nALARM alarm input signal can be set by D15 12 bits of register WR2 nINPOS input signal responds to the in position signal of servo motor driver When enable is set and when the driving is finished nINPOS will wait for the active Then the n DRV bit of main status register RRO will return to 0 nALARM input signal receives the alarm signal from servo motor drivers When enable is set nALARM signal will be monitored and the D4 alarm bit of RR2 register is 1 when nALARM is active The sudden stop will occur in the driving when this signal is active D NOVA electronics Inc MCX304 M30 These input signals from servo motor drivers can be read by RR4 and RR5 registers Also there is deviation counter clear output signal nDCC as servo motor driver output signal See section 2 4 2 and 2 4 3 2 6 6 Emergency Stop Signal EMGN is able to perform the emergency stop function for all of 4 axes during the driving Normally this signal is kept on the Hi level When it is falling to the Low level all axes will stop immediately and the D5 EMG bit of register RR2 each axis becomes 1 Please be n
121. on time Acceleration Deceleration Increase Acceleration Constant Acceleration Deceleration Decrease S curve acceleration drivina state nDRIVE OUTO DCC output signals can be used for drive stop status output However these output signals share with general purpose output signals deviation counter clearing output signals If deviation counter clearing is enabled in automatic home search mode setting nDRIVE OUTO DCC functions as deviation counter clearing output DCC so they cannot be used as drive stop status output See section 2 4 2 and 2 6 8 When resetting those output signals are reset to drive stop status output nDRIVE 30 NOVA electronics Inc MCX304 M31 2 6 8 General Purpose Input Output Signal E Output Signal In MCX304 there are 4 general purpose output pins NOUT3 0 for each axis However any of these pins shares with the other function s input output pins so that general purpose output signals cannot be used when another function is used General Signal name Pin number Shared function of pins At the reset output xy zu nOUTO nDRIVE 83 84 85 86 DRIVE status output signal during outputting drive pulse DRIVE OUTO DCC DCC deviation counter clearing output signal nOUT1 nSTOP2 56 63 72 80 STOP2 drive stop input signal STOP2 OUT1 nOUT2 D8 10 12 10 6 4 2 D8 14 high word 8bit data when 16 bit bus Depends on 14 nOUT2 H16L8 signal nOUT3 D9
122. oning E Interrupt Signals Interrupt signals can be generated when 1 the start finish of a constant speed drive during the acceleration deceleration driving 2 the end of driving and 3 the compare result once higher lower the border lines of the position counter range E Real Time Monitoring During the driving the present status such as logical position real position drive speed acceleration deceleration status of accelerating decelerating and constant driving can be read E 8 or 16 Bits Data Bus Selectable NOVA electronics Inc MCX304 M3 E 8 or 16 Bits Data Bus Selectable MCX304 can be connected to either 8 bit or 16 bit CPU When it is used in 8 bit D15 8 signals can be used as general output signal Fig 1 1 is the IC functional block diagram It consists of same functioned X Y Z and U axes control sections Fig 1 2 is the functional block diagram of each axis control section CLK 16MHz Standard gt i X Axis X Axis Control Section vo Command Data INT Pr ocess Section Y Axis Y Axis Control Section INT VO i Z Axis Z Axis Control Section INT VO UAxis Interrupt P INTN PS e U Axis Control Section uo Fig 1 1 MCX304 Functional Block Diagram Jerk Generator Command Command Data Operating Section Acceleration Deceleration Generator Action Managing Section Speed Generator External Signal P Wave PP PLS a Pulse Generator p j Change PM
123. or offset is 8 when MCX304 power on reset It is not necessary to change the shift pulse value in the case of acceleration deceleration fixed driving As for fixed driving in non symmetrical trapezoidal acceleration deceleration or S curve acceleration deceleration if creep pulses or premature termination occurs at termination of driving due to the low initial speed setting correct the speed by setting the acceleration counter offset to an appropriate value 2 1 2 Continuous Driving Output When the continuous driving is performed MCX304 will drive pulse output in a specific speed until stop command or external stop signal is Speed happened The main application of continuous pulse driving is home Driver lo e ute toa searching teaching or speed control The drive speed can be changed Speed freely during continuous driving amando 1 External Stop Signal Two stop commands are for stopping the continuous driving One is 7 decelerating stop and the other is sudden stop Three input pins e STOP2 STOPO of each axis can be connected for external decelerating and sudden stop signals Enable disable active levels and mode time Fig 2 6 Continuous Driving setting are possible MStop Condition for External Input STOP2 to STOPO in Continuous Driving Assign an encoder Z phase signal a home signal and a near home signal in nSTOP2 to nSTOPO Assign an encoder Z phase signal in nSTOP2 Enable disable and logical leve
124. ot used as general purpose output D9 XOUT3 7 D8 XOUT2 10 D7 DO 11 14 Bi directional A DATA BUS 3 state bi direction 16 bit data bus low word 8bit data signal when 47 20 16 bit data bus H16L8 Hi When CSN Low and RDN Low these signals are for outputting Otherwise they are high impedance inputs A3 A0 21 22 Input A Address address signal for host CPU to access the write read registers 23 24 A3 is used only when the 8 bit data bus is used CSN 25 Input A Chip Select input signal for selecting UO device for MCX304 Set CSN to the Low level for data reading and writing WRN 26 Input A Write Strobe its level is Low while data is being written to MCX304 When WRN is Low CSN and A3 A0 must be assured When WRN is up 7 the data will be latched in the write register and while WRN is up 7 the levels of D15 D0 should be assured RDN 27 Input A Read Strobe its level is Low while data is being read from MCX304 Only when CSN is on the low level the selected read register data from A3 A0 address signals can be output from the data bus RESETN 29 Input A Reset reset return to the initial setting signal for MCX304 Setting RESETN to Low for more than 4 CLK cycles will reset MCX304 The RESETN setting is necessary when the power is on Note If there is no clock input to MCX304 setting the RESETN to Low still cannot reset this IC H16L8 30 Input A Hi 16 bit Low 8 bit data bus width selection for 16 bit 8 bit When the setting is H
125. oted that there is no way to select the logical level of EMGN signal Please check the following methods to perform the emergency stop function from the host CPU a Execute the sudden stop commend for all of 4 axes at the same time Appoint all of 4 axes then write the sudden stop command 27h to register WRO b Reset software limit Write 800h to register WRO to reset software limit 2 6 7 Status Output The driving status of each axis will be output to main status register RRO and status register nRR1 of each axis The driving status of acceleration constant speed deceleration will be output to bits D2 ASND D3 CNST and D4 DSND of RRI register Moreover in S curve acceleration deceleration driving the state of acceleration constant speed deceleration will be also shown to bits D5 AASND D6 ACNST and D7 ADSND of RR1 register Status Register Output Signal Drive Status S Active 1 Active Hi Drive RRO D1 0 n DRV nDRIVE Acceleration nRR1 D2 ASND Constant Speed nRR1 D3 CNST Deceleration nRR1 D4 DSND Acceleration Deceleration Increase nRR1 D5 AASND Acceleration Deceleration Constant nRR1 D6 ACNST Acceleration Deceleration Decrease nRR1 D7 ADSND Speed pari Speed t Acceleration Eech Deceleration Stop Acceleration Speed Deceleration _ Stop time Linear acceleration driving state Acceleration 4 Decelerati
126. ows 1 Installation method a Hot air solder reflow including the far middle infrared solder reflow concurrent use b Far middle infrared solder reflow 2 Preheating conditions 180 190 C for 60 120 seconds 3 Solder reflow conditions a Maximum 260 C b 230 C or higher for 30 50 seconds or less 4 Solder reflow count Up to twice within the permissible storage period The temperatures in the installation conditions are based on the package surface temperature The temperature profile indicates the upper limit of the heat proof temperature Install the IC within the following profile Temperature c Main Preheating Heating 30 to 50 60 to 120 seconds seconds rat Let pal Time seconds Standard Solder Reflow Heat Proof Profile 80 NOVA electronics Inc MCX304 M81 16 Specifications E Control Axis 4 axes E Data Bus 16 8 bits selectable E Drive Pulses Output When CLK 16 MHz Pulse Output Speed Range 1PPS 4MPPS Pulse Output Accuracy within 0 1 according to the setting speed S curve Jerk 954 62 5 x 10 EN Multiple 1 477 x 10 31 25 x 10 PPS S Multiple 500 O Accelerating Decelerating Speed 125 1 x 10 PPS S Multiple 1 62 5x10 500 x 10 PPS S Multiple 500 Initial Speed 1 8 000PPS Multiple 1 500PPS 4x10 PPS Multiple 500 O Drive Speed 1 8 000PPS Multiple 1 500PPS
127. r function is disabled ZLMTP 70 the active pulse width must be 2CLK or more When it is enable and when this ULMTP 78 signal is in its active level the HLMT of RR2 register becomes 1 XLMTM 55 Input A OVER Limit signal of direction over limit YLMTM 62 F During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active The active pulse width should be ZLMTM 71 more than 2CLK Decelerating stop sudden stop and logical levels can be set ULMTM 79 during the mode selection When it is enable and when this signal is in its active level the HLMT of RR2 register becomes 1 XSTOP2 0UT1 56 Bi directional B STOP 2 General Output 1 nSTOP2 signal is one of 3 input signals of each axis sa to perform decelerating sudden stop for each axis and assigned encoder VS LOPAOUTI En a Z phase signal in automatic home search Enable disable and logical levels ZSTOP2 OUT1 72 can be set for nSTOP2 The active pulse width should be more than 2CLK USTOP2 OUT1 80 when the signal is enabled with a disabled filter function And nSTOP2 signal is equipped with a function that clears a real position counter value by 7 signal depends on mode setting The signal status can be read from register RR4 RR5 If nSTOP2 signal is not used the signal can be used as general output signal nOUT1 See chapter 2 6 8 4 7 and 4 8 The status is input state when resetting XSTOP1 0 57 58 Input A STOP 1 0 2 of 3
128. r values for those driving related parameters before the driving starts 6 1 Range Setting Command Data Range Data Length 8 000 000 multiple 1 16 000 Range setting i 4 bytes multiple 500 R is the parameter determining the drive speed acceleration deceleration and jerk The multiple can be calculated as follows where the range setting value is R 8 000 000 Multiple 2 222 R For the parameter setting range of drive speed acceleration deceleration is 1 8000 if the higher value is needed the user should have a larger multiple In case of increasing the multiple although the high speed driving is possible the speed resolution will be decreased So the user can set the multiple as small as possible if the setting speed has covered the desired speed For example the maximum value of parameter for setting the drive speed V is 8000 and the drive speed is set 40K PPS The user can set V 8000 and R 1 600 000 Because 40K is 5 times of 8000 we set the R 8 000 000 5 1 600 000 The Range R cannot be changed during the driving The speed will be changed discontinuously 52 NOVA electronics Inc MCX304 M53 6 2 Jerk Setting Command Data Range Data Length Jerk setting 65 535 2 bytes A jerk setting value is a parameter that determines the acceleration increase decrease rate per unit in S curve acceleration deceleration K is the parameter determining the jerk The jerk cal
129. riod of longest CLK 8 cycles are passed a In quadrature pulses input mode when nECA and nECB input pulses are changed the value of real position counter will be reflected in maximum 8 SCLK cycles b In UP DOWN pulse input mode the real position counter will become the value of those input pulses changed after the period between the beginning of nPPIN nPMIN f and the time of CLK 8 cycles are passed b In UP DOWN pulse input mode the value of real position counter will be reflected in maximum 8 SCLK cycles from nPPIN and nPMIN input f P76 13 2 Fixed or Continuous Driving a This first driving pulses nPP nPM and nPLS will be output after 10 CLK cycles CLK 16MHz and 625nSECmax when WRN is f a Driving pulses nPP nPM and nPLS shown as above are positive logic pulses And the first driving pulse will be output after 10 CLK cycles CLK 16MHz and 625nSECmax from WRN f in which driving command is written b The nDIR direction signal is valid after 4 CLK cycles CLK 16MHz and 250nSECmax when WRN is 1 b nDIR direction signal is valid after 4 CLK cycles CLK 16MHz and 250nSECmax from WRN f c The nDRIVE becomes Hi level after 4CLK cycles when WRN is and returns to Low level after a Low period of the last pulse c dDRIVE becomes Hi level after 4CLK cycles from BUSYN f 13 3 Start Driving after Hold Command a The pulses nPP nPM and nPLS of each axis will start outputting after 3 SCLK cycles when BUSYN is 1
130. rk 2083K PPS SEC2 PPS Acceleration 188K PPS SEC Initial speed 1000 PPS Drive speed 40K PPS P 5000 P 10000 P 20000 P 30000 Output Pulse P 50000 A1 NOVA electronics Inc MCX304 A2 MI 8000PPS Perfect S curve acceleration deceleration R 8000000 Multiple 1 K 2000 A D 500 SV 100 V 8000 A0 0 8K Auto Deceleration mode P Jerk 31K PPS SEC2 Ge d Acceleration 62 5K PPS SEC N Initial speed 100 PPS Drive speed 8000 PPS 4K P 10000 Output Pulse P 20000 N x a j 2 0 4 0sec MI 8000PPS Partial S curve acceleration deceleration R 8000000 Multiple 1 K 1000 A D 100 SV 100 V 8000 A0 0 8K Auto Deceleration mode Pps Jerk 62 5K PPS SEC2 fy A a N Acceleration 12 5K PPS SEC Ox A X me speed 100 PPS An d A Drive speed 8000 PPS 4K __P 2000 P 5000 P 10000 Output Pulse P 20000 A K O K K 2 0 j 4 0sec MI 400KPPS Perfect S curve acceleration deceleration R 80000 Multiple 100 K 2000 A D 100 SV 10 V 4000 A0 0 400K Auto Deceleration mode PPS AA A Jerk 3 13M PPS SEC2 Acceleration 1 25M PPS SEC j d Initial speed 1000 PPS a N Drive speed 400K PPS 200K 4 N P 100000 N P 200000 Output Pulse P 400000 N tu N N N N N N 1 0 J 2 0sec mM 400KPPS Partial S curve acceleration deceleration R 80000 Multiple 100 K 500 A D 100 SV 10 V 4000 AO 0 Auto Deceleration mode 400K Jerk
131. rm acceleration deceleration driving See Section 2 2 2 Drive speed V 05 Low speed search speed that is applied in Steps 2 and 3 Home search speed HV 61 Set a value lower than the initial speed SV to stop operation instantly when the search signal becomes active See Section 2 2 1 E Setting an automatic home search mode Use an automatic home search mode setting command 60h to set an automatic search mode As shown below set each bit of the WR6 register and then write the command code with axis assignment to WRO register WR6 too J JS Jn Deviation Counter Clear Output Step 4 Step 3 Step 2 Step 1 D6 4 2 0 STm E Specify whether operation of each step is executed 0 Non execution 1 Execution Use the WR1 register for logical setting of the input signal that is detected in each step See Section 4 4 D7 5 3 1 STm D Specify search operation direction of each step 0 direction 1 direction D8 PCLR When this bit is set to 1 the logical position counter and the real position counter are cleared at termination of Step 4 482 NOVA electronics Inc MCX304 M19 D9 SAND When this bit is set to 1 operation of Step 3 stops when the home signal nSTOP1 and the encoder Z phase signal nSTOP2 become active D10 LIMIT Set this bit to 1 when setting automatic home search using an overrun limit signal nLMTP or nLMTM D11 DCC E This bit enables disables deviation counter clearing output 0 Disable 1 Enable
132. rs P 0 268 435 455 4 07 Manual deceleration point setting DP 0 268 435 455 4 09 Logical position counter setting LP 2 147 483 648 2 147 483 647 4 OA Real position counter setting EP 2 147 483 648 2 147 483 647 4 0B COMP register setting CP 1 073 741 824 1 073 741 824 4 DC COMP register setting CM 1 073 741 824 1 073 741 824 4 0D Acceleration counter offsetting AO 32 768 32 767 2 OF NOP For axis switching 60 Automatic home search mode setting HM 2 61 Home search speed setting HV 1 8 000 2 Note When those parameters are written the total data length should be completely filled Formula Calculation for Parameters 62 5 x10 8 000 000 8 000 000 Jerk PPS SEC gt RA Multiple K R R Multiple Accel PPS SEC A x 12 SA sie 8 000 000 cceleration A X125 x VOU R Deceleration PPS SEC D x 125 x ae ee gt Multipl AARS Multiple 8 000 000 Drive Speed PPS V x pn 8 000 000 A __ Initial Speed PPS SV x Multiple l f 50 NOVA electronics Inc E Data Reading Commands MCX304 M51 Code Command Symbol Data Range Data Length 10h Logical position counter reading LP 2 147 483 648 2 147 483 647 4 bytes 11 Real position counter reading EP 2 147 483 648 2 147 483 647 4 12 Current drive speed reading CV 2 13 Acceleration deceleration reading CA 2 E Driving Commands Code Command 20h direction fixed driv
133. s Inc MCX304 M76 13 Timing of Input Output Signals 13 1 Power On Reset VDD or RESETN b INTN ESA em nPP PLS DRIVE Low nOUT7 0 c Read Write access to this IC AAAA disable rel enable a The reset signal input to pin RESETN will keep on the Low level for at least 4 CLK cycles b When RESETN is on the Low level for 4 CLK cycles maximum the output signals of MCX304 are decided c Read Write cannot be enabled to this IC for at least 8 CLK cycles when RESTN is on the Hi level 13 2 Fixed or Continuous Driving A TIAN WRN l F Drive Command write in nPP nPM a nPLS 1st Pulse 2nd Pulse AS Final Pulse b nDIR Cc nDRIVE a Driving pulses nPP nPM and nPLS shown as above are positive logic pulses And the first driving pulse will be output after 10 CLK cycles CLK 16MHz and 625nSECmax from WRN f in which driving command is written b nDIR direction signal is valid after 4 CLK cycles CLK 16MHz and 250nSECmax from WRN f c dDRIVE becomes Hi level after 4CLK cycles from BUSYN f 13 3 Start Driving after Hold Command CLK WRN Drive Command Start Driving after Hold Command a nPP nPM nPLS EA nDRIVE a The pulses nPP nPM and nPLS of each axis will start outputting after 10 CLK cycles CLK 16MHz and 625nSECmax when WRN is f First Pulse b nDRIVE will become Hi level after 4 CLK cycles when WRN is for each axis
134. s at the position beyond the limit active section When Step 3 operation is performed the AND condition between a Z phase signal and a home signal STOP1 cannot be applied The automatic home search mode bit D9 SAND must be set to 0 25 NOVA electronics Inc MCX304 M26 2 5 Interrupt The interrupt is generated from X Y Z and U axes There is only one interrupt signal INTN 32 to the host CPU So the signal will be OR calculated then output as shown in Fig 2 23 INT Fig 2 24 Interrupt Signal Path in IC IR INTN 32 Every interrupt can be enabled or disabled individually When resetting all interrupt signals are disabled E Interrupt of X Y Z and U Axes The following table shows the interrupt factors generated by X Y Z and U axes Enable Disable Status nRR3 The Factors of Interrupt Happening nWR1 Register Register once the value of logical real position counter is larger than or equal to the D9 P2C D1 P2C j value of COMP register CM once the value of logical real position counter is smaller than the value of D10 P lt C D2 P lt C COMP register CM once the value of logical real position counter is larger than the value of D11 P lt C D3 P lt C COMP register CM once the value of logical real position counter is smaller than or equal to the D12 P C D4 P2C value of COMP register CM in the acceleration deceleration driving wh
135. signal nLMTP 0 active on the Low level 1 active on the Hi level Setting the logical level of direction limit input signal nLMTM 0 active on the Low level 1 active on the Hi level Setting if real position counter or logical position counter is going to be compared with COMP register 0 logical position counter 1 real position counter Setting output pulse type 0 independent 2 pulse type 1 1 pulse 1 direction type When independent 2 pulse type is engaged direction pulses are output through the output signal nPP PLS and direction pulses through nPM DIR When 1 pulse 1 direction type is engaged and directions pulses are output through the output signal nPP PLS and nPM DIR is for direction signals Note Please refer to Chapter 13 2 and 13 3 for the output timing of pulse signal nPLS and direction signal nDIR when 1 pulse 1 direction type is engaged Setting logical level of driving pulses 0 positive logical level 1 negative logical level JUUUL IULIU Positive Logical Level Negative Logical Level Setting logical level of the direction nPM DIR output signal for 1 pulse mode DIR L D8 DIR L direction 0 Low Hi 1 Hi Low Setting the type of encoder input signals nECA PPIN and nECB PMIN 0 quadrature pulse input type 1 Up Down pulse input type When quadrature pulse input type is engaged and nECA signal goes faster 90 degree phase than nECB signal does it s count up and nECB
136. signal goes faster 90 degree phase than nECA signal does it s count down 42 NOVA electronics Inc MCX304 M43 D11 10 PIND1 0 D12 D13 D14 D15 ALM L ALM E INP L INP E nECA nECB Count Up Count Down When Up Down pulse input type is engaged PPIN signal is for count up input and PMIN signal is for count down input When the positive logical level pulses go up f PPIN signal counts up and PMIN signal counts down The division setting for quadrature encoder input D11 D10 Division 0 0 1 1 0 1 1 2 Up down pulse input is not 1 0 1 4 available 1 1 Invalid Setting active level of input signal nALARM 0 active on the Low level 1 active on the Hi level Setting enable disable of servo alarm input signal nALARM 0 disable 1 enable When it is enabled MCX304 will check the input signal If it is active D14 ALARM bit of RR2 register will become 1 The driving stops Setting logical level of nINPOS input signal 0 active on the Low level 1 active on the Hi level Setting enable disable of in position input signal nINPOS from servo driver 0 disable 1 enable When it is enabled bit n DRV of RRO main status register does not return to 0 until nINPOS signal is active after the driving is finished D15 D0 will be set to 0 while resetting 4 6 Mode Register3 WR3 Each axis is with mode register WR3 The axis specified by NOP command or the condition be
137. t a time constant of the filter FL2 0 Removable MAKUNAN noise Input signal delay time width 0 1 754SEC 2uSEC 1 224uSEC 256uSEC 2 448uSEC 512uSEC 3 896uSEC 1 024mSEC 4 1 792mSEC 2 048mSEC 5 3 584mSEC 4 096mSEC 6 7 168mSEC 8 192mSEC 7 14 336mSEC 16 384mSEC D15 D0 will be set to 0 while resetting D12 and D7 bits must always be set to 0 4 7 Output Register WR4 WR5 This register is used for setting the general purpose output signals NOUT3 0 WRS register is used to set enable disable of each axis output 0 set disable and 1 set enable WR4 register is used to set output level Hi Low of each axis output signal 0 set Low 44 NOVA electronics Inc MCX304 M45 level and 1 set Hi level H L D15 Du D13 __D12 D11 D10 D9 D8 D D6 D5 D4 D3 D2 D1 DO WR4 UOUT3 UOUT2 UOUT1 UOUTO ZOUT3 ZOUT2 ZOUT1 ZOUTO YOUT3 YOUT2 YOUT1 YOUTO XOUT3 SOUTZ XOUT1 XOUTO Output level setting 0 Low 1 Hi H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D D5 D4 D3 D D1 DO WR5 UOT3E UOT2E UOT1E UOTOE ZOT3E ZOT2E ZOT1E ZOTOE YOT3E YOT2E YOT1E YOTOE XOT3E XOT2E xOT1E XOTOE Output enable disable setting 0 Disable 1 Enable D15 D0 will be set to 0 while resetting Note There are 4 general purpose output signals for each axis though any of these pins shares with the other function s input output pins so that general purpose output signals cannot be used when anoth
138. the symmetrical acceleration i l deceleration However when the initial speed is set to an extremely low speed 10 or l I i I I less slight premature termination or creep may occur Before using a Scurve deceleration drive make sure that your system allows premature termination or creep A EA i e A i ri re a ah Sp a ea ah a E lh a et a yt a a Np ata i eh ana e Ein ir ATTENTION Before using this IC read Appendix B Technical Information on the last pages of this manual without fail because there are some important information the technologies etc Please download the up date data from our website The descriptions of this manual may change without notice because of the progress of http www novaelec co jp and or ask us to supply you directly NOVA electronics Inc MCX304 iii 1 OUTLINE 1 2 The Descriptions of Functions se ate 4 2 1 Pulse Ouiput Command SSss5 sacose scars Seas AA 4 2 1 1 Fixed Driving Output e EE EE 4 2 1 2 Continuous Driving Output 5 2 2 Acceleration and Deceleration 5 2 2 1 Constant Speed Driving T TIT TILL T TT 5 2 2 2 Trapezoidal Driving Symmetrical 6 2 2 3 Non Symmetrical Trapezoidal Acceleration 7 2 2 4 S curve Acceleration Deceleration Driving
139. tic home search Cause of the error Operation of IC at the occurrence of error The ALARM signal was activated in any of the The search driving stops instantly without Display at termination RRO D5 4 1 nRR2 D4 1 Steps 1 to 4 executing the following steps nRR1 D14 1 The EMGN signal was activated in any of the The search driving stops instantly without RRO D5 4 1 nRR2 D5 1 Steps 1 to 4 executing the following steps nRR1 D15 1 The limit signal in the positive direction LMTP M is activated in Step 3 The search driving stops instantly by decelerating without executing the following steps RRO D5 4 1 nRR2 D3 2 1 nRR1 D13 12 1 The limit signal in the positive direction LMTP M is activated in Step 4 The offset action stops instantly by decelerating and the operation stops RRO D5 4 1 nRR2 D3 2 1 nRR1 D13 12 1 The STOP2 signal is already active at the start of Step 3 Operation stops without executing the following steps RRO D5 4 1 nRR2 D7 1 Always check the error bits RRO D7 to D4 of each axis after termination of automatic home search When automatic home search is not performed correctly the error bit is set to 1 It is not recommended to monitor the error bit of each axis during execution of automatic home search This is because the error bit indicates 1 in spite of normal operation when the limit signal in the search direction is set in irregular operation of Step
140. tion 11 D2 1 Step 2 Enable 11 D1 1 Step 1 search direction direction II DO 1 Step 1 Enable speed 0x3 2000 II Step 1 4 high speed speed 20 000pps hsspeed 0x3 50 II Step 2 3 low speed speed 500pps pulse 0x1 3500 II X axis offset 3 500 pulse pulse 0x2 700 II Y axis offset 700 pulse hsmode 0x4 0x01c4 11 Z axis home search mode setting D15 D13 000 Deviation counter clear pulse width 11D12 0 Deviation counter clear output logical level 11D11 0 Deviation counter clear output Disable II D10 0 Use of limit signal as a home signal Disable 1 D9 0 Z phase signal and home signal Disable 1D8 1 Logical Real position counter clear Enable II D7 1 Step 4 driving direction direction II D6 1 Step 4 Enable II D5 0 Step 3 search direction 11 D4 0 Step 3 Disable 11 D3 0 Step 2 search direction direction 11 D2 1 Step 2 Enable 11 D1 0 Step 1 search direction II DO 0 Step 1 Disable speed 0x4 40 JI Step 4 drive speed 400pps hsspeed 0x4 40 JI Step 2 search speed 400pps pulse 0x4 20 offset 20 pulse hsmode 0x8 0x010c U axis home search mode setting 11D15 D13 000 Deviation counter clear pulse width 11D12 0 Deviation counter clear output logical level 11 D11 0 Deviation counter clear output Disable II D10 0 Use of limit signal as a home signal Disable 11 D9 0 Z phase signal and home signal Disable 11 D8 1 Logical Real position counter clear Enable II D7 0 Step
141. tion A 58 NOVA electronics Inc MCX304 M59 8 Driving Commands Driving commands include the commands for each axis s drive pulse output and other related commands After the command code and axis assignment are written in command register WRO the command will be executed immediately It is possible to assign more than one axis with same command at the same time In driving bit n DRV of each axis s main status register RRO becomes 1 When the driving is finished the bit n DRV will return to 0 If nINPOS input signal for servo drivers is enabled bit n DRV of main status register RRO will not return to 0 until nINPOS signal is on its active level Note It requires 250 nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 8 1 Direction Fixed Driving Command Direction Fixed Driving The setting pulse numbers will be output through the output signal nPP In driving logical position counter will count up 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers see the table below Range Jerk Acceleration A Deceleration Initial Speed Drive Speed Output pulses R K D SV v P Constant speed driving O O E O Linear acceleralation e O O A O O O deceleration driving Non symmetrical linear acceleration deceleratio
142. tup Time 1 6 2006 Ver 1 2 P41 line 39 the start the end P41 line 41 the end the start 12 20 2005 Ver 1 1 P49 line 38 except for nLMTP M signal except for EMGN signal NOVA electronics Inc MCX304 M1 1 OUTLINE MCX304 is a 4 axis motion control IC which can control 4 axes of either stepper motor or pulse type servo drivers for position and speed All of the MCX304 s functions are controlled by specific registers There are command registers data registers status registers and mode registers This motion control IC has the following built in functions E Individual Control for 4 Axes MCX304 controls motors through pulse string driving The IC can control motors of the four axes independently with a single chip Each of the four axes has identical function capabilities and is controlled by the same method of operation with constant speed trapezoidal or S curve driving Servo Step Motor Driver ar X gt Driver a Y CPU bw MCX304 Driver en o Z ri Driver m p U E Automatic home search This IC is equipped with a function that automatically executes a home search sequence without CPU intervention The sequence comprises high speed near home search low speed home search encoder Z phase search offset drive This function reduces the CPU load E Speed Control The speed range of the pulse output is from 1PPS to 4MPPS for constant speed trapezoidal or S cur
143. ve acceleration deceleration driving Speed accuracy of the pulse output is less than 0 1 at CLK 16MHz The speed of driving pulse output can be freely changed during the driving E Acceleration deceleration driving The IC can control each axis for acceleration deceleration of constant speed driving trapezoidal acceleration deceleration driving symmetry non symmetry and S curve acceleration deceleration Automatic acceleration deceleration of linear acceleration fixed speed pulse driving is available and no need to set deceleration starting point by manual Since a primary linear increase decrease method is applied for S curve acceleration deceleration the speed curve forms a secondary parabola acceleration deceleration curve In S curve acceleration and deceleration fixed driving automatic deceleration is available for symmetrical S curve only and triangle waveforms during S curve acceleration deceleration are prevented by a special method Trapezoidal Acceleration Deceleration Driving Trapezoidal Acceleration Deceleration Driving P Symmetry Non Symmetry V Sudden Deceleration Time Time Parabola S curve Acceleration Deceleration Driving V p Symmetry ra KN Loo EN i N Automatic Deceleration P 100000 P 200000 P 400000 d g d SN N pi P 50000 _ N iy Time NOVA electronics Inc MCX304 M2 m Position Control Each axis has a 32 bit logic position counter and a 32 bits real position counter
144. with positive logical pulses the count is incremented and when the B phase is advancing the count is decremented The count is incremented and decremented at the rising edge and falling edge of both signals When the real position counter up down reverse bit WR1 D7 is set to 1 the up down operation of the real counter is reversed In A B quadrature pulse input mode the input pulses can be divided into 1 2 or 1 4 nECA PPIN nECB PMIN 7 EPINV 0 Count up at the both signals 4 y Count down at the both signals y 7 EPINV 1 Count down at the both signals 4 y Count up at the both signals y E Up down pulse input mode By setting the D9 PINMD bit of the WR2 register to 1 a counter up down pulse input mode can be set nECA PPIN is count up input and nECB PMIN is count down input The counter counts at the rising edge of the positive pulse nECA PPIN l nECB PMIN Count up Count down Use the D9 PINMD bit of the WR2 register for selecting a pulse input mode and the D11 and D10 PIND1 0 bits to set the division ratio of encoder 2 phase pulse input Note Time specification is applied to the pulse width and pulse cycle of input pulses See Section 12 2 5 Input Pulse of Chapter 12 2 6 4 Hardware Limit Signals Hardware limit signals nLMTP and nLMTM are used for stopping the pulse output if the limit sensors of and directions are triggered When the limit signal and also the l
145. without executing Step 1 L When the starting position is in point B in the diagram the function performs irregular operation O in Step 2 after Step 2 is B setting the limit in search direction in Step 1 e e Parameter and mode setting WRO 010Fh Write WR1 0000h Write WR3 4F00h Write Selects X axis Input signal logical setting XSTOPO Low active XSTOP1 Low active See 4 4 Input signal filter setting See 4 6 D15 D13 010 Filter delay 512usec D8 1 XSTOP1 0 signal Enables the filter WR6 014Fh Write Writes an automatic home search mode in WR6 D15 D13 000 D12 0 D11 O Deviation counter clearing output Disable D10 O Uses a limit signal as the home signal Disable D9 O Z phase signal AND home signal Disable D8 1 Clears logical real position counter Enable D7 O Step 4 driving direction direction D6 1 Step 4 Enable D5 O Step 3 search direction D4 O Step 3 Disable D3 1 Step 2 search direction direction D2 1 Step 2 Enable Di 1 Step 1 search direction direction DO 1 Step 1 Enable WRO 0160h Write WR6 3500h Write WR7 000Ch Write WRO 0100h Write Set an automatic home search mode to the X axis Range 8 000 000 multiple 10 WR6 004Ch Write WRO 0102h Write Acceleration speed 95 000 PPS SEC 95000 125 10 76 WR6 0064h Write WRO 0104h Write Initial speed 1000
146. y the inertia of motor system 12 NOVA electronics Inc MCX304 M13 2 3 Position Control Fig 2 19 is 1 axis position control block diagram For each axis there are two 32 bit up and down counters for counting present positions and two comparison registers for comparing the present positions gt PP direction e gt PM direction Logical Position Counter 4 32bit DOWN Real Position Counter UP lt Waveform lt ECA PPIN RW 4 gt Encoder input pulse 32bit Soinla Transformation 4 ECB PMIN put p Selector wee Register D5 O o e RR1 Register DO 32bit 2 9 i RR1 Register D1 32bit 2 Fig 2 18 Position Control Block Diagram 2 3 1 Logic Position Counter and Real position Counter As shown above in Fig 2 19 the logic position counter is counting the driving pulses in MCX304 When one direction plus is outputting the counter will count up 1 when one direction pulse is outputting the counter will count down 1 The real position counter will count input pulse numbers from external encoder The type of input pulse can be either A B quadrature pulse type or Up Down pulse CW CCW type See Chapter 2 6 3 Host CPU can read or write these two counters any time The counters are signed 32 bits and the counting range is between 2 147 483 648 2 147 483 647 The negative is in 2 s complement format The counter value is random while resetting 2 3 2 Compare Register and Softw
147. y to set a manual deceleration point by calculation in advance Fig 2 11 shows the case where the deceleration is greater than the acceleration and Fig 2 12 shows the case where the acceleration is greater than the deceleration In such non symmetrical linear acceleration also the deceleration start point is calculated within the IC based on the number of output pulses P and each rate parameter Speed pps Drive Speed V 30k UO eee V 30k 77 7 1 1 l Deceleration Rate D 36kpps sec Deceleration Rate D 145kpps sec Acceleration Rate 4 deiersten Rate l l 1 l 1 1 Initial Speed SV 1k SV 1k 0 8 1 2 1 4 time SEC 0 2 0 6 1 4 time SEC Fig 2 10 Non Symmetrical Linear Acceleration Driving Fig 2 11 Non Symmetrical Linear Acceleration Driving acceleration lt deceleration acceleration gt deceleration To perform automatic deceleration for fixed driving of non symmetrical linear acceleration bit D1 DSNDE to 1 of the WR3 register must be set to apply deceleration setting value and bit DO MANLD to 0 of the WR3 register must be set to enable automatic deceleration during acceleration deceleration driving Mode setting bit Symbol Setting value Comment WR3 D1 DSNDE 1 The deceleration setting value is applied at deceleration WR3 DO MANLD 0 Automatic deceleration NOVA electronics Inc MCX304 M8 The following parameters must be set Parameter name Symbol

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