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PCL61x3 User`s Manual

1. Selection of the origin return operation mode RENV2 ORM bit 29 RENV2 WRITE 0 Use only the ORG signal 31 24 1 Use the ORG signal and EZ signals n Reading the ORG signal SSTSW SORG bit 14 gt ssTsw READ 0 Turn OFF the ORG signal 15 8 1 Turn ON the ORG signal n _ Select input logic of the ORG signal lt RENV1 ORGL bit 7 gt RENV1 WRITE 0 Negative logic 7 0 1 Positive logic WIEDERE Apply an input noise filter to ORG and SD lt RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a noise filter to the EL EL SD ORG ALM and INP inputs 31 24 When the filter is applied signals which are shorter than the FTM pulse length willt n be ignored Specify a time constant for the input filter lt RENV1 FLM bit 21 20 gt RENV1 WRITE 00 b 3 2 us 10 b 200 us 23 16 01 b 25 us 11 b 1 6 ms ni ni Reading the EZ signal lt RSTS SEZ bit 10 gt RSTS READ 0 Turn OFF the EZ signal 15 8 1 Turn ON the EZ signal n l Set the input logic for the EZ signal lt RENV2 EZL bit 28 RENV2 WRITE 0 Falling edge 24 1 Rising edge i ERIS ES Apply an input filter to EA EB and EZ lt RENV2 INF bit 18 RENV2 WRITE 1 Apply a noise filter to these i
2. Bit Bit name Description 0 ESPL _ Stopped by the EL input being turned ON 1 ESML _ Stopped by the EL input being turned ON 2 EGAL Stopped by turning the ALM input ON or when an ALM input occurs while stopping 3 ESSP Stopped by the CSTP input being turned ON 4 ESEM Stopped by the CEMG input being turned ON or when an ALM input occurs while stopping 5 ESSD Decelerated and stopped by the SD input being turned ON 6 ESPO An overflow occurred in the PA PB input buffer counter 7 ESEE _ An EA EB input error occurred The motor does not stop 8 ESPE APA PB input error occurred The motor does not stop 31 to 9 Not defined Always set to 0 8 3 24 RIST register This register is used to check the cause of event interruption Read only When an event interrupt occurs the bits corresponding to the cause will be 1 This register is reset when read 15 14 13 12 dE 10 9 8 7 6 5 4 3 2 14 0 ISSA ISMD ISPD ISSD ISOL ISLT ISC2 ISC1 ISDE ISDS ISUE ISUS ISNM ISEN Bit Bit name Description 0 ISEN When stopped automatically 1 ISNM When available to write operation to pre register 2 ISUS When starting acceleration 3 ISUE When ending acceleration 4 ISDS When starting deceleration 5 ISDE When ending deceleration 6 ISC1 When the comparator 1 conditions are met 7 ISC2 When the comparator 2 condition are me
3. Bits Bit name Description 2 to 0 PMD2 to 0 Specify OUT output pulse details Operation in direction Operation in direction PMD2 to 0 OUT output DIR output OUT output DIR output 000 b High Low 001 b High Low 010 b Low High 011 b Low High 100 b High High OUT OUT n 101 b GE DIR DIR OUT our 110 b EL Se DIR DIR j AN Lo Low 3 ELM Specify the process to occur when the EL signal input is turned ON 0 Immediate stop 1 Deceleration stop Note 1 4 SDM Specify the process to occur when the SD signal input is turned ON 0 Deceleration only 1 Deceleration and stop 5 SDLT Specify the latch function of the SD signal input 0 OFF 1 ON Turns ON when the SD signal width is short When the SD input is OFF at the start the latch signal is reset The latch signal is also reset when SDLT 0 39 Bits Bit name Description 6 SDL Specify the SD signal input logic 0 Negative logic 1 Positive logic 7 ORGL Specify the ORG signal input logic 0 Negative logic 1 Positive logic 8 ALMM Specify the process to occur when the ALM signal input is turned ON 0 Immediate stop 1 Deceleration stop ALML Specify the ALM signal input logic 0 Negative logic 1 Positive logic 10 EROE 1 Automatically outputs an ERC signal when the motor is stopped immediately by a EL EL ALM or CENG input signal However the ERC signal is not output when a dece
4. When using continuous interpolation without changing the interpolated axes all you need to do is to set the next operation in the pre register you don t need to specify any stop conditions rather than using the start BER when another axis stops function When operating the continuous interpolation with changing the interpolated axes by using the pre register function you have to be careful In this case put a 0 in the PRMV register of the axes that will not move not be interpolated and operate them as dummy interpolated axes How to perform continuous interpolation while changing the interpolated axis during the interpolation operation Linear interpolation between the X and Y axes gt Linear interpolation between the X and Z axes Step Register X axis Y axis Z axis Description PRMV 10000 5000 0 Linear interpolation to X 10000 Y PRIP 10000 10000 10000 5000 4 The Z axis performs a dummy PRMD 0000 0063h 0000 0063h 0000 0063h interpolation operation with zero feed amounts Start command Write 0751h FH constant speed start X Y and Z axes start command PRMV 10000 0 20000 Linear interpolation to X 10000 Z PRIP 20000 20000 20000 20000 The Y axis performs a dummy interpolation operation with zero feed 2 PRMD 007C 0063h 007C 0063h 007C 0063h amounts When the X Y and Z axes stop feeding restart the X Y and Z axis Start command Write 0751h FH consta
5. 11 6 2 PCS signal The PCS input which is used for the target position override 2 function can be enabled the CSTA signal for an own axis only by setting RENV1 PCSM bit 30 1 and PRMD MSY bits 19 and 18 01 b The input logic of the PCS input signal can be changed The terminal status can be monitored by reading the RSTS register Specify the function of the PCS signal lt RENV1 PCSM bit 30 RENV 1 WRITE 1 Make PCS input effective as CSTA for an own axis only 31 24 n Set the Waiting for CSTA input RMD MSY1 to 0 bits 19 and 18 RMD WRITE 01 b Start on a CSTA input 23 16 n n Set the input logic of the PCS signal lt RENV1 PCSL bit 24 RENV1 WRITE 0 Negative logic 31 24 1 Positive logic abs Ese Read the PCS signal RSTS SPCS bit 8 RSTS READ 0 The PCS signal is OFF 15 8 1 The PCS signal is ON zs ef xar 86 11 7 External stop simultaneous stop This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the CSTP terminal Set PRMD MSPE bit 24 1 to enable a stop from a CSTP input The axis will stop immediately or decelerate and stop when the CSTP terminal is L Stop method in the case that the motor starts in constant speed is only immediate start In the case that the motor starts in high speed you can select from immediate
6. OUT DIR 2 When using 90 degree phase difference signals and 2x input RENV2 PIM 01 b PA PB OUT DIR 3 When using 90 degree phase difference signals and 4x input RENV2 PIM 10 b PA PB OUT DIR 4 When using two pulse input RENV2 PIM 11 b PA PB OUT DIR 50 The pulsar input mode is triggered by an FL constant speed start command 50h or by an FH constant speed start command 51h Pulsar input causes the LSI to output pulses with some pulses from the FL speed or FH speed pulse outputs being omitted Therefore there may be a difference in the timing between the pulsar input and output pulses up to the maximum internal pulse frequency The maximum input frequency for pulsar signals FP is restricted by the FL speed when an FL constant speed start is used and by the FH speed when an FH constant speed start is used The LSI outputs INT signals as errors when both the PA and PB inputs change simultaneously and when the input output buffer counter 4 bits overflows after the input frequency is exceeded This can be monitored by the REST register setting speed nes input I F mult
7. Reading operation status lt RSTS CND bit 3 to 0 gt RSTS READ 1000 b Wait for PA PB input 7 0 hjnn n Reading PA PB input error lt REST ESPE bit 8 REST READ ESPE bit 17 1 A PA PB input error occurs 15 8 D 00000 Ol n Reading PA PB input buffer counter status REST ESPO bit 6 REST READ ESPO bit 6 1 An overflow occurs 7 0 n n the descriptions in the right hand column n refers to a bit position 0 refers to a bit position where it is prohibited to write any value except zero and the bit will always be zero when read The pulsar input mode has the following 2 operation types 51 The direction of movement for continuous operation can be changed by setting the RENV2 register without changing the wiring connections for the PA PB inputs MOD Operation mode Direction of movement 01h Continuous operation using pulsar input Determined by the PA PB input Positioning operation using pulsar input Feeds in a positive direction when PRMV 2 0 51h incremental position Feeds in a negative direction when PRMV 0 9 3 1 Continuous operation using a pulsar input MOD 01h This mode allows continuous operation using a pulsar input When PA PB signals are input after writing a start command the LSI will output pulses to the OUT terminal The feed direction depends on PA PB signal input method a
8. Set COUNTER 1 to ring counter operation lt RENV3 C1RM bit 7 gt RENV3 WRITE 1 Operate COUNTER 1 as a ring counter 7 0 ni Set COUNTER 2 to ring count operation lt RENV3 C2RM bit 11 RENV3 WRITE 1 Operate COUNTER 2 as a ring counter 15 8 ni Even if the value for PRMV outside the range from 0 to the value in RCMPn the LSI will continue to perform positioning operations When driving a rotating table with 3600 pulses per revolution and when RCMP1 3599 MOD 41h and RMV 7200 the table will rotate twice and the value in COUNTER 1 when stopped will be the same as the value before starting Note Touse the ring counter function set the count value between 0 and the value in RCMPn If the value is outside the range above the LSI will not operate normally Set the comparison conditions C181 to 0 C281 to 0 to 00 b when using a counter as a ring counter Setting example RENV3 XXXXXX80h COUNTER 1 is in ring counter mode RENV3 C1RM 1 RCMP1 A Count range 0 to 4 DIR OUT COUNTER1 0 X 1X 2X 3X 4X OX 1X 2X 3X 4X OX 1 X OX 4X 3X 2X 1X OX 4X 3X 2X IX OX 4X 3 94 11 11 Synchronous starting This LSI can perform the following operation by setting the PRMD regis
9. 19 2 Write the commands to common addresses and write the data to the I O area for each axis independently In this case the axis must be specified for each command that is written However the software reset command SRST ignores any axis specification One command writes reads all the axes in the same register Therefore the data setting time is reduced In the case 16 bit I F 3 gt A4 to A1 Symbol Description 0000 b COMW Command 0010 b BUFWO X X axis I O buffer bits 15 to 0 0011 b BUFW1 X X axis I O buffer bits 31 to16 0110 b BUFWO Y Y axis I O buffer bits 15 to 0 0111 b BUFWA Y Y axis I O buffer bits 31 to 16 1010 b BUFWO Z Z axis I O buffer bits 15 to 0 1011 b BUFW1 Z Z axis I O buffer bits 31 to 16 1110 b BUFWO U U axis I O buffer bits 15 to 0 1111 b BUFW1_U U axis I O buffer bits 31 to 16 Note The examples above use COMW on the X axis However using COMW on any other axis can perform the identical operation 6 5 2 Write to an output port OTPW OTPB Specify output terminal status from the general purpose UO terminals PO to P7 Bits corresponding to terminals not set as outputs are ignored When writing a word the upper 8 bits are ignored However they should be set to 0 for future compatibility OTP7 to 0 Specify the status of output terminals P7n to POn n x y z and u A H level signal is output to th
10. a D D a D D D a CH D o CH o 111 13 3 PCL6143 26 0 4 it J Unit mm 24 0 1 132 I H 88 133 PCL6143 ul 176 2 y 1 7 max 0 1 1 4 0 1 fe CH c1 o A TEE og N L eo 112 14 Command list 14 1 Operation commands COMBO Symbol Description COMBO Symbol Description 05h CMEMG Emergency stop 50h _ STAFL FL constant speed start 06h CMSTA CSTA output simultaneous 51h STAFH EH constant speed start start 07h CMSTP CSTP output simultaneous Soh ISTAD Speed sia T EH constantspeed stop Deceleration stop 40h FCHGL Immediate change to FL 53h STAUD High speed start 2 acceleration FH constant speed constant speed Deceleration stop 41h FCHGH Immediate change to FH 54h CNTFL FL constant speed start for remaining constant speed number of pulses FH constant speed start for remaining 42h FSCHL Decelerate to FL speed 55h CNTFH number of pulses 43h FSCHH Accelerate to FH speed 56h CNTD E srt KEES number 49h STOP Immediate stop 57h CNTUD der stant 2 forremainimg number 4Ah SDSTP_ Deceleration sto
11. Store unused LSls in a PC board storage box that is protected against static electricity and make sure there is adequate clearance between the LSIs Never directly stack them on each other as it may cause friction that can develop an electrical charge 2 Operators must wear wrist straps which are grounded through approximately 1M ohm of resistance 3 Use low voltage soldering devices and make sure the tips are grounded 4 Do not store or use LSls or a container filled with LSIs near high voltage electrical fields such those produced by a CRT 5 Plastic packages absorb moisture easily Even if they are stored indoors they will absorb moisture as time passes If you will be using a soldering method that heats the whole package and you are worried about moisture absorption dry the packages thoroughly before reflowing the solder Dry the packages for 20 to 36 hours at 125 5 C The packages should not be dried more than two times 6 To heat the entire package for soldering such as infrared or superheated air reflow make sure to observe the following conditions and do not reflow more than two times Temperature profile The temperature profile of an infrared reflow furnace must be within the range shown in the figure below The temperatures shown are the temperature at the surface of the plastic package Maximum temperature The maximum allowable temperature at the surface of the plastic package is 260 C peak A profile
12. ssssssssssssssssseeenee enne eene en ttnn EnEn ernennen 113 14 3 Control commands inita tide EE 113 14 4 Register control commands ees ene A E TEE EER nnne senten seen tese nne e nantes nnns 114 152 Handling Ve EE 115 15 1 DESIGN precautions esi rene eer eren n er e ce regat bedi alee LL DAC i CV ES S 115 15 2 Precautions for transporting and storing LSls ssssssseene eene 115 15 3 Precautions for installation 1 rea ret ee et dr ted eoe Le hea 115 15 4 Other precautioris iret ee te eH e ted er cta dives Ue n ede e nta ee Lc ta 116 1 Outline and Features 1 1 Outline The PCL6113 PCL6123 PCL6143 are CMOS LSIs designed to provide the oscillating high speed pulses needed to drive stepper motors and servomotors pulse string input types by various commands from CPU I F It can offer various types of control over the pulse strings and therefore the motor performance These include continuous operation positioning origin return at a constant speed linear acceleration deceleration and S curve acceleration deceleration The number of control axes is as follows one for the PCL6113 two for the PCL6123 and four for the PCL6143 They offer linear interpolation of multiple axes using single or multiple LSIs confirmation of a LSI s operation status and interrupt output by a variety of conditions In addition they are equipped with servomotor driver control features These f
13. 49 9 2 Positioning operation mode 49 9 2 1 Positioning operation MOD Ab 49 9 2 2 Timer operation MOD 47h eesesieeseeiiee esee e neni s e entrent s nnne En 49 9 3 Pulsar PA PB Inp timode iei eerte dee ce tete to eb e ete tige 50 9 3 1 Continuous operation using a pulsar input MOD Ob 52 9 3 2 Positioning operations using a pulsar input MOD 51h 52 9 4 External switch operation mode eene erre nn nn nn nennen nnne nn nn Ennen 53 9 4 1 Continuous operation using an external switch MOD 02h seem 53 9 4 2 Positioning operation using an external switch MOD D 54 9 5 Origin return operation mode ccccceecceceteeeccceeeeececeseeceeseesacecesuaceceeseaceseeseceasenseacesessaceseeeeeeaeesneeeseenees 55 9 5 1 Origin return operation 0 ORM 0 57 9 5 2 Origin return operation 1 ORME T eesi nennen eren n neri nnne rne nennen 58 9 6 Linear interpolation operation cccccececececececeeeeeeeeecaeeeeeeeeececeaaeceeeeeeeseecaaeceeeeeeesecsacaeeeeeeeeesecsucaeeeeess 59 9 6 1 Outline of interpolation operation posia ear aa aaa aaa aaae aaa aaa a aa aana 59 9 6 2 Interpolation Drocecdures ttnt tttt EEA AAAS AE EEEE EEENEESEEEEEEEESEESEEEEEEEES EESE EEEE ESEE EE EEEE 59 9 6 3 Operation during interpolation sssssssssssssssssesee eene eren rn innen nennen nns 61 10 Speed patterns editi geed ELSEN deeg ed C 62 10 1 Speed Be Et 62 10 2 S
14. DO D15 k gt D0 D15 V GND 3 3V D TACK e Q Interrupt IPLO IPL2 4A control amp 3 INT circuit RESET Ep RST System reset Note The PCL6143 uses A1 to A4 The PCL6123 uses A1 to A3 The PCL6113 uses A1 to A2 2 16 bit I F 2 IF1 L IFO H H8 CPU PCL6143 3 3V Decoding CL CLK ot AS A23 S circuit _ CS Ek AA kl M V A1 A4 A1 A4 GND D0 D15 _ gt D0 D15 AO RD WAY WR WAIT r IRQ RESE FEE 4 2 n 4 System reset GND Note The PCL6143 uses A1 to A4 The PCL6123 uses A1 to A3 The PCL6113 uses A1 to A2 15 3 16 bit I F 3 IF1 H IFO L 8086 CPU PCL6143 3 3V MFG Decoding CL ck Fo A16 A19 Address circuit eg ip ALE V DO D45 gt BIAR GND Latch DO D15 AO INTR Interrupt J control GND NTA l circuit PH INT RD RD WR WR READY RQ RESET RST 5V MN MX System reset System reset Note The PCL6143 uses A1 to A4 The PCL6123 uses A1 to A3 The PCL6113 uses A1 to A2 4 8 bit I F IF1 H IFO H 8086 CPU PCL6143 3 3V M r Decoding CL 9 CLK IFO AS A7 circuit gt CS IF A0 A4
15. PRDR 2 ii Eliminate the linear acceleration section and make a linear deceleration range smaller When PRMV lt PRUS PRFL x PRUS x 2 x PRUR PRDR 3 PRDS x PRDR 1 x 4 T PRMG 1 x 16384 PRMV PRDS PRFL x PRDS x PRUR PRDR 2 x 8 PRMG 1 x 16384 Change to S curve acceleration deceleration without any linear acceleration PRUS 0 PRDS gt 0 PRFH lt EE 2 x PRUR PRDR 3 However A PRDS x PRDR 1 B PRMG 1 x16384xPRMV 2xAxPRFL 2xPRUR PRDR 3 xPREFL x 2xPRUR PRDR 3 iii Eliminate the linear acceleration deceleration range When PRMV lt PRDS PRFL x PRDS x PRUR PRDR 2 x 8 PRMG 1 x 16384 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 PRFL PRFH lt PRMG 1 x 16384 x PRMV E PRUR PRDR 2 x2 Reference PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 70 10 4 Example of setting up an acceleration deceleration speed pattern Ex Reference clock 19 6608 MHz When the start speed 10 pps the operation speed 7100 kpps the accel decel time 300 ms and linear acceleration deceleration is selected 1 Select the 10x mode for magnification rate in order to get 100 kpps output PRMG 119 0
16. 17 data data for 28 RCMP1 Eih RRCMP1 A7h WRCMP1 2 s E comparator 1 Comparison 18 data for 28 RCMP2 E8h RRCMP2 A8h WRCMP2 4 comparator 2 Event INT 19 cause setting 13 RIRQ ECh RRIRQ ACh WRIRQ z e S z 20 COUNTER 1 Jog puren EDh RRUTCA b S T latched data 21 COUNTER2 28 RLTC2 EEh RRLTC2 E S R S latched data 22 Extension 17 RSTS Fih RRSTS d g g 4 status 23 Error INT cause a Rest F2h RREST a A 2 status 24 Event INT 14 RIST F3h RRIST s z s f s cause status 25 Positioning 28 RPLS F4h RRPLS e a S 2 counter EZ counter 26 current speed 20 RSPD F5h RRSPD monitor 27 Ramping down 24 pspc ren Rpgpc e e point setting 230 7 5 General purpose output port control command By writing an output control command to the output port OTPB Address 2 when using an 8 bit I F the LSI will control the output of the PO to P7 terminals When the I O setting for PO to P7 is set to output the LSI will output signals from terminals PO to P7 to issue the command When writing words to the port the upper 8 bits are discarded However they should be set to zero to maintain future compatibility The output status of terminals PO to P7 is latched even after the I O setting is changed to input The output status for each terminal can be set individually using
17. 174 EL 35 X 36 X 37 IN H V End limit signal input in the positive direction ELn Y 73 Y G When this signal is ON while feeding in the positive Z 99 direction the motor will stop immediately or will decelerate U 130 and stop Specify the input logic using the ELL terminal The terminal status can be checked using an SSTSW command signal sub status EL 36 X 37 X 38 IN H V End limit signal input in the negative direction ELn Y 74 Y 69 When this signal is ON while feeding in negative Z 100 direction the motor on that axis will stop immediately or will U 131 decelerate and stop Specify the input logic using the ELL terminal The terminal status can be checked using an SSTSW command signal sub status SD 37 X 38 X 39 IN N V Input deceleration deceleration stop signal SDn Y 75 Y 70 Selects the input method Level or Latched inputs Z 101 The input logic can be selected using software The U 132 terminal status can be checked using an SSTSW command signal sub status ORG 38 X 39 X 40 IN N V Origin position signal input ORGn Y 76 Y 71 Used for origin return Edge detection Z 102 The input logic can be selected using software The U 133 terminal status can be checked using an SSTSW command signal sub status ALM 39 X 40 X 41 IN N V Alarm signal input ALMn Y 7T Y 72 When this signal is ON the motor on that axis stops Z 103 immediately or will decelerate and stop U 134 The
18. 8 3 5 PRDR RDR register These pre registers are used to specify the deceleration rate RDR is the register for PRDR 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 10 The normal setting range is 1 to 16 383 When PRDR 0 the deceleration rate will be the value set by PRUR Note When automatic setting is selected for the ramp down point PRMD MSDP 0 enter the same value as used for the PRUR or 0 in this register 8 3 6 PRMG RMG register These pre registers are used to set the speed magnification rate RMG is the register for PRMG 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 100 The setting range is 1 to 4 095 Set the relationship between the speed register PRFL RFL PRFH RFH values and the operation speeds The actual operation speed pps is a product of the speed magnification rate and the speed register setting Setting example when the reference clock is 19 6608 MHz Speed Speed Setting ee EECH Speed Setting Dee Operation Speed Seting rate setting range pps tate range pps 3999 OF9Fh 0 3 0 3 to 4 914 9 59 003Bh 20 20 to 327 660 2399 095Fh 0 5 0 5 to 8 191 5 23 0017h 50 50 to 819 150 1199 O4AFh 1 1 to 16 383 11 000Bh 100 100 to 1 638 300 599 0257h 2 2 to 32 766 5 0005h 200 200 to 3 276 600 239 OOEFh 5 5 to 81 915 2 0002h 400 400 to 6 553 200 119 0077h 10 10 to 163 830 1 0001h 600 600
19. 90h WRMV PRMV Coh RPRMV 80h WPRMV 2 lniialspeed 14 RFL Dih RRFL 91h WRFL PRFL Oh RPRFL 81h WPRFL See 14 RFH D2h RRFH 92h WRFH PRFH C2h RPRFH 82h WPRFH 4 A 14 RUR D3h RRUR 93h WRUR PRUR C3h RPRUR 83h WPRUR 5 VOCI 14 RDR D4h RRDR 94h WRDR PRDR C4h RPRDR 84h WPRDR Speed 6 magnification 12 RMG D5h RRMG 95h WRMG PRMG C5h RPRMG 85h WPRMG rate 7 bob d dedil 24 RDP D6h RRDP 96h WRDP PRDP C6h RPRDP 86h WPRDP 8 Operation mode 30 RMD D7h RRMD 97h WRMD PRMD Ch RPRMD 87h WPRMD Linear g interpolation 5 pp D n RRIP 98h wRIP PRIP C8h RPRIP 88h WPRIP main axis feed data 190 Acceleration 43 Rus poh RRUS 99h WRUS PRUS coh RPRUS 89h WPRUS S curve range 11 Deceleration 43 RDs Dah RRDS aan WRDS PRDS Cah RPRDS sah WPRDS S curve range 12 Evironment 55 RENV1 DCh RRENV1 9Ch WRENVi setting 1 q3 Environment 34 RENV2 DDh RRENV2 opp WRENV2 setting 2 q4 Environment 22 RENV3 DEh RRENV3 9Eh WRENV3 setting 3 15 COUNTER 1 158 ROUN gan IRRCUN4 Ash WRCUN1 e command 1 16 COUNTER2 Jog RCUN can RRCUN2 A4h WRCUN2 d mechanical 2 Comparison 17 data for 28 ird E7h RRCMP1 A7h le A comparator 1 Comparison 18 data for 28 REME E8h RRCMP2 A8h icu comparator 2 Event interrupt 1
20. Bits Bit name Description 1t00 POM1 to O Specify the operation of the PO FUP terminals 00 b General purpose input 01 b General purpose output 10 b Output the FUP acceleration signal with negative logic 11 b Output the FUP acceleration signal with positive logic 3to2 P1M1 to 0 Specify the operation of the P1 FDW terminals 00 b General purpose input 01 b General purpose output 10 b Output the FDW deceleration signal with negative logic 11 b Output the FDW deceleration signal with positive logic 5to4 P2M1 to 0 Specify the operation of the P2 MVC terminal 00 b General purpose input 01 b General purpose output 10 b Output the MVC constant speed feeding signal with negative logic 11 b Output the MVC constant speed feeding signal with positive logic 7106 P3M1 to O0 Specify the operation of the P3 CP1 terminals 00 b General purpose input 01 b General purpose output 10 b Output the CP1 satisfied the Comparator 1 conditions signal with negative logic 11 b Output the CP1 satisfied the Comparator 1 conditions signal with positive logic 9to 8 P4M1 to O Specify the operation of the P4 CP2 terminals 00 b General purpose input 01 b General purpose output 10 b Output the CP2 satisfied the Comparator 2 conditions signal with negative logic 11 b Output the CP2 satisfied the Comparator 2 conditions signal with
21. Hi Z The INT signal output can be masked by RENV1 INTM If the INT output is masked RENV1 INTM 1 and when the interrupt conditions are satisfied the status will change However the INT signal will not go L level but will remain H level While the interrupt conditions are satisfied and if the output mask is turned OFF RENV1 INTM 0 the INT signal will go L level 98 Read the interrupt status MSTSW SENI bit 2 SERR bit 4 SINT bit 5 MSTSW READ SENI 1 Becomes 1 when IEND 1 and a stop interrupt occurs Becomes 0 after 7 0 reading MSTSW Zeal nines alee SERR 1 Becomes 1 when an error interrupt occurs Becomes 0 by reading REST SINT 1 Becomes 1 when an event interrupt occurs Becomes 0 by reading RIST Set the interrupt mask lt RENV1 INTM bit 29 RENV1 X WRITE 1 Mask INT output 31 24 n Setting a stop interrupt lt RENV2 IEDN bit 30 RENV2 WRITE 1 Enable a stop interrupt 31 24 Ofertas Read the cause of the error interrupt lt RREST Read out command gt Read command Copy the data in the REST register error interrupt cause to BUF F2h Read the event interrupt cause RRIST Read out command Read command Copy the data in the RIST register event interrupt cause to BUF F3h Set the event interrupt cause lt WRIRQ Write command Write command Write the BUF data to the
22. Manual pulsar input external switch input Counter COUNTER 1 Position control counter 28 bits COUNTER 2 Position control counter 28 bits Comparators 28 bits x 2 circuits axis Interpolation functions Linear interpolation Any 2 to 4 axes Operating temperature 40 to 85 C range Power supply Single voltage power supply 3 0 to 3 6 V Package PCL6113 80 pin QFP PCL6123 128 pin QFP PCL6143 176 pin QFP 3 Terminal Assignment Diagram 3 1 PCL6113 VDD p7 P6 P5 gt P4 CP2 GND gt P3 CP1 lt gt P2 MVC gt P1 FDW gt PO FUP yop PE PB DR PA DR w EZ lt EB EA GND LTc INP 60 58 56 54 52 50 48 46 44 42 49 Pes OUT DIR 62 4 ALM ERC 38 ORG BSY 64 SD GND 36 EL GND 66 lt HEL GND gt VDD VDD Ces D15 GND PCL6113 Bo GND L Jas D13 GND gt 30 0 lt gt D12 GND lt GND VDD 28 C gt D11 CSD H gt D10 CSTA 26 C gt D9 CSTP J lt D8 CEMG 24 vDD ELL lt D7 RST zs 22 C lt gt D6 GND ze 20 4 D5 111EEE TEE ga 1 44 4514114 o ajajajxo s aj jojmaorunaA Bc elelee 32Eple 8823323 gt o Ix gt g gt o Dn Dn gt gt N rOSa row ao a5 gt a5 aa gt gt gt D gt g NENN H ZS D Sa AD x x x x x x K OKKFAAAD gt AAD Daea l e ER NS e ee OY DAR
23. Peur PCL614 E GND 66 BSYx OUTu ERCx DIRu 7 64 D IRx ERCu L L OUT x BSYu L 62 Ee VDD VDD C _ lt P7 x GND P6x GND L P5x CLK C L PA4x CP2x VDD gt 4 GND GND C Car P3x CP1x GND L L 4 P2x MVCx CSD P1x FDWx CSTA POx FUPx CSTP L 7 L3 VDD CEMA PEx ELLx L 4 PBx DRx ELLy PAx DRx EL Laaf CLa EZx ELL u C L 4 EBx RST L 4 EAx GND e 7 L GND Note On the actual products a mark similar to an indexing mark O mark may be printed on the LSI for production reasons The model name and the position of the 1st terminal are as shown in the terminal allocation drawings Identify the 1st terminal by the position of the O mark 4 Functions of Terminals Note 1 The letter n at the end of each signal name stands for an axis name x y z or u Ex ELLn etc Note 2 In the IN OUT column IN indicates an input terminal and OUT indicates an output terminal I O indicates a bi directional terminal Note 3 The logic column indicates the signal logic Positive or Negative Positive means positive logic and Negative means negative logic P means positive logic at default setting and can be changed with software N means negative logic at default and can be changed with
24. When you set PRMV register value to zero and start the positioning operation the LSI will stop movement immediately without outputting any command pulses 52 9 4 External switch operation mode This mode allows operations with inputs from an external switch The external switch input terminals DR DR are common with the pulsar signal input terminal Apply a positive direction switch signal to the PA DR terminal and a negative direction switch signal to the PB DR terminal To enable inputs from an external switch bring the PE terminal L level After writing a start command when a DR and DR signal is input the LSI will output pulses to the OUT terminal Set the RENVI register to specify the output logic of the DR and DR signal The INT signal can be set to send an output when DR and DR input are changed If PE L the LSI will output pulses regardless of the operation mode selected The RSTS register can be used to check the operating status and monitor the DR and DR signals It is also possible to apply a noise filter to the DR DR and PE inputs Set the input logic of the DR and DR signals lt RENV1 DRL bit 25 RENV 1 WRITE 0 Negative logic 31 24 1 Positive logic nl Applying a noise filter to DR DR and PE inputs lt RENV1 DRF bit 27 gt RENV1 WRITE 1 A
25. 1 After the main status is read it returns to 0 When IEND O this flag will always be 0 3 SEND Becomes 0 by writing start command Set to 1 when the operation is stopped 4 SERR Becomes 1 when an error interrupt occurs Becomes 0 by reading the REST 5 SINT Becomes 1 when an event interrupt occurs Becomes 0 by reading the RIST 7 to6 SSC1 to 0 Sequence number for execution or stopping 8 SCP1 Becomes 1 when the COMPARATOR 1 comparison conditions are met 9 SCP2 Becomes 1 when the COMPARATOR 2 comparison conditions are met 12 to 10 Not defined always 0 13 SEOR When target position override cannot be executed reading the RMV register while stopped this signal changes to 1 After the main status is read it changes to 0 14 SPRF jBecomes 1 when the pre register for the subsequent operation data is full 15 Not defined always 0 Status change timing chart 1 When the continuous mode MOD 00h 08h is selected Start command Stop command Read main status Mee EE EE Ll JL aqu 2 When the PA PB continuous mode MOD 01h is selected Start command Stop command 2 Read main status RD pa gt EEN K SSEN RE GOS P f D f p L2 sscM of BSY d ENEE ege our Ll Lu Ufl 3 When the DR continuous mode MOD 02h is selected Start command Stop command Read main status RD DR SSCM 2 29 4 When the auto stop mode is selected such as p
26. 11 RDS 13 R W S curve deceleration range PRDS 12 RENV1 32 RW Environment setting 1 specify I O terminal details 13 RENV2 31 R W Environment setting 2 specify general purpose port details 14 RENV3 22 RAW Environment setting 3 specify origin return and counter details 15 RCUN1 28 RAW COUNTER 1 command position 16 RCUN2 28 RAW COUNTER 2 mechanical position 17 RCMP1 28 HI Comparison data for comparator 1 18 ROMP2 28 RI Comparison data for comparator 2 19 RIRQ 13 HI Specify event interrupt cause 20 RLTC1 28 R COUNTER 1 command position latch data 21 RLTC2 28 R COUNTER 2 mechanical position latch data 22 RSTS 17 R Extension status 23 REST 9 R Acquire Error INT cause status 24 RIST 14 H EventINT cause status 25 RPLS 28 R Positioning counter number of residual pulses to feed 26 RSPD 20 R EZ counter current speed monitor 27 RSDC 24 R___ Ramping down point setting value 209 8 2 Pre register The following registers and start commands have pre registers RMV RFL RFH RUR RDR RMG RDP RMD RIP RUS and RDS The term pre register refers to a register which sets the next set of operation data while the current step is executing This LSI has the following 2 layer structure and executes FIFO operation Change Setting Pre register gt Register Operation control circuit PRMV etc R
27. 15 The temperature must not exceed 250 C A profile for more than 10 seconds In order to decrease the heat stress load on the packages keep the temperature as low as possible and as short as possible while maintaining the proper conditions for soldering Temperature C Less than 10 seconds at 260 250 C or higher 250 aS Se 220 7 140 to 200 EE x Time Less than 60 to 120 sec 35 sec A profile applied to lead free soldering 7 Solder dipping causes rapid temperature changes in the packages and may damage the devices Therefore do not use this method 15 4 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive gases or excessive amounts of dust we recommend applying a moisture prevention coating 2 The package resin is made of fire retardant material however it can burn When baked or burned it may generate gases or fire Do not use it near ignition sources or flammable objects 3 This LSI is designed for use in commercial apparatus office machines communication equipment measuring equipment and household appliances If you use it in any device that may require high quality and reliability or where faults or malfunctions may directly affect human survival or injure humans such as in nuclear power control devices aviation devices or spacecraft traffic signals fire control or various types of safety devices we will not be liable for any problem that occurs e
28. 19 6608 MHz Max 30 MHz Positioning control range 134 217 728 to 134 217 727 28 bits Ramping down point setting range 0 to 16 777 215 24 bits Number of registers used for setting speeds Two for each axis FL and FH Speed setting step range 1 to 16 383 14 bits Speed magnification range Change of reference clock varies speed range at the rate 1 When reference clock 19 6608 MHz 0 293x to 600x The following is an example When 0 3x is selected 0 3 to 4 914 9 pps When 1x is selected 1 to 16 383 pps When 600x is selected 600 to 9 829 800 pps 2 When reference clock 30 MHz 0 447x to 915 527x The following is an example When 0 5x is selected 0 5 to 8 191 7 pps When 1x is selected 1 to 16 383 5 pps When 915 527x is selected 915 527 to 14 999 0843 5 pps Acceleration deceleration characteristics Selectable acceleration deceleration pattern for both increasing and decreasing speed separately using Linear and S curve acceleration deceleration Acceleration rate setting range 1 to 16 383 14 bits Deceleration rate setting range 1 to 16 383 14 bits Ramping down automatic setting point The automatic setting is only available when the acceleration and deceleration curves are symmetrical Feed speed automatic correction function Automatically lowers the feeding speed for short distance positioning is lowered Manual operation input
29. 50h Feeds in a positive direction at a FL constant speed After the ORG input changes from OFF to ON the LSI stops operation immediately after counting the specified number of EZ input signals 51h Feeds in a positive direction at a FH constant speed After the ORG input changes from OFF to ON the LSI stops immediately after counting the specified number of EZ input signals 53h Starts and accelerates from FL to FH speed in a positive direction Starts to decelerate when the ORG input changes from OFF to ON After counting the specified number of EZ input signals the LSI stops Also if the LSI completes its deceleration to FL speed by a signal from the SD input before the ORG input changes the LSI will stop soon after the ORG input changes from OFF to ON once it has counted the specified number of EZ input signals 18h 0 50h Feeds in a negative direction at a FL constant speed and stops immediately when the ORG input changes from OFF to ON 51h Feeds in a negative direction at a FH constant speed and stops immediately when the ORG input changes from OFF to ON 53h Starts and accelerates from the FL to the FH speed in a negative direction and starts deceleration when the ORG input changes from OFF to ON When the LSI has decelerated to the FL speed it stops feeding pulses Also if the LSI completes its deceleration to FL speed by a signal from the SD input before the ORG input changes the LSI will stop immediately when
30. A0 A4 D0 D7 D0 D7 IORG EE RD Li RD WR LE WR WAIT e WRO INT lt WNT RESET RST Es System reset Note The PCL6143 uses AO to A4 The PCL6123 uses AO to A3 The PCL6113 uses AO to A2 16 6 4 Address map 6 4 1 Axis arrangement map In this LSI the control address range for each axis is independent It is selected by using address input terminal A3 and A4 as shown below Note The table on the left is for the PCL6143 line Only the X and Y axes are available lines Only the X axis is available A4 A3 Detail 0 0 X axis control address range 0 1 Y axis control address range 1 0 Z axis control address range 1 1 U axis control address range 6 4 2 Internal map of each axis The internal map of each axis is defined by A0 A1 and A2 address line inputs When 16 bit I F 1 or 16 bit I F 2 mode is selected 1 Write cycle A1 A2 Address bus Processing detail 1 1 COMW Specify an axis write a control command Change the status of the general purpose output port only bits 1 0 OTPW assigned as outputs are effective 0 1 BUFWO Write to the input output buffer bits15 to 0 0 0 BUFW 1 Write to the input output buffer bits 31 to 16 2 Readout cycle A1 A2 Address bus Processing detail 1 1 MSTSW Read the main status bits 15 to 0 1 0 SSTSW Read the sub status and general purpose UO port 0 1 BUFWO
31. RIRQ register event interrupt cause ACh Error interrupt causes lt Detail of REST Make the corresponding bit 1 to occur an interrupt gt Error interrupt cause cause REST Bit Bit name Stopped by turning ON the EL input 0 ESPL Stopped by turning ON the EL input 1 ESML Stopped by turning ON the ALM input 2 ESAL Stopped by turning ON the CSTP input 3 ESSP Stopped by turning ON the CEMG input 4 ESEM Deceleration stopped by turning ON the SD input 5 ESSD Stopped by an overflow of PA PB input buffer counter occurrence 6 ESPO An EA EB input error occurred the motor does not stop 7 ESEE A PA PB input error occurred the motor does not stop 8 ESPE Event interrupt causes Make the corresponding bit 1 to set an interrupt cause and to occur interrupt Event inteimipt esuss Set cause RIRQ Cause RIST Bit Bitname Bit Bit name Automatic stop 0 IREN 0 ISEN When enabled to write to the pre register 1 IRNM 1 ISNM When acceleration starts 2 IRUS 2 ISUS When acceleration ends 3 IRUE 3 ISUE When deceleration starts 4 IRDS 4 ISDS When deceleration ends 5 IRDE 5 ISDE When the Comparator 1 conditions are satisfied 6 IRC1 6 ISC1 When the Comparator 2 conditions are satisfied 7 IRC2 7 ISC2 When the counter value is latched by an LTC input 8 IRLT 8 ISLT When the ORG input is turned ON 9 IROL 9 I
32. Z axis stops 1000 b Start when the U axis stops 001 1 b Start when both the X and Y axes have stopped 0101 b Start when both the X and Z axes have stopped 1011 b Start when the X Y and U axes have all stopped 1111 b Start when all of the axes have stopped Read the operation status lt RSTS CND bits 3 to 0 gt RSTS READ 0100 b Wait for another axis to stop 7 0 in n n n Setting example After setting steps 1 to 3 start both the X and Y axes When both the axes stop the U axis will start 1 Set PRMD MSY1 to 0 bits 19 to 18 for the U axis to 11 b Start triggered by another axis stopping 2 Set PRMD MAX3 to 0 bits 23 to 20 for the U axis to 0011 b When both X axis and Y axis stops 3 Write a start command for the U axis Operation examples Settings Operation mode for the X axis in initial operation MSY 1 to 0 00 b MAX3 to 0 0000 b Operation mode calling for the X axis in the next operation MSY1 to 0 11 b MAX3 to 0 0011 b Operation mode for the Y axis in initial operation MSY1 to 0 00 b MAX3 to 0 0000 b Operation mode calling for the Y axis in the next operation MSY1 to 0 11 b MAX3 to 0 0011 b X axis positioning operation time Y axis positioning operation time X axis stopping Operating Initial operation Next operation 1 Stopping Y axis Initial operation Next operation Operating
33. a command and writing the next command B interval between register writing command and writing the I O buffer C interval between register reading command and reading the I O buffer When the WRQ output signal is used by connecting it to the CPU the CPU automatically ensures this waiting time If you want to use a CPU that does not have this waiting function arrange the program sequence so that access is only allowed after confirming that the IFB output signal H level 1 When WRQ output is not used 1 When WRQ output is not used WR f A Writing a command GE a ee More than 4 reference clock cycles by software 2 When WRQ output is used zm Writing a command CS J WR IFB WRQ EE Writing a command CS WR RD IFB WRQ Dt 4 reference clock cycles automatically Notes WRQ signal is L level while CS and IFB signals become L level 24 7 1 2 Start command 1 Start command If this command is written while the motor is stopped the motor will start rotating If this command is written while the motor is operating it is taken as the next start command COMBO Symbol Description 50h STAFL FL constant speed start 51h STAFH EH constant speed start 52h STAD High speed start 1 FH constant speed gt deceleration stop Note 1 53h STAUD High speed start 2 Acceleration gt FH constant speed gt Deceleration stop Note 1 Note 1 For details se
34. and deceleration operation the LSI will automatically lower the FH speed to eliminate triangle driving In addition the ramp down point auto setting will also change according to the FH correction result However the ramp down point auto setting function can only be used when the acceleration curve and deceleration curve are symmetrical In other words if you want to make the acceleration and deceleration curves asymmetrical the ramp down point needs to be changed to a manual setting In order to obtain the correct manual setting value you have to know the maximum speed Therefore you have to turn OFF the FH correction function and manually correct the FH value pps FH correction function sec Automatic correction of the maximum speed for changing the feed amount 2 67 To execute FH correction manually 1 Linear acceleration deceleration speed PRMD MSMD 0 When BENNE PRFH PRFL x PRUR PRDR 2 PRMG 1 x 16384 PRMG 1 x 16384 x PRMV 2 PRFH lt KS PRUR PRDR 2 PRFL 2 S curve acceleration without linear acceleration PRMD MSMD PURS 0 and PRDS 0 When ERIS PRFH PRFL x PRUR PRDR 2 x 2 g PRMG 1 x 16384 PRFL PRFH lt PRMG 1 x 16384 x PRMV PRUR PRDR 2 x2 3 S curve acceleration deceleration with linear acceleration deceleration PRMD MSMD 1 PRUS gt 0 and PRDS gt 0 3 1 When PRUS PRDS i Make a linear acceleration range small
35. at the next start the latch will be reset The latch is also reset when you select RENV1 SDLT to select level input as input type When the input noise filter is OFF the minimum pulse time for the SD signal is two reference clock cycles 0 1 us When the input noise filter is ON the LSI will not respond to pulse signals shorter than the specified time The latch signal of the SD signal can be monitored by reading SSTSW sub status The SD signal terminal status can be monitored by reading RSTS By reading the REST register you can check for an error interrupt caused by the SD signal turning ON Enable disable SD signal input lt PRMD MSDE bit 8 gt PRMD WRITE 0 Enable SD signal input 15 8 1 Disable SD signal input HRAPAR Input logic of the SD signal RENV1 SDL bit 6 gt RENV1 WRITE 0 Negative logic 7 0 1 Positive logic aln sr Set the operation pattern when the SD signal is turned ON lt RENV1 SDM bit 4 RENV1 WRITE 0 Decelerates on receiving the SD signal and feeds at FL constant speed 7 0 1 Decelerates and stops on receiving the SD signal sree ES ed RS Select the SD signal input type lt RENV1 SDLT bit 5 RENV 1 WRITE 0 The SD signal is level input 7 0 1 The SD signal is latch input mere To release the latch turn OFF the SD input when next start command is written or select Level input Reading the latch stat
36. bit control commands 7 5 1 Command writing procedures Write control data to output port OTPB Address 2 when an 8 bit I F is used To continue with a next command the LSI must wait for four reference clock cycles approx 0 2 usec The WRQ terminal outputs a wait request signal If the WRQ terminal signal is not connected to CPU please insure the interval by software or access after the IER output terminal is confirmed to be H level eg DEE a cR WR DO to D7 MEM 4 cycles of Reference clock Longer than 4 cycles of reference clock 7 5 2 Command bit allocation 7 6 5 4 3 2 1 0 orerprespresprespresprezpresoreo Output PO 4 Output P1 Output P2 Output P3 0 L level Output P4 1 H level Output P5 Output P6 Output P7 5931 8 Registers 8 1 Table of registers The following registers are available for each axis No Register Bit RAW Details Pre register name length name 1 RMV 28 HI Feed amount target position PRMV 2 RFL 14 RAN Initial speed PRFL 3 RFH 14 HI Operation speed PRFH 4 RUR 14 RW Acceleration rate PRUR 5 RDR 14 RAW Deceleration rate PRDR 6 RMG 12 RAW Speed magnification rate PRMG 7 RDP 24 RI j Ramping down point PRDP 8 RMD 30 RI Operation mode PRMD 9 RIP 27 RAW Main axis feed amount during linear interpolation PRIP 10 RUS 13 R W S curve acceleration range PRUS
37. delete command pulses and even after the command pulses stop the servomotor systems keep feeding until the count in the deviation counter reaches zero With this LSI you can select to make this LSI to determine the timing to input a positioning complete signal INP signal as when an operation is complete from a servo driver in place of the pulse output complete timing When the INP signal input is used to indicate the completion status of an operation the BSY signal when an operation is complete stop condition bits of the main status MSTSW SSCM SRUM SENI SEND SERR SINT and operation status of the extension status RSTS CND3 to 0 will also change when the INP signal is input The input logic of the INP signal can be changed The minimum pulse width of the INP signal is 1 cycle of the reference clock 0 05 usec when the input noise filter is OFF If the input noise filter is ON the LSI does not receive pulses shorter than the set length If the INP signal is already ON when the LSI is finished outputting pulses it treats the operation as complete without any delay The INP signal can be monitored by reading the RSTS register Set the operation complete delay using the INP signal PRMD MINP bit 9 gt PRMD WRITE 0 No operation complete delay waiting for the INP signal 45 8 1 Delay operation complete status BSY until the INP signal turns ON ARAARA Inpu
38. details about the counters see section 11 9 Counter 8 3 16 RCUN2 register This register is used to set and read COUNTER 2 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 100 8 3 17 RCMP1 register Specify the comparison data for Comparator 1 Setting range 134 217 728 to 134 217 727 For details about the counters see section 11 10 Comparator 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 100 8 3 18 RCMP2 register Specify the comparison data for Comparator 2 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 10 44 8 3 19 RIRQ register Enables event interruption cause Set bits to 1 that you want to enable event interrupts 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Bit name Description 0 IREN Stopping normally 1 IRNM When enabled to write to the pre register 2 IRUS Starting acceleration 3 IRUE When ending acceleration 4 IRDS When starting deceleration 5 IRDE When ending deceleration 6 IRC1 When Comparator 1 conditions are met 7 IRC2 When Comparator 2 conditions are met 8 IRLT When latching the count value with an LTC signal input When RENV3 LOF1 LOF2 1 an interrupt will not occur 9 IROL When the ORG input is ON When RENV3 CU1R CU2R
39. input logic can be selected using software The terminal status can be checked using an SSTSW command signal sub status PCS 40 X 41 X 42 IN N GN The LSI will start positioning when this signal turns ON PCSn Y 78 Y 73 Target position override 2 Z 104 The input logic can be changed using software U 135 The terminal status can be checked using the RSTS extension status register Terminal No Signal IN Logic Hand Description name PCL PCL PCL OUT 9 ling P 6113 6123 6143 INP 41 X 42 X 43 IN N GN Position complete signal input from servo driver in position INPn Y 79 Y 74 signal Z 105 The input logic can be changed using software U 136 The terminal status can be checked using the RSTS extension status register LTC 42 X 43 X 44 IN N GN Latch counter value of COUNTER 1 and COUNTER 2 LTCn Y 80 Y 75 The input logic can be changed using software Z 106 The terminal status can be checked using the RSTS U 137 register EA 44 X 45 X 46 IN GN Inputthis signal when you want to control the position using EAn Y 82 Y 77 the encoder signal Input a 90 degree phase difference Z 108 signal 1x 2x 4x or input positive pulses on EA and U 139 negative pulses on EB When inputting 90 degree phase difference signals if the EB 45 X 46 X 47 EA signal phase is ahead of the EB signal the LSI will count T en The counting direction can be chan
40. positive logic 10 P5M Specify the operation of the P5 terminals 0 General purpose input 1 General purpose output 11 P6M Specify the operation of the P6 terminals 0 General purpose input 1 General purpose output 12 P7M Specify the operation of the P7 terminals 0 General purpose input 1 General purpose output 13 CSPO 1 When the RMD MSPO 1 the LSI will output a CSTA when the motor is stopped with a command 14 EOFF_ 1 Disables EA EB input Also disables input error detection 15 POFF 1 Disables PA PB input Also disables input error detection 17 to 16 EIM1 to O Specify the EA EB input operation 00 b Multiply a 90 degree phase difference by 1 Count forward when the EA input phase is ahead 01 b Multiply a 90 degree phase difference by 2 Count forward when the EA input phase is ahead BS Bits Bit name Description 10 b Multiply a 90 degree phase difference by 4 Count up when EA input phase is ahead 11 b Count up when the EA signal rises count down when the EB signal rises 18 EINF 1 Apply a noise filter to EA EB EZ input Ignores pulse inputs less than 3 CLK signal cycles long 19 EDIR 1 Reverse the counting direction of the EA EB inputs 21 to 20 PIM1 to O Specify the PA PB input operation 00 b Multiply a 90 degree phase difference by 1 Count up when the PA input ph
41. register No Detail Bit Name Read command Write command Klare Read command Write command COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol 1 Feed amount 28 RMV Doh RRMV 90h WRMV PRMV COh RPRMV 80h WPRMV 2 Initial speed 14 RFL Dih RRFL 91h WRFL PRFL Ch RPRFL 81h WPRFL Nodo 14 RFH D2h RRFH 92h WRFH PRFH C2h RPRFH 82h WPRFH 4 ere 14 RUR D3h RRUR 93h WRUR PRUR C3h RPRUR 83h WPRUR 5 pu 14 RDR D4h RRDR 94h WRDR PRDR C4h RPRDR 84h WPRDR Speed 6 magnification 12 RMG D5h RRMG 95h WRMG PRMG C5h RPRMG 85h WPRMG rate 7 bo kid 24 RDP D6h RRDP 96h WRDP PRDP C6h RPRDP 86h WPRDP 8 Operation mode 30 RMD D7h RRMD 97h WRMD PRMD Ch RPRMD 87h WPRMD Linear 9 interpolation 27 RIP D8h RRIP 98h WRIP PRIP C8h RPRIP 88h WPRIP main axis data q0 Acceleration 43 Rus poh RRUS 99h WRUS PRUS coh RPRUS 89h WPRUS S curve range 41 Deceleration 43 B5s Dah RRDS 9Ah WRDS PRDS cah RPRDS sah WPRDS S curve range 42 Environment 45 RENV1 DCH RRENV1 och WRENVi g 2 S setting 1 43 Environment 44 1 RENV2 DDh RRENV2 opp WRENV2 x z 2 setting 2 q4 Environment 22 RENV3 DEh RRENV3 9Eh WRENV3 S Z setting 3 15 COUNTER 1 5s RCUN1 E3h RRCUN1 A3h WRCUNi i i T command q6 COUNTER2 5s RcUN2 E4n RRCUN2 A4h WRCUN2 7 2 mechanical Comparison
42. stop and deceleration stop The input logic of the CSTP terminal cannot be changed When multiple LSIs are used to control multiple axes connect all of the CSTP terminals from each LSI and input the same signal so that the axes which are set to stop on a CSTP input can be stopped simultaneously In this case a stop signal can also be output from the CSTP terminal When an axis stops because the CSTP signal is turned ON an INT signal can be output By reading the REST register you can determine the cause of an error interrupt You can monitor CSTP terminal status by reading the RSTS register How to make a simultaneous stop Set PRMD MSPE bit 24 1 for each of the axes that you want to stop simultaneously Then start these axes Stop simultaneously these axes using either of the following three methods 1 By writing a simultaneous stop command the CSTP terminal will output a one shot signal of 8 reference clock cycles in length approx 0 4 us 2 Supply an external hardware signal Supply a hardware signal after driving the terminal with an open collector output 74LS06 or equivalent 3 The CSTP terminal will output a one shot signal of 8 reference clock cycles approximately 0 4 us when a stop caused by an error occurs on an axis that has PRMD MSPO 1 Even when the CSTP terminals on LSIs are connected together each axis can still be stopped independently by using the stop command 1 Connect the ter
43. stops 0010 b Starts when the Y axis stops 0100 b Starts when the Z axis stops 1000 b Starts when the U axis stops 0101 b Starts when both the X and Z axes stop 1111 b Starts when all axes stop 24 MSPE 1 Deceleration stop or immediate stop by CSTP input This is used for a simultaneous stop with another axis when this other axis stops with an error 25 MSPO 1 Outputs a CSTP simultaneous stop signal when stopping due to an error 26 MADJ Specify an FH correction function 0 ON 1 OFF e Eon d Always set 0 28 MCDE 1 Decelerates when CSD input L Set this bit to 1 to decelerate simultaneously with other axes 29 MCDO 1 Outputs a L level on the CSD terminal when decelerating or at FL constant speed Sg SD do Always set 0 defined 8 3 9 PRIP RIP register This is a pre register used to specify the number of pulses for the main axis feed in linear interpolation the absolute value of the longest feed axis is set as the PRMV value RIP is the register for PRIP 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 1 0 When PRMD MOD bits 6 to 0 register is set as shown below the register is enabled 110 0010 b 62h Continuous linear interpolation continuous operation with the linear interpolation ratio 110 0011 b 63h Linear interpolation Setting range O to 134 217 727 8 3 10 PRUS RUS register These pre
44. the CSTA terminal can be monitored by reading the RSTS register respectively How to make a simultaneous start Set PRMD MSY 1 to 0 bits 19 and 18 01 b for the axes you want to start Write a start command and put the LSI in the waiting for CSTA input status Then start the axes simultaneously by either of the methods described below 1 Write a simultaneous start command The LSI will output a one shot signal of 8 reference clock cycles approx 0 4 us from the CSTA terminal 2 Input a hardware signal from outside Supply a hardware signal after driving the terminal with open collector output 74LS06 or equivalent CSTA signal can be supplied as level trigger or edge trigger inputs However when level trigger input is selected if CSTA L or a start command is written the axis will start immediately After connecting the CSTA terminals on each LSI each axis can still be started independently using start commands To release the waiting for CSTA input condition write an immediate stop command 49h 1 To start axes controlled by different LSIs simultaneously connect the LSIs as follows 3 3V 5k to 10kohm 2 To start simultaneously from an external circuit as an external start connect the LSIs as follows 3 3V 5k to 10kohm 74LS06 open collector output ase ee Start signal For start signal supply a one shot input signal with a pulse width of at least
45. turned ON n Setting the PCS input logic lt RENV1 PCSL bit 24 RENV 1 WRITE 0 Negative logic 31 24 1 Positive logic l l in Reading the PCS signal lt RSTS SPCS bit 8 gt RSTS READ 0 Turn OFF PCS signal 15 8 1 Turn ON PCS signal acera PCS substitution input Control command STAON Control command Perform processes that are identical to those performed by supplying a PCS signal 28h oss 11 3 Output pulse control 11 3 1 Output pulse mode There are four types of common command pulse output modes and two types of 2 pulse modes and two types of 90 degree phase difference mode Common pulse mode Outputs operation pulses from the OUT terminal and outputs the direction identification signal from the DIR terminal MOD 000 to 011 2 pulse mode Outputs positive direction operation pulses from the OUT terminal and outputs negative direction operation pulses from the DIR terminal MOD 100 111 90 degree phase difference mode This mode outputs signals from the OUT terminal and DIR terminal with a 90 degree phase difference MOD 101 110 The output mode for command pulses is set in RENV1 PMD bits 2 to 0 If motor drivers using the common pulse mode need a lag time since the direction signal changes until receiving a command pulse use a direction change timer When RENV1 DTMP bit 28 is set to 0 the operation can be delayed for one direction change timer uni
46. 0 Negative logic 1 Positive logic 25 DRL Specify the DR DR signal input logic 0 Negative logic 1 Positive logic 26 FLTR 1 Apply a noise filter to the EL EL SD ORG ALM or INP inputs When a noise filter is applied signal pulses shorter than the pulse length specified by FTM to 0 are ignored 27 DRF 1 Apply a noise filter on the DR DR or PE inputs When a noise filter is applied signals pulses shorter than 32 ms CLK 19 6608MHz are ignored 28 DTMF 1 Turn OFF the direction change timer 0 2 ms function 29 INTM 1 Mask an INT signal output Interrupt circuit can be changed 30 PCSM 1 Make the PCS signal input as CSTA signal for its own axis only 31 PMSK 1 Masks output pulses Note1 When a deceleration stop RENV1 ELM 1 is specified to occur when the EL signal input turns ON the motor will start the deceleration when the EL input is turned ON Therefore the motor will stop by passing over the EL signal position In this case be careful to avoid collisions of mechanical systems 40 8 3 13 RENV2 register This is a register for the Environment 2 settings Specify the function of the general purpose port EA EB input and PA PB input 15 144 13 12 1 10 9 8 7 6 5 4 3 2 1 0 POFF EOFF CSPO P7M P6M P5M P4M1 PAMO P3M1 P3MO P2M1 P2MO P1M1 P1MO POM1 POMO 0 IEND ORM EZL EZD3 EZD2 EZD1 EZDO PDIR PINF PIM1 PIMO EDIR EINF EIM1 EIMO
47. 0 an interrupt will not occur 10 IRSD When the SD input is ON Even when the SD input is disabled by setting PRMD MSDE 0 an interrupt will occur 11 IRDR When the DR PA DR PB input is changed When PE H the interrupt will not occur 12 IRSA When the CSTA input is ON 31 to 13 Not defined Always set to 0 8 3 20 RLTC1 register Latched data for COUNTER 1 Read only The contents of COUNTER1 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 1 0 For details about the counters see section 11 9 Counter 8 3 21 RLTC2 register Latched data for COUNTER 2 Read only The contents of COUNTER 2 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 100 45 8 3 22 RSTS register The extension status can be checked Read only 15 144 13 142 11 10 9 8 7 6 5 4 3 2 4 0 SINP SDIN SLTC SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SCD CND3CND2CND1 CNDO Bit Bit name Description 3to 0 CND3 to 0 Reports the operation status 0000 b Under stopped condition 1000 b Waiting for PA PB input 0001 b Waiting for DR input 1010 b Feeding at FL constant 0010 b Waiting for CSTA input speed 0011 b Waiting for a
48. 077h 2 Since the 10x mode is selected to get an operation speed 100 kpps PRFH 10000 2710h 3 In order to set a start speed of 10 pps the magnification rate is set to the 10x mode PRFL 1 0001h 4 In order to make the acceleration deceleration time 300 ms calculate from the equation for the acceleration time and the PRUR setting value PRFH PRFL x PRUR 1 x 2 Reference clock frequency Hz Acceleration time s 7 10000 1 x PRUR 1 x 2 o9 19 6608 x 10 PRUR 293 94 However since only integers can be entered for the PRUR register use 293 or 294 The actual acceleration deceleration time will be 299 04 ms if PRUR 293 or 300 06 ms if PRUR 29 5 Since the acceleration and deceleration times are equal place 0 in the PRDR register and the deceleration rate will be the same as the value in PRUR An example of the speed pattern when PRUR 294 Speed 100kpps Operation speed 10pps Start speed i 300 06 ms 30006 ms Time adu 10 5 Changing speed patterns while in operation By changing the RFH RUR RDR RUS or RDS registers during operation the speed and acceleration can be changed An example of changing the speed pattern by changing the speed during a linear acceleration deceleration operation Speed Time 1 Make RFH smaller while accelerating the motor accelerates decelerates until the speed reaches the correct speed 2 3 Chang
49. 2 Start on an internal synchronous signal Use the RENV2 and RENV3 registers to set the comparators Set the comparison conditions for Comparator 1 lt RENV3 C1S1 0 bits 13 and 12 RENV3 WRITE 00 b Turn OFF the comparator function 45 8 01 b RCMP1 COUNTER 1 Shell wi alates 10 b RCMP1 gt COUNTER 1 11 b RCMP1 lt COUNTER 1 Set the comparison conditions for Comparator 2 lt RENV3 C2S1 0 bits 15 and 14 gt RENV3 WRITE 00 b Turn OFF the comparator function 01 b RCMP2 COUNTER 2 CPP 10 b RCMP2 gt COUNTER 2 11 b RCMP2 lt COUNTER 2 Set an event interrupt cause lt RIRQ IRC2 1 bits 7 and 6 RIRQ WRITE IRC1 bit 6 1 Outputs an INT signal when Comparator 1 conditions are met 7 0 IRC2 bit 7 1 Outputs an INT signal when Comparator 2 conditions are met n n Read the event interrupt cause lt RIST ISC2 1 bits 7 and 6 gt RIST READ IRC1 bit 6 1 When the Comparator 1 conditions are met 7 0 IRC2 bit 7 1 When the Comparator 2 conditions are met IESSE Read the comparator condition status MSTSW SCP2 1 bits 9 and 8 gt MSTSW READ SCP1 bit 8 1 When the Comparator 1 conditions are met SCP2 bit 9 2 1 When the Comparator 2 conditions are met n Set the specifications for the P3 CP1 terminal lt RENV2 P3M1 to 0 bits 7 to 6
50. 200 to 3 276 600 239 OOEFh 5 5 to 81 915 2 0002h 400 400 to 6 553 200 119 0077h 10 10 to 163 830 1 0001h 600 600 to 9 829 800 The maximum output speed of this IC can be attained when the reference clock is 30 MHz PRMG 1 and PRFH 16383 In these conditions the multiplication rate is 915 527x and the LSI will output 14 999 Mpps PRDP Ramping down point register 24 bits Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the value specified in the PRDP register varies according to setting of ramping down point setting method PRMD MSDP When set to manual PRMD MSDP 1 gt Set the number of pulses at which to start deceleration in the range of 0 to 16 777 215 OFFFFFFh When the PRDP set value 2 Number of residual pulses the LSI will start decelerating Note In order to obtain the correct manual setting value you have to know the actual maximum speed When there is only a small feed amount and the motor would have to decelerate while still accelerating or if the maximum speed is automatically modified by the FH correction function the LSI cannot calculate the manual setting value Therefore in this case turn OFF the FH correction function before trying the operation Alternatively you can calculate the manual FH correction and then obtain the corrected maximum speed using the following equations The optim
51. 4 reference clock cycles approx 0 2 us 285 CSTA input lt PRMD MSY1 to 0 bits 19 and 18 PRMD WRITE 01 b Start by inputting a CSTA signal 23 16 n n Specify the input specification for theCSTA signal lt RENV1 STAM bit 18 RENV1 WRITE 0 Level trigger input for the CSTA signal 23 16 1 Edge trigger input for the CSTA signal no Read the CSTA signal lt RSTS SSTA bit 5 gt RSTS READ 0 The CSTA signal is OFF 7 0 1 The CSTA signal is ON n l Read the operation status lt RSTS CND bits 3 to 0 RSTS READ 0010 b Waiting for CSTA input 7 0 i nn nin Set an event interrupt cause RIRQ IRSA bit 12 RIRQ WRITE 1 Output an INT signal when the CSTA input is ON 15 8 ol ol ol nl Reading the event interrupt cause lt RIST ISSA bit 13 gt RIST READ 1 When the CSTA signal is ON 15 8 olol nl ES Simultaneous start command lt CMSTA Operation command gt Operation command Output a one shot pulse of 8 reference clock cycles long from the CSTA terminal O6h The CSTA terminal is bi directional It can receive signals output Simultaneous start command for only own axis SPSTA Operation command gt Operation command Used the same way as when a CSTA signal is supplied for an own axis only Ah
52. 8 76 54 32 1 0 0000 0000 The setting range will vary with the method used to set the ramp down point When automatic setting is selected the available range is the automatic set value RDP set value It is expressed using 24 bits which are equal to 8 388 608 to 8 388 607 The value changes with the acceleration deceleration When manual setting is selected PRMD MSDP 1 the range is 0 to 48 388 607 and a fixed value that is equal to the RDP set value 48 9 Operation Mode Specify the basic operation mode using the PRMD MOD bits 6 to 0 operation mode register 9 1 Continuous operation mode using command control This is a mode of continuous operation A start command is written and operation continues until a stop command is written MOD Operation method Direction of movement 00h Continuous operation from a command Positive direction 08h Continuous operation from a command Negative direction Operation is stopped by turning ON the EL signal corresponding to the direction of operation When operation direction is positive EL can be used When operation direction is negative EL is used In order to start operation in the reverse direction after stopping the motion by turning ON the EL signal a new start command must be written 9 2 Positioning operation mode The following 2 operation types are available for positioning operations MOD Operation method Direction of
53. 9 couse setting 13 RIRQ ECh RRIRQ ACh WRIRQ 20 COUNTER1 5g RiTC4 EDh RRUTCI d latched data 24 COUNTER2 5g niTC2 EEh RRUTC2 E a latched data 22 Extension 17 RSTS Fih RRSTS status egen 9 REST F2h RREST interrupt cause Get event 24 interrupt cause 14 RIST F3h RRIST S status 25 Fosttioning 28 RPLS Fdh RRPLS e counter EZ counter 26 current speed 20 RSPD F5h RRSPD monitor Ramping down 27 pointseting 24 PSDC F6h RPSDC e 3 value 14 15 Handling Precautions 15 1 Design precautions 1 Never exceed the absolute maximum ratings even for a very short time 2 Take precautions against the influence of heat in the environment and keep the temperature around the LSI as cool as possible 3 Please note that ignoring the following may result in latching up and may cause overheating and smoke Make sure that the voltage on the input output terminals does not exceed the maximum ratings Consider power voltage drop timing when turning ON OFF the power Be careful not to introduce external noise into the LSI Hold the unused input terminals to 3 3 V or GND level Do not short circuit the outputs Protect the LSI from inductive pulses caused by electrical sources that generate large voltage surges and take appropriate precautions against static electricity 4 P
54. Address 2 when an 8 bit I F is used you can set 8 bits as a group See section 7 5 General purpose output port control command COMBO Symbol Description COMBO Symbol Description 10h PORST Makes PO L level 18h POSET Makes PO H level 11h P1RST Makes P1 L level 19h P1SET Makes P1 H level 12h P2RST Makes P2 L level 1Ah P2SET Makes P2 H level 13h P3RST Makes P3 L level 1Bh P3SET Makes P3 H level 14h PARST Makes P4 L level 1Ch PASET Makes P4 H level 15h P5RST Makes P5 L level 1Dh P5SET Makes P5 H level 16h P6RST Makes P6 L level 1Eh P6SET Makes P6 H level 17h P7RST Makes P7 L level 1Fh P7SET Makes P7 H level 227 7 3 Control command Set various controls such as the reset counter The procedures for writing are the same as the operation commands 7 3 1 Software reset command Resets this LSI COMBO Symbol Description 04h SRST Software reset Same function as making the RST terminal L level Note After writing this command do not access during 12 cycles of CLK 7 3 2 Counter reset command Resets counter value to zero COMBO Symbol Description 20h CUN1R_ Reset COUNTER 1 21h CUN2R Reset COUNTER 2 7 3 3 ERC output control command Controls the ERC signal using commands COMBO Symbol Description 24h ERCOUT Outputs the ERC signal 25h ERCRST Resets the output when the ERC s
55. B2 Write to the input output buffer bits 23 to 16 1 111 BUFB3 Write to the input output buffer bits 31 to 24 2 Read cycle A2 A1 A0 Address bus Processing detail 01010 MSTSBO Read the main status bits 7 to 0 01011 MSTSB1 Read the main status bits 15 to 8 0 10 IOPB Read the general purpose output port 01111 SSTSB Read the sub status 1 010 BUFBO Read from the input output buffer bits 7 to O 1 01 BUFB1 Read from the input output buffer bits 15 to 8 1 110 BUFB2 Read from the input output buffer bits 23 to 16 1 111 BUFB3 Read from the input output buffer bits 31 to 24 18 6 5 Description of the map details 6 5 1 Write the command code and axis selection COMBO COMB1 Write the commands for reading from and writing to registers and the start and stop control commands for each axis COMBO Set the command code For details see 7 Command Operation and Control commands SELu to x Select an axis for executing the command If all of the bits are 0 its own axis selected by A4 and A3 is selected To write the same command to more than one axis set the bits of the selected axes to 1 When you write to a register the details of the input output buffer are written into the register for each axis When you read from a register the details in the register are written into the input output buffer for each axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Note 1 Specifications using S
56. E 1 Apply noise filters to EL EL SD ORG ALM and INP inputs 31 24 When a noise filter is inserted pulses shorter than the FTM set value are ignored oe SR pen a I D Select the input noise filter characteristics lt RENV1 FTM bits 21 20 RENV1 WRITE 00 b 3 2us 10 b 200us 23 16 01 b 25 us 11b 1 6 ms SIC ERIT Reading the EL or EL signal SSTSW SPEL bit 12 SMEL bit 13 sSTSW READ SPEL 0 Turn OFF the EL signal SPEL 1 Turn ON the EL signal 45 8 SMEL 0 Turn OFF the EL signal SMEL 1 Turn ON the EL signal Salone S RS A Reading the stop cause when the EL signal turns on REST READ lt REST ESPL bit 0 ESML bit 1 gt 7 0 ESPL 1 Stop by turning ON the EL signal zx ESML 1 Stop by turning ON the EL signal equ 11 4 2 SD signal If the SD signal input is disabled by setting PRMD MSDE the SD signal will be ignored If the SD signal is enabled and the SD signal is turned ON while in operation the motor will 1 decelerate 2 latch and decelerate 3 decelerate and stop or 4 latch and perform a deceleration stop according to the setting of RENV1 SDM and SDLT 1 Deceleration lt RENV1 SDM bit 4 0 SDLT bit 5 0 gt While feeding at constant speed the SD signal is ignored While in high speed operation the motor decelerates to the FL speed when the SD signal is turned ON After decelerating or while decelerating if the SD sign
57. ELu to x are effective for all commands not only register write read commands Note 2 The PCL6143 has SELx to u and the PCL6123 has SELx to y However the PCL6113 does not have COMB1 There are two methods to write to a register as follows Mixed use of these methods is allowed The example below uses the PCL6143 1 Commands and data I O are written as one set per axis and a total of up to 4 sets can be used In this case the axis specification COMB1 other than starting or stopping an interpolation operation is performed using OOh However if CSTA and CSTP signals are used to start or stop an interpolation operation 00h can also be used for this command When using multiple sets of PCL6113 6123 or 6143 LSIs a common program can be created easily n the case 16 bit I F 3 gt A4 to A1 Symbol Description 0000 b COMW X X axis command 0010 b BUFWO X X axis I O buffer bits 15 to 0 0011 b BUFW1 X X axis I O buffer bits 31 to 16 0100 b COMW Y Y axis command 0110 b BUFWO Y Y axis I O buffer bits 15 to 0 0111 b BUFW1 Y Y axis I O buffer bits 31 to 16 1000 b COMW Z Z axis command 1010 b BUFWO Z Z axis I O buffer bits 15 to 0 1011 b BUFW1 Z Z axis I O buffer bits 31 to 16 1100 b COMW U U axis command 1110 b BUFWO U U axis I O buffer bits 15 to 0 1111 b BUFW1 U U axis I O buffer bits 31 to 16
58. FF 15 8 1 The ALM signal is ON Eze estis qe Reading the cause of a stop when the ALM signal is turned ON REST READ lt REST ESAL bit 7 gt 7 0 1 Stop due to the ALM signal being turned ON af hei aa Der PR Set the ALM input noise filter lt RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a noise filter to the EL EL SD ORG ALM and INP input 34 24 When a filter is applied pulses shorter than the FTM set value will be ignored DES FH DIE IER Select the input noise filter characteristics lt RENV1 FTM bits 21 20 RENV1 WRITE 00 3 2 us 10 200 us 23 46 01 25 us 11 1 6 ms aaae wiles 84 11 6 External start simultaneous start 11 6 1 CSTA signal This LSI can start when triggered by an external signal on the CSTA terminals Set PRMD MSY bits 19 and 18 01 b and the LSI will start feeding when the CSTA goes L In controlling multiple axes using more than one LSI when you connect the CSTA terminals on each LSI and input the same signal each axis on the each LSI starts to move In this example a start signal can be output through the CSTA terminal The logic on the CSTA terminals cannot be changed By setting the RIRQ register the INT signal can be output together with a simultaneous start when the CSTA input is ON By reading the RIST register the cause of an event interrupt can be checked The operation status waiting for CSTA input and status of
59. MV etc Normally operation data are written into the pre register Start command s pre register is for written only To change the current operation status such as changing the speed the new data are written into the register The data will be shifted copied from the pre register to the register at the end of an operation One set of operation data uses multiple pre registers PRMV PRFH etc If the current operation completes before the next set of operation data has been placed in all of the pre registers the LSI may start with incomplete data In order to prevent this problem the determined not determined status is used When a start command is written the other operation data is considered to be determined and the LSI will continue its operation immediately after the current operation is complete The writing and operating procedures for the pre registers are shown below 1 I oO WE When both the pre register and register are empty data that is written to the pre register will also be written to the register Data 1 not determined status By writing a start command the contents of the register are declared determined and the LSI will start the operation During operation write the next operation data to the pre register A subsequent set of data that is the same as the previous set does not need to be written Since the register is currently in the determined status the next set of operati
60. N npn IROL 1 Output an INT signal when the counter value is latched by the ORG signal being turned ON Read the event interrupt cause lt RIST ISLT bit 8 ISOL bit 9 RIST READ ISLT 1 Latch the counter value when the LTC signal turns ON 15 8 ISOL 1 Latch the counter value when the ORG signal turns ON npn Counter latch command lt LTCH Control command Control command Latch the contents of the counters COUNTER 1 to 2 29h 29 Counter reset command CUN1R to CUN2R Control command Control command 20h Reset COUNTER 1 20h 21h 21h Reset COUNTER 2 Note When the latch amp clear function is used and if the clear or latch timing matches the count timing the counter will not become 0 It will be 1 or 1 When detecting 0 using the comparator function be careful of these cases 11 9 3 Stop the counter There are two methods for stopping counters stop the count operation or set a mask on the counter input The counter operation can be stopped for independently COUNTER 1 and COUNTER 2 Selection of the counter input is not related to stopping When the count input is masked the counter that select the input will be stopped A counter that is set to count output pulses will stop counting if the timer mode is selected regardless of the counter stop method selected and the setting status If a counter is set to counting output pulses an
61. OWTZMONYTOOWWOINOCZEZOILCAwWwWa alal gt A 5 zo TEREREEEEEEREEDERREEEDEFEEEEPREI BE SEES EE ERES EAE ET ELLE ELLE eee et tte 19 GND 102 FUPy 04 OPEN OPEN OPEN VDD zs CLK GND GND gt GND GND GND gt GND VDD gt CSD zs CSTA 100 98 96 94 92 PCL6123 ERCx DIRx OUT x 4 VDD 4 P7x P6x 4 P5x P4x CP2x 4 GND gt P3x CP1x P2x MVCx 4 P1x FDWx lt gt POx FUPx VDD PEx PBx DRx PAx DRx 3 3 PCL6143 N NN N NN gt ai O HS m a ao asad oa a 55 NNNN g gg tt l T NNN NN Go Ss D Dn g SIIOAI gt OYFANNNNONNNNQ NYNNNNOOLODSG na aosta Zo D D aw wae cade ROW STZONrOOWWMINOSTZ ZoOILk Qu ude r Zrnouot o 00 ua aoo00O00 nanja www al mnaona Tatalata atalala taataraa tata Taratata ta aara ata atarata Ta atata An UU OTI ORGu J 3 9 L v DD ALMu st L 4 P3y CP1y PCSu e L9 P2y MVCy INPu e 9 P1y FDWy LTCu 7 L 4 POy FUPy VDD e L 4 GND EAu 82 LI PEy EBu C L3 PBy DRy EZu C 80 PAy DRy PAu DRu gt __ _ EZy PBu DRu __ 78 _ lt EBy PEu C 4 EAy GND 76 4 VDD POu ZFUPu e Je TCy P1u ZFDWu 74 L INPy P2u MVCu PCSy P3u ZCP1u 72 L ALMy VDD L L 4 ORGy P4u CP2u _ SDy P5u L 4 ELy P6us 3 E3 ELy
62. PA DR PB 3 E EE Rr NC T PE input signal length RENV1 DRF 1 1048576 To Time of direction ET S change timer RENV1 DTMF 0 ON 3585 Toi 3840 Toik ns PCS input signal width Tox ns LTC input signal width Tou ns Output signal 8 Tax ns ES Inna signal length x 4 Tao ns Output signal D To ns ERR Input signal length 4 Tax nS BSY signal ON delay Tcwoesv le aT S Tak ns time TsraBsv 4 Toik 5 Touk ns Tomppts n 15 Tai 16 Tak ns Start delay time por M MERI RI i TstapLs 15 Toik 16 Tok ns Tomprow z BD Tor 6 Tox ns Deceleration delay time 77 teme i Tsprow 2 Toik Ar Tor ns Note 1 Longer than 8 cycles CLK signal is needed to be input 106 1 When the EA EB inputs are in the Two pulse mode Han EA EB l 2 When the EA EB inputs are in the 90 degree phase difference mode EA _ el EAR Ies eps leaps ER 3 When the PA PB inputs are in the Two pulse mode Tear PAR PAR Pi EE PA lt Tpar gt lean lean lean gt PB 4 When the PA PB inputs are in the 90 degree phase difference mode PA N lus lt gt PN Ius PB 5 Timing for the command start when UM H and B W H A start command is written WR X Tcmpssy BSY Towpers EE OUT N 2h Initial output pulse 6 Simultaneous start timing C
63. R signal is turned OFF or ON again during the operation it will have no effect on the operation If you make the REMV register value 0 and start a positioning operation the LSI will stop operation immediately without outputting any command pulses Turn ON the DR signal to feed in the positive direction Turn ON the DR signal to feed in the negative direction By turning ON the EL signal for the feed direction the motor will stop However the motor can be feed in the reverse direction An error interrupt INToutput will not occur when the motor is stopped by the EL signal 54 9 5 Origin return operation mode Origin return operation varies with the PRMD MOD setting the RENV2 ORM setting and the type of start command as follows MOD ORM COMB Operation description 10h 0 50h Feeds in a positive direction at a FL constant speed and stops immediately when the ORG input changes from OFF to ON 51h Feeds in a positive direction at a FH constant speed and stops immediately when the ORG input changes from OFF to ON 53h Starts and accelerates from the FL to the FH speed in a positive direction and starts deceleration when the ORG input changes from OFF to ON When the LSI has decelerated to the FL speed it stops feeding pulses Also if the LSI completes its deceleration to FL speed by a signal from the SD input before the ORG input changes the LSI will stop immediately when the ORG input changes from OFF to ON 1
64. RENV3 CIS1 bit 0 RENV3 WRITE Set COUNTER 2 input 0 EA EB input 1 Output pulses RENV3 CIS2 bit 1 RENV3 WRITE The EA EB input terminals that are used as inputs for the counter can be selected from the following two 1 Signal input method Counter direction 2 Signal input method Counter direction Input 90 degree phase difference signals 1x 2x 4x Count up when the EA input phase is leading Count down when the EB input phase is leading Supply count up or countdown pulses Two pulse input Count up on the rising edge of the EA input Count down on the rising edge of the EB input The counter direction or EA EB input signals can be reversed 89 The LSI can be set to sense an error when both the EA and EB input change simultaneously and this error can be detected using the REST register Set the input noise filter for EA EB EZ RENV2 EINF bit 18 0 Turn OFF the filter function RENNE SINE 1 Turn ON the filter function Input signals shorter than 3 reference clock cycles are 23 16 ignored mess one dies Setting the EA EB input lt RENV2 EIM1 to 0 bit 17 and 16 RENV2 WRITE 00 90 degree phase difference 1x 10 90 degree phase difference 4x 23 16 01 90 degree phase difference 2x 11 2 pulse of up or down input pulses EES Kee Specify the EA EB input count direction lt RENV2 EDIR bi
65. Read from the input output buffer bits 15 to 0 0 0 BUFW 1 Read from the input output buffer bits 31 to 16 When 16 bit I F 3 mode is selected 1 Write cycle A1 A2 Address bus Processing detail 0 0 COMW Write the axis assignment and control command Change the status of the general purpose output port only bits 0 1 OTPW assigned as outputs are effective 1 0 BUFWO Write to the input output buffer bits 15 to 0 1 1 BUFW 1 Write to the input output buffer bits 31 to 16 2 Readout cycle A1 A2 Address bus Processing detail 0 0 MSTSW Read the main status bits 15 to 0 0 1 SSTSW Read the sub status or general purpose input output port 1 0 BUFWO Read from the input output buffer bits 15 to 0 1 1 BUFW 1 Read from the input output buffer bits 31 to 16 aes The PCL6123 does not have an A4 address The PCL61 13 does not have A4 or A3 address When 8 bit I F mode is selected 1 Write cycle A2 A1 A0 Address bus Processing detail olojo COMBO Write control commands 01011 COMB1 Specify an axis specify control command execution axis ollo OTPB Change the status of the general purpose output port only bits assigned as outputs are effective 01111 Invalid 1 010 BUFBO Write to the input output buffer bits 7 to O 1 011 BUFB1 Write to the input output buffer bits 15 to 8 1 110 BUF
66. SFFFh RFH PRUR Acceleration rate 14 1to 16 383 SFFFh RUR PRDR Deceleration rate Note 1 14 Oto 16 383 SFFFh RDR PRMG Speed magnification rate 12 1to 4 095 OFFFh RMG PRDP Ramping down point 24 O to 16 777 215 OFFFFFFh RDP PRUS S curve acceleration range 13 Oto 8 191 1FFFh RUS PRDS S curve deceleration range 13 Oto 8 191 1FFFh RDS Note 1 When PRDR 0 the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleration factors Acceleration rate Set in PRUR Deceleration rate Set in PRDR FH speed Set in PRFH PRMG S curve deceleration Preset amount for positioning range Set in PRDS S curve Acceleration range operation Setin PRMV Set in PRUS FL speed Set in PRFL PRMG Ramp down point for positioning operation Set in PRDP or set automatically PRFL FL speed setting register 14 bit Specify the speed for FL constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 16 383 3FFFh The speed will be calculated from the value in PRMG _ Reference clock frequency Hz FL speed pps PRFL x PRMG 1 x 16384 PRFH FH speed setting register 14 bit Specify the speed for FH constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 16 383 3FFFh When used for hig
67. SOL When the SD input is turned ON 10 IRSD 10 ISSD When the DR input changes 41 IRDR 11 ISPD When the DR input changes 12 ISMD When the CSTA input is turned ON 12 IRSA 13 ISSA 99 12 Electrical Characteristics 12 1 Absolute maximum ratings D15 CLK Item Symbol Rating Unit Remark Power supply voltage Von 0 3 to 4 0 V Input voltage ViN 0 3 to 7 0 V Output current lour 30 to 30 mA Storage temperature Tstg 65 to 150 C P 12 2 Recommended operating conditions Item Symbol Rating Unit Remark Power supply voltage Von 3 0 to 3 6 V Ambient temperature TJ 40 to 85 C No condensation 12 3 DC characteristics Item Symbol Condition Min Max Unit Consumption current PCL6113 laa CLK 30 MHz 1 axis at 15 Mpps no load 36 mA Consumption current PCL6123 Luz CLK 30 MHz 2 axes at 15 Mpps no load 77 mA Consumption current 2 PCL6143 lada CLK 30 MHz 4 axes at 15 Mpps no load 180 mA Input capacity 10 pF SE CS RD WR A0 to A4 DO to D15 CLK 1 Vie GND li de terminals other than the above Note BER uA i Vin Vpp 7 1 H level input current lu EE 7 30 uA L level input voltage Vu 0 3 0 8 V H level input voltage Vu 2 0 7 0 L level output voltage VoL lo 6 mA i 04 H level output voltage Vou lou 6 mA Voo 0 4 V L level output curr
68. ST register to identify the cause of the error interrupt 4 If bit 5 SINT is 1 read the RIST register to identify the cause of the event interrupt 5 Repeat steps 1 to 4 above for the Y Z and U axes The steps above will allow you to evaluate the cause of the interrupt and turn the INT output OFF Note 1 When reading a register from the interrupt routine the details of the input output buffer will change If the INT signal is output while the main routine is reading or writing registers and the interrupt routine starts the main routine may produce an error Therefore in order to perform the interrupt routine CPU should save UO buffer data using PUSH command on the stack and restore it using POP command from the stack after performing the interrupt routine Note 2 While processing all axes in steps 1 to 4 above itis possible that another interrupt may occur on an axis whose process has completed In this case if the CPU interrupts reception mode and is set to edge triggering the LSI will latch the INT output ON and it will not allow a new interrupt to interfere Therefore make sure that the main status of all axes should be read after you have reset CPU to be ready to receive the interrupt After you confirm that the INT signal is not output from this LSI the interrupt routine should be completed Note 3 When not using the INT terminal leave it open When using more than one LSI the INT terminals cannot be wired ORed INT
69. STA TsraBsv BSY J TsraPLs KC OUT X z Initial output pulse 107 7 Deceleration start timing triggered by a command Write a start command TcmpFDw FDW 8 Deceleration start timing triggered by the SD input SD ON TspFpw FDW 9 Stop timing by a command CLK BSY SSCM SRUN SENI SEND CND 0000 INT Stop interrupt 10 Stop timing by normal automatic stop CLK BSY SSCM SRUN SEND SINT RIST 0 CND 0000 INT Event interrupt 108 11 Stop timing by error CLK BSY SSCM SRUN SEND SERR REST X Change error cause bit CND lt 0000 INT Error interrupt 109 13 External Dimensions 13 1 PCL6113 14 0 0 4 Unit mm ml PCL6113 j i am n CUTE C 4 0 5 0 1855 1 7 ma 14 0 0 4 110 13 2 PCL6123 23 2 0 4 lt Unit mm 20 0 1 Kar Ki e e PCL6123 Su 2 ee 0 2x0 05 0 15 0 05
70. T Nega Op This signal becomes L level during constant speed Y 106 tive operation ll Terminal No Signal IN Logic Hand Description name PCL PCL PCL OUT g ling p 6113 6123 6143 CP1n X 70 OUT Nega Op This signal becomes L level while establishing the Y 107 tive Comparator 1 conditions CP2n X 71 OUT Nega Op This signal becomes L level while establishing the Y 108 tive Comparator 2 conditions OPEN 109 OUT OP Output terminal for checking the LSI when delivered 110 Do not make any connections to this terminal 111 GND 66 115 161 IN GN Output terminal for checking when delivered 67 116 165 Connect it to GND 71 117 166 72 118 119 De Te 5 Block Diagram CS RD WR RST INT IER WRQ IF0 1 EN ads VDD AO to 4 CPU I F GN DO to D15 mo RFL RFH RUR RDR i RMG Acceleration i deceleration F pulse generation Multiplication rate dividing circuit Control pulse length gt OUTx DIRx Selector Selector circuit FH i correction Pulser I F i PAx PBx circuit circuit RCMP1 RCUN1 PEx COUNTER 1 Comparator 1 Position control counter Selector Encoder I F i M COUNTER 2 D Position control 8 counter o ge re 5 c Q 9 o RM E g 2 D ELLx E Comparator 3 ALMx i Ramp down point PCSx f calculation circuit ERC
71. TER1 latch amp clear function lt RENV3 CU1L bit 4 RENV3 WRITE 0 COUNTER 1 is not cleared after it is latched 7 0 1 COUNTER 1 is cleared soon after it is latched L dni d tl Set the COUNTER 2 latch amp clear function lt RENV3 CU2L bit 8 RENV3 WRITE 0 COUNTER 2 is not cleared after it is latched 15 8 1 COUNTER 2 is cleared soon after it is latched n Set COUNTER 1 to latch on an external input lt RENV3 LOF1 bit 5 gt RENV3 WRITE 0 Latch COUNTER 1 on an LTC signal input 7 0 1 Do not latch COUNTER 1 on an LTC signal input n Set COUNTER 2 to latch on an external input lt RENV3 LOF2 bit 9 gt RENV3 WRITE 0 Latch COUNTER 2 on an LTC signal input 15 8 1 Do not latch COUNTER 2 on an LTC signal input no Set COUNTER 1 to latch on an origin return lt RENV3 CU1R bit 6 gt RENV3 WRITE 0 COUNTER 1 is not latched when returning at the origin position 7 0 1 COUNTER 1 is latched when returning at the origin position n l Set COUNTER 2 to latch on an origin return lt RENV3 CU2R bit 10 gt RENV3 WRITE 0 COUNTER 2 is not latched when returning at the origin position 15 8 1 COUNTER 2 is latched when returning at the origin position l l n l Set an event interrupt cause lt RIRQ IRLT bit 8 and IROL bit 9 gt RIRQ WRITE IRLT 1 Output an INT signal when the counter value is latched by the LTC signal 15 being turned O
72. User s Manual For PCL6113 6123 6143 Pulse Control LSI NPM Nippon Pulse Motor Co Ltd Preface Thank you for considering our pulse control LSI the PCL6100 series Before using the product read this manual to become familiar with the product Please note that the section Handling Precautions which include details about installing this IC can LL ss zl l4 LL Ll ee l c l Cautions 1 Copying all or any part of this manual without written approval is prohibited by copyright laws 2 The specifications of this LSI may be changed to improve performance or quality without prior notice 3 Although this manual was produced with the utmost care if you find any points that are unclear wrong or have inadequate descriptions please let us know Explanation of the description in this manual 1 2 3 X y Z and u at the foot of terminal names and bit names refer to X axis Y axis Z axis and U axis respectively Terminals with an overline above the name ex RST use negative logic Their logic cannot be changed Terminals without an overline are positive logic or their output logic can be changed When describing the bits in registers n refers to a bit position O refers to a bit position and it is prohibited to write to any other than 0 and this bit always returns 0 when read Unless otherwise indicated figures related to timing intervals in this manual are based on a reference
73. V1 WRITE 0 Does not output an ERC signal at the completion of an origin return operation 45 8 1 Automatically outputs an ERC signal at the completion of an origin return SUPERNE ale rs operation Set the ERC signal output width lt RENV1 EPW2 to 0 bits 14 to 12 RENV1 WRITE 000 12 us 100 13 ms 45 8 001 102 us 101 52 ms sel 010 408 us 110 104 ms 011 1 6 ms 111 Level output Select output logic for the ERC signal lt RENV1 ERCL bit 15 RENV1 WRITE 0 Negative logic 15 8 1 Positive logic ns Ts Specify the ERC signal OFF timer time lt RENV1 ETW1 to 0 bits 17 to 16 gt RENV1 WRITE 00 b 0 us 10 b 1 6 ms 23 16 01 b 12us 11 b 104 ms SIE Rdv 83 Read the ERC signal RSTS SERC bit 9 0 The ERC signal is OFF 1 The ERC signal is ON RSTS 15 READ 8 ol ni Emergency stop command lt CMEMG Operation command gt Output an ERC signal Operation command O5h ERC signal output command lt ERCOUT Control command gt Turn ON the ERC signal Control command 24h ERC signal output reset command lt ERCRST Control command gt Turn OFF the ERC signal Control command 25h 11 5 3 ALM signals Input alarm ALM sign
74. a value of target position RMV register value However during S curve acceleration deceleration with ramping down point automatic setting PRMD MSDP 0 there are the following restriction If you set and execute without following the restriction function to set ramping down point automatically cannot follow with operation and stop speed may be higher than FL speed or moving at FL speed occurs after completing deceleration Do not change target position during acceleration decoration Set FH correction control OFF RMD MADJ 1 You can override target position only at the timing the speed does not reach to ramping down point during acceleration deceleration caused by target position override Change a target position by using a start position as a base 1 If the new target position is further away from the f original target position during acceleration or constant speed operation the motor will maintain the operation using the same speed pattern and it will complete the positioning operation at the position specified in the new target position new RMV value t Change to a target 2 If the new target position is further away from the f Inter ae original target position during deceleration the motor will accelerate from the current position to FH speed and complete the positioning operation at the position specified in the new target position new RMV value Assume that the current speed is Fu and a curve of t
75. a comparison method for Comparator 1 00 b Turn the comparator function off 01 b RCMP1 data Comparison counter 10 b RCMP1 data gt Comparison counter 11 b RCMP1 data lt Comparison counter 15 to 14 C281 toO Select a comparison method for Comparator 2 00 b Turn the comparator function off 01 b RCMP2 data Comparison counter 10 b RCMP2 data gt Comparison counter 11 b RCMP2 data lt Comparison counter 19 to 16 SYO3 to 0 Select the output timing for the internal synchronous signal 0001 b When the Comparator 1 conditions are met 0010 b When the Comparator 2 conditions are met 1000 b When starting acceleration 1001 b When ending acceleration 1010 b When starting deceleration 1011 b When ending deceleration Others The internal synchronous signal is not output 21 to 20 SYI1to O Specify which axis will provide the LSI with the internal synchronous signal 00 b Internal synchronous signal output by the X axis 01 b Internal synchronous signal output by the Y axis 10 b Internal synchronous signal output by the Z axis 11 b Internal synchronous signal output by the U axis 31 to 22 Not defined Always set to 0 245 8 3 15 RCUN1 register This register is used to set and read COUNTER 1 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 100 For
76. al When the ALM signal turns ON while in operation the motor will stop immediately or decelerate and stop At the constant speed start the motor will stop immediately To stop at high speed start you can select between to stop immediately or to decelerate and stop To stop using deceleration keep the ALM input ON until the motor stops operation However the motor only decelerates and stops on an ALM signal if the motor was started with a high speed start If the ALM signal is ON when a start command is written the LSI will not output any pulses The minimum pulse width of the ALM signal is 2 cycles of the reference clock 0 1 us if the input noise filter is OFF If the input noise filter is ON the LSI does not receive pulses shorter than the specified length The input logic of the ALM signal can be changed The signal status of the ALM signal can be monitored by reading SSTSW Stop method when the ALM signal is ON lt RENV1 ALMM bit 8 gt RENV1 WRITE 0 Stop immediately when the ALM signal is turned ON 45 8 1 Deceleration stop at high speed start only when the ALM signal is turned ON rr A Input logic setting of the ALM signal lt RENV1 ALML bit 9 gt RENV1 WRITE 0 Negative logic 15 8 1 Positive logic assess Read the ALM signal lt SSTSW SALM bit 11 gt ssTSW READ 0 The ALM signal is O
77. al SD input signal and ALM signal are ignored These are always treated as OFF The CSTP signal and CEMG signals are effective The direction change timer function is stopped Regardless of the MINP setting bit 9 in the RMD operation mode register an operation complete delay controlled by the INP signal will not occur In order to eliminate deviations in the internal operation time set the PRMD METM bit 12 0 and select end of cycle as the operation complete timing 49 9 3 Pulsar PA PB input mode This mode is used to allow operations from a pulsar input In order to enable pulsar input bring the PE terminal L level Set REMV2 POFF 0 It is also possible to apply a noise filter on the PE input After writing a start command when a pulsar signal is input the LSI will output pulses to the OUT terminal Use an FL constant speed start STAFL 50h or an FH constant speed start STAFH 51h as a start command Input pulsar signals on the PA and PB terminals The input specification can be selected from the four possibilities below by setting of the RENV2 PIM1 to 0 Supply a 90 degree phase difference signal 1x 2x or 4x Supply count up or countdown pulses Two pulse input Shown below are diagrams of the operation timing RENV1 PMD 100 b When outputting 2 pulses 1 When using 90 degree phase difference signals and 1x input RENV2 PIM 00 b PA PB
78. al turns OFF the motor will accelerate to the FH speed If the SD signal is turned ON when the high speed command is written the motor will operate at FL speed When the SD signal is turned OFF the motor will accelerate to FH speed FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL FH FH e FL FL Accelerate to FH t t t SD signal OFF SD signal OFF SD signal OFF Lon OFF 2 Latch and decelerate lt RENV1 SDM bit 4 0 SDLT bit 5 gt While feeding at constant speed the SD signal is ignored While in high speed operation decelerate to FL speed by turning the SD signal ON Even if the SD signal is turned OFF after decelerating or while decelerating the motor will continue moving at FL speed and will not accelerate to FH speed Ifthe SD signal is turned ON while writing a high speed command the motor will feed at FL speed Even if the SD signal is turned OFF the motor will not accelerate to FH speed FL constant speed operation FH constant speed operation High speed operation f f f p Decelerate to FL FH FH FL FL t t GN SD signal OFF ON SD signal OFF ON SD signal OFF LON OFF 3 Deceleration stop lt RENV1 SDM bit 4 1 SDLT bit 5 0 gt Ifthe SD signal is turned ON while in constant speed operation the motor will stop While in high speed operation the motor will decelerate to FL speed when the SD signal i
79. ase is ahead Multiply a 90 degree phase difference by 2 Count up when the PA input phase is ahead Multiply a 90 degree phase difference by 4 Count up when PA input phase is ahead 11 b Count up when the PA signal rises count down when the PB signal rises O1 b 10 b 22 PINF 1 Apply a noise filter to PA PB input Ignore pulse inputs less than 3 CLK signal cycles long 23 PDIR 1 Reverse the counting direction of the PA PB inputs 27 to 24 EZD3 to 0 Specify an EZ count value to be used for origin return 0000 b 1st time to 1111 b 16th time 28 EZL Specify EZ signal input logic 0 Falling edge 1 Rising edge 29 ORM Select an origin return method 0 Origin return operation O Immediately stops by turning the ORG input from OFF to ON Decelerates and stops when at high speed COUNTER reset timing When the ORG input changes from OFF to ON Origin return operation 1 When the LSI is feeding at constant speed after the ORG input turns from OFF to ON it will stop immediately by finishing counting the specified number of the EZ signals When the LSI is feeding at high speed it will decelerate by turning the ORG input from OFF to ON and then immediately stop by finishing counting the specified number of the EZ signals COUNTER reset timing When finishing counting the specified number of the EZ signals 30 IEND 1 Outputs an INT signa
80. ation stop when the CSTP signal is turned ON Read the CSTP signal lt RSTS SSTP bit 6 RSTS READ 0 The CSTP signal is OFF 7 0 1 The CSTP signal is ON n Read the cause of an error interrupt lt REST ESSP bit 3 RSTS READ 1 When stopped because the CSTP signal turned ON 7 0 n Simultaneous stop command lt CMSTP Operation command Operation command Outputs a one shot pulse of 8 reference clock cycles in length from the CSTP 07h terminal The CSTP terminal is bi directional It can receive signals output 11 8 Emergency stop This LSI has a CEMG signal input terminal for use as an emergency stop signal While in operation if the CEMG L or if you write an emergency stop command all the axes will stop immediately While the CEMG L no axis can be operated The logic of the CEMG signal input terminal cannot be changed When the axes are stopped because the CEMG L the LSI will output an INT signal By reading the REST register the cause of the error interruption can be determined The status of the CEMG signal input terminal can be monitored by reading the RSTS register Read the CEMG signal RSTS SENG bit 7 RSTS READ 0 The CEMG signal is OFF 7 0 1 The CEMG signal is ON n Read the cause of an error interrupt REST ESEM bit 4 RSTS READ 1 Stopped when the CEMG signal was
81. celeration and deceleration curves symmetric with RUR RDR 272 2 Only REH can be changed during operation During S curve acceleration deceleration Do not override operation speed 11 Description of the Functions 11 1 Reset After turning ON the power make sure to reset the LSI before beginning to use it To reset the LSI hold the RST terminal L while supplying at least 8 cycles of a reference clock signal After a reset the various portions of the LSI will be configured as follows Hem Reset status initial status n x y Z u Internal registers pre register 0 Control command buffer 0 Axis assignment buffer 0 Input output buffer 0 INT terminal H level WRQ terminal H level IFB terminal H level DO to D7 terminals Hi Z D8 to D15 terminals Hi Z POn to P7n terminals Input terminal CSD terminal H level CSTAterminal H level CSTP terminal H level OUTn terminal H level DIRn terminal H level ERCn terminal H level BSYn terminal H level udo 11 2 Target position override This LSI can override change the target position freely during positioning operation However the LSI cannot execute a target position override during linear interpolation There are two methods for overriding target position 11 2 1 Target position override 1 If acceleration deceleration characteristics are symmetric target position can be overridden by change
82. clock of 19 6608 MHz 1 Outlineand Features asenna ee UR Da WMA ieee 1 EN ENT a EE 1 1 2 EE EE 1 2 Specification E 4 3 Terminal Assignment Diagram arinari rentei er a aa E Kea ea Te 5 9 1 PGEOT1193 2 iode et ttt o e edat e 5 Se ENEE 5 e NEE 6 4 Functions of El EE 7 ele EI 13 Os GP USI ES E 13 6 1 Setting the CPU interface type eene eene nnne tnt nnne attente sette Lena saa attente Enna du 14 6 2 Hardware design precautions eene nennen nennen nennen innen enirn 14 6 3 Examples of CRUSE EEN 15 0 4 AC OPESS MAD EE EE 17 6 4 1 Axis arrangement map E 17 6 4 2 Internal map of each axis ssssssssssssssssssesseeeenere eene n meer eren enn nn nennen nnn nne n nennen nnne 17 6 5 Description of the map details 19 6 5 1 Write the command code and axis selection COMBO COMDI sss 19 6 5 2 Write to an output port OTPW OTP nenne een nemrenennnrnn enhn nenns 20 6 5 3 Write read the input output buffer BUFW BUER 20 6 5 4 Reading the main status MSTSW MIb 21 6 5 5 Reading the sub status and input output port SSTSW SSTSB OPB 23 7 Commands Operation and Control Commande 24 751 Operation commands oett tette d ote do ie e ie ld de t ta iia ipti tala adiens 24 7 1 1 Procedure for writing an operation command the axis assignment is omitted 24 EE Slan command WEE 25 7 1 3 Speed change commande sisinsdiran enei i iaia dente antea istnd d istnd aoreet d
83. d RENV1 PMSK 1 the LSI will not output pulses However the counter will continue counting unless it is set to stop Stopping COUNTER 1 lt RENV3 CU1H bit 2 gt RENV3 WRITE 1 Stop COUNTER 1 counting operation 7 0 ni Stopping COUNTER 2 lt REN3 CU2H bit 3 gt RENV3 WRITE 1 Stop COUNTER 2 counting operation 7 0 ni Set the count input mask for output pulses lt RMD MCCE bit 11 gt RMD WRITE 1 The counter that is set to count output pulses will stop 45 8 ni Set to mask output pulse lt RENV1 PMSK bit 13 gt RENV1 WRITE 1 Mask the output pulse 34 24 ni 92 11 10 Comparator 11 10 1 Comparator types and functions This LSI has 2 circuit 28 bit comparators per axis These are referred to as Comparator 1 and Comparator 24 Comparator 1 compares the setting in the RCMP1 register with COUNTER 1 Comparator 2 compares the setting in the RCMP2 register with COUNTER 2 One of three comparison methods lt and gt can be selected and the comparison results can be output to a terminal Also the LSI can output an INT signal such as an event interrupt when comparison condition is met A special use of the comparator is to control a ring count function and internal synchronous start function For descriptions of these functions see 11 10 2 Ring count function and 11 11
84. e L only when CS L and IFB L 13 14 15 OUT Nega tive OP Signal used to indicate that the LSI is processing commands Use this signal to make connections with a CPU that does not have a wait control input terminal When the LSI receives a write command from a CPU this signal will go L level When the LSI finishes processing this signal will go H level Make sure that this terminal is H level before you access next DO to D3 15 to 18 16to 19 17 to 20 D4 to D7 20 to 23 21 to 24 22 to 25 UO Posi tive Bi directional data bus When connecting a 16 bit data bus connect the lower 8 bit signal lines here D8 to D11 25 to 28 26 to 29 27 to 30 D12 to D15 30 to 33 31 to 34 32 to 35 I O Posi tive PU or PD Bi directional data bus When connecting a 16 bit data bus connect the upper 8 bit signal lines here In the case of 8 bit data bus IFO H IF1 H pull these signals down to GND or up to VDD A single resistor can be used by combining the lines CSD 74 121 167 I O Nega tive PU Input output terminal for simultaneous deceleration When performing multiple axis control using more than one LSI if you want to make the LSIs decelerate at the same time connect all of the CSD terminals to each other Even when using this signal a pull up resistor to VDD is required The terminal status can be checked on the RSTS register extension
85. e 25 EE tee Dein lu Te 26 7 1 5 NOP do nothing command iieri hint itc cie tere cue nn oe bo e ue donnie dn 26 7 2 General purpose output bit control commande 27 7 9sGontrol Ke eil IN ET 28 7 3 1 Software reset command i aaea ea Tiara AEEA esent tss tens sentes sas En 28 7 3 2 Counter reset commiand sisisi eec teintes sae steeds ame Ln fede aot e qme tpe dede a eda dede 28 7 3 3 ERC output control commande 28 7 3 4 Pre register control Commande 28 123 5 PCS inp t comimatd erint i i eel ned oe a rr i VP ad IE PR Doe Sau e ETUR REA DE PARE Ys 28 7 3 6 LTCH input counter latch commande 28 7 4 Register control command iei nee OR Rec c a S 29 7 4 1 Procedure for writing data to a register the axis assignment is omitted sssssss 29 7 4 2 Procedure for reading data from a register the axis assignment is omitted 29 7 4 3 Table of register control commande eene nennen nemen nennen nnne nnns 30 7 5 General purpose output port control commande 31 7 5 1 Command writing procedures m eene nennen nennen neri rennen rns 31 7 5 2 Command bit allocation eene Ear RAKAA neri ERa 31 acetic A 32 g1 Table rel ee ae 32 M EE 33 8 3 Description of the registers sorcis idii enne nien nnne nnn tnnt EE idas PAIKEA snae iaiia 35 8 3 1 PRMV RMV register Ie lide nel teer I ev eo eed E ee aue Ee
86. e RFH after the acceleration deceleration is complete The motor will continue accelerating or decelerating until the speed reaches the new speed An example of changing the speed pattern by changing the speed during S curve acceleration deceleration operation Speed Time 1 If make RFH smaller and if changed speed speed before change the motor will decelerate using an S curve until the speed reaches the correct speed 5 If make RFH smaller and if changed speed 2 speed before change the motor will accelerate without changing the S curve s characteristic until the speed reaches the correct speed 4 If make RFH larger while accelerating the motor will accelerate to the original speed entered without changing the S curve s characteristic Then it will accelerate again until the speed reaches the newly Set speed 2 3 If RFH is changed after the acceleration deceleration is complete the motor will accelerate decelerate using an S curve until the speed reaches the correct speed During positioning operation mode of Ramping down automatic setting PRMD MSDP 0 there are the following restrictions about operation speed override If you set and execute without following the restriction function to set ramping down point automatically cannot follow with operation and stop speed may be higher than FL speed or moving at FL speed occurs after completing deceleration During linear acceleration deceleration 1 Make ac
87. e for LS T dus 2 7 SS Data hold time for ACK 4 inne 0 S rs Read cycle A1 to A4 CH o Tess es FER Tscs LS A0 D 9 e R W WR TsHaKR AEK WRG E cee y TDAKLR Tsup DO to D15 lt Write cycle gt A1 to A4 CS Tess me L Tscs LS A0 d R W WR Pe al Be TsHakw CHE MINE Tost TAkbH Deep EENEG 102 12 5 2 16 bits I F 2 IF1 L IFO H H8 Item Symbol Condition Min i Max Unit Address setup time for RD 4 Tar EES ns Address setup time for WR 4 Taw 10 ns Address hold time for RD WR f Trwa 0 i ns CS setup time for RD Tcsn 4 fs ns CS setup time for WR 4 Tosw 4 ns CS hold time for RD WR f Trwes z 0 IE ns WRG ON delay time for CS4 Tceswr C 40pF TEE ns WRQ signal L level time TWAT 4Tak ns Data output delay time for RD 4 Tonn C 40pF i 21 ns Data output delay time for WRQ 7 Twrup C 40pF 10 ns Data float delay time for RD 7 Troup C 40pF i 18 ns WR signal width Ewe Note 1 1o i ns Data setup time for WR f Town 12 i ns Data hold time for WR f Twp 0 ns Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H Read cycle A1 to A4 DO to D15 Write cycle A1 to A4 DO to D15 103 12 5 3 16 bits I F 3 IF1 H IFO L 8086 etc Item Sy
88. e section 10 1 Speed patterns 2 Residual pulses start command Write this command after the motor is stopped on the way to a positioning it will continue movement for the number of pulses left in the positioning counter COMBO Symbol Description 54h CNTFL Residual pulses FL constant speed start 55h CNTFH Residual pulses FH constant speed start 56h CNTD High speed start 1 residual pulses FH constant speed gt Deceleration stop 57h CNTUD High speed start 2 residual pulses Acceleration gt FH constant speed gt Deceleration stop 3 Simultaneous start command By setting the RMD register the LSI will start movement on an axis which is waiting for CSTA signal COMBO Symbol Description 06h CMSTA Output one shot of the start pulse from the CSTA terminal 2Ah SPSTA Perform the same processing as when a CSTA signal is supplied for its own axis only 7 1 3 Speed change command Write this command while the motor is operating the motor on that axis will change its feed speed If this command is written while stopped it will be ignored COMBO Symbol Description 40h FCHGL Change to the FL speed immediately 41h FCHGH Change to the FH speed immediately 42h FSCHL Decelerate and change to the FL speed 43h FSCHH jAccelerate and change to the FH speed 25 7 1 4 Stop command 1 Stop command Write this command to stop
89. e terminal that the corresponding bit is set to 1 OTPW OTPB 6 5 3 Write read the input output buffer BUFW BUFB When you want to write data into a register after placing the data in the input output buffer write a register write command into COMBO The data in the input output buffer will be copied into the register When you want to read data in register write a register read command into COMBO The data in the register will be copied to the input output buffer Then you can read the data from the input output buffer The order for writing to and reading from buffers BUFWO to 1 BUFBO to 3 is not specified The data written in the input output buffer can be read BUFW1 BUFWO 1 l BUFB3 BUFB2 BUFB1 BUFBO 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76543 2 1 0 20 6 5 4 Reading the main status MSTSW MSTSB MSTSW MSTSB1 MSTSBO 15 14 13 12 0 SPRFSEOR 0 11 10 9 8 7 6 5 4 3 2 1 0 0 SCP2SCP1 SSC1 SSCO SINT SERR SEND SENI SRUN SSCM Bit Bit name Details 0 SSCM Becomes 1 by writing a start command Becomes 0 when the operation is stopped 1 SRUN jBecomes 1 by the start pulse output Becomes 0 when the operation is stopped 2 SENI Stop interrupt flag When IEND RENV2 1 the LSI turns ON the INT output because the status changes from operating to stop and the SENI bit becomes
90. ee wel ante ee adus 35 823 2 PREL ARF register ei ei e e d de tese ues angu ae cay IP Or eaa ege iet n ea cd EL Og 35 8 3 3 PREH REH yteglster 5 dence ertet coe aede Unc Ede oed iei ege Ed pedet ce edes 35 Bez PR R RUR registers enne cre ce ete ct du eet tenue e eee teens 35 8 3 5 PRDR RDR register ete nel ile ath Lien ete el ie eee ae vv a cue wel ile wei ade alee 36 8 3 6 PRMG RMG register rnain n a a E A e AA A a 36 8 3 7 PRDP E RA LE 36 8 3 8 PRMD RMD register asrar aA ae a E A EE ensi ntn sente Das estas sene Dassin s asse tena 37 8 3 O PRIP RIP register cie cn el eed eene ec e enne idan deae o Eee ceed an e adig 38 8 3 10 PRUS RUS EE 38 83 1 1 PRDS RDS registet cra ea a Ra nee ed oed Tee rae tee t Er A tuia Tee Ede exon s 39 8 3 12 RENV T register Em 39 9 3 19 RENY LEE 41 8 3 14 RENVI e LEE 43 E le EI Be EE 44 8 3 16 eB PATII DM 44 9 3 17 ler ee 44 8 3 18 ld ee 44 98 3 19 RIRQ reglster eon etn eee npe cre nue tea lee reo reete etu EE 45 8 3 20 RET C1 register DRE 45 9 3 21 RETG2 Teglster iii tecta tuit geh e e Lat inae ttr 45 8 3 22 SEI p I P E m 46 829 23 TE NET 47 8 3 24 RIST RTE 47 823 29 RPLS Ege iu eite ee an cc equ baa re te C DEPO A ce t ees tad ce Dore od 48 8 3 26 TR EE 48 9 3 27 RS DGiregister TEE 48 9 OperatiomMode ne eed tiet toe a ti a o ete an ide dee e er dones 49 9 1 Continuous operation mode using command Control
91. eeding pulses while pressed down or to feed a specified number of pulses for each press of the switch Operation mode The basic operations of this LSI are continuous operation positioning origin return and linear interpolation By setting optional operation mode bits you can use a variety of operations Examples of the operation modes 1 Start stop by command 2 Continuous operation and positioning operation using a manual pulsar Continuous operation and positioning operation using an external switch Origin return operation Positioning operation using commands Hardware start of the positioning operation using CSTA input Feed for a specified amount after turning ON the PCS Target position override 2 YS wer ww NS SS aS 3 4 5 6 7 Origin return sequences lt Examples of origin return sequences gt 1 Feeds at constant speed and stops when the ORG signal is turned ON 2 Feeds at constant speed and stops when the LSI finishes counting specified number of EZ pulses after the ORG signal is turned ON 3 Feeds at high speed decelerates when the SD signal is turned ON and stops when the ORG signal is turned ON 4 Feeds at high speed decelerates and stops when the ORG signal is turned ON 5 Feeds at high speed starts deceleration when the ORG signal is turned ON Then stops when the LSI eee finishes counting specified number of EZ pulses e Mechanical input signals The following four signals can be input fo
92. ent lot Vo 0 4 V 6 mA H level output current lou Vou Vpp 0 4 V 6 mA Internal pull up Other than CS RD WR AO to A4 DO to k resistance Reu A 240 ohm Note 1 Internal pull up resistors are integrated for safety when open Note 2 The signs next to the current values shown in amperes refer to current flowing in a positive value or out a negative value 100 12 4 AC characteristics 1 reference clock Item Symbol Condition Min Max Unit Reference clock frequency fork 30 MHz Reference clock cycle Terk 33 ns Reference clock H level width TokH 16 ns Reference clock L level width Tek 16 ns T CKH T CKL CLK T CLK 101 12 5 AC characteristics 2 CPU I F 12 5 1 16 bits I F 1 IF1 L IFO L 68000 etc Item Symbol Condition Min Max Unit Address setup time for LS 4 Tas i 13 i AE Address hold time for LS 7 Ta k 0 R ac CS setup time for LS 1 Toss 2 5 ms CS hold time for LS 7 Tas 0 m R W setup time for LS 4 Tews T m R W hold time for LS T Tacs T SS TsLAkR C 40pF Tex j 4Toxt15 ns ACK ON delay time for LS 4 EE Tis 4Tak 15 ns ACK Te TsuakR C 40pF i 17 ns ACK OFF delay time for LS T Tous TC 40pF SE ns Data output prior time for ACK 4 Toug Cu 40pF Tek E Ms Data float delay time for LS T Tsup C 40pF E i 18 Hs Data setup tim
93. er When PRFH PRFL x PRFH PRFL 2 x PRUS x PRUR PRDR 2 ER PRMG 1 x 16384 and SV PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMG 1 x 16384 PRMG 1 x 16384 x PRMV PRUR PRDR 2 PRFH lt PRUS d PRUS PRFL N ii Eliminate the linear acceleration deceleration range When PRMV lt PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMG 1 x 16384 Change to S curve acceleration deceleration without a linear acceleration deceleration range PRUS 0 PRDS 0 PRFL PRFH lt PRMG 1 x 16384 x PRMV PRUR PRDR 2 x 2 Reference PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 68 3 2 When PRUS PRDS i Make a linear acceleration deceleration range smaller When PRMV lt PRFH PRFL x PRFH PRFL x PRUR PRDR 2 2xPRUSx PRUR 1 2xPRDSx PRDR 1 x PRMG 1 x 16384 and PRMV gt PRDS PREL x PRDS x PRUR 2 x PRDR 3 PRUS x PRUR 1 x 4 PRMG 1 x 16384 i PRFH lt nr A B PRUR PRDR 2 However A PRUS x PRUR 1 PRDS x PRDR 1 B PRMG 1 x 16384 x PRMV 2 x Ax PRFL PRUR PRDR 2 x PRFL2 x PRUR PRDR 2 ii Eliminate the linear acceleration deceleration range and make a linear acceleration section smaller When PRMV l
94. ermost bit in the empty column when read Code Extension 8 3 1 PRMV RMV register These registers are used to specify the target position for positioning operations RMV is the register for PRMV 31 30 29 28 27 26 2524 2322212019 18 17 16 15 14 13 1211109 8 7 65 4 32 100 Setting range 134 217 728 to 134 217 727 By changing the RMV register while in operation the target position can be overridden 8 3 2 PRFL RFL register These pre registers are used to set the initial speed stop seed for high speed with acceleration deceleration operations RFL is the register for PRFL 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 100 The setting range is 1 to 16 383 However the actual speed pps may vary with the speed magnification rate setting in the PRMG register 8 3 3 PRFH RFH register These pre registers are used to specify the operation speed RFH is the register for PRFH Write to this register to override operation speed 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 10 The setting range is 1 to 16 383 However the actual speed pps may vary with the speed magnification rate set in the PRMG register 8 3 4 PRUR RUR register These pre registers are used to specify the acceleration rate RUR is the register for PRUR 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 10 Setting range is 1 to 16 383 5555
95. es shorter than the FTM set value are ignored SE KS GE Setting the time constant for the input noise filter lt RENV1 FTM bits 21 20 RENV1 WRITE 00 b 3 2 us 10 b 200 us 23 16 01 b 25 us 11 b 1 6 ms hel Arne eel Read the ORG signal lt SSTSW SORG bit 14 sSSTSW READ 0 The ORG signal is OFF 45 8 1 The ORG signal is ON anre ENS Set the EZ count number lt RENV2 EZD3 to 0 bits 27 to 24 RENV2 WRITE Set the EZ count number for counting as a condition for origin return operation 31 24 completion TER Specify the value the number to count to 1 in EZD3 to 0 The setting range is 0 to 15 Specify the input logic of the EZ signal lt RENV2 EZL bit 28 RENV2 WRITE 0 Falling edge 1 Rising edge t REIR re pes a Read the EZ signal RSTS SEZ bit 10 gt RSTS READ 0 The EZ signal is OFF 15 8 1 The EZ signal is ON IT RES Set the EZ input noise filter lt RENV1 EINF bit 18 RENV1 WRITE 1 Apply a noise filter to the EA EB EZ input 23 46 By applying a noise filter input signal pulses shorter than 3 cycles of CLK are ignored rr ra oe 81 11 5 Servomotor I F 11 5 1 INP signal The pulse strings input accepting servo driver systems have a deviation counter to count the difference between command pulse inputs and feedback pulse inputs The driver controls so that the difference becomes zero In other words the effective function of servomotors is to
96. feeding while operating COMBO Symbol 49h STOP Write this command while in operation to stop immediately 4Ah SDSTP Write this command while feeding at FH constant speed or high speed the motor on that axis will decelerate to the FL constant speed and stop If this command is written while the axis is being fed at FL constant speed the motor on that axis will stop immediately 2 Simultaneous stop command Stop the motor on any axis whose CSTP input stop function has been enabled by setting the RMD register COMBO Symbol Description 07h CMSTP Outputs one shot of pulses from the CSTP terminal to stop movement on that axis 3 Emergency stop command Stops an axis in an emergency COMBO Symbol Description 05h CMEMG Emergency stop same as a CEMG signal input 7 1 5 NOP do nothing command COMBO Symbol Description 00h NOP This command does not affect the operation 26 7 2 General purpose output bit control commands These commands control output of terminals PO to P7 by bit When the terminals are designated as outputs signals are output from terminals PO to P7 Bits that correspondents to terminals set as other than outputs are ignored The write procedures are the same as for the Operation commands In addition to this command by writing to a general purpose output port OTPB
97. ged using software EZ 46 X 47 X 48 IN N GN inputa marker signal that is output once for each turn of EZn Y 84 Y 79 the encoder when using the marker signal in origin return Z 110 mode U 141 Use of the EZ signal improves origin return precision The input logic can be changed by using software The terminal status can be checked by using the RSTS register extension status PA DR J47 X 48 X 49 IN GN Common input used to trigger by either an external pulse PAn DRn Y 85 Y 80 PA PB such as a manual pulsar or an external switch Z 111 DR DR U 142 The use of this input will vary with the operation mode setting PB DR 48 X 49 X 50 When inputting external pulses you can input 90 degree PBn DRn Y 86 Y 81 phase difference signals 1x 2x 4x or positive pulses Z 112 on PA and negative pulses on PB U 143 The relation between the input and feed direction can be changed using software PE PEn 49 X 50 X 51 IN Nega GN Setting these terminals L level enables PA PB Y 87 Y 82 tive By inputting an axis change switch signal one manual Z 113 pulsar or external switch can be used alternately for four U 144 axes PO FUP 51 X 52 X 53 UO PD Common terminal for general purpose UO and FUP POn FUPn Y 89 Y 84 When this terminal is used as a general purpose UO you Z 115 can set it for input or output U 146 When used as an FUP terminal it will output a signal while accelerating The FUP output lo
98. gic can be set using software P1 FDW 52 X 53 X 54 UO PD Common terminal for general purpose I O and FDW P1n FDWn Y 90 Y 85 When this terminal is used as a general purpose I O you Z 116 can set it for input or output U 147 When used as an FDW terminal it will output a signal while decelerating The FDW output logic can be set using software 10 Terminal No Signal IN Logic Hang Description name PCL PCL PCL OUT 9 ling P 6113 6123 6143 P2 MVC 53 X 54 X 55 UO PD Common terminal for general purpose UO and MVC P2n MVCn Y 91 Y 86 When this terminal is used as a general purpose UO you Z 117 can set it for input or output U 148 When used as an MVC terminal it will output a signal during operation at a constant speed The MVC output logic can be set using software P3 CP1 54 X 55 X 56 UO PD Common terminal for general purpose UO and CP1 P3n CP1n Y 92 Y 87 When this terminal is used as a general purpose UO you Z 118 can set it for input or output U 149 When used as a CP1 terminal it will output a signal while establishing the Comparator 1 condition The CP1 output logic can be set using software P4 CP2 56 X 57 X 58 UO PD Common terminal for general purpose UO and CP2 P4n CP2n Y 94 Y 89 When this terminal is used as a general purpose UO you Z 120 can set it for input or output U 151 When used as CP2 terminal it will ou
99. gt RENV2 WRITE 00 b General purpose input 01 b General purpose output 10 b Output a CP1 signal when the Comparator 1 conditions are met using negative logic 11 b Output a CP1 signal when the Comparator 1 conditions are met using positive logic Set the specifications for the PA CP2 terminal lt RENV2 P4M1 to 0 bits 9 to 8 gt RENV2 WRITE 00 b General purpose input 15 8 01 b General purpose output aaan 10 b Output a CP2 signal when the Comparator 2 conditions are met using negative logic 11 b Output a CP2 signal when the Comparator 2 conditions are met using positive logic 93 11 10 2 Ring count function COUNTER 1 and COUNTER 2 have a ring count function for use in controlling a rotating table Set RENV3 C1RM 1 and COUNTER 1 will be in the ring count mode Then the LSI can perform the following operations Count value will be 0 when the counter counts up from the value in RCMP1 Count value will be the count equals to the value in RCMP1 when the counter counts down from 0 Set RENV3 C2RM 1 and COUNTER 2 will be in the ring count mode Then the LSI can perform the following operations Count value will be 0 when the counter counts up from the value in RCMP2 Count value will be the count equals to the value in RCMP2 when the counter counts down from 0
100. h speed operations acceleration deceleration operations specify a value larger than PREL The speed will be calculated from the value placed in PRMG 8 Reference clock frequency Hz FH speed pps PRFH x PRMG 1 x 16384 63 PRUR Acceleration rate setting register 14 bit Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 16 383 3FFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration PRMD MSMD 0 PRFH PRFL x PRUR 1 x 2 Reference clock frequency Hz Acceleration time s 2 S curve without a linear range PRMD MSMD 1 and PRUS 0 PRFH PRFL x PRUR 1 x4 Reference clock frequency Hz Acceleration time s 3 S curve with a linear range PRMD MSMD 1 and PRUS gt 0 PRFH PRFL 2 x PRUS x PRUR 1 x 2 Reference clock frequency Hz Acceleration time s PRDR Deceleration rate setting register 14 bit Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 16 383 3FFFh To select the ramp down point auto setting PRMD MSDP 0 set the PRDR register the same as PRUR register setting or enter O When PRDR 0 the deceleration rate will be the value placed in the PRUR The relationship between the value entered and the deceleration time is as follows 1 Li
101. he next acceleration will be equal to a normal hange to a target acceleration curve when RFL Fu further away 3 If the machine position has already passed over the f new target position or the target position is changed to a position that is closer than the original position during deceleration the motor will decelerate and stop Then the movement will reverse and complete the positioning operation at the new target position new RMV value Change to a target position already passed Note1 When positioning while using acceleration deceleration even if the motor cannot decelerate to the FL speed it will stop at the specified position placing a priority on the stop position If the target position override is applied and the LSI has to reverse feed it will decelerate to the FL speed and then stop placing a priority on speed Therefore it may possible that when a motor reverse is caused by the target position override the motor may feed pulses that cross over the target position and then reverse back to it 74 Note 2 Note 3 Speed Target position change Normally movement stops without FH decelerating to FL speed zt When the target point is overriden Wii the axis decelerate to FL speed FL Time H We Oboe Acceleration Deceleration UE s If the LSI starts decelerating by changing the target to a closer position and if you perform a position override to a position further away during t
102. his deceleration the LSI will not re accelerate It will feed to the more distant target after decelerating to FL speed The position override is only valid while feeding When the LSI receives an override command just a little before stopping a feed it may not respond to the override command For this reason check MSTSW SEOR after the motor is stopped If the override is ignored MSTSW SEOR will become 1 The LSI will set MSTSW SEOR to 1 when it receives a command in the RMV register while feeding Therefore if the command is written to the RMV register while stopped before feeding starts MSTSW SEOR will also become 1 After reading the MSTSW MSTSW SEOR will return to 0 within three CLK cycles 11 2 2 Target position override 2 PCS signal By setting PRMD MPCS to 1 the LSI will perform positioning operations for the amount specified in the PRMV register based on the timing of this command after the operation start after it starts outputting command pulses or on the ON timing of the PCS input signal A PCS signal can change the input logic The PCS terminal status can be monitored using the RSTS register Setting pulse control using the PCS input lt PRMD MPCS bit 14 PRMD WRITE 1 Positioning for the number of pulses stored in the PRMV starting from the time at 15 8 which the PCS input signal is
103. ignal output is specified to a level type output 7 3 4 Pre register control command Cancels the pre register settings See section 8 2 Pre register in this manual for details about the pre register COMBO Symbol Description 26h PRECAN Cancel the operation pre register 7 3 5 PCS input command Entering this command has the same results as inputting a signal on the PCS terminal COMBO Symbol Description 28h STAON Alternative to a PCS terminal input 7 3 6 LTCH input counter latch command Entering this command has the same result as inputting a signal on the LTC terminal COMBO Symbol Description 29h LTCH Alternative to an LTC latch counter terminal input 28 7 4 Register control command By writing a Register Control command to COMBO Address 0 when an 8 bit I F is used the LSI can copy data between a register and the UO buffer Note When using the I O buffer while responding to an interrupt CPU should save UO buffer data using PUSH command on the stack and restore it using POP command from the stack after performing the interrupt routine 7 4 1 Procedure for writing data to a register the axis assignment is omitted 1 Write the data that will be written to a register into the I O buffer addresses 4 to 7 when an 8 bit I F is used The order in which the data is written does not matter However secure two refe
104. interrupt signal INT signal An INT signal is output triggered by 9 types of errors 14 types of events and change from operating to stop The INT signal is output unconditionally triggered by error interrupt causes Triggered by event interrupt cause the INT signal is output under the condition set in the RIRQ register Triggered by stop interrupt causes the INT signal is output under the condition set in RENV2 IEND A stop interrupt is a simple interrupt function which produces an interrupt regardless of normal stop or error stop For a normal stop interrupt to be issued the confirmation process is needed to read the RIST register as described in the Cause of an Event section If your system needs only to detect a stop interrupt whenever a Stop occurs it is easy to use the stop interrupt function The INT signal is output continuously until all the causes on all the axes that produced interrupts have been cleared An interrupt caused by an error is cleared by writing a REST register read command An interrupt caused by an event is cleared by writing a RIST register read command A Stop interrupt cause is cleared by writing to the main status To determine which type of interrupt occurred on which axis and the cause of the interrupt follow the procedures below 1 Read the main status of the X axis and check whether bits 2 4 or 5 is 1 2 If bit 2 SENI is 1 a Stop interrupt has occurred 3 If bit 4 SERR is 1 read the RE
105. iply value Example When the pulse input setting speed is 1000 pps with a 90 degree phase difference and a 2x input multiply value the input frequency on the PA terminal is less than 500 Hz FP cycle eis beem Rb p pa Note When the PA PB input frequency fluctuates take the shortest frequency not average frequency as FP cycle above lt Setting relationship of PA PB input gt Specify the PA PB input RENV2 PIMO to 1 bit 21 to 20 gt RENV2 WRITE 00 b 90 degree phase difference 1x 10 b 90 degree phase difference 4x 23 16 01 b 90 degree phase difference 2x 11 b 2 pulse input t nin ie iie Specify the PA PB input count direction lt RENV2 PDIR bit 23 RENV2 WRITE 0 Count up when the PA phase is leading Or count up on the rising edge of PA 23 16 1 Count up when the PB phase is leading Or count up on the rising edge of PB n Enable disable PA PB input lt RENV2 POFF bit 15 RENV2 WRITE 0 Enable PA PB input 15 8 1 Disable PA PB input n Apply the DR DR PE input noise filter lt RENV2 DRF bit 27 gt RENV1 WRITE 1 Apply a noise filter on DR DR and PE input 31 24 By setting the noise filter the LSI ignores signals shorter than 32 msec n
106. it interface with an RD input and a WR input The lower addresses correspond to the upper word in the UO buffer Convenient for H8 series CPUs 16 bit I F 3 A 16 bit interface with an RD input and a WR input The lower addresses correspond to the lower word in the I O buffer Convenient for use with 8086 series CPUs 8 bit I F An 8 bit interface with an RD input and a WR input The lower addresses correspond to the lower word in the I O buffer Convenient for use with Z80 series CPUs 6 2 Hardware design precautions All of the input terminals can handle 0 to 5 V levels Although all of the output terminals can be pulled up to 5 V through 5k ohms or more they cannot output 3 3 V or more To reset the LSI hold the RST L and input the CLK signals for at least 8 clock cycles Any unused terminals out of PO to P7 should be pulled down to GND externally 5k to 10k ohms or pulled up to VDD When connecting a CPU with an 8 bit bus D8 to D15 should be pulled down to GND externally 5 k to 10 k ohm or pulled up to VDD Shared use of one resister for the 8 lines is available Use the ELL terminal to change the EL and EL signal input logic 14 6 3 Examples of CPU I F Note When using the 16 bit I F the LSI can only access words 16 bits not bytes 8 bits 1 16 bit I F 1 IF1 L IFO L 68000 CPU PCL6143 AS Decoding CL S CLK IF0 A5 A23 gt circuit CS IF 1 A1 A4 OA S A1 A4
107. l when stopping regardless of whether the stop was normal or due to an error 31 Not defined Always specify 0 42 8 3 14 RENV3 register This register is for environment setting 3 Specify the counter function latch function and simultaneous start function 15 144 13 12 1 10 9 8 7 6 5 4 3 2 M 0 C281 C280 C181 C180 C2RM CU2R LOF2 CUZ2L CTRM CU1R COF1 CU1L CU2H CU1H CIS2 CIS1 SYI1 SYIO SYO3 SYO2 SYO1 SYOO Bit Bit name Description 0 CIS1 Select input counted by COUNTER 1 0 Output pulse 1 EA EB input 1 CIS2 Select input counted by COUNTER 2 0 EA EB input 1 Output pulse 2 CU1H 11 Stops counting of COUNTER 1 3 CU2H 1 Stops counting of COUNTER 2 4 CU1L 1 Resets COUNTER 1 when latching the contents of COUNTER 1 5 LOF1 1 Stop latching the contents of COUNTER 1 with the LTC signal input Only effective for software 6 CU1R 1 Latches and resets COUNTER 1 when an origin return operation is complete 7 CiRM 1 Set COUNTER 1 to ring counter operation using Comparator 1 8 CU2L 1 Resets COUNTER 2 when latching the contents of COUNTER 2 9 LOF2 1 Stop latching the contents of COUNTER 2 with the LTC signal input Only effective for software 10 CU2R 1 Latches and resets COUNTER 2 when an origin return operation is complete 11 C2RM 1 Set COUNTER 2 to ring counter operation using Comparator 2 13 to 12 C1S1 to O Select
108. leration stop occurs 11 EROR 1 Automatically output the ERC signal when origin return is completed 14 to EPW2 to 0 Specify the output pulse width of the ERC signal when CLK 19 6608MHz 12 000 b 11 to 13 us 100 b 11 to 13 ms 001 b 91 to 98 us 101 b 46 to 50 ms 010 b 360 to 390 us 110 b 93 to 100 ms 011b 1 4 to 1 6 ms 111 b Level output 15 ERCL Specify the ERC signal output logic 0 Negative logic 1 Positive logic 17 to ETW1 to 0 Specify the ERC signal OFF timer time when CLK 19 6608MHz 16 00 b 0 us 01 b 11 to 13 us 10 b 1 4 to 1 6 ms 11 b 93 to 100 ms 18 STAM Specify the CSTA signal input type 0 Level trigger 1 Edge trigger 19 STPM Specify a stop method using CSTP input 0 Immediate stop 1 Deceleration stop 21to FTM1 to O Select features of EL EL SD ORG ALM and INP filters 20 00 b Pulse length shorter than 3 2 us are ignored when CLK 19 6608MHz 01 b Pulse length shorter than 25 us are ignored when CLK 19 6608MHz 10 b Pulse length shorter than 200 us are ignored when CLK 19 6608MHz 11 b Pulse length shorter than 1 6 ms are ignored when CLK 19 6608MHz 22 INPL Specify the INP signal input logic 0 Negative logic 1 Positive logic 23 LTCL jSpecify the operation edge for the LTC signal 0 Falling edge 1 Rising edge 24 PCSL Specify the PCS signal input logic
109. lses EA EB signal input Both of them can also latch values by writing a command or by providing an LTC or ORG signal The LSIs can also be set to reset automatically soon after writing a command and latching these signals Comparators There are 2 comparator circuits for each axis They can be used to compare target values and internal counter values Comparator 1 can be compared with COUNTER 1 and Comparator 2 can be compared with COUNTER 2 e Simultaneous start function Multiple axes controlled by this LSI or controlled by multiple sets of this LSI can be started to move at the same time by a command or by an external signal Simultaneous stop function Multiple axes controlled by this LSI or controlled by multiple sets of this LSI can be stopped at the same time by a command by an external signal or by an error stop on any axis e Manual pulsar input function By applying manual pulse signals you can rotate a motor directly The input signals can be 90 degree phase difference signals 1x 2x or 4x or up and down signals When an EL signal of a feed direction is input the LSI stops outputting pulses But it can feed in the opposite direction without any command Direct input of external operation switch An input terminal for operation switch is provided to directly drive a motor with an external operation switch These switches turn the motor forward and backward The results of a switch press can be set to keep f
110. mbol Condition Min i Max Unit Address setup time for RD 4 Tar EES ns Address setup time for WR 4 Taw 10 ns Address hold time for RD WR f Trwa 0 i ns CS setup time for RD Tcsn 4 fs ns CS setup time for WR 4 Tosw 4 ns CS hold time for RD WR f Trwes z 0 IE ns WRQ ON delay time for CS J Tceswr C 40pF TEE ns WRQ signal L level time TWAT 4Tak ns Data output delay time for RD 4 Tonn C 40pF i 21 ns Data output delay time for WRQ 7 Twrup C 40pF 10 ns Data float delay time for RD 7 Troup C 40pF i 18 ns WR signal width Twr Note 1 Wos ns Data setup time for WR 4 Town 12 i ns Data hold time for WR f Twp z 0 ns Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H Read cycle A1 to A4 DO to D15 Write cycle A1 to A4 DO to D15 104 12 5 4 8 bits I F 2 IF1 H IFO H Z80 etc Item Symbol Condition Min Max Unit Address setup time for RD 4 Tar i 10 E n Address setup time for WR V Tay 3 10 E SS Address hold time for RD WR f Trwa S o s ae CS setup time for RD Taek 4 S ae CS setup time for WR J Lead S EE J CS hold time for RD WR f Tewes 0 SS WRQ ON delay time for CS J Toswr Ce 40pF i 1 ns WRQ signal L level time Ton 7 P Les Hs Data output delay time for RD 4 Tonn C 40pF z 21 Hs Data output delay time for WRQ 7 Twrup C 40
111. minals as follows for a simultaneous stop among different LSls 3 3V 5k to 10k ohm 2 To stop simultaneously using an external circuit connect as follows 3 3V 5k to 10kohm 74LS06 open collector output Stop signal As a stop signal supply a one shot signal of 4 reference clock cycles or more in length approx 0 2 us 87 Setting to enable CSTP input PRMD MSPE bit 24 PRMD WRITE 1 Enable a stop from the CSTP input Immediate stop deceleration stop 31 24 0 0 O Ol In Auto output setting for the CSTP signal lt PRMD MSPO bit 25 PRMD WRITE 1 When an axis stops because of an error the LSI will output the CSTP signal 31 24 Output signal width 8 reference clock cycles 0 0 00 n Set the CSTP to be output a signal when an axis is stopped by a command RENV2 CSPO bit 13 gt RENV2 WRITE 1 When PRMD MSPO 1 the LSI will output the CSTP signal even if an axis is 15 8 stopped by a command In 0 The LSI will not output a CSTP signal when an axis is stopped by a command Specify the stop method to use when the CSTP signal is turned ON RENV1 WRITE lt RENV1 STPM bit 19 gt 23 16 0 Immediate stop when the CSTP signal is turned ON DIDIER 1 Deceler
112. movement 41h Positioning operation Positive direction when PRMV 2 0 Negative direction when PRMV 0 47h Timer operation PRMV20 Positive direction DIR H However the pulse output is masked 9 2 1 Positioning operation MOD 41h This is a positioning mode used by placing a value in the PRMV target position register The feed direction is determined by the sign set in the PRMV register When starting the RMV register absolute setting value is loaded into the RPLS register The LSI counts down pulses with operations and when the value of the positioning counter drops to 0 movement on the axes stops When you set the PRMV register value to zero to start a positioning operation the LSI will stop outputting pulses immediately 9 2 2 Timer operation MOD 47h This mode allows the internal operation time to be used as a timer The internal effect of this operation is identical to the positioning operation However any pulses are not output and they are masked The counter does not count Therefore the internal operation time using the constant speed start command will be a product of the frequency of the output pulses and the RMV register setting Ex When the frequency is 1000 pps and the RMV register is set to 120 pulses the internal operation time will be 120 msec Write a positive number 1 to 134 217 727 into the PRMV register Negative numbers are treated as unsigned positive numbers The EL signal EL sign
113. n internal 1011 b Accelerating synchronous signal 1100 b Feeding at FH constant 0100 b Waiting for another axis to stop speed 0101 b Waiting for a completion of ERC 1101 b Decelerating timer 1110 b Waiting for INP input 0110 b Waiting for a completion of Others while controlling start stop direction change timer 4 SCD Becomes 1 when the CSD signal input is ON 5 SSTA j Becomes 1 when the CSTA signal input is turned ON 6 SSTP Becomes 1 when the CSTP signal input is turned ON 7 8 SEMG Becomes 1 when the CEMG signal input is turned ON SPCS Becomes 1 when the PCS signal input is turned ON 9 SERC Becomes 1 when the ERC signal input is turned ON 10 SEZ Becomes 1 when the EZ signal input is turned ON 11 SDRP Becomes 1 when the DR PA signal input is turned ON 12 SDRM Becomes 1 when the DR PB signal input is turned ON 13 SLTC j Becomes 1 when the LTC signal input is turned ON 14 SDIN Becomes 1 when the SD signal input is turned ON Status of SD input terminal 15 SINP Becomes 1 when the INP signal input is turned ON 16 SDIR Operation direction 0 Positive direction 1 Negative direction 31 to 17 Not defined Always set to 0 46 8 3 23 REST register Used to check the error interrupt cause Read only The corresponding bit will be 1 when an error interrupt occurs This register is reset when read
114. nd the value set in PDIR PA PB input method PDIR Feed direction PA PB input Positive direction When the PA phase leads the PB phase Negative direction When the PB phase leads the PA phase 90 degree phase difference 0 ad and 4x 1 Positive direction When the PB phase leads the PA phase Negative direction When the PA phase leads the PB phase 0 Positive direction PA input rising edge 2 pulse input of up or down Negative direction PB input rising edge pulse 1 Positive direction PB input rising edge Negative direction PA input rising edge The LSI stops operation when the EL signal in the current feed direction is turned ON But the LSI can be operated in the opposite direction without writing a restart command When stopped by the EL input no error interrupt INToutput will occur To release the operation mode write an immediate stop command 49h 9 3 2 Positioning operations using a pulsar input MOD 51h The positioning operation is synchronized with the pulsar input by using the PRMV setting as incremental position data The feed direction is determined by the sign in the PRMV register At the start the LSI loads the RMV register value into the positioning counter When PA PB signals are input the LSI outputs pulses and the positioning counter counts down When the value in the positioning counter reaches zero movement will stop and another PA PB input will be ignored
115. ne LSI specify the axis to interpolate in the upper byte COMB1 when writing the start command When you want to perform an interpolation using multiple LSIs set the PRMD MSY 1 and 0 bits to 01 b on all the axes that will perform an interpolation Then write a waiting for start command waiting for a CSTA input 59 After setting all the axes that will perform an interpolation to wait start write the CSTA output command 06h simultaneous start to any of these axes All of the axes that will perform the interpolation will start at the same time Other axes that are not interpolating can be operated independently Setting example Use the settings below and write a start command 0751h The LSI will output pulses with the timing shown in the figure below Setting X axis Y axis Z axis MOD 63h 63h 63h PRMV value bh Ah 2h Operation speed 1000 pps 1000 pps 1000 pps X axis output pulse 1 2 3 4 5 6 7 8 9 10 Y axis output pulse PM 1000pps Z axis output pulse _ Precision of linear interpolation As shown in the figure on the right Y Slave axis linear interpolation executes an End coordinates interpolation from the current 10 4 coordinates to the end coordinates The positional precision of a specified line during linear interpolation will be 0 5 LSB throughout the inter
116. near deceleration MSMD 0 in the PRMD register PRFH PRFL x PRDR 1 x 2 Reference clock frequency Hz Deceleration time s 7 2 S curve deceleration without a linear range PRMD MSMD 1 and PRDS 0 PRFH PRFL x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 3 S curve deceleration with a linear range PRMD MSMD 1 and PRDS gt 0 PRFH PRFL 2 x PRDS x PRDR 1 x 2 Reference clock frequency Hz Deceleration time s PRMG Magnification rate register 12 bit Specify the relationship between the PRFL and PRFH register settings and the speed in the range of 1 to 4 095 OFFFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate to an appropriate small rate to fit for output speed range The relationship between the value entered and the magnification rate is as follows Reference clock frequency Hz PRMG 1 x 16384 Magnification rate 64 Magnification rate setting example when the reference clock 719 6608 MHz Output speed unit pps Setting Magnification Output speed Setting Magnification Output speed rate range rate range 3999 OF9Fh 0 3 0 3 to 4 914 9 59 003Bh 20 20to 327 660 2399 095Fh 0 5 0 5 to 8 191 5 23 0017h 50 50 to 819 150 1199 04AFh 1 1 to 16 383 11 000Bh 100 100 to 1 638 300 599 0257h 2 2 to 32 766 5 0005h 200
117. nputs 23 16 Signals that are shorter than a CLK 3 cycle will be ignored 1 1 ni Specify an EZ count amount RENV2 EZDO to 3 bits 27 to 24 RENV2 WRITE Specify the number of EZ pulses needed to qualify for an origin return completion 31 24 Specify the value Number of pulses 1 in bits EZD3 to 0 Enter a number from 0 toj 0 l n n n n 15 When an origin return is complete the LSI can latch and reset the counter and output an ERC deviation counter clear signal The RENV3 register is used to set the basic origin return method That is whether or not to reset the counter when the origin return is complete Specify whether or not to output the ERC signal in the RENV1 register For details about the ERC signal see 11 5 2 ERC signal 56 9 5 1 Origin return operation 0 ORM 0 A Timing when ERC signals are output with RENV1 EROR 1 A Timing when ERC signals are output with RENV1 EROR 1 T Timing when Counter 1 Counter 2 is latched or reset with RENV3 CU1R CU2R ll Constant seed operation Sensor RENV1 ELM 0 or 1 ORG To output ERC signal when operation stops at the origin set RENV1 EROR to 0 To reset a counter at the origin position set RENV3 CU1R CU2R to 1 ORG ON EL ON Operation 1 Running Operation 2 Running Error stop 1 Operation 3 Running Error stop E High speed operation Sensor RENV1 ELM 0 ORG Even if the axis stops no
118. nt speed start X Y and Z axes start command SPRF will be 1 11 11 2 Start on an internal synchronous signal This is a function to start an own axis when another axis achieves a specified status Each axis selects the internal synchronous signal status signal from its own axis and outputs it to the other axes Select an axis whose output internal synchronous signal to trigger its own axis to start The internal synchronization signal output has 6 possible timings Select the timing with the RENV3 register Setting the synchronous start method lt PRMD MSY1 to 0 bits 19 to 18 PRMD WRITE 10 b Start by the internal synchronize signal 23 46 n n Setting the internal synchronous signal output timing RENV3 WRITE lt RENV3 SY03 to 1 bits 19 to 16 23 16 0001 b When the Comparator 1 conditions are met ISP EST IET REI 0010 b When the Comparator 2 conditions are met 1000 b When you want to start acceleration 1001 b When you want to finish the acceleration phase 1010 b When you want to start deceleration 1011 b When you want to finish the deceleration phase Others Turn OFF the internal synchronous output Select the internal synchronous signal input RENV3 SYI1 to 0 bit 21 to 20 RENV3 WRITE 00 b Use the internal synchronous signal output by the X axis 23 46 01 b Use the internal
119. nting when this bit is set 12 METM Specify the operation complete timing 0 End of cycle 1 End of pulse When selecting continuous operation using the pre register select end of cycle 13 MSDP Specify the ramping down point for high speed feed 0 Automatic setting 1 Manual setting Effective for positioning operations and linear interpolation feeding When automatic setting is selected set PRUR PRDR and PRUS PRDS 14 MPCS 1 While in automatic operation control the number of pulses after the PCS input is turned ON Override 2 for the target position 15 Not defined Always set 0 17 to 16 MSN1 to 0 When you want to control an operation block specify a sequence number using 2 bits By reading the main status MSTSW a sequence number currently being executed SSC1 to 0 can be checked Setting the sequence number does not affect the operation 19 to 18 MSY1 to 0 After writing a start command the LSI will start an axis synchronization operation based on other timing 00 b Start immediately 01 b Start on a CSTA input or command 06h 2Ah 23g Bits Bit name Description 10 b Start with an internal synchronous start signal 11 b Start when a specified axis stops moving 23 to 20 MAX3 to 0 Specify an axis to check for an operation stop when the value of MSY1 to 0 is 11 b Setting examples 0001 b Starts when the X axis
120. of the operation modes However the speed cannot be changed during linear interpolation Target position override 1 and 2 1 The target position feeding amount can be changed while feeding in the positioning mode If the current position exceeds the newly entered position the motor will decelerate and stop immediately stop when already feeding at a constant speed and then feed in the reverse direction 2 Operation starts in the same as the continuous mode When an external signal is received the LSI outputs specified number of pulses and the motor will stop Triangle drive elimination FH correction function In the positioning mode when a small number of pulses are output this function automatically lowers the maximum speed FH and eliminates triangle driving Pre register function Next set of data feeding amount initial speed feeding speed acceleration rate deceleration rate speed magnification rate ramping down point operation mode S curve range on an acceleration S curve range on a deceleration can be written while executing current data When the current operation is complete the system will immediately execute the next operation Counter circuits The following two counters are available separately for each axis Counter Purpose of use Count Input COUNTER 1 28 bit counter for position control Output pulses EA EB signal input COUNTER 2 28 bit counter for position control Output pu
121. on 3 ORG EZ EL Operation 1 Operation 2 Operation 3 Running N i n Running Error stop ON OFF ON Running Error stop A W High speed operation Sensor EL ORG EZ EZD 0001 b ON A i Running Error stop Running Error stop 58 9 6 Linear interpolation operation 9 6 1 Outline of interpolation operation Using one or more LSls you can operate linear interpolation operation MOD Operation mode 62h Continuous linear interpolation 63h Linear interpolation Continuous linear interpolation operates on multi axes at a specified rate just like the linear interpolation and be started and stopped with commands like continuous mode In contrast the operation automatically stops after feeding specified amount in linear interpolation The linear interpolation circuit in the LSI interpolates between a dummy axis associated with each axis and its own axis By entering maximum feed amount data for each to every dummy axis the LSIs will execute an indirect linear interpolation between the axes As each interpolated axis operates independently the start timing deceleration timing and error stop timing must be matched between the axes When you want to use multiple LSIs and have them interpolate for each other connect CSD CSTA and CSTP terminals on each LSI to other same terminals on other LSI and provide a p
122. on data is only written to the pre register Data 2 By writing a start command for the next operation the data in the pre register is declared to be determined When the first operation is finished the data is transferred from the pre register to the register The LSI will then start operation according to the next set of operation data Data 2 When that operation is complete the data is again Procedure Pre register Register SPRF Reset 0 Not l 0 Not l 0 determined determined Not Not 1 determined determined 0 data 1 data 1 Nor Determined 2 determined 0 data 1 data 1 Not 3 determined beds 0 data 2 4 Determined Determined 1 data 2 data 1 Not 5 determined P 0 data 2 Not Not 6 determined determined 0 data 2 data 2 transferred from the pre register to the register However in this case the next set of operation data is not determined and so the LSI stops operation 3554 In step 5 and 6 above the data in the pre register is not determined allowing you to write the next set of operation data Data written to the pre register when the data in the pre register is already determined will be ignored When the pre register is declared to be determined MSTSW SPRF 1 Also the LSI can be set to output an INT signal when the pre register changes from determined to not determined status by setting the RIRQ IRNM register Further in any of the foll
123. on the clock input on this terminal IFO 1 1 1 IN CPU I F mode setting IF1 2 2 2 IFO CPU CPU signals to be connected to terminals RD WR AO WRQ L L 68000 VDD R W LDS DTACK L H H8 RD HWR GND WAIT H L 8086 RD WR GND READY H H Z80 RD WR AO WAIT CS 4 4 4 IN Nega When the signal level on this terminal is L level the RD and tive WR terminals will be valid RD 5 5 5 IN Nega The RD and WR terminals are valid when CS terminal is L WR 6 6 6 tive level Signal Name Terminal No PCL 6113 PCL 6123 PCL 6143 IN OUT Logic Hand ling Description A0 A2 A3 A4 7 8 9 OON Posi tive Address bus input For details about terminal AO see the section describing IF1 and IFO terminals INT OUT Nega tive OP Interrupt request signal output to a CPU There are three types of interrupt signals a stop interrupt error interrupt and an event interrupt The interrupt type can be determined by reading the main status MSTSW Each interrupt will be reset by reading MSTSW REST or RIST The INT signal can be masked WRQ 12 13 14 OUT Nega tive OP Wait request signal output to cause a CPU to wait This LSI needs 4 reference clock cycles to process each command If you will not be using the WRQ signal check the IER terminal signal level so that you won t try to access the LSI while it is processing a command WRQ will b
124. oro Ie UNCION e 94 11 11 Synchronous starting 2 1st eie tede e ne etr A A e ana n dd de en rnv asians 95 11 11 1 Start triggered by another axis stopping enne nnne 95 11 11 2 Start on an internal synchronous sign 96 11 12 Output an interrupt signal eren en nnnenerren neni nnne nennt nsns nnns 98 12 Electrical Characteristics icio decay SEENEN ede eed uua Aeddi 100 12 1 Absolute maximum ratings nennen enne en nennt enne aiai aeiae 100 12 2 Recommended operating conditions enne ener enne nns 100 UE Ree Ee Ee 100 12 4 AC characteristics 1 reference dock sse enne nns 101 12 5 AC characteristics 2 CPO H DEE 102 12 5 1 16 bits I F 1 IF1 L IFO L 68000 etc ssssssseeeenemenemenemmrenennnnn 102 12 5 2 16 bits l E 2 Ee AE el de LEE 103 12 5 3 16 bits I F 3 IF1 H IFO L 8086 etc ene ene n nre nnrenen 104 12 5 4 8 bits I F 2 IF1 H IFO H Z80 etc eiae iak ai EE TEEVEE AAE TEER KEEA IAE REA nnne nennen 105 12 6 Operation timing common for all AXES ennemis 106 13 Extemal RL EE Le EE 110 1351 POLOTTS3 2 2 tn ort EE eee b uto bti bate aed bd b tecta d EE aen 110 Tee POLO TZS E 111 19 3 PCEO143 2 1 t dr EHE PER uto bt a ba ee aed bd EAE EAR 112 14 Commiand list oit ot Rn aen EN tette tereti ee aestimet etie N ae 113 14 1 Operation commands iiir tad eain e te e tere iia e aU dauid 113 14 2 General purpose port control commands
125. ositioning operation mode MOD 41h Start command wm Ur Read main status 6 5 5 Reading the sub status and input output port SSTSW SSTSB IOPB SSTSW SSTSB IOPB 15 14 13 12 11 10 9 8 7 6 5 4 3 2 14 0 IOP7 IOP6 IOP5 IOP4 IOP3 IOP2 IOP1 IOPO Bit Bit name Description 7to0 IOP7 toO Reads the status of P7 to 0 0 L level 1 H level 8 SFU Becomes 1 while accelerating 9 SFD Becomes 1 while decelerating 10 SFC Becomes 1 while feeding at constant speed 11 SALM Becomes 1 when the ALM input is ON 12 SPEL Becomes 1 when the EL input is ON 13 SMEL Becomes 1 when the EL input is ON 14 SORG Becomes 1 when the ORG input is ON 15 SSD Becomes 1 when the SD input is ON Latch signal of the SD input 295 7 Commands Operation and Control Commands 7 1 Operation commands After writing the axis assignment data to COMB1 address 1 when an 8 bit I F is used write the command to COMBO address 0 when an 8 bit I F is used the LSI will start and stop as well as change the speed of the output pulses When any other interface mode is selected the LSI will write 16 bit data including axis assignment and commands 7 1 1 Procedure for writing an operation command the axis assignment is omitted Write a command to COMBO A waiting time of 4 reference clock cycles approximately 0 2 us is required for the following period A interval between writing
126. owing cases the pre register has a not determined status so that you can cancel a continuous start even if the current operation is finished 1 Writing a pre register cancel command 26h 2 A stop ordered by using the immediate stop command 49h or deceleration stop command 4Ah While in a positioning operation when the deceleration stop command is written during auto deceleration the mechanical position reaches the target position However the pre register is declared not determined and the next operation will be cancelled 3 When the LSI stops because of an error When any of the bits 6 to 0 in the REST register changes to 1 Note To automatically start the next operation using the data already in the pre register set the operation complete timing to end of cycle PRMD METM 0 If the end of pulse PRMD METM 1 is selected the interval between the last pulse and the next operation s start pulse will be narrower 14 x Teck Tcu Reference clock cycle For details see section 11 3 2 Output pulse length and operation complete timing 34 8 3 Description of the registers The initial values of all the registers and pre registers are 0 Please note that with some registers a value of 0 is outside the allowable setting range Note 1 Bits marked with an asterisk are ignored when written and return a 0 when read Note 2 Bits marked with an amp are ignored when written They will be the same as the upp
127. p 14 2 General purpose port control commands COMBO Symbol Description COMBO Symbol Description 10h PORST Make PO L level 18h POSET Make PO H level 11h P1RST Make P1 L level 19h P1SET Make P1 H level 12h P2RST Make P2 L level 1Ah P2SET Make P2 H level 13h P3RST Make P3 L level 1Bh P3SET Make P3 H level 14h PARST Make P4 L level 1Ch PASET Make P4 H level 15h P5RST Make P5 L level 1Dh P5SET Make P5 H level 16h P6RST Make P6 L level 1Eh P6SET Make P6 H level 17h P7RST Make P7 L level 1Fh P7SET Make P7 H level 14 3 Control commands COMBO Symbol Description COMBO Symbol Description 00h NOP Invalid command 25h ERCRST Reset the ERC signal 04h SRST Software reset 26h PRECAN Cancel the pre register 20h CUN1R Reset COUNTER 1 28h STAON Substitute PCS input 21h CUN2R Reset COUNTER 2 29h LTCH Substitute LTC input 24h ERCOUT Output an ERC signal 2Aw SSPSTAU ces ho same process aste os T input only for its own axis 113 14 4 Register control commands Register Pre register No Detail Bit Name Read command Write command N ire Read command Write command COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol 1 Feed amount 28 RMV Don RRMV
128. pF 10 ns Data float delay time for RD 7 Troup C 40pF 18 ns WR signal width Twr Note 1 TET 2 E ns Data setup time for WR Tis 12 E e Data hold time for WR t Tono i o E SS Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H Read cycle AO to A4 DO to D7 Write cycle AO to A4 DO to D7 105 12 6 Operation timin common for all axes Item Symbol Condition Min Max Unit RST input signal length i Note 1 8 Terk ns EA EB EZ input signal gt RENV2 EINF 0 O Tok LI ne length FAB RENV2 EINF 1 3 Tak S PA PB input signal 7 LRENV2 PINF 0 Tak zd length PAB RENV2 PINF 1 3 Tok RENV1 EPW 000 b _ 225 Tak i 240 Tok ee 1793 Tork 1920 Tox 88 Terk 7680 Tok ERC output signal LRENV1 EPW 011 b 28673 Tork 307207 To ve length 229377 Ta 249760 Tak 917505 Ta 983040 Tou 1835009 Terg 1966080 Teuk RENV1 EPW 111 b Level output l l RENV1 ETW 01 b 228 Toy 240 Toy Time of ERC signal o FE E e Ceti 1 RENVI ETWz 0b 28673 Tax 30720 Ta ns RENV1 ETW 11 b 1835009 Tok RENV1 FLTR 0 Ton EL EL SD ORG Fling Ta rime vot 64 Fer ALM INP CEMG input FLTR 1 amp FTM 01 b 512 Tak ns signal length 4096 Tex 32768 Tox be DR
129. pecified speed pattern By turning ON an EL signal for the feed direction the motor will stop However the motor can feed in the reverse direction An error interrupt INToutput will not occur when the motor is stopped by the EL signal To end this operation mode write an immediate stop command 49h If the motor is being fed with high speed commands 52h 53h the motor will decelerate and stop when the DR signal turns OFF If the DR signal for reverse direction turns ON while decelerating the motor will decelerate and stop Then it will resume in the opposite direction Setting example 1 Bring the PE input L 2 Specify PRFL PRFH PRUR PRDR and PRMG speed setting 3 Enter 0000010 b for PRMD MOD bits 6 to 0 register 4 Write a start command 50h to 53h RSTS CND bits 3 to 0 will wait for 0001 b Wait for DR input In this condition turn ON the DR or DR input terminal The motor will rotate in the specified direction using 53 the specified speed pattern as long as the terminal is kept ON 9 4 2 Positioning operation using an external switch MOD 56h This mode is used for positioning based on the DR signal turning ON At the start the data in the RMV register is loaded into the positioning counter When the DR signal is ON the LSI will output pulses and the positioning counter will start counting down pulses When the positioning counter value reaches zero the LSI stops operation Even if the D
130. peed pattern settings A 63 10 3 Manual FELCOEFeCLOn s oni rd eb E eer e edidi Ul e NER e ERE Ete rea ea 67 10 4 Example of setting up an acceleration deceleration speed pattern sssssssssssssssss 71 10 5 Changing speed patterns while in operaton enne 72 11 Deseription of the ee EE 73 IRSE 73 1122 Kl ee E ele 74 11 2 1 Target position override EE 74 11 2 2 Target position override 2 PCS signal ssssssseeeene nennen 75 11 3 Output pulse Control 76 11 3 1 Outp t pulse M d eene Setter ed dre radere ko Ende e depo ha eu nde s TERRAE ST Rees dag 76 11 3 2 Output pulse length and operation complete timing c ecccceceeeeeeeececeeeeeeeeeeeneaeeeeeeeeeeeenaees 77 11 4 Mechanical external input Control 78 TAEL Ge UE 78 RE GR RER 79 112423 ORG Ee E sacral tia ait eke ee te icd e ea E doe Te 81 11 5 Servomotot TEE 82 EN Bleu 82 11 5 2 Ee E DEE 83 11 5 3 AEM Signal it stances tet e 1rd EcL IR he dtc d er ee e Eo en Ra and o e dct 84 11 6 External start simultaneous start 85 11 6 1 CSTA Re EE 85 110 2 esc 86 11 7 External stop simultaneous stop 87 uode EE 88 Un Mere 89 11 9 1 Counter type and input method 89 11 9 25 Counter T6Set deett ep oe helmet ini 91 11 9 3 Stop the counter 2 duet esed eeu dude Lad ees ade aa he ede aching ead aede eeu ed edad duda 92 11 10 Comparato EE 93 11 10 1 Comparator types and functions eene nennen 93 11 102 RMG
131. polation range X Master axis LSB refers to the minimum feed unit for the PRMV register setting It corresponds to the resolution of the mechanical system distance between squares in the figure on the right E 9 6 3 Operation during interpolation Acceleration deceleration operations In addition to constant speed operation these axes can accelerate decelerate linear acceleration or S curve and a ramp down point with an automatic setting is also available However the following restrictions are applied 1 The settings for PRMD MSDP and MADJ must be identical for all the axes that will perform an interpolation 2 If you want to use the manual setting PRMD MSDP 1 for the ramp down point enter the value for the longest feed axis in the PRDP registers of all the axes that will perform an interpolation Error stop If any of the axes performing the interpolation stops on an error the other axes performing an interpolation will also stop by the CSTP terminal Axes that did not encounter an error will show RSTS ESSP 1 when read This allows you to identify the axis that had an error SD input When SD input is enabled PRMD MSDE bit 8 1 by processing the CSD terminal and if the SD input turns ON on any of the axes all axes will decelerate or decelerate and stop Continuous interpolation The LSI can use the pre register to make a continuous linear interpolation Continuous interpolation refers to linear in
132. pply a noise filter to DR DR and PE inputs 31 24 When a noise filter is applied pulses shorter than 32 ms will be ignored fin Setting an event interrupt cause lt RIRQ IRDR bit 11 gt RIRQ WRITE 1 Output the INT signal when DR and DR signal input changed 15 8 O O Ol Oj nj Reading the event interrupt cause lt RIST ISPD bit 11 and ISMD bit 12 RIST READ ISPD bit 11 1 When the DR signal input changes 15 8 ISMD bit 12 1 When the DR signal input changes 0j oj n n Read operation status lt CND bits 3 to 0 in RSTS gt RSTS READ 0001 b Waiting for a DR input 7 0 nanan Reading the DR and DR signals lt RSTS SDRP bit 11 and SDRM bit 12 gt RSTS READ SDRP 0 DR signal is OFF SDRP 1 DR signal is ON 15 8 SDRM 0 DR signal is OFF SDRM 1 DR signal is ON L nin The external switch operation mode has the following two forms MOD Operation mode Direction of movement 02h Continuous operation using an external switch Determined by DR DR input 56h Positioning operation using an external switch Determined by DR DR input 9 4 1 Continuous operation using an external switch MOD 02h This mode is used to operate a motor only when the DR signal is ON After writing a start command turn the DR signal ON to feed the motor in the positive direction turn the DR signal ON to feed the motor in the negative direction using a s
133. r 3 ALM Regardless of the direction of operation when this signal is ON the motor stops immediately decelerate and stop When this signal is ON no movement can occur on this axis While the LSI is operating in the timer mode it cannot be stopped using the ALM input Even though the motor is stopped the LSI will output an INT interrupt request when an ALM signal is received The input logic of the INP ERC and ALM signals can be changed using software The ERC signal is a pulsed output The pulse length can be set 12 us to 104 ms A level output is also available Output pulse specification Output pulses can be set to a common pulse 2 pulse mode or 90 degree phase difference mode The output logic can also be selected Emergency stop signal CEMG input When this signal is turned ON movement on all axes stops immediately While this signal is ON no movement is allowed on any axes This input cannot be disabled The LSI will stop when this signal is present even it is in the timer mode Interrupt signal output An INT signal interrupt request can be output for many reasons The INT terminal output signal can use ORed logic for lots of conditions on each axis When more than one LSI is used wired OR connections are invalid INT Hi z 2 Specification Item Description Number of control axes PCL6113 One PCL6123 Two X and Y axes PCL6143 Four X Y Z and U axes Reference clock Standard
134. r each axis 1 EL When this signal is turned ON while feeding in the positive direction the motor stops immediately with deceleration When this signal is ON no further movement occurs in the positive direction The motor can be rotated in the negative direction 2 EL Functions the same as the EL signal except that it works in the negative direction 3 SD This signal can be used as a deceleration signal or a deceleration stop signal according to the software setting When this is used as a deceleration signal and when this signal is turned ON during a high speed feed operation the motor will decelerate to the FL speed If this signal is ON and the motor is started the motor will run at the FL constant speed When this signal is used as a deceleration stop signal and when this signal is turned ON during a high speed feed operation the motor will decelerate to the FL speed and then stop 4 ORG Input signal for an origin return operation For safety make sure the EL and EL signals stay on from the EL position until the end of each stroke The input logic for these signals can be changed using the ELL terminal The input logic of the SD and ORG signals can be changed using software Servomotor I F The following three signals can be used as an interface for each axis 1 INP Input positioning complete signal that is output by a servomotor driver 2 ERC Output deviation counter clear signal to a servomotor drive
135. registers are used to specify the S curve range of the S curve acceleration RUS is the register for PRUS 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 10 The normal setting range is 1 to 8 191 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied 38 8 3 11 PRDS RDS register These pre registers are used to specify the S curve range of the S curve deceleration RDS is the register for PRDS 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 32 100 The normal setting range is 1 to 8 191 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied Note Specify the same value for the PRUS register when automatic setting of the ramp down point is selected PRMD MSDP 0 8 3 12 RENV1 register This register is used for Environment setting 1 This is mainly used to set the specifications for input output terminals 15 144 13 12 1 10 9 8 7 6 5 4 3 2 1 0 ERCL EPW2 EPW1 EPWO EROR EROE AL ML ALMM ORGL SDL SDLT SDM ELM PMD2 PMD1 PMDO PMSK PCSM INTM DTMF DRF FLTR DRL PCSL LTCL INPL FTM1 FTMO STPM STAM ETW1 ETWO
136. rence clock cycles t1 between these writings 2 Then write a register write command to COMBO address 0 when an 8 bit I F is used After writing one set of data wait at least four cycles approx 0 2 us t2 before writing the next set of data In both case 1 and case 2 when the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically cR CEE ge MEE L EET I EE DEM mL PEE ja EE Ze Ze gt NS UNS Diony Data Data Data Data Goar T 1 1 1 1 2 7 4 2 Procedure for reading data from a register the axis assignment is omitted 1 First write a register read out command to COMBO address 4 to 7 when an 8 bit I F is used 2 Wait at least four reference clock cycles approx 0 2 usec t3 for the data to be copied to the I O buffer 3 Read the data from the I O buffer address 4 to 7 when an 8 bit I F is used The order for reading data from the I O buffer does not matter There is no minimum time between read operations When the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically A0 to A2 98 gt Cam X 8 Y 8 E E p qugr uc ye yu iei WEE EE SE ee a a a o D0 to D 2 Gu 1 2 3 3 3 29 7 4 3 Table of register control commands Register Pre
137. rmally it may not be at the origin position However COUNTER 2 mechanical position provides a reliable value If ERC signal is output when operation stops at the origin an error occurs on a counter value Set RENV1 EROR to 0 To reset a counter at the origin position set RENV3 CU1R CU2R to 1 ORG OFF EL Operation 1 Running i i Operation 2 T A Error stop Operation 3 E High speed operation Sensor EL RENV1 ELM 1 ORG Even if the axis stops normally it may not be at the origin position However COUNTER 2 mechanical position provides a reliable value If ERC signal is output when operation stops at the origin an error occurs on a counter value Set RENV1 EROR to 0 To reset a counter at the origin position set RENV3 CU1R CU2R to 1 When operation decelerates and stops at EL ERC signal is not output ORG EL Operation 1 Running Operation 2 i i Error stop Operation 3 i i i Error stop 57 E High speed operation Sensor EL RENV1 ELM 1 SD RENV1 SDM 0 RENV1 SDLT 0 ORG To output ERC signal when operation stops at the origin set RENV1 EROR to 0 To reset a counter at the origin position set RENV3 CU1R CU2R to 1 Operation 1 Operation 2 Operation 3 Operation 4 ON Ld Error stop 9 5 2 Origin return operation 1 ORM 1 LI Constant speed operation Sensor EL ELM 0 ORG EZ EZD 0001 b ORG EZ EL Operation 1 Operation 2 Operati
138. rovide external circuit protection components so that overvoltages caused by noise voltage surges or static electricity are not fed to the LSI 15 2 Precautions for transporting and storing LSIs 1 Always handle LSls carefully and keep them in their packages Throwing or dropping LSIs may damage them 2 Do not store LSls in a location exposed to water droplets or direct sunlight 3 Do not store the LSI in a location where corrosive gases are present or in excessively dusty environments 4 Store the LSIs in an anti static storage container and make sure that no physical load is placed on the LSls 15 3 Precautions for installation 1 In order to prevent damage caused by static electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus with an appropriate resistance factor However do not allow work on a metal surface which can cause a rapid change in the electrical charge on the LSI if the charged LSI touches the surface directly due to extremely low resistance When picking up an LSI using a vacuum device provide anti static protection using a conductive rubber pick up tip Anything which contacts the leads should have as high a resistance as possible When using a pincer that may make contact with the LSI terminals use an anti static model Do not use a metal pincer if possible
139. s can read from the RLTC1 and 2 registers 1 When the LTC signal turns ON 2 When the ORG signal turns ON 3 When a command is written The input timing of the LTC signal can be set in the RENV1 register An INT signal can be output as an event interrupt cause when the LSI latches the count value by turning ON the LTC and ORG signals Write a command to reset the counters There is no external input terminal of the counter reset signal However the LSI has a function that will clear a counter soon after the count value has been latched An external latch signal can be input so that you can use the LTC signal input to reset a counter from the outside The function used to reset a counter soon after the counter value is latched is referred to as the latch amp clear function The latch timing can be set in RENV3 register The INT signal can be output as an event interrupt cause when the counter value is latched by the LTC and ORG input signals Specify the LTC signal mode lt RENV1 LTCL bit 23 RENV1 WRITE 0 Latch on the falling edge 23 16 1 Latch on the rising edge n 1 17 Read the LTC signal RSTS SLTC bit 13 RSTS WRITE 0 The LTC signal is OFF 15 8 1 The LTC signal is ON nl l Set the COUN
140. s turned ON and then stop If the SD signal is turned OFF during deceleration the motor will accelerate to FH speed If the SD signal is turned ON after writing a start command the LSI will complete its operation without another start When stopped the LSI will output an INT signal FL constant speed operation FH constant speed operation High speed operation LK SD signal OFF SD signal OFF SD signal OFF Lon T OFF 79 nd Decelerate to FL Accelerate to FH amp again when SD signal is turned off while decelerating t 4 Latched deceleration stop lt RENV1 SDM bit 4 1 SDLT bit 5 1 fthe SD signal is turned ON while in constant speed operation the motor will stop f the SD signal is turned ON while in high speed operation the motor will decelerate to FL speed and then stop Even if the SD signal is tumed OFF during deceleration the motor will not accelerate If the SD signal is turned ON while writing a start command the motor will not start moving and the operation will be completed While stopped the LSI outputs an INT signal e constant speed operation SE constant speed operation High speed operation Decelerate to FL FH SD signal is FL turned OFF while decelerating t SD signal OFF SD signal OFF LON OFF SD signal OFF LON j OFF The input logic of the SD signal can be changed If the latched input is set to accept input from the SD signal and if the SD signal is OFF
141. software H is a hardware setting Note 4 The Handling column describes how to deal with terminals when they are not used Some terminals must be controlled even when they are being used OP means leave open disconnected PU means pull up PD means pull down V must be connected to VDD or pulled up GN means a connection to GND The pull up down resistance values should be in the range of 5 k to 10 k ohms Signal Terminal No IN Hand name PCL PCL PCL OUT Logic ling Description 6113 6123 6143 GND 10 19 11 20 12 21 IN A negative power supply input 29 43 30 44 31 45 Make sure to connect all of these terminals 55 65 56 66 57 67 70 80 81 93 83 93 103 114 1107 119 128 129 145 155 162 176 VDD 3 14 3 15 25 3 16 26 IN 3 3 VDC power supply input 24 34 35 51 36 52 The allowable power supply range is 3 0 to 3 6 V 50 60 61 72 62 76 Make sure to connect all of these terminals 68 73 88 98 88 98 112 120 114 124 138 150 160 164 RST 79 127 175 IN Nega Reset signal input tive Make sure to set this signal L at least once after turning ON the power and before starting operation Input and holding RST L level for at least 8 cycles of the reference clock For details about the LSI s status after a reset see section 11 1 Reset in this manual CLK 69 113 163 IN As standard input a 19 6608 MHz reference clock signal The LSI creates output pulses based
142. status CSTA 122 168 1 0 Nega tive PU Input output terminal for simultaneous starts When performing multiple axis control using more than one LSI if you want to start the LSIs at the same time connect all of the CSTA terminals to each other Even when using this signal a pull up resistor to VDD is required The terminal status can be checked on the RSTS register extension status Terminal No Signal IN Logic Hang Description name PCL PCL PCL OUT ling 6113 6123 6143 CSTP 76 123 169 UO Nega PU Input output terminal for simultaneous stops tive When performing multiaxis control using more than one LSI if you want to stop the LSIs at the same time connect all of the CSTP terminals to each other Even when using this signal a pull up resistor to VDD is required The terminal status can be checked on the RSTS register extension status CEMG 77 124 170 IN Nega V Emergency stop signal input tive While this signal is L level the LSI cannot start If this signal changes to L while in operation the motors on all the axes will stop operation immediately The terminal status can be checked on the RSTS register extension status ELL 78 X 125 X 171 IN Input logic setting for the EL signal and EL signal ELLn Y 126 Y 172 L level The input logic on EL and EL is positive Z 173 H level The input logic on EL and EL is negative U
143. stop command 49h is written to the register the LSI li immediately stops operation deceleration stop command 4Ah When positioning with a high speed start command 1 52h the ramping down point is fixed to the manual setting regardless of the setting for PRMD MSDP bit 13 If the ramping down point setting PRDP is 0 the motor will stop immediately High speed operation 2 f FH FL pd 1 Write high speed command 2 53h 2 Start deceleration by writing a deceleration stop command 4Ah ay Write high speed start command 2 53h 2 Start deceleration when a ramping down point is reached or by writing a deceleration stop command 4Ah When the immediate stop command 49h is written to the register the LSI immediately stops operation If the ramping down point is set to manual PRMD MSDP bit 13 1 and the ramping down value PRDP is 0 the motor will stop immediately 62 10 2 Speed pattern settings Specify the speed pattern using the registers pre registers shown in the table below If the next register setting is the same as the current value there is no need to write to the register again Pre register Description cadis Setting range Register PRMV Positioning amount 28 ec ie 19 cem RMV PRFL Initial speed 14 1 to 16 383 SFFFh RFL PRFH Operation speed 14 1 to 16 383
144. synchronous signal output by the Y axis asm sra 10 b Use the internal synchronous signal output by the Z axis 11 b Use the internal synchronous signal output by the U axis Reading the operation status lt RSTS CND bits 3 to 0 gt RSTS WRITE 0011 Qb Waiting for an internal synchronous signal l l l l n nl nf n 96 Example 1 below shows a case of using the internal synchronous signal Setting example 1 After completing steps 1 to 3 below write a start command to f the X and Y axes the X axis will start when the Y axis completes its acceleration FH 1 Set MSY1 to 0 bits 19 amp 18 in the X axis PRMD to 10 b Start with an internal synchronous signal 2 Set SYI1 to 0 bits 21 amp 20 in the X axis RENV3 to 01 b FL Use an internal synchronous signal from the Y axis 3 Set SYO3 to 0 bits 19 to 16 in the Y axis RENV3 to 1001 b Output an internal synchronous signal when the acceleration f is complete Y axis t Acceleration complete FH Example 2 shows how to start another axis using the satisfaction of the comparator conditions to generate an internal synchronous signal FL Be careful since comparator conditions satisfied by timing and the timing of the start of another axis may be different according to the comparison method used by the comparators Setting Example 2 Use COUNTER 1 and RCMP to start the X a
145. t 8 ISLT When the count value is latched by an LTC input 9 ISOL When the count value is latched by an ORG input 10 ISSD When the SD input turned ON 11 ISPD When the DR PA input changed 12 ISMD When the DR PB input changed 13 ISSA When the CSTA input turned ON 31 to 14 Not defined Always set to 0 cue 8 3 25 RPLS register This register is used to check the value of the positioning counter number of pulses left for feeding Read only At the start of positioning operation this value will be the absolute value in the RMV register Each pulse that is output will decrease this value by one Data range 0 to 134 217 728 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 7 65 4 32 1 0 8 3 26 RSPD register This register is used to check the EZ count value and the current speed Read only 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Bit name Description 13 to0 AS13t00 Read the current speed as a step value same units as for RFL and RFH When stopped the value is 0 15 to 14 Not defined Always set to 0 19to 16 ECZ3t00 Read the count value of EZ input that is used for an origin return 31 to 20 Not defined Always set to 0 8 3 27 RSDC register This register is used to check the automatically calculated ramping down point value for the positioning operation Read only 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 131211109
146. t PRDS PRFL x PRDS x PRUR 2 x PRDR 3 PRUS x PRUR 1 x4 snd 7 PRMG 1 x 16384 PRMV gt PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMG 1 x 16384 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS gt 0 PRDS 0 A A B SIS PRUR 2 x PRDR 3 However A PRUS x PRUR 1 B PRMG 1x16384xPRMV 2xAxPRFL PRUR 2xPRDR 3 xPRFL2 x PRUR 2xPRDR 3 iii Eliminate the linear acceleration deceleration range PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMG 1 x 16384 When PRMV s Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 PRMG 1 x 16384 x PRMV 2 PRERE J PRUR PRDR 2 xk2 mr Reference PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 69 3 3 When PRUS gt PRDS i Make a linear acceleration deceleration range smaller When Gan lt PREH PRFL x PRFH PRFL x PRUR PRDR 2 2xPRUSx PRUR 1 2xPRDSx PRDR 1 3 PRMG 1 x 16384 and Gau PRUS PRFL x PRUS x 2 x PRUR PRDR 3 PRDS x PRDR 1 x4 PRMG 1 x 16384 PRFH lt ARJA FB PRUR PRDR 2 However A PRUS x PRUR 1 PRDS x PRDR 1 B PRMG 1 x 16384 x PRMV 2 x Ax PRFL PRUR PRDR 2 x PRFL x PRUR
147. t 0 2 ms after changing the direction identification signal When RENV1 DTMF is 1 the LSI will start to output pulses 10 CLK cycles 0 5 us after DIR changes Setting the pulse output mode lt RENV1 PMD2 to 0 bits 2 to 0 When feeding in the When feeding in the RENV1 WRITE PMD 2 to 0 positive direction negative direction 7 0 OUT output DiRoutput OUT output DIR output T nl nln e MM AE MM 000 b High Low 001 b High Low 010 b Low High 011 b Low High 100 b High High i OUT OUT 101 b E ES DIR DIR OUT OUT 110 b ES T aD DIR DIR 111 b Low Low Setting the direction change timer 0 2 ms function lt RENV1 DTMF bit 28 RENV1 WRITE 0 ON 31 24 1 OFF TTT T T T 76 11 3 2 Output pulse length and operation complete timing Output pulse length is a 5096 duty cycle When the PRMG setting is an even number the duty cycle may deviate slightly and the ON time may be shorter than the OFF time Pulse ON time Pulse cycle PRMG set value 2 PRMG set value 1 Also when setting PRMD METM operation completion
148. t 19 fRENV2 WRITE 0 Count up when the EA phase is leading Or count up on the rising edge of EA 23 46 1 Count up when the EB phase is leading Or count up on the rising edge of EB Enable disable EA EB input lt RENV2 EOFF bit 14 RENV2 WRITE 0 Enable EA EB input 1 Disable EA EB input EZ input is valid Reading EA EB input error lt REST ESEE bit 7 REST READ 1 An EA EB input error occurred 7 0 n When EDIR 0 EA EB input and count timing will be as follows For details about the PA PB input see section 9 3 Pulsar input mode 1 When using 90 degree phase difference signals and 1x input EA j EB Counter nX n 1 X n 2 When using 90 degree phase difference signals and 2x input EA NN EB Counter nX n 1 X n 2 X n 1 X n 3 When using 90 degree phase difference signals and 4x input EA EB Counter nx ni X m2 X m8 X m4 X m3 X n2 X mi X n 4 When using Two pulse input counted on the rising edge EA EB Counter n X n 1 x n 2 X n 1 X n 90 11 9 2 Counter reset The following three methods allow all the counters to latch their count value using the RENV3 register The latched value
149. t logic of the INP signal lt RENV1 INPL bit 22 gt RENV1 WRITE 0 Negative logic 23 16 1 Positive logic amaaa RR RR Reading the INP signal RSTS SINP bit 16 gt RSTS READ 0 The INP signal is OFF 23 16 1 The INP signal is ON o ol ol ol Ol Ol Ol n Set the INP input noise filter lt RENV1 FLTR bit 26 RENV1 WRITE 1 Apply a noise filter to the EL EL SD ORG ALM and INP input 31 24 By applying a noise filter pulses shorter than the FTM set value A ERSTER ees ES ZR ES Select the input noise filter characteristics lt RENV1 FTM bits 21 20 RENV1 WRITE 00 b 3 2 us 10 b 200 us 23 46 01 b 25 us 11 b 1 6 ms MEER E p Ed ke D 82 11 5 2 ERC signal A servomotor delays the stop until the deviation counter in the driver reaches zero even after command pulses have stopped being delivered In order to stop the servomotor immediately the deviation counter in the servo driver must be cleared This LSI can output a signal to clear the deviation counter in the servo driver This signal is referred to as an ERC signal The ERC signal is output as one shot signal or a logic level signal The output type can be selected by setting in RENV1 EPW If an interval is required for the servo driver to recover after turning OFF the ERC signal H level before it can receive new command pulses the ETW signal OFF timer can be selected by setting RENV1 ETW Writing a s
150. t logic of the ORG signal and EZ signal can be changed using the RENV1 register and RENV2 register The ORG terminal status can be monitored by reading SSTSW The EZ terminal status can be monitored by reading the RSTS register For details about the origin return operation modes see 9 5 Origin position operation mode ORG signal and EZ signal timing When the input noise filter is OFF ORG i When t 2 2 x Tc x the pulse is counted i ii When To t 2x Tok EZ counting is undetermined it iii When t Tc the pulse is not counted Dd Toi Reference clock cycle Enabling the ORG and EZ signals lt PRMD MOD bits 6 to 0 PRMD WRITE 001 0000 b Origin return in the positive direction 7 0 010 1000 b Origin return in the negative direction Ol nl n n n n nn Setting the origin return method lt RENV2 ORM bit 29 RENV2 WRITE 0 Use only the ORG input 31 24 1 Use both the ORG input and EZ input ERE E Rae PR EES Set the input logic for the ORG signal lt RENV1 ORGL bit 7 RENV1 WRITE 0 Negative logic 7 0 1 Positive logic SES TT Set the ORG input noise filter lt RENV1 FLTR bit 26 RENV 1 WRITE 1 Apply a filter to the EL EL SD ORG ALM and INP input 31 24 By applying a noise filter puls
151. t start moving in the direction of the particular EL signal that is ON By setting RENV1 ELM the stopping pattern for use when the EL signal is turned ON can be set to immediate stop or deceleration stop high speed start only However when the deceleration stop is selected please note to have room mechanically because the motor stops after passing through the EL position When the input noise filter is OFF the minimum pulse time for the EL signal is one reference clock cycle 0 05 us When the input noise filter is ON the LSI will not respond to pulse signals shorter than the specified time By reading SSTSW SPEL and SMEL you can monitor the EL signal By reading REST ESPL and ESML you can check for an error interrupt caused by the EL signal turning ON When in the timer mode this signal is ignored Even in this case the EL signal can be monitored by reading SSTSW SPEL and SMEL The input logic of the EL signal can be set for each axis using the ELL input terminal Set the input logic of the EL and EL signals ELL input terminal L Positive logic input H Negative logic input Stop method to when the EL and EL signals turn ON RENV ELM bit 3 RENV1 WRITE 0 Immediate stop by turning ON the EL or EL signal 7 0 1 Deceleration stop by turning ON the EL or EL signal m eR S Setting the EL and EL input noise filter lt RENV1 FLTR bit 26 RENV1 WRIT
152. tart command Motor Operating Stopping Next operation starts BsY Stopping ERC ERC pulse width ERC signal OFF timer Setting EPW2 to 0 i Setting ETW1 to 0 OUT In order to output an ERC signal at the completion of an origin return operation set in RENV1 EROR bit 11 1 to make the ERC signal an automatic output For details about ERC signal output timing see the timing waveform in section 9 5 1 Origin return operation In order to output an ERC signal for an immediate stop based on the EL signal ALM signal or CEMG signal input or on the emergency stop command 05h set in RENV1 EROE bit 10 and set automatic output for the ERC signal In the case of a deceleration stop the ERC signal cannot be output even when set for automatic output The ERC signal can be output by writing an ERC output command 24h The output logic of the ERC signal can be changed by setting the RENV1 register Read the RSTS register to monitor the ERC signal Set automatic output for the ERC signal lt RENV1 EROE bit 10 gt RENV 1 WRITE 1 Does not output an ERC signal when stopped by EL ALM or CEMG 45 8 input Ale CRT RE SIDE 1 Automatically outputs an ERC signal when stopped by EL ALM or CEMG input Set automatic output for the ERC signal lt RENV1 EROR bit 11 REN
153. ter in advance Start triggered by another axis stopping Start triggered by an internal synchronous signal from another axis The internal synchronous signal output is available with 6 types of timing They can be selected by setting the RENV3 register By setting the RIRQ register an INT signal can be output at the same time the internal synchronous signal is output You can determine the cause of event interrupt by reading the RIST register The operation status can be checked by reading the RSTS register 11 11 1 Start triggered by another axis stopping If the start condition is specified as a Stop on two or more axes when any of the specified axes stops after operating and the other axes remain stopped the axis which is supposed to start when the conditions are met will start operation the U axis starts operation A setting example for the above operation is shown here In the setting example while the X axis or Y axis is working and the Y or X axis remains stopped the U axis starts operation Specify the synchronous starting method lt PRMD MSY1 to 0 bits 19 amp 18 PRMD WRITE 11 b Start triggered by specified axis stopping 23 16 n n Select an axis for confirming a stop setting example PRMD WRITE lt PRMD MAX3 to 0 bits 23 to 20 16 0001 b Start when the X axis stops alan Rn Is 0010 b Start when the Y axis stops 0100 b Start when the
154. terpolation operations performed successively An example of the settings for continuous interpolation using the pre register is shown in section 11 11 1 Start triggered by another axis stopping 61 10 Speed patterns 10 1 Speed patterns Speed pattern Continuous mode Positioning operation mode FL constant speed operation f FL 1 1 Write an FL constant speed start command 50h 2 Stop feeding by writing an immediate stop 49h or deceleration stop 4Ah command 1 Write an FL constant speed start command 50h 2 Stop feeding when the positioning counter reaches zero or by writing an immediate stop 49h or deceleration stop 4Ah command FH constant speed operation f FH 1 Write an FH constant speed start command 51h 2 Stop feeding by writing an immediate stop command 49h 1 Write an FH constant speed start command 51h 2 Stop feeding when the positioning counter reaches zero or by writing an immediate stop 49h command When the deceleration stop command 4Ah is written to the register the LSI starts deceleration High speed operation 1 f FH FL 1 Write high speed start command 1 52h 2 Start deceleration by writing a deceleration stop command 4Ah 1 Write high speed start command 1 52h 2 Start deceleration when a ramping down point is reached or by writing a When the immediate
155. the ORG input changes from OFF to ON 1 50h Feeds in a negative direction at a FL constant speed After the ORG input changes from OFF to ON the LSI stops immediately after counting the specified number of EZ input signals 51h Feeds in a negative direction at a FH constant speed After the ORG input changes from OFF to ON the LSI stops immediately after counting the specified number of EZ input signals 53h Starts and accelerates from the FL to the FH speed in a negative direction and starts deceleration when the ORG input changes from OFF to ON After counting the specified number of EZ inputs the LSI stops Also if the LSI completes its deceleration to FL speed by a signal from the SD input before the ORG input changes the LSI will stop soon after the ORG input changes from OFF to ON once it has counted the specified number of EZ input signals 55 Depending on the operation method the origin position operation uses the ORG or EZ signals Specify the input logic of the ORG signal in the RENV1 ORGL This register s terminal status can be monitored with an SSTSW SORG Specify the input logic and the number for EZ to count up of the EZ input signal in the RENV2 EZL and RENV2 EZD Status of this terminal can be monitored in the RSTS SEZ You can apply an input filter to the ORG signal by setting the RENV1 FLTR and to the EZ signal by setting the RENV2 EINF
156. timing setting the operation complete timing can be changed 1 When PRMD METM 0 the point at which the output frequency cycle is complete Output pulse cycle 15x Tox OUT Last pulse 1st pulse of the next operation BSY 2 When PRMD METM 1 when the output pulse is OFF TIN lt OUT Last pulse 1st pulse of the next start pulse BSY When when the output pulse is OFF is selected the time interval Min from the last pulse until the next starting pulse output will be Tmn 17 x Terk Tcu Reference clock frequency Setting the operation complete timing lt PRMD METM bit 12 gt PRMD WRITE 0 At the end of a cycle of a particular output frequency 45 8 1 When the output pulse is OFF ERE Ee gal cel RR ERR IR eu 11 4 Mechanical external input control 11 4 1 EL EL signal When an end limit signal a EL signal when feeding in the direction in the feed direction turns ON while operating motion of a machine will stop immediately or decelerate and stop After it stops even if the EL signal is turned OFF a machine will remain stopped For safety please design a structure of the machine so that the EL signal keeps ON until a machine reaches the end of the stroke even if the machine moves If the EL signal is ON when writing a start command the axis canno
157. tion deceleration operations in the range of 1 to 8 191 1FFFh The S curve acceleration range Ss will be calculated from the value placed in PRMG ds Reference clock frequency Hz SSES PRMG 1 x 16384 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssu and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS S curve deceleration range setting register 13 bit Same as the PRUS specify an S curve deceleration range for the S curve acceleration deceleration operation between 1 and 8 191 1FFFh The S curve acceleration range Ssp will be calculated from the value placed in PRMG S Reference clock frequency Hz POPPL ACRRON PRMG 1 x 16384 In other words speeds between the FH speed and FH speed Ssp and between FL speed Ssp and the FL speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if 0 is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve deceleration without a linear component 66 10 3 Manual FH correction When the FH correction function is turned ON PRMD MADJ 0 and when the feed amount is too small for a normal acceleration
158. to 9 829 800 8 3 7 PRDP RDP register These pre registers are used to set a ramping down point deceleration start point for positioning operations RDP is the register for PRDP 31 30 29 28 27 26 25 24 23 222120 19 18 17 16 15 14 13 1211109 8 7 65 4 3210 Bits marked with a symbol are ignored when written and change their setting when read according to the setting of PRMD MSDP MSDP Setting details bit Setting range Offset for automatically set values When a positive value is entered the LSI will start deceleration 8 388 608 to O jearlier and the FL speed range will be used longer Same as bit 23 8 388 607 When a negative value is entered the LSI will start deceleration i g later and the speed will not reach the FL speed 4 When number of pulses left drops to less than a set value the 0 0 to motor on that axis starts to decelerate 16 777 215 36 8 3 8 PRMD RMD register These pre registers are used to set the operation mode RMD is the register for PRMD 15 144 13 12 1 10 9 8 7 6 5 4 3 2 1 0 MOD 0 _MPCSIMSDPIMETMINCCEMSMO MINPINSDEL 0 wo MCDO MCDE 0 MADJ MSPO MSPE MAX3 MAX2 MAX1 MAX0 MSY MSYO MSN1 MSNO Bits Bit name Description Setting basic operation mode 6 to 0 MOD Get operation mode 000 0000 b 00h Continuous positive rotation controlled by command control 000 1000 b 08h Continuo
159. tput a signal while establishing the Comparator 2 condition The CP2 output logic can be set using software P5 57 X 58 X 59 UO PD General purpose UO terminal P5n Y 95 Y 90 You can set it for input or output terminal using software Z 121 U 152 P6 58 X 59 X 60 UO PD General purpose UO terminal P6n Y 96 Y 91 You can set it for input or output terminal using software Z 122 U 153 P7 59 X 60 X 61 UO PD General purpose UO terminal P7n Y 97 Y 92 You can set it for input or output terminal using software Z 123 U 154 OUT 61 X 62 X 63 OUT IN OP Outputs command pulses for controlling a motor OUTn Y 99 Y 94 The output specifications are determined by selecting the Z 125 common pulse mode 2 pulse mode or 90 degree phase U 156 difference mode DIR 62 X 63 X 64 Set the output mode using software DIRn Y 100 Y 95 Z 126 U 157 ERC 63 X 64 X 65 OUT IN OP Deviation counter clear signal ouput to a servo driver ERCn Y 101 Y 96 The output logic and pulse width Level output is also Z 127 available can be changed using software The terminal U 158 status can be checked using the RSTS register BSY 64 X 65 X 66 OUT Nega OP This signal becomes L level during operation BSYn Y 102 Y 97 tive Z 128 U 159 FUPn X 67 OUT Nega Op This signal becomes L level during acceleration Y 104 tive FDWn X 68 OUT Nega Op This signal becomes L level during deceleration Y 105 tive MVCn X 69 OU
160. turned ON 7 0 n Emergency stop command lt CMEMG Operation command Operation command The operation is the same as when a CENG signal is input Den Note In a normal stop operation the final pulse width is normal However in an emergency stop operation the final pulse width may not be normal It can be triangular Motor drivers do not recognize triangle shaped pulses and therefore only the LSI counter may count this pulse Deviation from the command position control Therefore after an emergency stop you must perform an origin return to match the command position with the mechanical position 88 11 9 Counter 11 9 1 Counter type and input method In addition to the positioning counter this LSI contains two other counters axis The positioning counter is loaded with an absolute value for the RMV register at the start regardless of the operation mode selected It decreases the value with each pulse that is output However if RMD MPCS bit 14 1 and a position override 2 is executed the counter value will not decrease until the PCS input turned ON Input to COUNTER 1 and COUNTER 2 can be selected as follows by setting the RENV3 register 0 Possible to count COUNTER 1 COUNTER 2 Counter type Up down counter Up down counter Number of bits 28 28 Output pulse O O Encoder EA EB input O O Set COUNTER 1 input 0 Output pulses 1 EA EB input lt
161. ull up resistor 5 k to 10 k ohms on VDD 3 3 V for each signal line Even when performing interpolation within a single LSI a pull up resistor is required for each terminal PCL61x3 1 PCL61x3 2 PCL61x3 3 CSD CSD CSD CSTA CSTA CSTA CSTP CSTP CSTP 3 3V e e e e 5k to 10kO 9 6 2 Interpolation procedures 1 Enter a feed amount with a sign in the PRMV register for each axis The sign specifies the feed direction 2 Enter the absolute value of the PRMV from the axis with the largest feed amount in the PRIP registers of all the axes that will perform an interpolation 3 Specify the speed pattern PRFL PRFH PRUR PRMG PRDP PRDR PRUS PRDS that will be used for the axis with the maximum feed amount for all the axes that will perform an interpolation When you want to specify a synthesized speed obtain the speed factor for the axis with the maximum feed amount by calculation from the CPU Then enter this speed for all the axes that will perform an interpolation 4 If any of the axes performing an interpolation stops due to an error and if you want to stop all the other axes performing an interpolation set the PRMD MSPE and MSPO on those axes to 1 5 When you want to interpolate using acceleration deceleration set the PRMD MCDE and MCDO to 1 for all the axes that will perform an interpolation 6 When you want to perform an interpolation using only o
162. um value of the ramping down position can be as follows 1 Linear deceleration PRMD MSMD 0 gt E Optimum value Number of pulses ERED SERED XE ROREL PRMG 1 x 16384 2 S curve deceleration without a linear range PRMD MSMD 1 and the PRDS 0 PRFH PRFL x PRDR 1 x 2 PRMG 1 x 16384 Optimum value Number of pulses 3 S curve deceleration with a linear range PRMD MSMD 1 and the PRDS gt 0 PRFH PRFL x PRFH PRFL 2 x PRDS x PRDR 1 Optimum value Number of pulses PRMG 1 x 16384 Deceleration is started at the point that the positioning counter value lt PRDP set value When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the motor will feed at FL constant speed after decelerating 65 When set to automatic PRMD MSDP 0 This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFh When the offset value is a positive number the motor will start deceleration at an earlier stage and will feed at the FL speed after decelerating When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero PRUS S curve acceleration range register 13 bit Specify the S curve acceleration range for S curve accelera
163. unctions can be used with simple commands The intelligent design philosophy reduces the burden on the CPU units to control motors 1 2 Features Single voltage power supply 3 3 V These LSIs can be operated by single voltage power supply from 3 0 V to 3 6 V The output signal level range is 0 to 3 3 V The input signal level range is 0 to 3 3 V or 0 to 5 V Super high speed pulse train output Up to 9 8 Mpps can be output when using a 19 6608 MHz standard reference clock or up to 15 Mpps when using a 30 MHz maximum reference clock CPU I F These LSls all contain integral interface circuits for four different CPU I F types and they can be connected to a wide variety of CPUs Examples of CPU types Z80 8086 H8 or 68000 etc Acceleration deceleration speed control Linear acceleration deceleration and S curve acceleration deceleration are available Linear acceleration deceleration can be inserted in the middle of an S curve acceleration deceleration curve by setting S curve range The S curve range can specify each acceleration and deceleration characteristics independently Therefore you can create an acceleration deceleration profile that consists of linear acceleration and S curve deceleration or vice versa Interpolation These LSIs can perform linear interpolation offering synchronized operation of any number of axes Operation speed override In single axis operation speed can be changed during operation in any
164. us negative rotation controlled by command control 000 0001 b 01h Continuous operation controlled by pulsar PA PB input 000 0010 b 02h Continuous operation controlled by external signal DR DR input 001 0000 b 10h Positive rotation origin return operation 001 1000 b 18h Negative rotation origin return operation 100 0001 b 41h Positioning operation specify the incremental target position 100 0111 b 47h Timer operation 101 0001 b 51h Positioning operation controlled by pulsar PA PB input 101 0110 b 56h Positioning operation controlled by external signal DR DR input 110 0010 b 62h Continuous linear interpolation 110 0011 b 63h Linear interpolation f Mey d Always set 0 Optional setting items 8 MSDE 0 SD input will be ignored Checking can be done with sub status and RSTS 1 Decelerates deceleration stop by turning ON the input 9 MINP 0 Delay using an INP input will be invalid Checking can be done with RSTS 1 Completes operation by turning ON the INP input 10 MSMD Specify an acceleration deceleration type for high speed feed 0 Linear acceleration deceleration 1 S curve acceleration deceleration 11 MCCE 1 Stop counting output pulses on COUNTER 1 and 2 This is used to move a mechanical part without changing the position controlled by the LSI When EA EB input is selected for the counter input selection RENV3 CIS1 CIS2 the LSI will not stop cou
165. us of the SD signal lt SSTSW SSD bit 15 ssTSW READ 0 The SD latch signal is OFF 15 8 1 The SD latch signal is ON are allel alee Reading the SD signal lt RSTS SDIN bit 14 gt RSTS READ 0 The SD signal is OFF 15 8 1 The SD signal is ON In l1 1 Reading the cause of an INT when stopped by the SD signal lt REST ESSD bit 5 gt RSTS READ 1 Deceleration stop caused by the SD signal turning ON 7 0 ni Apply an noise input filter to SD lt RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a noise filter to the EL EL SD ORG ALM and INP input to ignores signals 34 24 whose pulse width is shorter than the FTM setting value will be ignored SERES SET ER En Select the input filter characteristics lt RENV1 FTM bits 21 20 RENV1 WRITE 00 3 2 us 10 200 us 23 46 01 25 us 11 1 6 ms SSES re I 80 11 4 3 ORG EZ signals These signals are enabled in the origin return operation modes When the input noise filter is OFF the minimum pulse time for the ORG signal is 1 reference clock cycle 0 05 us When the input noise filter is ON the LSI will not respond to pulse signals shorter than the specified time In addition the ORG signal is sampled during the period that the output pulse is ON so the ORG input must be latched ON for more than one pulse The inpu
166. ven if it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances 116 January 28 2015 No DA70104 1 3E 117 The specifications may be changed without notice for improvement NPM Nippon Pulse Motor Co Ltd Head Office No 16 13 2 chome Hongo Bunkyo ku Tokyo 113 0033 Japan Phone 81 3 3813 8841 Fax 81 3 3813 8665 Web http Awww pulsemotor com E mail int I npm co jp
167. x Current speed Drive signal INPx ELx ELx SDx ORGx Senior input LTCx EN E POx to P7 BSYx General purpose port X axis circuit Y axis circuit Identical of the X axis circuit This circuit only exists in the PCL6123 and CPL6143 Z axis circuit Identical of the X axis circuit This circuit only exists in the PCL6143 U axis circuit Identical of the X axis circuit This circuit only exists in the PCL6143 e 6 CPU I F 6 1 Setting the CPU interface type These LSIs contain the following 4 CPU interface types in order to facilitate connection to various CPUs To select a specific type use the IFO and IF1 terminals Shown below are some circuit examples To use some other CPU select the appropriate interface after referring to section 12 5 AC characteristics Example of connections for CPU signals Setting status Interface CPU type Less CPU signal to connect to the terminals IF1 IFO Name RD terminal WR terminal AO terminal terminal L L 16 bit I F 1 68000 VDD R W LDS DTACK L H 16 bit I F 2 H8 RD HWR GND WAIT H L 16 bit I F 3 8086 RD WR GND READY H H 8 bit I F Z80 RD WR AO WAIT 16 bit I F 1 A 16 bit interface with an R W mode input strobe input and acknowledge output The lower addresses correspond to the upper word in the UO buffer Convenient for use with VME bus and 68000 series CPUs 16 bit I F 2 A 16 b
168. xis when the Y axis 1000 1 Set MSY1 to 0 bits 19 and 18 in the X axis PRMD to 10 b Start by an internal synchronous signal 2 Set SY11 to 0 bits 21 and 20 in the X axis RENVS to 01 b Use an internal synchronous signal from the Y axis 3 Set SYO3 to 0 bits 19 to 16 in the Y axis RENV3 to 0001 b Output an internal synchronous signal when the Comparator 1 conditions are satisfied 4 Set C1S1 to O bits 13 to 12 in the Y axis RENV3 to 01 b Comparison method RCMP1 data 1 Comparison counter 5 Set the RCMP1 value of the Y axis to 1000b Comparison counter value of Comparator 1 is 1000 6 Write start commands for the X and Y axes The timing chart below shows the period between the time after the Comparator 1 conditions are established and the time the X axis starts OUTy Conservas Postion ssp X ssp X ss X ro X 101 X 1002 X um Counter value CP1y n OUTx X axis command position Counter value Note In the example above even if the Y feed amount is set to 2000 and the X feed amount is set to 1000 the X axis will be 1 when the Y axis position equals 1000 Therefore the operation complete position will be one pulse off for both the X and Y axes In order to make the operation complete timing the same set the RCMP1 value to 1001 or set the comparison conditions to Comparator 1 lt comparison counter 97 11 12 Output an interrupt signal This LSI can output an

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