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MCX302 User`s Manual

1. 56 6 15 Automatic Home Search Mode Setting 56 6 16 Home Search Speed Setting 56 7 Commands for Reading Data by 7 1 Logical Position Counter Reading 57 7 2 Real position Counter Reading 57 7 3 Current Drive Speed Reading 57 7 4 Current Acceleration Deceleration Reading 57 8 Driving CommandS 58 8 1 Direction Fixed Driving 58 8 2 Direction Fixed Driving 58 8 3 Direction Continuous Driving 59 8 4 Direction Continuous Driving 59 8 5 Drive Status Holding
2. 59 8 6 Drive Status Holding Release Finishing Status Clear 59 8 7 Decelerating Stop 60 8 8 Sudden Stop 60 9 Other CommandsS 61 9 1 Automatic Home Search Execution 61 9 2 Deviation Counter Clear Output 61 10 Connection Examples 62 10 1 Connection Example for 68000 CPU 62 10 2 Connection Example for 280 CPU 62 10 3 Example of Connection with H8 CPU 63 10 4 Connection Example 64 10 5 Pulse Output Interface 64 10 6 Connection Example for Input Signals
3. 51 6 2 Jerk Setti ng 52 6 3 Acceleration Setting 52 6 4 Deceleration Setting 53 6 5 Initial Speed Setting 53 6 6 Drive Speed Setting 53 6 7 Output Pulse Number Setting 54 6 8 Manual Decelerating Point Setting 54 6 9 Logical Position Counter Setting 54 6 10 Real position Counter Setting 55 6 11 COMP Register Setting 55 6 12 COMP Register Setting 55 6 13 Acceleration Counter Offsetting 55 6 14 NOP For Axis Switching
4. 65 10 7 Connection Example for Encoder 65 11 Example 66 NOVA electronics Inc MCX302 v 12 Electrical Characteristics 71 12 1 DC CharacteriStiCS 71 12 2 AC Characteristics 72 12 2 1 ClOCK 72 12 2 2 Read Write Cycle 72 12 2 3 BUSYN Signal 73 12 2 4 SCLK Output Signal Timing 73 12 2 5 Input Pulses 73 12 2 6 General Purpose Input Output Signals 74 13 Timing of Input Output 5 0 75 13 1 Power On 1 75 13 2 Fixed or Cont
5. Each axis is with WR1 WR2 WR3 mode registers Each register is for 2 axis data writing at the same address Before those registers have been accessed the host CPU should specify which axis is going to be accessed by writing a NOP command into WRO The bits of nWR1 nWR2 nWR3 and nWR4 will be cleared to 0 after the resetting It will be unknown for other registers E Read Register in 16 bit Data Bus All registers are 16 bit length Address Symbol Register Name Contents A2 A1 AO RRO Main status register error status driving status automatic home search running status EP XRR1 X axis status register 1 comparison result acceleration state and jerk state YRR1 Y axis status register 1 finishing status ee XRR2 X axis status register 2 lerror message automatic home search execution state YRR2 Y axis status register 2 0 1 1 XRR3 X axis status register 3 interrupt message YRR3 Y axis status register 3 id RR4 Input register 1 input for X axis nem RR5 Input register 2 input for Y axis 110 RR6 Data reading register 1 low word of data register D15 DO 1 1 RR7 Data reading register 2 high word of data register D31 D16 Each axis is with RR1 RR2 RR3 mode registers Each register is for 2 axis data writing at the same address Before those registers have been accessed the host CPU should specify which axis is going to be accessed by writing a NOP
6. outpw adr wr0 axis lt lt 8 0x06 decp axis assignment data For manual deceleration DP setting void decp int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp outpw adr wr0 axis lt lt 8 0x07 Ip axis assignment data For logical position counter LP setting void Ip int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp outpw adr wr0 axis lt lt 8 0x09 ep axis assignment data For real position counter EP setting void ep int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp outpw adr wr0 axis lt lt 8 0x0a compp axis assignment data For COMP CP setting void compp int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp outpw adr wr0 axis lt lt 8 O0xOb compm axis assignment data For COMP CM setting void compm int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp outpw adr wr0 axis lt lt 8 0x0c 68 MCX302 M68 NOVA electronics Inc accofst axis assignment data For acceleration counter shift AO setting void accofst int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp outpw adr
7. D15 DO D15 DO A3 A2 A2 A1 A1 AO 5V CSN A23 A4 2 Add Decoder AS G 5 DTACK INTN 45V 74LS138 G IG FC2 qc t JB 5V da H16L8 From the reset circuit of the system 10 2 Connection Example for Z80 CPU 280 MCX302 Clock Generator GME d gt 74LS139 indicates high resistance pul up 5V From the reset circuit of the system 63 NOVA electronics Inc 10 3 Example of Connection with H8 CPU H amp 8 3048 Crystal Ceramic D15 D8 Oscillator ao 16MHz z7 Example of 16 bit Bus Mode Connection 16MHz MCX302 M64 MCX302 indicates high resistance pulk up 5V 3 2 Address Assignment in Mode 5 Address Write Register Read Register 80000 WRO RRO 80002 WR1 RR1 80004 WR2 RR2 80006 WR3 RR3 80008 WR4 RR4 8000A RR5 8000C WRG RR6 8000E WR7 RRZ Example of 8 bit Bus Mode Connection From the reset circuit of the system Low order data D15 DO High order data D31 D16 MCX302 CLK RDN indicates high resistance pull up bU From the reset circuit of the system 64 NOVA electronics Inc MCX302 M65 10 4 Connection Example The figure shown below illustrates the example of X axis driving system Y axis can be assigned in the same way
8. NOVA electronics Inc MCX302 M19 D9 SAND When this bit is set to 1 operation of Step 3 stops when the home signal nSTOP1 and the encoder Z phase signal nSTOP2 become active D10 LIMIT Set this bit to 1 when setting automatic home search using an overrun limit signal nLMTP or nLMTM D11 DCC E This bit enables disables deviation counter clearing output 0 Enable 1 Disable For deviation counter clearing output the pin is shared with nOUTO ACASND and DCC output signals When this bit is set to 1 the pin is set to deviation counter clearing output D12 DCC L Specify a deviation counter clearing output logical level 0 Active High 1 Active Low D15 13 DCCW2 0 Specify an active pulse width of deviation counter clearing output D15 D14 D13 Clearing pulse width DCCW2 DCCW1 DCCWO USEC 0 0 0 10 0 0 1 20 0 1 0 100 0 1 1 200 1 0 0 1 000 1 0 1 2 000 1 1 0 10 000 Note CLK 16MHz 1 1 1 20 000 At resetting all the mode setting bits of each axis are reset to 0 2 4 4 Execution of Automatic Home Search and the Status E Execution of automatic home search Automatic home search is executed by an automatic home search execution command 62h Automatic home search can be executed by writing the command code 62h with the axis assignment to WRO register after correctly setting an automatic home search mode and speed parameter for each axis This function can be executed for each axis individ
9. As the search condition for stopping driving the AND condition of the encoder Z phase signal nSTOP2 and the home signal nSTOP1 can be applied A deviation counter clear signal can be output for a servomotor when the encoder Z phase signal nSTOP2 rises to active See Section 2 4 2 The real position counter EP can be cleared when an encoder Z phase signal nSTOP2 rises to active See Section 2 3 4 Notes 1 If the encoder Z phase signal nSTOP2 is already active at the start of Step 3 an error occurs and 1 is set in bit D7 of the nRR2 register Automatic home search ends Adjust the mechanical system so that Step 3 always starts from anSTOPactive state with a stable encoder Z phase signal nSTOP2 2 If the limit signal in the search direction is already active before the start of Step 3 an error occurs and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register Automatic home search ends 3 If the limit signal in the search direction becomes active during execution search operation is interrupted and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register Automatic home search ends MStep 4 High speed offset drive The function outputs as many driving pulses as the output pulse numbers P that is set in the specified direction at the speed that is set in the drive speed V Use this step to move the axis from the mechanical home position to the operation home position Thr
10. acac 0x3 1010 acc 0x3 200 speed 0x3 4000 pulse 0x1 50000 pulse 0x2 25000 command 0x3 0x21 wait 0x3 wr3save amp Oxfffb wreg3 0x3 wr3save MCX302 M71 and Y axes home search I X and Y axes linear acceleration driving 200 Accleration deceleration 250KPPS SEC 4000 Drive speed 40000PPS xP 80000 40000 fixed drive Waits for termination of driving I X axis non symmetrical linear acceleration driving Acceleration deceleration individual non symmetrical mode II xA 200 Accleration deceleration 250KPPS SEC I xD 50 Deceleration 62 5KPPS SEC I xV 4000 Drive speed 40000PPS xP 80000 II fixed drive Waits for termination of driving Release of acceleration deceleration individual mode I X and Y axes S curve acceleration deceleration driving S curve mode 1010 Jerk 619KPPS SEC2 200 Accleration deceleration 250KPPS SEC IIV 4000 Drive speed 40000PPS xP 50000 yP 25000 Fixed drive Release of S curve acceleration deceleration 11 NOVA electronics Inc 12 Electrical Characteristics 12 1 DC Characteristics E Absolute Maximum Rated Power Voltage 0 3 7 0 Input voltage 0 3 Vpp 0 3 Input Current 10 Reservation Temperature 40 125 il Recommend Operation Environment Power Vo
11. 0 Pulse width 0 7 2 4 3 Setting a Search Speed and a Mode To perform automatic home search the following speed parameters and mode must be set E Setting speed parameters Speed parameter Command code Description High speed search speed that is applied in Steps 1 and 4 The range R acceleration A and initial speed SV must also be set to appropriate values to perform acceleration deceleration driving See Section 2 2 2 Drive speed V 05 Low speed search speed that is applied in Steps 2 and 3 Home search speed HV 61 Set a value lower than the initial speed SV to stop operation instantly when the search signal becomes active See Section 2 2 1 E Setting an automatic home search mode Use an automatic home search mode setting command 60h to set an automatic search mode As shown below set each bit of the WR6 register and then write the command code with axis assignment to WRO register WR6 gt J J Deviation Counter Clear Output Step 4 Step 3 Step 2 Step 1 D6 4 2 0 STm E Specify whether operation of each step is executed 0 Non execution 1 Execution Use the WR1 register for logical setting of the input signal that is detected in each step See Section 4 4 D7 5 3 1 STm D Specify search operation direction of each step 0 direction 1 direction D8 PCLR When this bit is set to 1 the logical position counter and the real position counter are cleared at termination of Step 4 18
12. ITest terminal for internal circuit test Please open or connect it to 5V BUSYN 32 Output B Busy reflecting the execution of the input command at this moment Once the command is written to MCX302 the process will take 2 CLK to 4CLK 250nsec for 16MHz on the Low level When BUSYN is on the Low level the other written commands cannot be executed INTN 33 Output B Interrupt outputting an interrupt signal to the host CPU If any interrupt factor occurs the interrupt the level is Low when the interrupt is released it will return to the Hi Z level SCLK 34 Output A System Clock SCLK CLK 2 All the signals in MCX302 are controlled and synchronized by internal ISCLK When the output signal of each axis is latched it can be used as an external signal source Note There is no SCLK output when RESETN is on the Low level XPP PLS YPP PLS 35 37 Output A Pulse Pulse direction dive pulse outputting When the reset is on the Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is selectable When the 1 pulse 1 direction mode is selected this terminal is for drive output XPM DIR YPM DIR XECA PPIN YECA PPIN XECB PMIN YECB PMIN XINPOS 36 38 39 43 42 44 45 Output A Input A Input A Input A Pulse Pulse direction dive pulse outputting When the reset is on t
13. It is not recommended to monitor the error bit of each axis during execution of automatic home search This is because the error bit indicates 1 in spite of normal operation when the limit signal in the search direction is set in irregular operation of Step 1 or 2 E Symptom at sensor failure This section describes the symptoms when a failure occurs regularly in the sensor circuit such as a home search signal or a limit signal Analysis of intermittent failures caused by noise around the cable path loose cable or unstable operation of the device is difficult and such failures are not applicable to this case These symptoms may occur due to a logical setting error or signal wiring error at the development of a customer system 20 NOVA electronics Inc MCX302 M21 Failure cause Symptom Failure in the device of the limitKept ON The axis does not advance to the direction and the limit error bit nRR2 D3 2 sensor and wiring path is set to 1 at termination Kept OFF The axis runs into the mechanical terminal point and the home search operation does not terminate Failure in the device of the nearKept ON Although Step 1 is enabled and automatic home search is started from the home nSTOPO sensor and signal OFF position the axis advances to Step 2 without executing Step 1 wiring path high speed near home search Kept OFF Operation stops in Step 1 high speed near home search by setting the limit and proceeds with irregul
14. P 400000 P 50000 Time NOVA electronics Inc MCX302 M2 Position Control Each axis has a 32 bit logic position counter and a 32 bits real position counter The logic position counter counts the number of output pulse and the real position counter counts the feedback number of pulse from the external encoder or linear scale E Compare Register and Software Limit Each axis has two 32 bit compare registers for logical position counter and real position counter The comparison result can be read from the status registers The comparison result can be notified by an interrupt signal These registers can be also functioned as software limits E Input Signal Filter The IC is equipped with an integral type filter in the input step of each input signal It is possible to set for each input signal whether the filter function is enabled or the signal is passed through A filter time constant can be selected from eight types LIMIT gt e Built in Filter E Driving by External Signal It is possible to control each axis by external signals The direction fixed driving continuous driving or in manual pulsar mode can be also performed through the external signals This function is used for JOG or teaching modes and will share the CPU load E Input for Home Search Each axis has three external input signals to deceleration stop during driving Applying those input signals can perform high speed near home search home sear
15. the value of Drive speed V Initial speed SV is lower than the half value of V SV which is driven just before 3 And in the driving just before wnen ACC counter which is used in S curve acceleration deceleration driving in the IC is not returned to 0 at the end of driving Workaround Before start of driving use following steps to workaround this behavior with an inspection command to clear the internal ACC counter This command is not described in the manual When fixed pulse driving or continuous pulse driving is performed in S curve acceleration deceleration mode WR3 D2 1 write 44h command just before all the drive commands are written Example Set mode for S curve acceleration deceleration Set Range R Set Jerk K Set Acceleration A Set Initial speed SV Set Drive speed V Set Output pulse number P WRO Axis assignment 44h Command for workaround WRO Axis assignment 20h Fixed pulse drive in the direction Waits for termination of driving Set Output pulse number P WRO Axis assignment 44h Command for workaround WRO Axis assignment 21h Fixed pulse drive in the direction B1 NOVA electronics Inc MCX302 B2 Waits for termination of driving Change Drive speed V WRO Axis assignment 44h Command for workaround WRO Axis assignment 22h Continuous pulse drive in the direction Waits for termination of driving Notice for Compare Register Sympto
16. 100 pin plastic QFP pitch 0 65mm Dimension 23 8 x 17 8 x 3 05 mm edis NOVA electronics Inc MCX302 A1 AppendixA Profile of Speed curve The following curves are based on the test records from MCX302 output drive pulses and speed curve traces The perfect S curve acceleration deceleration is the curve drive without linear acceleration deceleration before the appointed drive speed is reached Partial S curve acceleration deceleration is with a period of linear acceleration deceleration before the appointed drive speed is reached 4OKPPS Perfect S curve acceleration deceleration R 800000 Multiple 10 K 700 A D 200 SV 100 V 4000 A020 Auto Deceleration mode Jerk 893K PPS SEC2 Acceleration 250K PPS SEC 40K Initial speed 1000 PPS BPS Drive speed 40K PPS 20K P 10000 P 20000 P 30000 Output Pulse P 50000 j P 5000 N 1 0 2 0sec 40KPPS Partial S curve acceleration deceleration R 800000 Multiple 10 K 300 A D 150 SV 100 V 4000 A0 0 Auto Deceleration mode 40K Jerk 2083K PPS SEC2 PPS Acceleration 188K PPS SEC Initial speed 1000 PPS Drive speed 40K PPS p 5000 P 10000 P 20000 30000 i Output Pulse P 50000 20K ifs d t i A1 NOVA electronics Inc 8000PPS Perfect S curve acceleration deceleration MCX302 A2 R 8000000 Multiple 1 K 2000 0 500 SV 100 V 8000 AO 0 8K Aut
17. 2 0 signal is performed during continuous pulse driving But out of necessity when deceleration stop with STOP IN signal is performed during fixed pulse driving in S curve deceleration there isn t any method to avoid it before the trouble happens like chapter 2 2 So the example of measure is shown as follows q DRIVING STARTS RRO DRV bit See RR1 D8 11 IS STOP SIGNAL ACTIVE ASND CNST DSND 0 RR1 ASND CNST DSND bit SUDDEN STOP COMMAND 27h no C DRIVING COMPLETION If you need more assistance please e mail us at novaelec_info novaelec co jp B8
18. 2 13 The acceleration calculation is shown in the following formula 8 000 000 Acceleration PPS SEC 125 x o R 4 Multiple For the range of A is from 1 8 000 the actual acceleration range is shown as follows When Multiple 1 125 PPS SEC 1 x 10 PPS SEC When Multiple 500 62 5 x 10 PPS SEC 500 x 10 PPS SEC 53 NOVA electronics Inc MCX302 M54 6 4 Deceleration Setting Command Data Range Data Length Deceleration setting 2 bytes In linear acceleration deceleration driving D is the parameter determining the deceleration at deceleration in the acceleration deceleration individual settings mode WR3register D1 1 Deceleration increases on a straight line from 0 to the specified value when S curve acceleration deceleration driving in this mode The deceleration calculation is shown in the following formula 8 000 000 Deceleration PPS SEC D 125 o R Multiple 6 5 Initial Speed Setting Command Data Range Data Length Initial speed setting 2 bytes SV is the parameter determining the speed of initial speed The initial speed calculation is shown in the following formula 8 000 000 Initial Speed PPS SV x R Multiple In trapezoidal Linear accerelation decerelation driving for stepper motors the user should set the initial speed smaller than the self starting frequency of stepper motor
19. 27 2 6 2 Pulse Output Type Selection 28 2 6 3 Pulse Input Type Selection 29 2 6 4 Hardware Limit Signals 29 2 6 5 Interface to Servo Motor Drivers 29 2 6 6 Emergency Stop 30 2 6 7 Status Output 30 2 6 8 General Purpose Output Signal 31 2 6 9 Input Signal Filter 31 3 Pin Assignments and Signal Description 33 4 Register 37 4 1 Register Address by 16 bit Data Bus 37 4 2 Register Address by 8 bit Data Bus 38 4 3 Command Register WRO 39 4 4 Mode Register1 WR1 39 4 5 M
20. 483 648 2 147 483 647 4 bytes CM is the parameter setting the value of COMP register COMP register is used to compare with logical real position counter and the comparison result will be output to bit DO of 1 register nOUT3 CMPM signal Also it can be used as the direction software limit The value of COMP register can be written anytime 6 13 Acceleration Counter Offsetting Command Data Range Data Length Acceleration Counter Offsetting 32 768 32 767 2 bytes AO is the parameter executing acceleration counter offset The offset value of acceleration counter will be set 8 while resetting 56 NOVA electronics Inc MCX302 M57 6 14 NOP for Axis Switching Command Data Range Data Length NOP for axis switching No execution is performed Use this command for switching the axis for selecting the registers from WR1 WR3 registers and registers 6 15 Automatic Home Search Mode Setting Command Data Range Data Length To perform automatic home search mode setting set each mode to WR6 register per bit and then write the command 60h to WRO register with an axis assignment Please refer to 2 4 3 6 16 Home Search Speed Setting Command Data Range Data Length Home search speed Set a low speed home search speed of step 2 and 3 Normally set a value lower than the initial speed SV to stop driving immediately when the search sign
21. Encoder Stepper Servo CCW Pulse Error Counter Clear XOUTO Servo ON OFF XOUT1 MCX302 Motor Drives EC AB Z Servo Ready Positioning Conpletion 10 5 Pulse Output Interface Output to Motor Drivers in Differential Circuit Motor Drives MCX302 _ ES ME Am26LS32 CCW cew Twist Pair Shield Cable GND o d E Open Collector TTL Output Motor Drives MCX302 5V CW Y K XPP Po CW 5 CCW x v XPM E COS gt 74LS06 Twist Pair Shield Cable GND For drive pulse output signals we recommend the user to use twist pair shield cable due to the concern of EMC 65 NOVA electronics Inc MCX302 M66 10 6 Connection Example for Input Signals Limit signals often pick up some noise since complicated cabling is normally involved A photo coupler alone may not be able to absorb this noise Enable the filter function in the IC and set an appropriate time constant FL 2 3 MCX302 Disable To the internal Integral 4 circuit Enable Filter T O 12 24V 2 O X Axis Over Run Limit TLP121 7 10 7 Connection Example for Encoder The following diagram is the example for the encoder signal which is differential line drive output Then this signal can be received through the high speed photo coupler IC which can direct it to MCX302 MCX302 45V Motor Drives
22. Home Search Error Status of Driving Status of Execution of each axis each axis each axis This register is used for displaying the driving and error status of each axis D1 0 n DRV Displaying driving status of each axis When the bit is 1 the axis is an outputting drive pulse when the bit is 0 the driving of the axis is finished Once the in position input signal nINPOS for servomotor is active nINPOS will return to 0 after the drive pulse output is finished 05 4 n ERR Displaying error status of each axis If any of the error bits D7 D0 of each axis s RR2 register and any of the error finish bits D15 D12 of each axis s RR1 register becomes 1 this bit will become 1 D8 9 n HOM Displaying automatic home search running status of each axis Once automatic home search of each axis starts these bits become 1 during the period from stepl of the start to step 4 of the finish After finished step 4 bits return to 0 4 11 Status Register 1 RR1 Each axis is with status register 1 The axis specified by NOP command or the condition before decides which axis s register will be read Status of Driving Finishing The register can display the comparison result between logical real position counter and COMP the acceleration status of acceleration deceleration driving jerk of S curve acceleration deceleration and the status of driving finishing DO CMP Displaying the comparison result between logical real position count
23. Low level The host CPU will read register RR3 of the interrupted axis the bit of RR3 will be cleared to 0 and the interrupt signal will return to the non active level For a 8 bit data bus all the bits are cleared when the RR3L register is read 48 NOVA electronics Inc MCX302 M49 4 14 Input Register RR4 RR5 and RRS are used for displaying the input signal status The bit is 0 if the input is on the Low level the bit is 1 if the input is on the Hi level These input signals can be used as general input signal when they are not used as function except for nLMTP M signal Bit Name Input Signal Bit Name Input Signal n STO n STOPO n INO nINO n ST1 n STOP1 n IN1 nIN1 n ST2 n STOP2 n IN2 nIN2 EMG EMGN n IN3 nIN3 n EX nEXPP n IN4 nIN4 n EX nEXPM n IN5 nIN5 n INP nINPOS n LM nLMTP n ALM nALARM n LM nLMTM 4 15 Data Read Register RR6 RR7 According to the data read command the data of internal registers will be set into registers RR6 and RR7 The low word 16 bits D15 DO is set in RR6 register and the high word 16 bits D31 D16 is set in RR7 register for data reading H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO see ros row row ne row roo roe ror oor ros row Tr oon H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RD31 RD30 RD29 RD28 RD27 RD26 RD25 RD24 RD23 RD22 RD21 RD20 RD19 RD18 RD17 RD16 The data
24. MCX302 B7 2 When interruption can t be used In d area on Figure 3 if forward limit is active the trouble will happen more exactly saying it will seldom happen There isn t any method to avoid it before it happens So immediately after the trouble happens take means to stop driving If the trouble happens e area on Figure 3 status keeps driving RRO nDRV 1 status of acceleration deceleration is 0 in ASND CNST DSND This is completely abnormal state So the example of measure is shown as follows C DRIVING STARTS D RRO DRV bit FORWARD LIMIT O RR1 D12 13 RR1 ASND CNST DSND bit ASND CNST DSND 0 SUDDEN STOP COMMAND 27h C DRIVING COMPLETION D When start fixed pulse driving in S curve acceleration deceleration always read out status of progress directional hardware limit RR1 D12 D13 with timer interruption If limit signal becomes active read out bit status of ASND D2 CNST D3 and DSND D4 in RR1 resister and execute Sudden stop command 27h one time only if all those 3 bits are 0 3 Software limit Case In fixed pulse driving the target position goal can be calculated from present position logical position counter value and number of output pulse If target position is over value of software limit don t drive to avoid the trouble B7 NOVA electronics Inc MCX302 B8 4 Deceleration stop with STOP 2 0 Signal Case Normally deceleration stop with STOP
25. SCLK 1 Delay Time CLK SCLK Delay Time 12 2 2 Read Write Cycle Read Cycle Write Cycle 2 CSN RDN D15 DO a The figure shown above is used for 16 bit data bus accessing H16L8 Hi For 8 bit data bus H16L8 Low the address signals shown in the figure become A3 A0 and data signals become D7 D0 b At a read cycle the data signal D15 D0 becomes an output state as soon as both RDN and CSN become low and stays in the output state during tDF even if RDN is reset to High Avoid the occurrence of bus conflict collision Address Setup Time to RDN CSN Setup Time to RDN Output Data Delay Time from RDN Output Data Hold Time from RDN 1 CSN Hold Time from RDN 1 Address Hold Time from RDN 1 Address Setup Time to WRN CSN Setup Time to WRN WRN Low Level Width Setup Time of Input Data to WRN 1 Hold Time of Input Data from WRN 1 CSN Hold Time from WRN 1 Address Hold Time from WRN 1 eT NOVA electronics Inc MCX302 M74 12 2 3 BUSYN Signal saik NNS NANS ANY WRN BUSYN tex It is low when BUSYN is active And BUSYN is low after 2 SCLK cycles when WRN f active o em e gt BUSYN Delay Time tWL BUSYN Low Level Width tCYCx4 30 ns tCYC is a cycle of CLK 12 2 4 SCLK Output Signal Timing The following output single is sy
26. V is 8000 and the drive speed is set 40K PPS The user can set V 8000 and R 1 600 000 Because 40K is 5 times of 8000 we set the R 8 000 000 5 1 600 000 The Range R cannot be changed during the driving The speed will be changed discontinuously eB NOVA electronics Inc MCX302 M53 6 2 Jerk Setting Command Data Range Data Length 2 bytes A jerk setting value is a parameter that determines the acceleration increase decrease rate per unit in S curve acceleration deceleration is the parameter determining the jerk The jerk calculation is shown in the following formula 62 5 10 8 000 000 Jerk PPS SEC 3 K R Multiple Because the setting range of jerk is 1 65 535 the jerk range is shown as follows When Multiple 1 954 PPS SEC 62 5 x 10 PPS SEC When Multiple 500 477 x 10 PPS SEC 31 25 10 PPS SEC Note This book uses the word jerk to express increase decrease of acceleration deceleration and increase decrease rate per unit 6 3 Acceleration Setting Command Data Range Data Length Acceleration setting 2 bytes In linear acceleration deceleration driving A is the parameter determining the acceleration at acceleration and deceleration at deceleration Acceleration deceleration increases on a straight line from 0 to the specified value when S curve acceleration deceleration driving Please refer to Fig
27. as same as nIN5 External Operation direction drive starting signal from external source When the fixed driving is commanded from an external source direction driving will start if this signal is down Otherwise when the continuous driving is commanded from an external source driving will start if this signal is on the Low level External Operation direction drive starting signal from external source When the fixed driving is commanded from an external source direction driving will start if this signal is down Otherwise when the continuous driving is commanded from an external Source driving will start if this signal is on the Low level Emergency Stop input signal to perform the emergency stop for all axes When this signal is on the Low level every axis will stop the operation immediately EMG bit of register RR2 of each axis will become 1 The low level pulse width should be more than 2CLK Note For this signal its logical levels cannot be selected Ground 0V Terminal All of the 10 pins must be connected to OV 5V Power Terminal All of the 5 pins must be connected to 5V Input A Smith trigger input in TTL level which is pulled up to VDD with high impedance dozens of kQ hundreds of kQ CMOS and TTL can be connected he user should open or pull up with 5V if the input is not used he signal with F symbol has an integral filter circuit in the internal input column
28. command into WRO 38 NOVA electronics Inc MCX302 M39 4 2 Register Address by 8 bit Data Bus In case of the 8 bit data bus access the 16 bit data bus can be divided into high and low word byte As shown in the table below xxxxL is the low word byte D7 D0 of 16 bit register xxxx xxxxH is the high word byte D15 8 of 16 bit register xxxx Only for the command register WROL WROH the user must write to the high word byte WROH then to the low word byte WROL E Write Register in 8 bit Data Bus Read Register in 8 bit Data Bus Address Write Register Address Read Register A3 A2 A1 A0 A3 A2 A1 A0 WROL 0000 RROL 0001 WROH 0 00 1 RROH 0 0 10 KWRI1L YWR1L 0010 XRR1L YRR1L 0 0 1 1 KWR1H YWR1H 0 0 1 1 XRR1H YRR1H 0 1 00 KWR2L YWR2L XRR2L YRR2L 0 1 0 1 XWR2H YWR2H 0 1 0 1 XRR2H YRR2H 0 1 10 KWR3L YWR3L 0 110 XRR3L YRR3L 0 1 1 1 KWR3H YWR3H 0 1 1 1 XRR3H YRR3H 1000 WR4L 1000 RR4L 1 0 0 1 WRA4H 1001 RR4H 1 0 1 0 not used 1010 RR5L 1 0 1 1 notused 101 1 RR5H 1100 4WR6L 1100 RR6L 1 1 0 1 WR6H 1101 RR6H 1 1 1 0 WRTL 1110 RR7L 1 1 1 1 WR7H 1111 RR7H 39 NOVA electronics Inc MCX302 M40 4 3 Command Register WRO Command register is used for the axis assignment and command registration for each axis in MCX302 The register consists of the bit for axis assignment bit for setting command
29. counter variable ring is used a software over run limit cannot be used Enable disable setting for COMP register which is used as the direction software limit 1 enable 0 disable Once it is enabled during the direction driving if the value of logical real position counter is smaller than that of COMP the decelerating stop will be performed The D1 SLMT bit of register RR2 will become 1 Under this situation further written direction driving commends will not be executed The bit for controlling stop type when the hardware limits nLMTP and nLMTM input signals are active 0 sudden stop 1 decelerating stop Setting the logical level of direction limit input signal nLMTP 0 active on the Low level 1 active on the Hi level Setting the logical level of direction limit input signal nLMTM 0 active on the Low level 1 active on the Hi level Setting if real position counter or logical position counter is going to be compared with COMP register 0 logical position counter 1 real position counter Setting output pulse type 0 independent 2 pulse type 1 1 pulse 1 direction type When independent 2 pulse type is engaged direction pulses are output through the output signal nPP PLS and direction pulses through nPM DIR When 1 pulse 1 direction type is engaged and directions pulses are output through the output signal nPP PLS and nPM DIR is for direction signals Note Please refer to Chap
30. deceleration shown by RR1 resister The timing when the trouble may possibly time happen is shown as d on Figure 3 At this time status of deceleration is constant speed 0 driving CNST 1 trouble such as outputting pulse continuously happens all of ASND CNST and DSND will become 0 even though it s 1 driving RRO nDRV 1 initial speed acceleration RR1 D2 ASND RR1 D3 CNST RR1 D4 DSND RRO DO 3 nDRV Workaround 1 When deceleration stop command 26h is executed Case Basically once deceleration starts it isn t necessary to execute deceleration stop command Therefore deceleration stop command should be prohibit See nRR1 DA DSND normally to know it s decelerating or not Timing when the 4 NOVA electronics Inc MCX302 B5 trouble happens is in d as shown on Figure if deceleration stop command is executed In DSND status bit is 0 and CNST status bitis 1 Therefore the following two 2 solutions will be proposed 1 When interruption from IC can be used When deceleration starts interruption will be occurred to prohibit execution of deceleration stop command 26h until driving completion Flag of prohibition against deceleration stop command is prepared and it will be clear before driving starts Enable constant speed area completion interruption WR1 D13 C END 1 Fixed pulse driving starts and if interruption is occurred read RR3 D5 C END within interruption process ro
31. electronics Inc MCX302 M79 Symbol XS Size mim inich Description Minimum Standard Maximum 3 05 Height from the installation face to the top end of the A 0 120 package main unit 1 0 09 0 19 0 29 Height from the installation face to the bottom end of 0 004 0 007 0 011 the package main unit A2 2 5 2 7 2 9 Height from the top to the bottom of the package main 0 098 0 106 0 114 unit b 0 2 0 3 0 4 Pin width 0 008 0 012 0 016 2 0 10 0 15 0 25 Pin thickness 0 004 0 006 0 010 D 23 5 23 8 24 1 Maximum length in the package length direction 0 925 0 937 0 949 including pins D1 19 8 20 0 20 2 Length of the package main unit excluding pins 0 780 0 787 0 795 E 17 5 17 8 18 1 Maximum length in the package width direction 0 689 0 701 0 713 including pin E1 13 8 14 0 14 2 Width of the package main unit excluding pins 0 543 0 551 0 559 R 0 65 Pin pitch standard size 0 026 L 0 6 0 8 1 0 Length of the flat section of the pins that contacts the 0 024 0 031 0 039 installation face Length from the center of the outer most pin to the 0 575 s Zd outer most pin section of the package main unit in the 0 023 A length direction Length from the center of the outer most pin to the 0 825 ns Ze outer most pin section of the package main unit in the 0 032 width direction 0 10 A
32. enable disable of servo alarm input signal nALARM 0 disable 1 enable When it is enabled MCX302 will check the input signal If it is active D14 ALARM bit of RR2 register will become 1 The driving stops Setting logical level of nINPOS input signal 0 active on the Low level 1 active on the Hi level Setting enable disable of in position input signal nINPOS from servo driver 0 disable 1 enable When it is enabled bit n DRV of RRO main status register does not return to 0 until nINPOS signal is active after the driving is finished D15 D0 will be set to 0 while resetting 4 6 Mode Register3 WR3 Each axis is with mode register WR3 The axis specified by NOP command or the condition before decides which axis s register will be written WR3 can be used for manual deceleration individual deceleration S curve acceleration deceleration the setting of external operation mode the setting of input signal filter and so on DO D1 D2 WR3 MANLD DSNDE SACC D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO Setting manual automatic deceleration for the fixed acceleration deceleration driving 0 automatic deceleration 1 manual deceleration The decelerating point should be set if the manual deceleration mode is engaged Setting decelerating rate which is in accordance with the rate of the acceleration or an individual decelerating rate 0 acceleration 1 deceleration When 0 is set accel
33. for feedback pulse range 2 147 483 648 2 147 483 647 Data read and write possible E Comparison Register COMP Register Position comparison range 1 073 741 824 1 073 741 824 COMP Register Position comparison range 1 073 741 824 1 073 741 824 Status and signal outputs for the comparisons of position counters Software limit functioned E Automatic home search Automatic execution of Step 1 high speed near home search Step 2 low speed home search Step 3 low speed encoder Z phase search Step 4 high speed offset drive Enable Disable of each step and search direction selectable Deviation counter clear output Clear pulse width within the range of 10u 20msec and logical level selectable W Interrupt Interpolations Excluded The factors of occurring interrupt the start finish of a constant speed drive during the acceleration deceleration driving the end of the driving the volume of position counter 2 the volume of COMP the volume of position counter the volume of COMP the volume of position counter 2 the volume of COMP the volume of position counter lt the volume of COMP Enable disable for these factors selectable E External Signal for Driving EXPP and EXPM signals for fixed pulse continuous drive Driving in manual pulsar mode encoder input E External Deceleration Sudden Stop Signal STOPO 2 points for each axis Enable disable and l
34. instance if a total of the photo coupler delay time of the Z phase signal path and delay time of the integral filter incorporated in the IC is the maximum 500usec the home search speed must be set so that the encoder Z phase output is ON for more than 1msec W Step 3 Z phase search starting position In Z phase search of Step 3 the function stops search driving when the Z phase signal nSTOP2 changes from active to inactive Therefore the Step 3 starting position that is Step 2 stop position must be stable and must be different from this change point Normally adjust mechanically so that the Step 3 starting position becomes the 180 opposite side to the encoder Z phase position B Software limit Disable the software limit during execution of automatic home search If software limit is enabled automatic home search is not performed correctly Set a software limit after setting a real position counter following normal completion of automatic home search W Logical setting of each input signal Use the bits WR1 D2 D4 and D7 of the WRI register for input signal nSTOPO 1 2 of active logical setting that is used by automatic home search At automatic home search the contents set in the bits WR1 D1 D3 and D5 that enable disable each signal are ignored 21 NOVA electronics Inc MCX302 M22 2 4 7 Examples of Automatic Home Search E Example of home search using a near home home or a Z phase signal Operation MC
35. is set to a High level until nINPOS becomes active while the nINPOS signal for the serve motor is enabled by mode selection Output A Output A Output A General Output 3 Compare general purpose output signals the operation is as same as nOUT7 When the drive status output mode is engaged it becomes Hi if the value of logical real position counter is smaller than that of COMP it becomes Low if the value of logical real position counter is larger than that of COMP General Output2 general purpose output signals the operation is as same as nOUT7 When the drive status output mode is engaged it becomes Hi if the value of logical real position counter is larger than that of COMP it becomes Low if the value of logical real position counter is smaller than that of COMP General Output 1 Acceleration Descend general purpose output signals the operation is as same as nOUT7 When the drive status output mode is engaged it becomes Hi if acceleration deceleration of S curve acceleration deceleration decreases XOUT3 CMPM 64 YOUT3 CMPM 81 XOUT2 CMPP 65 YOUT2 CMPP 82 XOUT1 ACDSND 68 YOUT1 ACDSND 83 XOUTO ACASND 69 IDCC 84 YOUTO ACASND IDCC Output A General Output 0 Acceleration Ascend general purpose output signals the operation is as same as nOUT7 When the drive status output mode is engaged it becomes Hi if acceleration deceleration of S curve accelerati
36. levels Moreover in S curve acceleration deceleration driving the state of acceleration constant speed deceleration will be also shown to bits D5 AASND D6 ACNST D7 ADSND and the signals NOUTO ACASND and nOUTI ACDSND However if deviation counter clearing is enabled in automatic home search mode setting NOUTO ACASND functions as deviation counter clearing output so nOUTO ACASND cannot be used See section 2 6 7 and 2 6 8 Status Register Output Signal Drive Status s Active 1 Active Hi Drive RRO D1 0 n DRV nDRIVE Acceleration nRR1 D2 ASND nASND Constant Speed nRR1 D3 CNST nCNST Deceleration nRR1 D4 DSND nDSND Acceleration Deceleration Increase nRR1 D5 AASND nACASND Acceleration Deceleration Constant nRR1 D6 ACNST Acceleration Deceleration Decrease nRR1 D7 ADSND nACDSND 4 Constant Speed Constant Speed Acceleration Speed Deceleration Stop Acceleration Speed Deceleration Stop Linear acceleration driving state Acceleration 4 Deceleration Acceleration Deceleration Increase Acceleration Constant Acceleration Deceleration Decrease S curve acceleration driving state adds NOVA electronics Inc MCX302 M32 2 6 8 General Purpose Input Output Signal In MCX302 there are 6 general purpose input pins nIN5 0 and 8 general output pins nOUT7 0 for each axis However during the outputting NOU
37. lt 8 Oxf axis assignment outpw adr wr3 wdata command axis assignment data For writing commands void command int axis int cmd outpw adr wr0 axis lt lt 8 cmd range axis assignment data For range R setting void range int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp outpw adr wr0 axis lt lt 8 0x00 acac axis assignment data For Jerk K setting void acac int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x01 67 NOVA electronics Inc acc axis assignment data For acceleration deceleration A setting void acc int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x02 dec axis assignment data For deceleration D setting void dec int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x03 startv axis assignment data For initial speed SV setting void startv int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x04 speed axis assignment data For drive speed V setting void speed int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x05 pulse axis assignment data For output pulse output finish point P setting void pulse int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp
38. pulsar is F 500Hz and the output pulse is P 1 the drive speed must be V 1000PPS or greater Since acceleration deceleration driving is not applied set the initial speed SV to the same value as the drive speed However when a stepping motor is used for driving the drive speed must not exceed the automatic activation frequency of the motor 2 6 2 Pulse Output Type Selection There are two types of pulse output independent 2 pulse type when the driving is in direction the pulse output is from nPP PLS when the driving is in direction the pulse output is from nPM DIR 1 pulse 1 direction type nPP PLS is for pulse outputting and nPM DIR is for direction signal outputting pulse direction is set on the positive logical level F Boog Pulse Output Waveform Pulse Output Type Drive Direction nPP PLS Signal nPM DIR Signal Direction Low level Independent 2 pulse Low level Direction PPM Direction Low level 1 pulse 1 direction Direction sinas Hi level Bit D6 PLSMD of register WR2 is used for the selection of pulse output type Additionally bits D7 PLS L and D8 DIR L of register WR2 can be used for pulse outputting direction and logical level setting 29 NOVA electronics Inc MCX302 M30 Note Please refer to Chapter 13 2 13 3 for the pulse signal nPLS and direction signal nDIR i
39. shows the interruption when driving has finished normally in area d Make driving finished as it goes DRIVING FINISHES RRO DO X AXIS 0 During driving backward limit never be on So RR1 D12 D13 won t be 1 due to backward limit 4 FORWARD LIMIT IS ON nRR D120rD13 1 ASND CNST DSND 0 nRR1 D2 D3 D4 0 6 JUDGED AS TROUBLE HAPPENS SUDDEN STOP COMMAND 27h PROCESSING FINISHED D Check if driving goes out constant speed area or not If RR3 D5 C END bit of driving axis is 0 there are other interruption factors Execute those interruption processing Check if driving goes into decelerating area or not If it s RR1 D4 DSND 1 make it finished as it goes because driving goes into area from b area on Figure 3 If its RR1 D4 DSND 0 move it to processing because driving has gone out d area 3 Check if driving has finished or not If it s finished make it finished as it goes because driving has finished normally But if it s not finished yet surely trouble have happened because status is shown as it s still driving even though driving has gone out d area Check if hard limit is ON or OFF Since RR1 D12 bit becomes 1 if limit is ON and RR1 D13 bit becomes 1 if limit is ON if its D12 1 or D13 1 judge forward limit is ON If trouble has happened it becomes ASND CNST DSND 0 Check them all Execute sudden stop command 27h B6 NOVA electronics Inc
40. speed that was utilized at the increase of acceleration before acceleration reaches designation value A section shifts from a to c without b section Thus the case that acceleration does not have a constant part in its acceleration it calls The Perfect S curve Acceleration Please refer to example of parameter settings described later and appendix regarding cases of the partial S curve acceleration and the perfect S curve acceleration Also at the deceleration the speed forms an S curve by increasing decreasing the deceleration in a primary linear form sections d e and f The same operation is performed in acceleration deceleration where the drive speed is changed during continuous driving To perform S curve acceleration deceleration driving set bit D2 to 1 of the nWR3 register and parameters as follows parameters marked by will be set when needed Parameter name Symbol Comment Range R Jerk K AAcceleration deceleration increases from 0 to Acceleration A the value linearly Deceleration when acceleration and O Deceleration D deceleration are set individually Initial Speed SV Drive Speed V O Number of Output Pulse P Not required for continuous driving MThe Prevention of Triangle Driving Profile For fixed driving of linear acceleration deceleration the speed Speed curve forms the triangle form when the output pulses do not reach the pulses required for accelerating to the drive s
41. status As for D7 to DO bits when an error occurs the error information bit is set to 1 When one or more of D7 to DO bits of RR2 register are 1 n ERR bits of main status register RRO become 1 H L D15 Di4 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR2 HMST4 2 HMsT1 HMSTO HOME o eve ALARM HLMT HLMT SLMT SLMT Automatit home search execusion state Error Information DO SLMT During the direction driving when logical real position counter gt COMP COMP enabled and used as software limit D1 SLMT During the direction driving when logical real position counter lt COMP COMPenabled and used as software limit 47 NOVA electronics Inc MCX302 M48 D2 HLMT When external direction limit signal nLMTP is on its active level D3 HLMT When external direction limit signal nLMTM is on its active level D4 ALARM When the alarm signal nALARM for servo motor is on its active level D5 EMG When emergency stop signal EMGN becomes Low level D7 HOME Error during automatic home search execution When encoder z phase signal nSTOP2 is already active at the start of step 3 it will become 1 D12 8 HMST4 0 Autoamtic home search execution state displays the current executing action during automatic home search execution Please refer to 2 4 4 In driving when hardware software limit is active the decelerating stop or sudden stop will be executed Bit SLMT
42. stop mode to a decelerating stop mode Section 4 5 WR3 D2 bit Set the same logical level for the XLMTM XSTOPO and XSTOPI signals Section 4 5 WR3 D4 bit and Section 4 4 WR1 D0 and D2 bits Set D10 using limit signals bit of extension mode setting to 1 MCX302 Over Run Limit in the Search Direction STOPO STOP1 MTM Active XSTOPO Section XSTOP1 X direction Step 1 gt Over Run Limit rection XLMTM Step 2 A Operation As shown in the diagram on the right hand side the function moves the axis to the limit at high speed in the direction in Step 2 When the limit signal becomes active the function stops operation by decelerating and advances to Step 2 The function exits control from the limit in the opposite direction by irregular operation of Step 2 and stops operation when Limit Signal Active is detected at low speed in the search direction When the automatic home search starting position is within the limit point A in the diagram on the right hand side operation starts from Step 2 without execution of Step 1 Parameter and mode setting WRO 010Fh Write WR1 0000h Write WR2 0004h Write WR3 5F00h Write Selects X axis Input signal logical setting XSTOPO Low active XSTOP1 Low active See 4 4 04 D2 1 Limit signal logic Low active see 4 5 Limit stop mode Decelerating stop Input signal filter setting Se
43. will not become 1 during the reverse direction driving 4 13 Status Register 3 RR3 Each axis is with status register 3 The axis specified by NOP command or the condition before decides which axis s register will be read This register is for reflecting the interrupt factor When interrupt happens the bit with the interrupt factor becomes 1 The user should set the interrupt factor through register WRI to perform the interrupt H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO LT ETE TI LI TI re RR3 To generate an interrupt interrupt enable must be set for each factor in the WRI register D1 P2C the value of logical real position counter is larger than that of COMP register D2 P lt C the value of logical real position counter is smaller than that of COMP register D3 P lt C the value of logical real position counter is smaller than that of COMP register D4 P2C the value of logical real position counter is larger than that of COMP register D5 C END When the pulse output is finished in the constant speed drive during an acceleration deceleration driving D6 C STA When the pulse output is started in the constant speed drive during an acceleration deceleration driving D7 D END When the driving is finished When one of the interrupt factors occurs an interrupt the bit of the register becomes 1 and the interrupt output signal INTN will become the
44. wr0 axis lt lt 8 0x0d readip axis assignment For logical position counter LP reading long readlp int axis long a long d6 long d7 outpw adr wr0 axis lt lt 8 0x10 d6 inpw adr rr6 d7 inpw adr rr7 a d6 d7 lt lt 16 return a readep axis assignment For real position counter EP reading long readep int axis long a long d6 long d7 outpw adr wr0 axis lt lt 8 0x11 d6 inpw adr rr6 d7 inpw adr rr7 a d6 d7 lt lt 16 return a wait axis assignment For waiting for drive stop void wait int axis while inpw adr rrO amp axis hsmode axis assignment data For automatic home search mode HM setting void hsmode int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x60 hsspeed axis assignment data For automatic home search low speed HV setting void hsspeed int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x61 hswait axis assignment For waiting for automatic home search void hswait int axis while inpw adr rrO amp axis lt lt 8 homesrch1 X and Y axes home search 1 l Step1 Near home stopO signal search the direction at 20 000pps Step2 Home stop1 signal search in the direction at 500pps l Step3 Z phase stop2 signal search in the direction at 500pps l St
45. 0 NOVA electronics Inc MCX302 M31 2 6 6 Emergency Stop Signal EMGN is able to perform the emergency stop function for both X and Y axes during the driving Normally this signal is kept on the Hi level When it is falling to the Low level all axes will stop immediately and the D5 EMQ bit of register RR2 each axis becomes 1 Please be noted that there is no way to select the logical level of EMGN signal Please check the following methods to perform the emergency stop function from the host CPU a Execute the sudden stop commend for both of 2 axes at the same time Appoint both X and Y axes then write the sudden stop command 27h to register WRO b Reset software limit Write 800h to register WRO to reset software limit 2 6 7 Status Output The driving status of each axis will be output to main status register RRO and status register nRR1 of each axis also it can be output as signal that shares the same terminal with general purpose output signals D7 OUTSL bit of register WR3 should be set 1 for drive status output This bit will return 0 by reset and then turn to the terminal for general purpose output nOUT 7 0 nOUT4 DRIVE output signals and bits D1 0 n DRV of register RRO can be used for drive stop status output The driving status of acceleration constant speed deceleration will be output to bits D2 ASND D3 CNST and D4 DSND and also the signals TS ASND nOUT6 CNST and nOUT7 DSND will show the
46. 0 D15 0 nOUT7 0 Sm em O tDI Input Signal Data Delay Time nS tDO WRN 1 nOUT7 0 Setup Time 32 nS 2752 NOVA electronics Inc MCX302 M76 13 Timing of Input Output Signals 13 1 Power On Reset RA te ee we ee we eee ew 2 aN CLK RESETN a BUSYN Lda d nPP PLS peur is Low nOUT 7 0 a The reset signal input to pin RESETN will keep on the Low level for at least 4 CLK cycles b When RESETN is on the Low level for 4 CLK cycles maximum the output signals of MCX302 are decided c SCLK will be output after 2 CLK cycles when RESTN return to the Hi level d BUSYN keeps on the Low level for 8 CLK cycles when RESTN is on the Hi level 13 2 Fixed or Continuous Driving SCLK ecccccccce BUSYN nPP nPM a nPLS p rj 1st Pulse 2nd Pulse Final Pulse nDIR Pre state b Valid nASND i a This first driving pulses nPP nPM and nPLS will be output after 3 SCLK cycles when BUSYN is f b The nDIR direction signal is valid after 1 SCLK cycle when BUSYN is f C The nDRIVE becomes Hi level when BUSYN is f d The nASND and nDSND are on invalid level after 3 SCLK cycles when BUSYN is f 76 NOVA electronics Inc MCX302 M77 13 3 Start Driving after Hold Command SCLK WRN Drive Command Start Driving after Hold Command nPP nPM a 1st Pulse 2nd Pulse a The pulses nPP nPM and nPLS of each axis will start outputting after 3 SCLK cycl
47. 00 multiple 10 WR6 004Ch Write WRO 0102h Write Acceleration speed 95 000 PPS SEC 95000 125 10 76 WR6 0064h Write WRO 0104h Write Initial speed 1000 PPS WR6 07DOh Write WRO 0105h Write Speed of Steps 1 and 4 20000 PPS WR6 0032h Write Speed of Step 2 500 PPS 24 NOVA electronics Inc WRO lt 0161h Write WR6 ODACh Write WR7 0000h Write WRO 0106h Write Offset driving pulse count 3500 E Example of home search using a limit signal MCX302 M25 For a simple home search a limit signal of one side is used as an alternative home signal However the following two conditions are applied a When high speed search operation is performed decelerating stop must be able to be performed sufficiently within the distance from the limit signal activation position to the mechanical limit position b The automatic home search position is not beyond the limit signal active section in the search direction In this example a limit signal in one direction is used as an alternative home signal Connect XLMTM input to the XSTOPO and XSTOPI input pins as shown in the diagram on the left hand side Note This IC pin signal must be connected If an external signal is connected from the photo coupler of each signal an operation error may occur due to the photo coupler delay time difference Since high speed search of Step 1 is performed set the limit
48. 1 are set to Disable 40 NOVA electronics Inc MCX302 M41 D6 D7 D8 EPCLR When driving stops triggered by the nSTOP2 signal the real position counter is cleared When the nSTOP2 signal is changed to the Active level while this bit is set to 1 the driving stops and the real position counter EP is cleared The WR1 D5 SP2 E bit must be set to 1 and the Enable level must be set in the WR1 D4 SP2 L bit EPINV Reverse increase decrease of real position counter 07 EPINV Input pulse mode Increase Decrease of real position counter A B phase mode Count up when A phase is advancing 0 Count down when B phase is advancing Up Down pulse mode Count up when PPIN pulse input Count down when PMIN pulse input A B phase mode Count up when B phase is advancing 4 Count down when A phase is advancing Up Down pulse mode Count up when PMIN pulse input Count down when PPIN pulse input SMOD Setting for prioritizing to reach specified drive speed during S curve acceleration deceleration driving 1 enable For the following bits the interrupt is set 1 enable 0 disable D9 D10 D11 D12 D13 D14 D15 P2C C END C STA D END Interrupt occurs when the value of logical real position counter is larger than or equal to that of register Interrupt occurs when the value of logical real position counter is smaller than that of COMP register Interrupt occurs when
49. 1 ACDSND XLMTM YOUTO M ina eng YIM YEQUPPIN YIN2 YINI NOVA elec EC PMIN GND e en XEXPP gt YPM DIR XEXPM gt YPP PLS YEXPP gt XPM DIR YEXPM gt XPP PLS GND gt CLK gt BUSYN GND TESTN See Chapter 14 for the 100 pin package 23 8 17 8mm pin pitch 0 65mm as NOVA electronics Inc Signal Description MCX302 M35 Signals XOOO and YOOO are input output signals for X and Y axes where n stands for X and Y If the signals are named OOON they are negative active or low active See the end of this chapter for description of input output circuits An integral filter circuit is available in the internal input column of this IC for the input signals with F symbol See Section 2 6 9 for the filter function Signal Name CLK Pin No 99 Input Output Input A Signal Description Clock clock signal for internal synchronous loop of MCX302 standard frequency is 16 MHz This signal is for drive speed acceleration deceleration and jerk If the frequency setting is not 16 MHz the setting alues of speed and acceleration deceleration are different D15 DO 1 7 10 14 17 20 Bi directional A DATA BUS 3 state bi direction 16 bit data bus When CSN Low and RDN Low these signals are for outputting Otherwise they are high impedance inputs If 8 bit data bus is used D15 D8 can not be used and D15 D8 should be pull up to 5V through high impedan
50. 2 Axes Motor Control IC MCX302 User s Manual 2009 10 19 Ver 1 8 2010 03 25 Ver 1 9 NOVA electronics NOVA electronics Inc MCX302 ii Introduction Before using the MCX302 please read this manual thoroughly to ensure correct usage within the scope of the specification such as the signal voltage signal timing and operation parameter values In general semiconductor products sometimes malfunction or fail to function When incorporating this IC in a system make sure that a safe system is designed to avoid any injuries or property damage caused by malfunctioning of this IC This IC is designed for application in general electronic devices industrial automation devices industrial robots measuring instruments computers office equipment household electrical goods and so on This IC is not intended for the use in high performance high reliability equipment whose failure or malfunctioning may directly cause death or injuries atomic energy control equipment aerospace equipment transportation equipment medical equipment and various safety devices and the operation for such use is not guaranteed The customer shall be responsible for the use of this IC in any such high performance and high reliability equipment Notes on S curve acceleration deceleration driving This IC is equipped with a function that performs decelerating stop for a fixed pulse drive with S curve deceleration of the symmetrical acceleration deceleration How
51. 220 _ ECA 470 e x i EE Oo 20 TLP115A zx 66 NOVA electronics Inc MCX302 M67 11 Example Program The example of C program for MCX302 is shown in this section This is a 16 bit bus configuration program include lt stdio h gt include lt conio h gt define adr 0x0280 Basic address define wrO 0x0 Command register define wr1 0x2 Mode register 1 define wr2 0 4 Mode register 2 define wr3 0x6 Mode register 3 define wr4 0x8 Output register define wr6 Oxc Low word bits data writing register define wr7 Oxe High word bits data writing register define rr 0x0 Main status register define 1 0 2 Status register 1 define rr2 0x4 Status register 2 define rr3 0x6 Status register 3 define rr4 0x8 Input register 1 define rr5 Oxa Input register 2 define Low word bits data reading register define rr Oxe High word bits data reading register wreg 1 axis assignment data Write register 1 setting void wreg1 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr1 wdata wreg 2 axis assignment data Write register 2 setting void wreg2 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr2 wdata wreg 3 axis assignment data Write register 3 setting void wreg3 int axis int wdata outpw adr wr0 axis lt
52. 5 nSEC When CLK 16 MHz maximum When 8 bit data bus is used the reset is activated when the command 80h is written to register WROH RESET bit should be set to 0 when the other commands are written 4 4 Mode Register1 WR1 Each axis is with mode register WR1 The axis specified by NOP command or the condition before decides which axis s register will be written The register consists of the bit for setting enable disable and enable logical levels of input signal STOP2 STOPO decelerating stop sudden stop during the driving and bit for occurring the interrupt enable disable Once SP2 SPO are active when the fixed continuous driving starts and also when STOP signal becomes the setting logical level the decelerating stop will be performed during the acceleration deceleration driving and the sudden stop will be performed during the constant speed driving H L D15 D14 D13 012 D11 D8 06 05 D4 D3 D2 D1 DO WR1 D END C STA C END SMOD EPINV EPCLR SP2 E SP2L SP1 E sP1 L sPo E SPO L Interruput Enable Disable Drive Stop Input Signal D5 3 1 SPm E The bit for setting enable disable of driving stop input signal STOPm 0 disable 1 enable D4 2 0 SPm L The bit for setting enable logical levels for input signal STOPm 0 stop on the Low level 1 stop on the Hi level In automatic home search the logical level of STOP signal that is used is set in these bits The Enable Disable bits D5 D3 and D
53. 7 DSND 60 Output A General Output 7 Descend general purpose output signals YOUT7 DSND 77 IXOUT7 0 can output the 1 0 data of D7 0 in WR4 register YOUT7 0 can output the 1 0 data of D15 8 in WR4 register to Hi Low They become Low when the IC is reset hen the drive status output mode is engaged this signal can be used for reflecting the status of deceleration While the driving command is executed nd during the deceleration it becomes Hi XOUT6 CNST YOUT6 CNST 61 78 Output A General Output 6 Constant general purpose output signals the operation is as same as nOUT7 hen the drive status output mode is engaged this signal can be used for reflecting the status of constant speed drive While the driving command is xecuted and during the constant speed drive it becomes Hi XOUTS ASND YOUTS ASND 62 79 Output A General Output 5 Ascend general purpose output signals the operation is as same as nOUT7 hen the drive status output mode is engaged this signal can be used for reflecting the status of acceleration While the driving command is executed nd during the acceleration it becomes Hi XOUT4 DRIVE YOUT4 DRIVE 63 80 Output A General Output 4 Drive general purpose output signals the operation is as same as nOUT7 hen the drive status output mode is engaged this signal can be used for reflecting the status of drive During outputting drive pulses it becomes Hi he DRIVE signal
54. Continuous Driving Before the stop command or external signal is active the pulse numbers will be continuously output through the output signal nPM In driving logical position counter will count down 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 8 5 Drive Status Holding Command Holding for driving starting This command is to hold on the start of driving When this command is used for starting multi axis driving simultaneously the user may write other commands after the drive status holding command is registered The drive start holding release command 25h can be written to start the driving In driving even this command is written the driving will not be stopped The next command will be held 8 6 Drive Status Holding Release Finishing Status Clear Command Drive status holding release finishing status clearing This command is to release the drive status holding 24h and start the driving Also this command can clear the finishing status bits D15 8 of register RR1 and the automatic home search STOP2 signal error bit D7 HOME of register RR2 60 NOVA electronics Inc MCX302 M61 8 7 Decelerating Stop Command Decelerating stop in driving This command performs the decelerating stop when the drive pulses are outputting If the drive speed is lower t
55. Counter N41 N22 N43 N44 N45 N 7 Fig 2 23 Example of Operation of Clearing The Real Position Counter Using The STOP2 Signal Notes e Only the nSTOP2 signal can clear the real position counter The nSTOP1 and nSTOPO signals cannot clear the counter When the input signal filter is invalid an active level width of more than 4CLK cycles is necessary When the input signal filter is valid a time more than double the input signal delay time is necessary tis recommended to perform Z phase search from the one direction to enhance the position detection precision When the nSTOP2 signal is already set to an active level at setting WR1 D6 5 4 the real position counter is cleared even if WRI1 D6 5 4 is set 15 NOVA electronics Inc MCX302 M16 2 4 Automatic Home Search This IC has a function that automatically executes a home search sequence such as high speed near home search low speed home search encoder Z phase search offset driving without CPU intervention The automatic home search function sequentially executes the steps from step 1 to step 4 that are listed below Set execution non execution and a search direction mode for each step In steps 1 and 4 search operation is performed at the high speed that is set in the drive speed In steps 2 and 3 search operation is performed at the low speed that is set in the home search speed Step number Operation Search speed Det
56. D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO YOUT7 YOUT6 YOUT5 YOUT4 YOUT3 YOUT2 YOUT1 YOUTO XOUT7 XOUT6 XOUTS XOUT4 XOUT3 XOUT2 XOUT1 XOUTO WR4 D15 D0 will be set to 0 while resetting and nOUT7 0 signals become Low level Note In automatic home search mode for each axis when deviation counter clearing output DCC is enabled nOUTO functions as deviation counter clearing output 4 9 Data Register WR6 WR7 Data registers are used for setting the written command data The low word data writing 16 bit WD15 WDb0 is for register RR6 setting and the high word data writing 16 bit WD31 WD16 is for register RR7 setting H L WR6 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR7 wo29 WD28 WD27 WD26 WD25 WD24 WD 23 WD22 WD21 WD20 WD 19 WD18 WD 17 WD 16 The user can write command data with a designated data length into the write register It does not matter to write WR6 or WR7 first when 8 bit data bus is used the registers are WR6L WR6H WR7L and WR7H The written data is binary formatted 2 complement is for negatives For command data the user should use designated data length The contents of WR6 and WR7 are unknown while resetting 45 NOVA electronics Inc MCX302 M46 4 10 Main Status Register RRO H L D15 D14 D13 D12 D11 D8 D7 D6 D5 D4 D3 D2 D1 DO To Po e T Feb vor xan Ld Lids Lids Automatic
57. Individual acceleration deceleration WR3 D1 1 Triangle form prevention ON WR3 D5 1 R 800000 Multiple 10 400 D 100 SV 50 V 4000 AO 0 R 800000 Multiple 10 100 D 400 SV 50 V 4000 0 0 Acceleration 500K PPS SEC Acceleration 125K PPS SEC Deceleration 125K PPS SEC Deceleration 500K PPS SEC Initial Speed 500PPS Initial Speed 500PPS Drive Speed 40K PPS Drive Speed 40K PPS 40K 40K PPS PPS P 5000 P 5000 P 2000 10000 P 20000 Output Pulse P 30000 P 2000 P 10000 P 20000 P 30000 1 2sec j 1 2sec R 800000 Multiple 10 400 D 40 SV 50 V 4000 0 0 R 800000 Multiple 10 40 D 400 SV 50 V 4000 AO 0 Acceleration 500K PPS SEC Acceleration 50K PPS SEC Deceleration 50K PPS SEC Deceleration 500K PPS SEC Initial Speed 500PPS Initial Speed 500PPS Drive Speed 40K PPS Drive Speed 40K PPS 40K 40K PPS PPS P 5000 P 10000 P 20000 Output Pulse P 30000 P 5000 P 10000 20000 P 30000 1 6sec 1 6sec A3 NOVA electronics Inc MCX302 B1 AppendixB Important notice I Notice for fixed pulse or continuous pulse driving in S curve acceleration deceleration Symptom When using fixed pulse driving or continuous pulse driving in S curve acceleration deceleration driving is performed at an initial speed without acceleration Occurrence Condition 1 When fixed pulse driving or continuous pulse driving is performed in S curve acceleration deceleration mode WR3 D2 1 2
58. N i M SOLON TC Noise duty ratio TC As the condition the noise duty ratio time ratio under which noise is generated in the signal must be 1 4 or less 32 NOVA electronics Inc MCX302 M33 In bits D12 to D8 FE4 to FEO of the nWR3 register set whether the filter function of each input signal is enabled or signals are passed through as shown below When 1 is set in each bit the filter function of the signal is enabled Specification bit nWR3 D8 FEO Filter Enable signal EMGN nLMTP nLMTM nSTOPO nSTOP1 D9 FE1 nSTOP2 D10 FE2 nINPOS nALARM D11 FE3 nEXPP nEXPM D12 FE4 NINO nIN1 nIN2 nIN3 nIN4 nINS 2 The EMGN signal is set using the D8 bit of the WR3 register of the X axis 33 NOVA electronics Inc MCX302 M34 3 Pin Assignments and Signal Description c2 Q a M cac LLI gt Oor a NN 2 gt 2 8 58 882325 SS Ek UN SS ON 0 lt cor am 5353539022222 25 D003 D335 3DD 2 CO OOOZ OOOZzcooodocodocco xc i zu o c gt gt gt gt O x lt gt lt gt lt lt gt lt gt lt gt lt gt lt SO lt lt lt gt lt OK OK gt gt lt gt lt Adda aa YOUT3 CMPM GND YOUT2 CMPP XSTOP2 YOUT
59. Position Counter by The STOP2 Signal useful for solving the problem of Z phase detection position slippage that occurs due to a delay of the servo system or the mechanical system even if a low Z phase search drive speed is set To clear a real position counter with a Z phase signal in encoder Z phase search assign the Z phase signal to nSTOP2 signal as shown Fig 2 22 See below for the procedure for setting a mode or a command for Z phase search accompanied by clearing of the real position counter Set a range and an initial speed Q Set a Z phase search drive speed If the value set for the drive speed is lower than the initial speed acceleration deceleration driving is not performed If a Z phase is detected the driving pulse stops immediately Q Validate the STOP2 signal and set an active level 14 NOVA electronics Inc MCX302 M15 WR1 D5 SP2 E 1 D4 SP2 L O Low active 1 Hi active Enable the clearing of the real position counter using STOP2 signal Set WRI D6 to 1 Issue the direction or direction continuous driving command As a result of the operations described above driving starts in the specified direction as shown in Fig 2 23 When the Z phase signal reaches an active level the driving pulses stop and the real position counter is cleared at the rising of the Z phase signal active level Z Phase Search zl Stop Driving Pulse EC A EC B STOPXEC Z 1 OZ 4 AdvhHi Real Position
60. T7 0 cannot be used cause they share the same terminals with the position comparison output and drive status output And if deviation counter clearing is enabled in automatic home search mode setting nOUT0 ACASND functions as deviation counter clearing output so nOUT0 ACASND cannot be used See section 2 6 7 and 2 6 8 The status of XIN5 0 signals for X axis are displayed D13 8 of RR4 register and YIN5 0 signals for Y axis are displayed in D13 8 of RRS register respectively Low level becomes 0 and Hi level becomes 1 Moreover nIN5 0 signals are equipped with a function of input signal filter inside IC please refer to 2 6 9 Signals XOUT7 0 of the X axis can be output by setting the output level in each bit D7 0 of WR4 register and signals YOUT7 0 of the Y axis can be output by setting the output level in D15 8 of WR4 register 0 set to Low level and 1 set to Hi level When resetting each bit of WRA register will be cleared then their output level will be set to Low level It is possible to use the general purpose output signals for motor driver current OFF deviation counting clear and alarm reset 2 6 9 Input Signal Filter D15 D14 D13 D12 D11 D10 D9 D8 This IC is equipped with an integral type filter in the input XWR3 FL2 FL1 FLO FE4 FES FE2 FE1 FEO stage of each input signal Figure 2 44 shows the filte
61. W CCW type See Chapter 2 6 3 Host CPU can read or write these two counters any time The counters are signed 32 bits and the counting range is between 2 147 483 648 2 147 483 647 The negative is in 2 s complement format The counter value is random while resetting 2 3 2 Compare Register and Software Limit Each axis has as shown in Fig 2 19 two 32 bit registers which can compare the logical positions with the real positions The logical position and real position counters are selected by bit 05 CMPSL of WR2 register The main function of COMP Register is to check out the upper limit of logical real position counter When the value in the logical real position counters are larger than that of COMP Register bit DO CMP of register RR1 will become 1 On the other hand COMP Register is used for the lower limit of logical real position counter When the value of logical real position counter become smaller than hat of COMP Register bit D1 CMP of register RR1 will become 1 Fig 2 20 is an example for COMP 10000 COMP 1000 COMP and COMP registers can be used as software limit RR1 D0 0 CM RR1 DO 0 cP RRI Do 1 COMPr registerCP 10000 RR1 D1 1 RR1 D1 0 RR1 D1 0 COMP registerCM 1000 Mg gt 44 1000 0 10000 Fig 2 20 Example of COMP Register Setting When DO and D1bits of WR2 register are set to 1 it enables the software limit In driving if the value of logical real counter is larg
62. X302 X Near Home X Home JUL X Z Phase Motor Driver Output Search Search Input signal and logical level n direction speed Near home signal STOPO Step 1 i 20 000pps signal Low active Home STOP signal Step 2 500 p Low active Z phase STOP2 signal High Step 3 sig x 500pps active 3500 pulse offset driving in the Step 4 ASA 20 000pps direction For high speed search in Step 1 and offset driving in Step 4 acceleration deceleration driving is performed where linear acceleration is applied at the speed within the range from the initial speed 1 000pps to 20 000pps in 0 2 seconds acceleration speed 19 000 0 2 95 000 pps sec When Z phase of Step 3 is High active deviation counter pulses of 100psec are output from the XOUTO ACASND output signal pin The logical level is High active At completion of Step 4 the logical position counter value and the real position counter value are cleared Parameter and mode setting WRO 010Fh Write X axis selection WR1 0010h Write Input signal logical setting XSTOPO and XSTOP1 Low active XSTOP2 High active See 4 4 WR3 lt 4D00h Write Input signal filter setting See 4 6 D15 D13 010 filter delay 512usec D9 0 XSTOP2 signal Disables the filter through D8 1 XSTOP1 0 signal Enables the filer WR6 495Fh Write Writes an automatic home search mode in WR6 D15 D13 010 Deviation counter
63. al becomes active See section 2 4 for details of automatic home search 257 NOVA electronics Inc MCX302 M58 7 Commands for Reading Data Data reading commands are used to read the register contents of each axis After a data reading command is written into register WRO this data will be set in registers RR6 and RR7 The host CPU can reach the data through reading registers RR6 and RR7 Reading data for registers WR6 and WR7 is binary and 2 s complement for negatives Note a It requires 250 nSEC maximum to access the command code of data reading where CLK 16MHz After the command is written and passed that time read registers RR6 and 7 b The axis assignment is for one axis If both X and Y axes are assigned the data reading priority is X 7 1 Logical Position Counter Reading Command Symbol Data length Logical position counter reading 2 147 483 648 2 147 483 647 4 bytes The current value of logical position counter will be set in read registers RR6 and RR7 7 2 Real position Counter Reading Command Data range Data length Real position counter reading 2 147 483 648 2 147 483 647 4 bytes The current value of real position counter will be set in read registers RR6 and RR7 7 3 Current Drive Speed Reading Command Data range Data length Current drive speed reading 2 bytes The value of current drive speed will be set in read registers RR6 and RR7 When the driving stops t
64. an maintain relative accuracy when the drive speed is high Actually the accuracy of driving pulse is still within 0 1 Using oscilloscope for observing the driving pulse we can find the jitter about ISCLK 125nSEC This is no matter when putting the driving to a motor because the jitter will be absorbed by the inertia of motor system 12 NOVA electronics Inc MCX302 M13 2 3 Position Control Fig 2 19 is 1 axis position control block diagram For each axis there are two 32 bit up and down counters for counting present positions and two comparison registers for comparing the present positions gt PP direction gt PM direction Logical Position Counter 32bit DOWN Real Position Counter UP 4 Waveform lt ECA PPIN RW Encoder input pulse 32bit Transformation 4 ECB PMIN put p selector wee Register D5 e o E RR1 Register DO 32bit 2 g E RR1 Register D1 32bit Fig 2 19 Position Control Block Diagram 2 3 1 Logic Position Counter and Real position Counter As shown above in Fig 2 19 the logic position counter is counting the driving pulses in MCX302 When one direction plus is outputting the counter will count up 1 when one direction pulse is outputting the counter will count down 1 The real position counter will count input pulse numbers from external encoder The type of input pulse can be either A B quadrature pulse type or Up Down pulse C
65. ar operation of Step 2 The home search result is correct however the operation is not normal Failure in the device of the Kept ON The axis moves in the opposite direction in Step 2 low speed home search home nSTOP1 sensor and and stops by setting the limit At termination the error bit nRR2 D3 2 of the wiring path limit of the opposite direction is set to 1 Kept OFF The axis moves in the opposite direction after setting the limit in the specified direction in Step 2 low speed home search and terminates by setting the limit of the opposite direction At termination the error limit nRR2 D3 2 of the limit of the reverse direction is set to 1 Failure in the device of the Kept ON Operation stops due to an error in Step 3 low speed Z phase search Z phase nSTOP2 sensor and nRR2 D7 is set to n wiring path Kept OFF Operation stops in Step 3 low speed Z phase search by setting the limit in the specified direction The error bit of the limit in the specified direction nRR2 D3 2 is set to 1 at termination 2 4 6 Notes on Automatic Home Search E Search speed A home search speed HV must be set to a low speed to increase the home search position precision Set a value lower than the initial speed to stop the operation immediately when the input signal becomes active For encoder Z phase search of Step 3 the relationship between the Z phase signal delay and the home search speed HV becomes important For
66. ation Driving are performed after fixed driving WR3 D5 bit must be reset to 0 in advance 2 2 3 Non Symmetrical Trapezoidal Acceleration When an object is to be moved using stacking equipment the acceleration and the deceleration of vertical transfer need to be changed since a gravity acceleration is applied to the object This IC can perform automatic deceleration in fixed driving in non symmetrical linear acceleration where the acceleration and the deceleration are different It is not necessary to set a manual deceleration point by calculation in advance Fig 2 11 shows the case where the deceleration is greater than the acceleration and Fig 2 12 shows the case where the acceleration is greater than the deceleration In such non symmetrical linear acceleration also the deceleration start point is calculated within the IC based on the number of output pulses P and each rate parameter Speed pps Drive Speed V 30k V 30k Deceleration Rate D 36kpps sec Deceleration Rate D 145kpps sec 45 Initial Speed SV 1k SV 1k 0 8 12 1 4 time SEC 0 2 0 6 14 time SEC Fig 2 11 Non Symmetrical Linear Acceleration Driving Fig 2 12 Non Symmetrical Linear Acceleration Driving acceleration deceleration acceleration deceleration NOVA electronics Inc MCX302 M8 To perform automatic deceleration for fixed driving of non symmetrical linear acceleration bit D1 DSNDE to 1 of the WR3 register must be
67. be set Manual Decelerating Point Output Pulse Number Pulse Number for Deceleration 6 9 Logical Position Counter Setting Command Data Range Data Length Logical position counter setting 2 147 483 648 2 147 483 647 4 bytes LP is the parameter setting the value of logic position counter Logical position counter counts Up Down according to the direction pulse output The data writing and reading of logical position counter is possible anytime 55 NOVA electronics Inc MCX302 M56 6 10 Real position Counter Setting Command Data Range Data Length Real position counter setting 2 147 483 648 2 147 483 647 4 bytes EP is the parameter setting the value of real position counter Real position counter counts Up Down according to encoder pulse input The data writing and reading of real position counter is possible anytime 6 11 COMP Register Setting Command Data Range Data Length register setting 2 147 483 648 2 147 483 647 4 bytes CP is the parameter setting the value of COM register COMP register is used to compare with logical real position counter and the comparison result will be output to bit DO of register RR1 or nOUT2 CMPP signal Also it can be used as the direction software limit The value of COMP register can be written anytime 6 12 COMP Register Setting Command Data Range Data Length COMP register setting 2 147
68. ce about 100 A3 A0 21 22 23 24 Input A Address address signal for host CPU to access the write read registers A3 is used only when the 8 bit data bus is used CSN 25 Input A Chip Select input signal for selecting I O device for MCX302 Set CSN to the Low level for data reading and writing WRN 26 Input A Write Strobe its level is Low while data is being written to MCX302 When WRN is Low CSN and A3 A0 must be assured When WRN is up 1 the data will be latched in the write register and while WRN is up 1 the levels of D15 DO should be assured RDN 27 Input A Read Strobe its level is Low while data is being read from MCX302 Only when CSN is on the low level the selected read register data from 0 address signals can be output from the data bus RESETN 29 Input A Reset reset return to the initial setting signal for MCX302 Setting RESETN to Low for more than 4 CLK cycles will reset MCX302 The RESETN setting is necessary when the power is on Note If there is no clock input to MCX302 setting the RESETN to Low still cannot reset this IC H16L8 30 Input A Hi 16 bit Low 8 bit data bus width selection for 16 bit 8 bit When the setting is Hi 16 bit data bus is selected for processing the 16 bit ata reading writing in IC when the setting is Low 8 bit data bus D7 DO is Eie for data reading writing TESTN 31 Input A
69. celerating and sudden stop signals Enable disable active levels and mode setting are possible Speed Dre at Speed b Stop Command or External Stop Signal Initial Speed time Fig 2 7 Continuous Driving lWiStop Condition for External Input STOP2 to STOPO in Continuous Driving Assign an encoder Z phase signal a home signal and a near home signal in nSTOP2 to nSTOPO Assign an encoder Z phase signal in nSTOP2 Enable disable and logical levels can be set by bit from D5 to 0 of WRI register of each axis For the application of high speed searching the user can set MCX302 in the acceleration deceleration continuous driving mode and enable STOP2 1 0 in WR1 And then MCX302 will perform the decelerating stop when the external signal STOP2 1 0 is active For the application of low speed searching the user can set MCX302 in the constant speed continuous driving and enable STOP2 1 0 Then MCX302 will perform the sudden stop when STOPI is active Except the parameter of the number of output pulse the other three parameters for the fixed drive must be set to execute the acceleration deceleration continuous driving NOVA electronics Inc MCX302 M6 2 2 Acceleration and Deceleration Basically driving pulses of each axis are output by a fixed driving command or a continuous driving command of the direction or direction These types of driving can be performed with a speed curve of constant speed linear acc
70. ch and encoder Z signal search E Servo Motor Feedback Signals Each axis includes input pins for servo feedback signals such as in positioning Bi Interrupt Signals Interrupt signals can be generated when 1 the start finish of a constant speed drive during the acceleration deceleration driving 2 the end of driving and 3 the compare result once higher lower the border lines of the position counter range E Real Time Monitoring During the driving the present status such as logical position real position drive speed acceleration deceleration status of accelerating decelerating and constant driving can be read NOVA electronics Inc MCX302 M3 8 or 16 Bits Data Bus Selectable MCX302 can be connected to either 8 bit or 16 bit CPU Fig 1 1 is the IC functional block diagram It consists of same functioned X and Y axes control sections Fig 1 2 is the functional block diagram of each axis control section CLK 16MHz Standard gt Command Data X Axis Control Section Process Section oe Y Axis Control Section Fig 1 1 MCX302 Functional Block Diagram Jerk Generator Acceleration eceleration Generator Command Command Data Operating Section Action Managing Section Speed Generator Extemal Extemal Signal Signal Extemal pr PP PLS nup Operation Pulse Generator PMDIR Section ES EUM Position UP Counter ES EUM DOWN INT Internal Genera
71. cified search direction 20 Step 3 Waits for activation of the STOP2 signal in the specified search direction 25 Step 4 Offset driving in the specified search direction 2 4 5 Errors Occurring at Automatic Home Search The following table lists the errors that may occur during execution of automatic home search Cause of the error Operation of IC at the occurrence of error Display at termination The ALARM signal was activated in any of the The search driving stops instantly without RRO D5 4 1 nRR2 D4 1 Steps 1 to 4 lexecuting the following steps nRR1 D14 1 The EMGN signal was activated in any of the search driving stops instantly without RRO D5 4 1 nRR2 D5 1 Steps 1 to 4 executing the following steps nRR1 D15 1 The limit signal in the positive direction The search driving stops instantly by RRO D5 4 1 nRR2 D3 2 1 LMTP M is activated in Step 3 decelerating without executing the following nRR1 D13 12 1 steps The limit signal in the positive direction The offset action stops instantly by RRO D5 4 1 nRR2 D3 2 1 LMTP M is activated in Step 4 decelerating and the operation stops nRR1 D13 12 1 The STOP2 signal is already active at the startOperation stops without executing the RRO D5 4 1 nRR2 D7 1 of Step 3 following steps Always check the error bits RRO D5 to D4 of each axis after termination of automatic home search When automatic home search is not performed correctly the error bit is set to 1
72. clearing pulse width 100 D12 0 Deviation counter clearing output logical level Active High D11 1 Deviation counter clearing output Enable output from the XOUTO ACASND pin D10 0 Uses a limit signal as the home signal Disable D9 0 Z phase AND home signal Disable D8 1 Logical real position counter area Enable D7 O Step 4 driving direction direction D6 1 Step 4 Enable D5 0 Step search direction direction D4 1 Step 3 Enable D3 1 Step 2 search direction direction D2 1 Step 2 Enable D1 1 Step 1 search direction direction DO 1 Step f Enable WRO 0160h Write Set an automatic home search mode to the X axis WR6 3500h Write Range 8 000 000 Scaling factor 10 WR7 000Ch Write WRO 0100h Write WR6 004Ch Write Acceleration speed 95 000 PPS SEC WRO 0102h Write 95000 125 10 76 WR6 0064h Write Initial speed 1000 PPS WRO 0104h Write WR6 07DOh Write Speed of Steps 1 and 4 20000 PPS WRO 0105h Write 22 NOVA electronics Inc MCX302 M23 WR6 0032h Write Speed of Steps 2 and 3 500 PPS WRO 0161h Write WR6 ODACh Write Offset driving pulse count 3500 WR7 lt 0000h Write WRO 0106h Write WRO 0162h Write Starts execution of automatic home search x3 NOVA electronics Inc MCX302 M24 After start of the execution the function monitors the RRO D8 X HOM bit and terminates automatic home search if t
73. code and bit for command resetting After the axis assignment and command code have been written to the register this command will be executed immediately The data such as drive speed setting and data writing command must be written to registers WR6 and WR7 first Otherwise when the reading command is engaged the data will be written and set through IC internal circuit to registers RR6 and RR7 When using the 8 bit data bus the user should write data into the high word byte H then low word byte L It requires 250 nSEC maximum to access the command code when CLK 16MHz The input signal BUSYN is on the Low level at this moment Please don t write the next command into WRO before BUSYN return to the Hi level H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO wo reser o fo o ofoty xfo Ld Axis Asignment Command code D6 0 Command code setting Please refer to chapter 5 and the chapters following for further description of command codes D9 8 Axis assignment When the bits of the axis are set to 1 the axis is assigned The assignment is not limited only for one axis but for multi axes simultaneously It is possible to write the same parameters also However the data reading is only for one assigned axis D15 RESET IC command resetting When this bit is set to 1 but others are 0 the IC will be reset after command writing After command writing the BUSYN signal will be on the Low level within 87
74. cting a pulse input mode and the D11 and D10 PIND1 0 bits to set the division ratio of encoder 2 phase pulse input Note Time specification is applied to the pulse width and pulse cycle of input pulses See Section 12 2 5 Input Pulse of Chapter 12 2 6 4 Hardware Limit Signals Hardware limit signals nLMTP and are used for stopping the pulse output if the limit sensors of and directions triggered When the limit signal and also the logical level are active the command of sudden stop or decelerating stop can be set by bits D3 and D4 HLMT HLMT and D2 LMTMD of register WR2 2 6 5 Interface to Servo Motor Drivers Enable Disable and logical levels of the input signals for connecting servo motor drivers such as nINPOS in position input signal and nALARM alarm input signal can be set by D15 12 bits of register WR2 nINPOS input signal responds to the in position signal of servo motor driver When enable is set and when the driving is finished nINPOS will wait for the active Then the n DRV bit of main status register RRO will return to 0 nALARM input signal receives the alarm signal from servo motor drivers When enable is set nALARM signal will be monitored and the D4 alarm bit of RR2 register is 1 when nALARM is active The sudden stop will occur in the driving when this signal is active These input signals from servo motor drivers can be read by RR4 and RRS registers 3
75. ded SV must be set as more than 100 to the constraint of S curve Acceleration Deceleration Driving Separated two cases such as Trapezoidal Acceleration Deceleration Driving and S curve Acceleration Deceleration Driving more clearly and added SV must be set as more than 100 to 6 5 Initial Speed Setting WR2 D9 Descriptions Added Appendix B Technical Information I II Added Appendix B Technical Information P72 74 the following items in the table 1 6 2006 Ver 1 3 P40 line 33 P40 line 35 11 17 2004 Ver 1 2 P10 line 26 27 P12 line 10 P17 line 18 P17 line 41 P18 line 2 P18 line 2 P19 line 45 P26 line 9 P35 line 13 P35 line 20 P40 line 42 43 P51 line 31 P57 line 11 12 P58 line 13 P58 line 23 P58 line 33 P59 line 9 P59 line 23 P61 line 3 P79 line 8 15 Wavelength Width Reservation Time Hold Time Established Time Setup Time the start the end the end the start Cut a paragraph In case of executing tolerance jitter as the pulse count gt as the output pulse numbers a deviation counter clearing nSTOP2 signal a deviation counter clearing signal the encoder Z phase signal the encoder Z phase signal nSTOP2 Interruption of automatic home search Suspension of automatic home search During the power resetting When resetting HKMT gt HLMT HKMT HLMT Added a paragraph Each axis is with Accel
76. e routine void main void int wr3save int count outpw adr wr0 0x8000 for count 0 count lt 2 count command 0x3 0xf outpw adr wr1 0x0000 outpw adr wr2 0xe000 wr3save 0x5d00 outpw adr wr3 wr3save outpw adr wr4 0x0000 accofst 0x3 0 range 0x3 800000 acac 0x3 1010 acc 0x3 100 dec 0x3 100 startv 0x3 100 speed 0x3 4000 pulse 0x3 100000 Ip 0x3 0 WR3Register Data Save Software reset Mode register 1 11015 9 0 All the interrupt disabled D8 0 107 0 D6 0 D5 0 STOP2 signal Disable D4 0 STOP2 signal logic Low Active 1 03 0 STOP1 signal Disable 0 STOP1 signal logic Low Active D2 0 STOPO signal Disable D1 0 STOPO signal logic Low Active Mode register 2 D15 0 INPOS input Disable D14 0 INPOS input logic Low active D13 0 ALARM input Disable D12 0 ALARM input logic Low active D11 0 D10 0 Encoder input division 1 1 D9 0 Encoder input mode 2 phase pulse D8 0 Drive pulse direction logic D7 0 Drive pulse logic Positive logic D6 0 Drive pulse mode 2 pulse D5 0 COMP target Logical position counter D4 0 over run limit logic Low Active D3 0 over run limit logic Low Active D2 0 Over run limit stop mode Decelerating stop 1101 0 Software over run limit Disable 1100 0 Software over run limit Disable Mode register 3 D15 13 010 Input signa
77. e 4 6 D15 D13 010 Filter delay 512usec D8 1 XLMTM XSTOP1 0 signals Enables the filter WR6 054Fh Write Writes an automatic home search mode in WR6 D15 D13 000 D12 0 D11 O Deviation counter clearing output Disable D10 1 Using a limit signal as a home signal Enable D9 0 Z phase signal AND home signal Disable D8 1 Clearing the logical real position counter Enable D7 O Step 4 driving direction direction D6 1 Step 4 Enable D5 0 Step search direction D4 0 Step 3 Disable D3 1 Step 2 search direction direction D2 1 Step 2 Enable D1 1 Step 1 search direction direction DO 1 Step f Enable WRO lt 0160h Write Set an automatic home search mode to the X axis WR6 3500h Write WR7 000Ch Write WRO 0100h Write Range 8 000 000 Multiple 10 2952 NOVA electronics Inc WR6 004Ch Write WRO 0102h Write WR6 0064h Write WRO 0104h Write WR6 07DOh Write WRO 0105h Write WR6 0032h Write WRO 0161h Write WR6 ODACh Write WR7 0000h Write WRO 0106h Write Notes on using limit signals Acceleration speed 95 000 PPS SEC 95000 125 10 76 Initial speed 1000 PPS Speed of Steps 1 and 4 20000 PPS Speed of Step 2 500 PPS Offset driving pulse count 3500 MCX302 M26 The same search direction must be applied for Steps 1 and 2 For Step 3 Z phase search apply a direction opposite to the direction o
78. e nEXPP signal when the nEXPM signal is at the Low level Prevent triangle waveforms during fixed driving at the trapezoidal acceleration deceleration 0 disable 1 enable Note WR3 DS bit should be reset to 0 when continuous driving is performed after fixed driving Enable the variable ring function of logical position and real position counter 0 disable 1 enable Driving status outputting or used as general purpose output signals nOUT7 0 0 nOUT7 0 general purpose output The setting of each bit in register will be output to nOUT7 0 1 nOUT7 0 driving status output see the table below Signal Name Output Description nOUTO ACASND Mhen acceleration or deceleration of S curve acceleration deceleration increases the level becomes Hi nOUT1 ACDSND When acceleration or deceleration of S curve acceleration deceleration decreases the level becomes Hi nOUT2 CMPP if logical real position counter gt COMP register Low if logical real position counter lt COMP register nOUT3 CMPM Hi if logical real position counter COMP register Low if logical real position counter 2COMP register nOUT4 DRIVE When drive pulse is outputting the level becomes Hi When the driving command is engaged the level becomes Hi once the driving status is nOUTS ASND acceleration When the driving command is engaged the level becomes Hi once the driving status is nOUTG CNST Acs in constant speed dr
79. e search low speed home search encoder Z phase search offset drive This function reduces the CPU load E Speed Control The speed range of the pulse output is from 1PPS to 4MPPS for constant speed trapezoidal or S curve acceleration deceleration driving Speed accuracy of the pulse output is less than 0 1 at CLK 16MHz The speed of driving pulse output can be freely changed during the driving Bl Acceleration deceleration driving The IC can control each axis for acceleration deceleration of constant speed driving trapezoidal acceleration deceleration driving symmetry non symmetry and S curve acceleration deceleration Automatic acceleration deceleration of linear acceleration fixed speed pulse driving is available and no need to set deceleration starting point by manual Since a primary linear increase decrease method is applied for S curve acceleration deceleration the speed curve forms a secondary parabola acceleration deceleration curve In S curve acceleration and deceleration fixed driving automatic deceleration is available for symmetrical S curve only and triangle waveforms during S curve acceleration deceleration are prevented by a special method Trapezoidal Acceleration Deceleration Driving Trapezoidal Acceleration Deceleration Driving Symmetry Non Symmetry V V Sudden Deceleration Parabola S curve Acceleration Deceleration Driving y Symmetry Automatic Deceleration P 100000 P 200000
80. e used Then the axis assignment and command code will be written into register WRO for execution Writing data for registers WR6 and WR7 is binary and 2 s complement for negatives Each data should be set within the permitted data range If the setting data out of range the driving can not be done Note a It requires 250 nSEC maximum to access the command code when CLK 16MHz Please don t write the next command or data into WRO when the present command is written b Except acceleration offset AO the other parameters are unknown while resetting So please per set proper values for those driving related parameters before the driving starts 6 1 Range Setting Command Data Range Data Length 8 000 000 multiple 1 16 000 multiple 500 4 bytes R is the parameter determining the drive speed acceleration deceleration and jerk The multiple can be calculated as follows where the range setting value is R 8 000 000 Multiple R For the parameter setting range of drive speed acceleration deceleration is 1 8000 if the higher value is needed the user should have a larger multiple In case of increasing the multiple although the high speed driving is possible the speed resolution will be decreased So the user can set the multiple as small as possible if the setting speed has covered the desired speed For example the maximum value of parameter for setting the drive speed
81. earch speed HV until the home signal nSTOP1 becomes inactive When the home signal nSTOP1 becomes inactive the function executes Step 2 from the beginning 2 The limit signal in the search direction is active before Step 2 starts The motor drives the axis in the direction opposite to the specified search direction at the home search speed HV until the home signal nSTOP1 becomes active When the home signal nSTOP1 becomes active the motor drives in the direction opposite to the specified search direction at the home search speed HV until the home signal nSTOP1 becomes inactive When the home signal nSTOP1 becomes inactive the function executes Step 2 from the beginning 3 The limit signal in the search direction becomes active during execution Driving stops and the same operation as for 2 is performed WiStep 3 Low speed Z phase search Drive pulses are output in the specified direction at the speed that is set as the pid D the home search speed HV until the STOP2 encoder Z phase signal nSTOP2 Normal Operation Active Error 3 Active b tive f 4 Section Section ecomes active To perform low spee Specified Search Direction gt search operation set a lower value for the home search speed HV than the e e initial speed SV A fixed speed ya y driving mode is applied and driving Error 1 Error 2 stops instantly when the encoder Z phase signal nSTOP2 becomes active
82. ease set DO bit of register WR3 to 1 and use command 07h for presetting deceleration point As to the other operation the setting is as same as that of fixed driving NOVA electronics Inc W Changing a Drive speed During Driving In fixed driving under linear acceleration at a constant speed a drive speed V can be changed during driving However if a speed of fixed driving is changed at linear acceleration some premature termination may occur Therefore caution is necessary when using the IC by setting a low initial speed W Offset Setting for Acceleration Deceleration Driving The offset function can be used for compensating the pulses when the decelerating speed does not reach the setting initial speed during the S curve fixed driving MCX302 will calculate the acceleration deceleration point automatically and will arrange the pulse numbers in acceleration equal to that in deceleration The method is calculating the output acceleration pulses and comparing them with the remaining pulses When the remaining pulses are equal to or less the pulses in acceleration it starts the deceleration When setting the offset for deceleration MCX302 MCX302 M5 Speed pps 40k poseer soe Range R 800000 Multiple 10 30k 74 25k V 3000 setting f IKA Se ee V 4000 setting V 1500 setting time Fig 2 5 Example of Drive Speed Change During Driving Speed Of
83. ection signal Step 1 High speed near home search Drive speed V nSTOPO Step 2 Low speed home search Home search speed HV nSTOP1 Step 3 Low speed Z phase search Home search speed HV nSTOP2 Step 4 High speed offset drive Drive speed V By inputting a home signal in both nSTOPO and nSTOPI high speed search is enabled by using only one home signal See Example of home search using a home signal only in Section 2 4 7 N HOME HOME STOPO STOP1 Encoder Z phase STOP2 at Detection of Near Home Step 1 High speed Near Home Search Step2 Low speed Home Search stant Stop at Detection of Home 4 i Step3 Low speed Z phase Search Instant Stop at Detection of Z phase Step4 High speed Offset Drive Fig 2 24 Prototype of Automatic Home Search Using This IC 2 4 1 Operation of Each Step In each step it is possible to specify in mode setting execution non execution and the search direction If non execution is specified the function proceeds with the next step without executing the step MStep 1 High speed near home search Drive pulses are output in the specified direction at the speed that is set in the drive speed V until the near home signal nSTOPO becomes active To Over Run Limit in the STOPO Search Direction Acti perform high speed search operation set a higher Irregular 3 value for the drive speed V than the initial speed Specified Search Directi
84. eleration non symmetrical linear acceleration S curve acceleration deceleration according to the mode that is set or the operation parameter value 2 2 1 Constant Speed Driving When the drive speed set in MCX302 is lower than the initial the acceleration deceleration will not be performed instead a constant speed driving starts If the user wants to perform the sudden stop when the home sensor or encoder Z phase signal is active it is better not to perform the acceleration deceleration driving but the low speed constant driving from the beginning For processing constant speed driving the following parameters will be preset accordingly Parameter name Symbol Comment Range R Speed p Set a value higher than the drive E Initial Speed SV Initial speed V ee a A aT Drive Speed V Drive Not required for continuous Speed Number of Output Pulse driving a time Fig 2 8 Constant Speed Driving E Example for Parameter Setting of Constant Speed The constant speed is set 980 PPS as shown in the right Figure Speed Range R 8 000 000 Multiple 1 pps Initial Speed SV 980 Initial Speed gt Drive Speed Should be less than initial speed Drive Speed V 980 980 Please refer each parameter in Chapter 6 time SEC 2 2 2 Trapezoidal Driving Symmetrical In linear acceleration driving the drive speed accelerates in a primary linear form with the specified acceleration slope
85. ep4 X axis 3 500 pulse offset drive in the direction at 20 000pps 1 axis 700 pulse offset drive the direction at 20 000 I Deviation counter clear output at Z phase search void homesrch1 void hsmode 0x3 0x497f Automatic home search mode data D15 D13 010 Deviation counter clear pulse width 100 u sec 1012 0 Deviation counter clear output logical level Hi 11011 1 Deviation counter clear output Enable 11010 0 Use of limit signal as a home signal Disable D9 0 Z phase signal and home signal Disable D8 1 Logical Real position counter clear Enable I D7 0 Step 4 driving direction direction D6 1 Step 4 Enable 105 1 Step 3 search direction direction I D4 1 Step 3 Enable D3 1 Step 2 search direction direction 102 1 Step 2 Enable I D1 1 Step 1 search direction direction DO 1 Step 1 Enable speed 0x3 2000 Step 1 4 high speed speed 20 000pps hsspeed 0x3 50 Step 2 low speed speed 500pps pulse 0x1 3500 X axis offset 3 500 pulse pulse 0x2 700 Y axis offset 700 pulse 69 MCX302 M69 NOVA electronics Inc MCX302 M70 command 0x3 0x62 hswait 0x3 if inpw adr rr0 amp 0x0010 II X Y axes automatic home search execution Waiting for automatic home search Error message printf X axis Home Search Error Xn j if inpw adr rr0 amp 0x0020 printf Y axis Home Search Error Xn FE thee ee
86. er and COMP register 1 logical real position counter gt COMP register 0 logical real position counter COMP register D1 CMP Displaying the comparison result between logical real position counter and COMP register 1 logical real position counter COMP register 0 logical real position counter gt COMP register A D2 ASND It becomes 1 when in Speed acceleration D3 CNST It becomes 1 when in constant speed driving ASND 1 CNST 1 DSND 1 1 Time lt a _ Acceleration D4 DSND It becomes 1 when in Deceleration Acceleration Deceleration deceleration 1 1 1 1 1 1 1 1 1 1 1 1 D5 AASND In S curve it becomes 1 when A AASND 1 ACNST 1 ADSND 1 AASND 1 ACNST 1 ADSND 1 Time acceleration deceleration ie zd increases 46 NOVA electronics Inc MCX302 M47 D6 ACNST In S curve it becomes 1 when acceleration deceleration keeps constant speed D7 ADSND In S curve it becomes 1 when acceleration deceleration decreases D10 8 STOP2 0 Ifthe driving is stopped by one of external decelerating stop signals nSTOP2 0 it will become 1 D12 LMT If the driving is stopped by direction limit signal nLMTP it will become 1 D13 LMT If the driving is stopped by direction limit signal it will become 1 D14 ALARM Ifthe driving is stopped by nALARM from servo drivers it will become 1 D15 EMG If the driving is stopped by external emergency si
87. er than COMP the decelerating stop will be performed and DO SLMT of RR2 register will change to 1 If the value of logical actual counter is smaller than that of COMP the DO bit of RR2 register will change to 0 automatically Host CPU can write the COMP and COMP registers any time However when MCX302 is reset the register values are random da NOVA electronics Inc MCX302 M14 2 3 3 Position Counter Variable Ring A logical position counter and a real position counter are 32 bit up down ring counters Therefore normally when the counter value is incremented ood e 012 e 2 in the direction from FFFFFFFFh which is the maximum value of the Gr t 32 bit length the value is reset to the value 0 When the counter value is decremented in the direction from the value 0 the value is reset to FFFFFFFFh The variable ring function enables the setting of any value as the maximum value This function is useful for managing the position of the axis in circular motions that return to the home position after one rotation rather than linear motions To enable the variable ring function set the D6 RING bit of the WR3 register to 1 and set the maximum value of the logical position counter in 5000 Fig 2 21 Operation of Position Counter EL Ring Maximum Value 9999 the register and the maximum value of the real position counter in the COMP register For instance set as follows for a rotatio
88. eration Deceleration and jerk is Acceleration Deceleration is Corrected a paragraph within this period of time after this period of time real position logical position real position logical position real position logical position real position logical position within this period of time after this period of time Added descriptions of multiple to the end of each line NOVA electronics Inc MCX302 M1 1 OUTLINE MCX302 is a 2 axis motion control IC which can control 2 axes of either stepper motor or pulse type servo drivers for position speed and interpolation controls All of the MCX302 s function are controlled by specific registers There are command registers data registers status registers and mode registers This motion control IC has the following built in functions E Individual Control for 2 Axes MCX302 controls motors through pulse string driving The IC can control motors of two axes independently with a single chip Each of the two axes has identical function capabilities and is controlled by the same method of operation with constant speed trapezoidal or S curve driving Servo Step Motor Driver gt x CPU 2 Driver I op Y Automatic home search This IC is equipped with a function that automatically executes a home search sequence without CPU intervention The sequence comprises high speed near hom
89. eration value is used as acceleration deceleration during acceleration deceleration driving When 1 is set acceleration value is used during acceleration driving and deceleration value is used during deceleration driving 1 should be set for non symmetrical trapezoidal acceleration deceleration driving Setting trapezoidal driving S curve driving 0 trapezoidal driving 1 S curve driving Before S curve driving is engaged jerk K should be set 43 NOVA electronics Inc MCX302 M44 D4 3 D5 D6 D7 D12 8 EXOP1 0 Setting the external input signals nEXPP nEXPM for driving AVTRI VRING OUTSL FE4 0 D4 EXOP1 D3 EXOPO 0 0 external signals disabled 0 1 continuous driving mode 1 0 fixed driving mode 1 1 manual pulsar mode When the continuous driving mode is engaged the direction drive pulses will be output continuously once the nEXPP signal is on the Low level the direction pulses will be output continuously once the nEXPM signal is on the Low level When the fixed driving mode is engaged the direction fixed driving starts once the nEXPP signal is falling to the Low level from the Hi level the direction fixed driving starts once the nEXPM signal is falling to the Low level from the Hi level In manual pulsar mode fixed driving in the direction is activated at 7 f the nEXPP signal when the nEXPM signal is at the Low level The fixed driving is activated at of th
90. ers in MCX302 and what are the mapping addresses of these registers 4 1 Register Address by 16 bit Data Bus As shown is the table below when 16 bit data bus is used the access address of read write register is 8 bit E Write Register in 16 bit Data Bus All registers are 16 bit length Address Symbol Register Name Contents A2 A1 A0 WRO Command Register for setting axis assignment and command XWR1 X axis mode register 1 setting the logical levels of external decelerating sudden stop 0 0 1 YWR4 Y axis mode register 1 enable disable the valid invalid of interrupt for each axis and the mode in the real position counter XWR2 X axis mode register 2 setting the limit signal mode driving pulse mode encoder input YWR2 Y axis mode register 2 signal mode the logical levels and enable disable of servo motor signal for each axis and the action mode in the real position counter XWR3 X axis mode register 3 setting the manual deceleration individually decelerating and YWR3 Y axis mode register 3 S curve acceleration deceleration mode for each axis external operation mode and input signal filter 100 WR4 Output register for setting the general output nOUT 7 0 1 0 1 not used 110 WR6 Data writing register 1 setting the low word 16 bit 015 00 for data writing 1 1 1 WR7 Data writing register 2 setting the high word 16 bit 031 016 for data writing
91. es when BUSYN is f b nDRIVE will become Hi level when BUSYN is f for each axis 13 4 Sudden Stop The following figure illustrates the timing of sudden stop The sudden stop input signals are EMGN nLMTP M When the sudden stop mode is engaged and nALARM When sudden stop input signal becomes active or the sudden stop command is written it will stop the output of pulses immediately The width of external signals input for sudden stop must be more than 1 SCLK cycle The stop function will not be active if the width is less 1 SCLK cycle Signal s Command WRN Active nPP nPM nPLS nDRIVE An instant stop input signal is loaded into IC by SCLK When the input signal filter is enabled the input signal will be delayed according to the constant value at filtering 13 5 Decelerating Stop The following figure illustrates the timing of decelerating stop input signal and decelerating commands The decelerating stop signal are nSTOP2 0 and nLMTP M When the decelerating mode is engaged When speed decelerating signals become active or the decelerating stop command is written the decelerating stop function will be performed If the input signal filter is disabled the input signal is delayed according to the value of the time constant of the filter 77 NOVA electronics Inc MCX302 M78 14 Package Dimensions NOVA elec IMCX302 E Installation Face 78 NOVA
92. etting drive speed then a constant speed driving starts In automatic home search this drive speed is used for high speed search speed of Step1 and the high speed drive speed of Step4 Note a In fixed S curve acceleration deceleration driving there is no way to change the drive speed during the driving In continuous S curve acceleration deceleration driving the S curve profile cannot be exactly tracked if the speed alterations during the acceleration deceleration it is better to change the drive speed in the constant speed period b In fixed trapezoidal driving the frequent changes of drive speed may occur residual pulses at the end of deceleration 6 7 Output Pulse Number Command Data Range Data Length Output pulse number 4 bytes The number of output pulses indicates the total number of pulses that are output in fixed driving Set with an unsigned 4 bytes data length The output pulse numbers can be changed during the driving In automatic home search this number of output pulses is used for the offset drive pulses at Step 4 6 8 Manual Decelerating Point Setting Command Data Range Data Length Manual decelerating point setting j 4 bytes DP is the parameter setting the manual deceleration point in fixed acceleration deceleration driving when the manual deceleration mode is engaged In manual deceleration mode the user can set the bit DO of WR3 register to 1 The decelerating point can
93. ever when the initial speed is set to an extremely low speed 10 or less slight premature termination or creep may occur Before using a S curve deceleration drive make sure that your system allows premature termination or creep NOVA electronics Inc MCX302 iii POUTINE ees ese Ed een 1 2 The Descriptions of Functions 4 2 1 Pulse Output 4 2 1 1 Fixed Driving Output 4 2 1 2 Continuous Driving Output 5 2 2 Acceleration and Deceleration 6 2 2 1 Constant Speed Driving 6 2 2 2 Trapezoidal Driving Symmetrical 6 2 2 3 Non Symmetrical Trapezoidal Acceleration 7 2 2 4 S curve Acceleration Deceleration Driving 9 2 2 5 Pulse Width and Speed Accuracy 11 2 3 Position Control 13 2 3 1 Logic Position Counter a
94. f PPS SEC of 0 4 sec and then must reach to 40 000PPS in rest of 0 2 sec At this time the acceleration increases on a straight line in 0 2 sec and the integral value is equal to the starting speed 20 000PPS Therefore the acceleration at 0 2 sec is 20 000 x 2 0 2 02 94 SEC 200KPPS SEC and the jerk is 200K 0 2 1 000KPP SEC For the perfect S curve the speed curve only depends on the jerk so that the value of acceleration deceleration must be set greater than 200KPPS SEC not to be the partial S curve 200K Range R 800000 Multiple 10 Jerk K 625 62 5 106 625 x10 1000x103 PPS SEC2 Acceleration A 160 125 160 10 200 10 PPS SEC Initial Speed SV 100 100x10 1000 PPS Drive Speed V 4000 4000x10 40000 PPS 10 NOVA electronics Inc MCX302 M11 Please refer each parameter in Chapter 6 W Example of Parameter Setting 2 Partial S Curve Acceleration Deceleration As shown in the diagram in this example the partial S curve acceleration is applied firstly it reaches from initial speed of 0 to oem IOKPPS in 0 2 seconds by parabolic acceleration and then reaches TM from 10KPPS to30KPPS in 0 2 sec by acceleration on a straight line finally reaches from 30KPPS to 40KPPS in 0 2 sec by 30000 parabolic acceleration The first acceleration must increase up to 10 000PPS in 0 2 sec on a straight line At this time the integral value is equal to the rising speed 10 000PPS The
95. f Steps 1 and 2 For Step 4 also offset driving apply a direction opposite to Steps 1 and 2 and make sure that automatic home search operation stops at the position beyond the limit active section When Step 3 operation is performed the AND condition between a Z phase signal and a home signal STOP1 cannot be applied The automatic home search mode bit D9 SAND must be set to 0 296 NOVA electronics Inc MCX302 M27 2 5 Interrupt The interrupt is generated from X Y axis There is only one interrupt signal INTN 33 to the host CPU So the signal will be OR calculated then output as shown in Fig 2 25 ye INTN 33 Fig 2 25 Interrupt Signal Path in IC Every interrupt can be enabled or disabled individually When resetting all interrupt signals are disabled W Interrupt of X and Y Axes The following table shows the interrupt factors generated by X and Y axes Enable Disable Status nRR3 The Factors of Interrupt Happening nWR1 Register Register once the value of logical real position counter is larger than or equal to the value D9 P2C D1 P2C of COMP register CM once the value of logical real position counter is smaller than the value of D10 P C D2 P C COMP register CM once the value of logical real position counter is larger than the value of COMP D11 lt D3 P lt C register CM once the value of logical real position counter is sma
96. from Speed Deceleration Acceleration the initial speed at the start of driving When the acceleration Drive and the deceleration are the same symmetrical trapezoid in Speed ae s 4 Acceleration sl fixed driving the pulses utilized at acceleration are counted elope When the remaining number of output pulses becomes less Output pulse is too low not sutable for the requirement of drive speed than the number of acceleration pulses deceleration starts Deceleration continues in the primary line with the same slope Shes as that of acceleration until the speed reaches the initial speed time Fig 2 9 Trapezoidal Driving Symmetrical and driving stops at completion of the output of all the pulses automatic deceleration When the decelerating stop command is performed during the acceleration or when the pulse numbers of the fixed drive do not reach the designated drive speed the driving will be decelerating during acceleration as show in Fig 2 9 By setting a triangle prevention mode such triangle form can be transformed to a trapezoid form even if the number of output pulses low See the section of triangle prevention of fixed driving NOVA electronics Inc MCX302 M7 To perform symmetrical linear acceleration driving the following parameters must be set parameters marked by O will be set when needed Parameter name Symbol Comment Range R Acceleration A Accele
97. fset Pulse Initial Speed time Fig 2 6 Offset for Deceleration will start deceleration early for the offset The greater is the positive value set for the offset the closer the automatic declaration point becomes increasing the creep pulses at the initial speed at deceleration termination If a negative value is set for the offset value output may stop prematurely before the speed reaches the initial speed see Fig 2 6 The default value for offset is 8 when MCX302 power on reset It is not necessary to change the shift pulse value in the case of acceleration deceleration fixed driving As for fixed driving in non symmetrical trapezoidal acceleration deceleration or S curve acceleration deceleration if creep pulses or premature termination occurs at termination of driving due to the low initial speed setting correct the speed by setting the acceleration counter offset to an appropriate value 2 1 2 Continuous Driving Output When the continuous driving is performed MCX302 will drive pulse output in a specific speed until stop command or external stop signal is happened The main application of continuous pulse driving is home searching teaching or speed control The drive speed can be changed freely during continuous driving Two stop commands are for stopping the continuous driving One is decelerating stop and the other is sudden stop Three input pins STOP2 STOPO of each axis can be connected for external de
98. gnal EMGN it will become 1 W The Status Bits of Driving Finishing These bits are keeping the factor information of driving finishing The factors for driving finishing in fixed driving and continuous driving are shown as follows a when all the drive pulses are output in fixed driving when deceleration stop or sudden stop command is written c when software limit is enabled and is active o d when external deceleration signal is enabled and active e when external limit switch signals nLMTP nLMTM become active f when nALARM signal is enabled and active and 9 when EMGN signal is on the Low level 99 Above factors a and b can be controlled by the host CPU and factor c can be confirmed by register RR2 even the driving is finished As for factors d g the error status is latched in RR2 until next driving command or a clear command 25h is written After the driving is finished if the error factor bits D15 D12 become 1 n ERR bit of main status register RRO will become 1 Status bit of driving finishing can be cleared when next driving command is written or when the finishing status clear command 25h is used 4 12 Status Register 2 RR2 Each axis is with status register 2 The axis specified by NOP command or the condition before decides which axis s register will be read This register is for reflecting the error information and the automatic home search execution
99. han the initial speed the driving will be suddenly stopped when this command is engaged Once the driving stops this command will not work 8 8 Sudden Stop Command Sudden stop in driving This command performs the sudden stop when the drive pulses are output Also the sudden stop can be performed in acceleration deceleration driving Once the driving stops this command will not work 2612 NOVA electronics Inc MCX302 M62 9 Other Commands Note It requires 250 nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 9 1 Automatic Home Search Execution Command Automatic home search execution This command executes automatic home search Before execution of command the automatic home search mode and correct parameters must be set See section 2 4 for details of automatic home search 9 2 Deviation Counter Clear Output Command Deviation counter clear output This command outputs deviation counter clear pulses from the nOUTO ACASND DCC outoput pin Before issuing this command set output enable a pulse logical level and a pulse width in using the exetension mode setting command See section 2 4 2 for details 262 NOVA electronics Inc MCX302 M63 10 Connection Examples 10 1 Connection Example for 68000 CPU 68000 MCX302 Clock Generator 16MHz JY UDS T indicates high resistance pull up Or LDS
100. he Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is selectable When the 1 pulse 1 direction mode is selected this terminal is direction signal Encoder A Pulse signal for encoder phase A input This input signal together with phase B signal will make the Up Down pulse transformation to be the input count of real position counter When the Up Down pulse input mode is selected this terminal is for UP pulses input Once the input pulse is up 1 the real position counter is counting up Encoder B Pulse in signal for encoder phase B input This input signal together with phase A signal will make the Up Down pulse transformation to be the input count of real position counter When the Up Down pulse input mode is selected this terminal is for DOWN pulses input Once the input pulse is up 1 the real position counter is counting down In position input signal for servo driver in position Enable disable and logical levels can be set as commands When enable is 35 NOVA electronics Inc MCX302 M36 Signal Name Pin No Input Output Signal Description YINPOS 53 F Set and after the driving is finished this signal is active and standby n DVR bit of main status register returns to 0 XALARM 46 Input A Servo Alarm input signal for servo driver alarm YALARM 54 F Enable disable and logical levels can be set as com
101. he bit is reset to 0 from 1 If automatic home search did not terminate normally due to an error the RRO D4 X ERR bit is set to 1 after termination Analyze the error based on the contents of the XRR2 D7 bits D5 to DO and bits XRR1 D15 to D12 E Example of home search using a home search signal only In this example high speed home search is triggered by one home signal that is input to both the STOPO and STOPI pins of this IC Operation MCX302 Input signal and logical Search Search X Home level direction speed JUL Near home STOPO Signal Step 1 9 20 000pps XSTOP1 Low active Home STOP1 signal Step 2 500pps Low active Step 3 Not executed 3500 pulse offset driving in Step 4 j 20 000pps the direction As shown in the table the same search direction is specified for the signal logical levels of Step 1 and Step 2 An opposite logical level may also be set High speed home search is performed in Step 1 and operation stops by decelerating when the home signal becomes active If the stop position is within the home signal active section controls escapes in the opposite direction by the irregular operation of Step 2 and searches a home in operation of Step 2 If the Step 1 stop position passed through the home signal Over Run Limit in the STOPO STOP1 Search Direction active section the limit in the search direction is set in Step 2 In this case irregular operat
102. he value becomes 0 The data unit is as same as the setting value of drive speed V 7 4 Current Acceleration Deceleration Reading Command Data range Data length Current acceleration deceleration reading 2 bytes The value of current acceleration deceleration will be set in read registers RR6 and RR7 When the driving stops the read data is random number The data unit is as same as the setting value of acceleration A 58 NOVA electronics Inc MCX302 M59 8 Driving Commands Driving commands include the commands for each axis s drive pulse output and other related commands After the command code and axis assignment are written in command register WRO the command will be executed immediately It is possible to assign more than one axis with same command at the same time In driving bit n DRV of each axis s main status register RRO becomes 1 When the driving is finished the bit n DRV will return to 0 If nINPOS input signal for servo drivers is enabled bit n DRV of main status register RRO will not return to 0 until nINPOS signal is on its active level Note It requires 250 nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 8 1 Direction Fixed Driving Command Direction Fixed Driving The setting pulse numbers will be output through the output signal nPP In driving logical position counter will count up 1 when one p
103. ing This trouble won t happen when trapezoidal liner acceleration deceleration drive or constant speed drive is performed This trouble won t be happened when continuous pulse driving in S curve acceleration deceleration This trouble won t happen when any of Sudden stop command EMGN signal LMT signal of Sudden stop and ALARM signal is outputted Fixed pulse driving in S curve acceleration deceleration is performed as that driving speed and initial speed becomes equal and acceleration becomes zero 0 when driving finished which means all pulse outputted But it s impossible to make driving speed amp initial speed equal and acceleration zero 0 in all combinations of parameters because of the problem of calculation accuracy This trouble will happen if it is in the above mentioned occasion D or as the factors of deceleration stop accidentally and driving speed hasn t reached initial speed yet but acceleration has become zero 0 showing on Figure 2 3 NOVA electronics Inc MCX302 B4 speed driving speed hasn t reached initial one yet initial speed acceleration acceleration becomes 0 Figure 2 Driving speed and acceleration just before driving completion Deceleration status of accelerating ASND constant speed driving CNST and decelerating DSND can be read out according to RR1 resister of IC The status is shown as Figure 3 as below speed driving speed r 7 Figure 3 Status of
104. inuous 75 13 3 Start Driving after Hold Command 76 13 4 Sudden 5 76 13 5 Decelerating Stop 76 14 Package DIMENSIONS 77 15 Specifications 79 Appendix A Speed Profile of Acceleration Deceleration Drive A1 Appendix Inportant notice B1 Update history 03 25 2010 Ver 1 9 P10 P50 P80 PB8 10 19 2009 Ver 1 8 P10 P53 10 02 2009 Ver 1 7 P41 18 12 2008 Ver 1 6 PB1 B2 6 8 2008 Ver 1 5 PB1 B6 3 7 2006 Ver 1 4 Added When the fixed S curve acceleration deceleration driving is performed the driving speed does not seldom reach the setting value CP 1 073 741 824 1 073 741 824 CM 1 073 741 824 1 073 741 824 Comparison Register COMP Register Position comparison range 1 073 741 824 1 073 741 824 COMP Register Position comparison range 1 073 741 824 1 073 741 824 Our email address Ad
105. ion G is performed E ore When the automatic home search starting position is in Search gt Step 1 Direction point A as shown in the diagram the function performs irregular operation of Step 2 without executing Step 1 When the starting position is in point B in the diagram the ae NEN ep function performs irregular operation in Step 2 after setting the limit in search direction in Step 1 e Parameter and mode setting WRO 010Fh Write WR1 0000h Write WR3 lt 4F00h Write Selects X axis Input signal logical setting XSTOPO Low active XSTOP1 Low active See 4 4 Input signal filter setting See 4 6 D15 D13 010 Filter delay 512usec D8 1 XSTOP1 0 signal Enables the filter WR6 014Fh Write Writes an automatic home search mode in WR6 D15 D13 000 D12 0 D11 O Deviation counter clearing output Disable D10 0 Uses a limit signal as the home signal Disable D9 0 Z phase signal AND home signal Disable D8 1 Clears logical real position counter Enable D7 O Step 4 driving direction direction D6 1 Step 4 Enable D5 0 Step search direction D4 0 Step 3 Disable D3 1 Step 2 search direction direction D2 1 Step 2 Enable D1 1 Step 1 search direction direction DO 1 Step f Enable WRO lt 0160h Write Set an automatic home search mode to the X axis WR6 3500h Write WR7 000Ch Write WRO 0100h Write Range 8 000 0
106. is binary formatted 2 s complement is for negatives 49 NOVA electronics Inc MCX302 M50 5 Command Lists E Write Commands Code Command Symbol Data Range Data Length 00h Range setting R R 8 000 000 multiple 1 16 000 multiple2500 4 bytes 01 Jerk setting K 1 65 535 2 Acceleration increasing rate 02 Acceleration setting A 1 8 000 2 03 Deceleration setting D 1 8 000 2 04 Initial speed setting SV 1 8 000 2 05 Drive speed setting V 1 8 000 2 06 Output pulse numbers P 268 435 455 4 07 Manual deceleration point setting DP 268 435 455 4 09 Logical position counter setting LP 2 147 483 648 2 147 483 647 4 0A Real position counter setting EP 2 147 483 648 2 147 483 647 4 0B COMP register setting 1 073 741 824 1 073 741 824 4 0 register setting CM 1 073 741 824 1 073 741 824 4 0 Acceleration counter offsetting AO 32 768 32 767 2 OF NOP For axis switching 60 Automatic home search mode setting HM 61 Home search speed setting HV 1 8 000 2 Note When those parameters are written the total data length should be completely filled Formula Calculation for Parameters 8 000 000 Multiple R 5 62 5 x10 8 000 000 8 000 000 Jerk PPS SEC cem c DENEN Deceleration PPS SEC D x 125 x NEN C pIILI 4 tSS Multiple Multiple 8 000 000 8 000 000 Acceleration PPS SEC A x 125 x BL Initia
107. iving When the driving command is engaged the level becomes Hi once the driving status is nOUT7 DSND in deceleration Note In automatic home search mode when deviation counter clearing output DCC is enabled nOUT0 ACASND functions as deviation counter clearing output signal regardless of the D7 OUTSL bit setting Set whether the input signal filter function enables or signal passes through 0 through 1 enable Specification bit Filter Enable signal D8 FEO EMGN nLMTP nLMTM nSTOPO nSTOP1 D9 FE1 nSTOP2 D10 FE2 nINPOS nALARM D11 nEXPP nEXPM D12 FE4 nINO nIN1 nIN2 nIN3 nIN4 nIN5 2 The EMGN signal is set using the D8 bit of the WR3 register of the X axis 44 NOVA electronics Inc MCX302 M45 D15 13 FL2 0 Set a time constant of the filter FL2 0 Sencar asp iiis Input signal delay time width 0 1 750 SEC 2uSEC 1 224UuSEC 256uSEC 2 448uSEC 512uSEC 3 896 USEC 1 024mSEC 4 1 792mMSEC 2 048mSEC 5 3 584mSEC 4 096mSEC 6 7 168mSEC 8 192mSEC 7 14 336mSEC 16 384mSEC D15 D0 will be set to 0 while resetting 4 7 Output Register WR4 This register is used for setting the general purpose output signals nNOUT7 0 This 16 bit register locates 8 output signals of each axis It can be also used as a 16 bit general purpose output It is Low level output when the bit is set 0 and Hi level output when the bit is set 1 D15 D14 D13 D12
108. l Speed PPS SV x EIU UE LUN Multiple Multiple 8 000 000 Drive Speed PPS V x IE a LUN 2 Multiple 50 NOVA electronics Inc MCX302 M51 E Data Reading Commands Code Command Symbol Data Range Data Length 10h Logical position counter reading LP 2 147 483 648 2 147 483 647 4 bytes 11 Real position counter reading EP 2 147 483 648 2 147 483 647 4 12 Current drive speed reading CV 1 8 000 2 13 Acceleration deceleration reading CA 1 8 000 2 E Driving Commands Code Command 20h direction fixed driving 21 direction fixed driving 22 direction continuous driving 23 direction continuous driving 24 Drive start holding Drive start holding release stop status clear 25 26 Decelerating stop 27 Sudden stop E Other Commands Code Command 62h utomatic home search execution 63 Deviation counter clearing output Note Please do not write the codes not mentioned above The unknown situation could happen due to IC internal circuit test e 541 NOVA electronics Inc MCX302 M52 6 Commands for Data Writing Data writing is used for setting driving parameters such as acceleration drive speed output pulse numbers It is possible to write the same data for more than one axis simultaneously if more those axes are assigned If the data length is two bytes WR6 register can be used If the data is 4 bytes WR6 7 register can b
109. l filter delay 512u D12 1 IN5 INO signal filter Enable D11 1 EXPP and EXPM signal filter Enable D10 1 INPOS and ALARM signal filter Enable 1 09 0 STOP2 signal filter Disable D8 1 EMGN LMTP M STOP1 and 0 filter Enable D7 0 Drive state output Disable D6 0 LP EP variable range function Disable D5 0 Triangle form prevention at linear acceleration Disable D4 0 External operation signal operation Disable 103 0 D2 0 Acceleration deceleration curve Lineracceleration trapezoid D1 0 Deceleration Use Acceleration value automatic decelolartion DO 0 Deceleration for fixed driving automatic deceleration General output register 00000000 00000000 X and Y axes operation parameter initial setting 0 I R 800000 Multiple 10 K 1010 Jerk 619KPPS SEC2 100 Accleration deceleration 125KPPS SEC I D 100 Deceleration 125KPPS SEC 1 SV 100 Initial speed 1000PPS 4000 Drive speed 40000PPS P 100000 Output pulse number 100000 LP 0 Logical position counter 0 70 NOVA electronics Inc homesrch1 acc 0x3 200 speed 0x3 4000 pulse 0x1 80000 pulse 0x2 40000 command 0x3 0x20 wait 0x3 wr3save 0x0002 wreg3 0x1 wr3save acc 0x1 200 dec 0x1 50 speed 0x1 4000 pulse 0x1 80000 command 0x1 0x20 wait 0x1 wr3save amp Oxfffd wreg3 0x1 wr3save wr3save 0x0004 wreg3 0x3 wr3save
110. ller than or equal to the D12 P2C D4 P2C value of COMP register CM in the acceleration deceleration driving when the driving changes from the D13 C END D5 C END 2 constant speed region into the decelerating region in the acceleration deceleration driving when the driving changes from the D14 C STA D6 C STA 1 AD accelerating region into the constant speed region D15 D END D7 D END when the driving is finished Each factor of interrupt can be masked by setting levels in nWR1 register bits 1 enable and 0 disable When interrupt is generated during the driving and if the interrupt is generated each bit in nRR3 will be set to 1 INTN will be on the Low level After the nRR3 status has been read from the host CPU nRR3 will be cleared from 1 to 0 and INTN will return to the High Z level 27 NOVA electronics Inc MCX302 M28 2 6 Other Functions 2 6 1 Driving By External Pulses Fixed driving and continuous driving can be controlled by either commands or external signals which can reduce the load of host CPU By inputting an encoder 2 phase signal of a manual pulsar jog feed of each axis is enabled Each axis has two input signals nEXPP and nEXPM In fixed drive mode and a continuous drive mode the nEXPP signal triggers driving in the direction and the nEXPM signal in the direction nEXPP controls direction pulse output and nEXPM controls direction com
111. ltage 4 75 5 25 Ambient Temperature E DC Characteristics High level input voltage 0 85 Condition MCX302 M72 If the user wishes to operate the IC below 0 C please make contact with our R amp D engineer Ta 0 85 C Vpp 5V 5 Low level input voltage High level input current Vin Low level input current Vin 0V D15 D0 Input signal Vin 0V Input signal besides D15 DO High level output voltage lou 1 Note 1 lou 4mA Output signal besides D15 DO lou 8mA D15 D0 Output signal Low level output voltage lot 14A lot 4mA Output signal besides D15 DO lo 8mA D15 DO Output signal Output leakage current Vout Vpp or OV 015 DO BUSYN INTN Smith hysteresis voltage Consuming current lio OMA CLK 16MHz Notel BUSYN and INTN output signals have no items for high level output voltage due to the open drain output E Pin Capacity Input Output capacity Ta 25 C f 1MHz Input capacity 72 NOVA electronics Inc MCX302 M73 12 2 AC Characteristics Ta 0 85 C VDD 5V x 5 Output load condition 85 pF 1 TTL 12 2 1 Clock CLK Input Signal SCLK Output Signal CLK __ S VS _ Sot tCYC DR _tDF SCLK will not be output during reset CLK Cycle CLK Hi Level Width CLK Low Level Width CLK
112. m Although Range of Position Comparison between Position Counter and Compare Register COMP is shown as 2 147 483 648 to 2 147 483 647 signed 32 bit on User s Manual actually it is 1 073 741 824 to 1 073 741 823 signed 31 bit due to the defect of IC Workaround Don t compare the values over the range such as 1 073 741 824 to 1 073 741 823 B2 NOVA electronics Inc MCX302 B3 III Notice for Fixed pulse driving in S curve acceleration deceleration Symptom When using fixed pulse driving in S curve acceleration deceleration if one of the following occasions to is taken just before finishing driving pulse may be continuously outputted depending on setting value of parameters speed drive speed F 4 t time one of is excuted here initial speed Figure 1 Speed profile of fixed pulse driving in S curve acceleration deceleration D When decelerating stop command 26h was given just before finishing driving When setting stop mode of hardware limit nLMTP M signal as decelerating stop WR2 D2 1 driving is started and hardware limit of progress direction becomes active just before finishing driving When software limit is enabled WR2 D0 1 1 driving is started and hardware limit of progress direction becomes active just before finishing driving When nSTOP 2 0 signals are enabled WR1 D5 3 1 fixed pulse driving is started and those signals become active just before finishing driv
113. mand D3 and D4 bits of register WR3 are for the setting in driving The user should preset the parameters and commands The default level of nEXPP and nEXPM is normally set on Hi In manual pulsar mode the A phase signal is connected to nEXPP input and the B phase signal to nEXPM input E Fixed Driving Mode Set bits D4 and D3 of register WR3 to 1 and 0 respectively and set all the parameters of fixed driving Once nEXPP is falling down to the Low level the direction fixed driving will start once nEXPM is raising to the Hi level the direction fixed driving will start The width of Low level signal must be larger than 4 CLK cycle Before this driving is finished a new Hi to Low level falling down of the signal is invalid XEXPP _ _ lt lt _ _ XEXPM op gos JUUU Ul es Fig 2 26 Example of The Constant Driving by External Signal E Continuous Driving Mode Set bits D4 and D3 of WR3 register to be 0 and 1 respectively and set all the parameters of continuous driving Once nEXPP is falling down to the Low level the direction continuous driving will start once nEXPM is raising to the Low level the direction continuous driving will start When nEXPP and nEXPM returns to the Hi level from the Low level the decelerating stop will be performed in trapezoidal driving and the sudden stop in constant speed driving AENUR Low period XEXPM Low period xe MML o
114. mands When it is enable and when this signal is in its active level the ALARM bit of RR2 register becomes 1 XLMTP 47 Input A OVER Limit signal of direction over limit YLMTP 55 F During the direction drive pulse outputting decelerating stop or sudden stop Will be performed once this signal is active When the filter function is disabled the active pulse width must be 2CLK or more When it is enable and when this signal is in its active level the HLMT of RR2 register becomes 1 XLMTM 48 Input A OVER Limit signal of direction over limit YLMTM 56 p During the direction drive pulse outputting decelerating stop or sudden stop ill be performed once this signal is active The active pulse width should be more than 2CLK Decelerating stop sudden stop and logical levels can be set uring the mode selection When it is enable and when this signal is in its active level the HLMT of RR2 register becomes 1 XSTOP2 0 49 51 52 Input A STOP 2 0 input signal to perform decelerating sudden stop for each axis T 2 These signals be used for HOME searching The active pulse width should verre Shy 9993 b be more than 2CLK Enable disable and logical levels can be set for STOP2 STOPO signal status can be read from register RR4 RR5 And nSTOP2 signal is equipped with a function that clears a real position counter value by 1 signal depends on mode setting so that it is appropriate to input an encoder Z phase Signal XOUT
115. n 1 pulse 1 direction pulse outputting 2 6 3 Pulse Input Type Selection For real position counter A B quadrature pulse type and Up Down pulse type can be selected for pulse input W A B quadrature pulse input mode A B quadrature pulse input mode can be set by setting the D9 PINMD bit of the WR2 register to 0 In this mode at the time of reset WR1 D7 0 when A phase is advancing with positive logical pulses the count is incremented and when the B phase is advancing the count is decremented The count is incremented and decremented at the rising edge and falling edge of both signals When the real position counter up down reverse bit WR1 D7 is set to 1 the up down operation of the real counter is reversed In A B quadrature pulse input mode the input pulses can be divided into 1 2 or 1 4 nECA PPIN nECB PMIN l WR1 D7 EPINV Count up at the both signals Count down at the both signals 1 WR1 D7 EPINV 1 Count down at the both signals l Count up at the both signals y E Up down pulse input mode By setting the D9 PINMD bit of the WR2 register to 1 a counter up down pulse input mode can be set nECA PPIN is count up input and nECB PMIN is count down input The counter counts at the rising edge of the positive pulse nECA PPIN l l l nECB PMIN i Count up Count down Use the D9 PINMD bit of the WR2 register for sele
116. n axis that rotates one cycle with 10 000 pulses To enable the variable ring function set 1 in the D6 bit of the WR3 register Q Set 9 999 270Fh in the COMP register as the maximum value of the logical position counter Set 9 999 270Fh in the COMP register when using a real position counter also The count operation will be as follows Increment in the direction 9998 99990 1 Decrement in the direction 1 0 9999 9998 Notes The variable ring function enable disable is set for each axis however a logical position counter and a real position counter cannot be enabled disabled individually fa variable ring function is enabled a software limit function cannot be used 2 3 4 Clearing a Real Position Counter Using an External Signal This function clears a real position counter at rising of the Z phase active MCX302 level when Z phase search is applied in nSTOPO mi Near Home Sensor nSTOP1 home search Home Sensor Normally home search is performed by assigning a near home signal a home Drive Pulse signal and an encoder Z phase signal nPP PM Motor to nSTOPO to nSTOP2 signals and EC A B R n IrCcur executing continuous driving When EC Z the specified signal is activated driving will stop and then the logical position real position counters are Fig 2 22 Example of Signal Connection for Clearing cleared by the CPU This function is The Real
117. nchronized with SCLK output signal The level at ACLK 1 will be changed Output signals nPP PLS nPM DIR nDRIVE nASND nCNST nDSND nCMPP nCMPM nACASND and nACDSND SCLK Output Signal 12 2 5 Input Pulses Quadrature Pulses Input Mode A B phases Count up Count down nECA nECB nPPIN nPMIN a In A B quadrature pulse input mode when nECA and nECB input pulses are changed the value of real position counter will be changed to the value of those input pulses changed after the period of longest SCLKA is passed b In UP DOWN pulse input mode the real position counter will become the value of those input pulses changed after the period between the beginning of nPPIN nPMIN f and the time of SCLK 4 cycle is passed nECA and nECB Phase Difference Time tCYCx2 20 nPPIN and nPMIN Hi Level Width tCYCx2 20 nPPIN and nPMIN Low Level Width tCYCx2 20 nPPIN and nPMIN Cycle tCYCx4 20 nPPIN lt nPMIN 7 between Time tCYCx4 20 tCYC is a cycle of CLK 74 NOVA electronics Inc MCX302 M75 12 2 6 General Purpose Input Output Signals The figure shown at the lower left hand side illustrates the delay time when input signals nSTOP2 0 nIN5 0 nEXPP nEXPM nINPOS and nALARM are read through and RRS registers When filter is disabled The figure shown at the lower right hand side illustrates the delay time when writing general output signal data into WRA Input Signal D15
118. nd Real Position Counter 13 2 3 2 Compare Register and Software Limit 13 2 3 3 Position Counter Variable 14 2 3 4 Clearing a Real Position Counter Using an External Signal 14 2 4 Automatic Home Search 16 2 4 1 Operation of Each Step 16 2 4 2 Deviation Counter Clearing Signal Output 18 2 4 3 Setting a Search Speed and a Mode 18 2 4 4 Execution of Automatic Home Search and the Status 19 2 4 5 Errors Occurring at Automatic Home Search 20 2 4 6 Notes on Automatic Home Search 21 2 4 7 Examples of Automatic Home Search 22 2 5 Interrupt 26 2 6 Other Functions 27 2 6 1 Driving By External Pulses
119. ngle of the pin flat section for the installation face 79 NOVA electronics Inc MCX302 M80 15 Specifications E Control Axis 2 axes W Data Bus 16 8 bits selectable E Drive Pulses Output When 16 MHz Pulse Output Speed Range 1 4MPPS Pulse Output Accuracy within 0 1 according to the setting speed S curve Jerk 954 62 5 x 10 PPS S Multiple 1 477 x 10 31 25 x 10 PPS S Multiple 500 Accelerating Decelerating Speed 125 1 x 10 PPS S Multiple 1 62 5 10 500 x 10 PPS S X Multiple 500 Initial Speed 1 8 000PPS Multiple 1 500PPS 4 10 PPS Multiple 500 Drive Speed 1 8 000PPS Multiple 1 500PPS 4x10 PPS Multiple 500 Output pulse Number 0 268 435 455 fixed drive Speed Curve Constant speed linear acceleration parabola S curve acceleration deceleration drive Fixed Drive Deceleration Mode auto non symmetrical trapezoidal acceleration is also allowed manual Output pulse numbers and drive speeds changeable during the driving Independent 2 pulse system or 1 pulse 1 direction system selectable Logical levels of drive pulse selectable E Encoder Input A B quadrature pulse style or Up Down pulse style selectable Pulse of 1 2 and 4 divisions selectable quadrature pulse style E Position Counter Logic Position Counter for output pulse range 2 147 483 648 2 147 483 647 Real Position Counter
120. o Fig 2 27 Example of The Continuous Driving by External Signal 28 NOVA electronics Inc MCX302 M29 B Manual pulsar mode Norrnal rotation Reverse rotation XEXPP A phase x LOO B phase i S Fig 2 28 Example Output Pulse 1Driving by A Manual Pulsar Normal rotation Reverse rotation xx FE A phase i XEXPM phase x LJ LL XPM Fig 2 29 Example of Output Pulse 2 Driving by A Manual Pulsar Set the bits D4 and D3 of the WR3 register to 1 and set the necessary speed parameter for driving and the output pulse number Connect the A phase signal of the encoder to nEXPP input and the B phase signal to nEXPM input The fixed driving is activated when the nEXPM signal is at a Low level and the nEXPP signal is at the rising edge When the output pulse number is set to 1 one drive pulse is output at each of the rising edge and falling edge of the nEXPP signal If the output pulse number is set to P the P number of drive pulses is output Set the speed parameter in the following conditions to complete output of all the P number of drive pulses with a period from the rising edge falling edge of the nEXPP signal to the next rising edge falling edge V2FxPx2 V Drive speed pps P Output pulses F Frequency Hz at the maximum speed of the manual pulsar encoder For instance under the condition where the maximum frequency of the manual
121. o Deceleration mode Spel Jerk 31K PPS SEC2 N N Acceleration 62 5K PPS SEC Initial speed 100 PPS Drive speed 8000 PPS 4K x P 2000 P 5000 10000 Output Pulse P 20000 x 2 0 4 0 W 8000PPS Partial S curve acceleration deceleration R 8000000 Multiple 1 K21000 0 100 SV 100 V 8000 0 0 8K Auto Deceleration mode 62 5K PPS SEC2 x N Acceleration 12 5K PPS SEC EN Initial speed 100 PPS X Drive speed 8000 PPS 4K 7 P 2000 b P 5000 x P 10000 Output Pulse P 20000 2 0 400KPPS Perfect S curve acceleration deceleration 400K PPS 200K A N N P 100000 P 200000 4 0sec R 80000 Multiple 100 K 2000 A D 100 SV 10 V 4000 AO 0 Auto Deceleration mode Jerk 3 13M PPS SEC2 Acceleration 1 25M PPS SEC x Initial speed 1000 PPS Drive speed 400K PPS Output Pulse P 400000 N N x 400KPPS Partial S curve acceleration deceleration J 2 0sec R 80000 Multiple 100 K 500 0 100 SV 10 V 4000 0 0 Auto Deceleration mode 1 0 400K Jerk 12 5M PPS SEC2 PPS Acceleration 1 25M PPS SEC Initial speed 1000 PPS A Drive speed 400K PPS N 200K P 20000 P 100000 P 200000 Output Pulse P 400000 rj x 1 0 2 0sec 2 NOVA electronics Inc MCX302 A3 40KPPS Non symmetrical Trapezoidal acceleration deceleration
122. ode Register2 WR2 40 4 6 Mode Register3 42 4 7 Output Register WR4 44 4 9 Data Register WR6 WR7 44 4 10 Main Status Register RRO 45 4 11 Status Register 1 RR 45 4 12 Status Register 2 RR2 46 4 13 Status Register 3 RR3 47 4 14 Input Register RR4 RR5 48 4 15 Data Read Register RR6 RR7 48 NOVA electronics Inc MCX302 iv 5 Command Lists 49 6 Commands for Data Writing 51 6 1 Range Setting
123. of this IC See Section 2 6 9 or the filter function Output A It is CMOS level output 4mA driving buffer Hi level output current 4 VOH 2 4Vmin Low level output current IOL 4mA VOL 0 4Vmax Up to 10 LSTTL can be driven Output B It is open drain type output 4mA driving buffer Low level output current IOL24mA VOL 0 4Vmax Pull up to 5V with high impedance if this output is used Bi directional A Input side is TTL Smith trigger Because there is no pull high resister for those signals in this IC the user should pull up the data bus with high impedance The user should pull up to 5V with high impedance about 100 when bits D15 D8 are not used Output side is CMOS level output 8mA driving buffer Hi level output current IOH 8mA VOH 2 4Vmin Low level output current IOL 8mA VOL 0 4Vmax W Notes for the Design of Circuitry a De coupling Capacitor Please connect VDD and GND with one or two De coupling capacitors about 0 1uF b Noise Generated by Terminal Induction The noise will exist because the inductance is in these pins The user can add a capacitor 10 100pF to pins to reduce the noise c Reflection on Transfer Path The load capacity for outputting types A B and bi direction type A and B are 20 50pf So the reflection will happen if the PCB wiring is more than 60cm S37 NOVA electronics Inc 4 Register MCX302 M38 This chapter indicates the user how to access all the regist
124. ogical levels selectable E Servo Motor Input Signal ALARM Alarm INPOS In Position Check DCC Deviation counter clear output Enable disable and logical levels selectable E General Input Output Signal IN0 5 6 points for each axis wherein 4 points use with multichip interpolation signal pin OUTO 7 8 points for each axis wherein it uses with drive status output pin and OUTO uses with deviation counter clear output pin 80 NOVA electronics Inc MCX302 M81 W Driving Status Signal Output DRIVE drive pulse outputting ASND speed accelerating CNST constant driving DSND speed decelerating CMPP position 2 COMP CMPM position COMP ACASND acceleration deceleration speed increase ACDSND acceleration deceleration speed decrease Drive status and status registers readable B Limit Signals Input 1 point for each and side Logical levels and decelerating sudden stop selectable E Emergency Stop Signal Input EMG 1 point in all axes Sudden stop the drive pulse of all axes when on Low level W Contents of integral type filters Equipped with integral filters in the input column of each input signal One time constant can be selected from eight types B Electrical Characters Temperature Range for Driving 0 85 C 32 F 185 F Power Voltage for Driving 5V 45 Input Output Signal Level CMOS TTL connectable Input Clock Pulse 16 000 MHz Standard E Package
125. on deceleration increases hen deviation counter clearing output is enabled in automatic home search mode setting deviation counter clearing signal is output from this pin 36 NOVA electronics Inc Signal Name XIN5 YIN5 YIN4 YIN4 XIN3 XIN2 YIN2 XIN1 YIN1 XINO YINO XEXPP YEXPP XEXPM YEXPM EMGN GND VDD Pin No 70 85 71 86 72 87 73 88 74 89 75 92 93 95 94 96 97 8 15 28 40 50 66 76 90 98 100 9 16 41 67 91 E Input Output Circuit Input Output Input A F Input A a F Input A F Input A F Input A Input A F Input A F Input A F Input A EE F MCX302 M37 Signal Description General Input 5 general purpose input signals status of signal is displayed in a register XIN5 0 of the X axis is displayed in D13 8 of RR4 register and YIN5 0 of the Y axis is displayed in D13 8 of RR5 register Low level input shows 0 High level input shows 1 General Input 4 general purpose input signals Reading operation is as same as nIN5 General Input 3 general purpose input signals Reading operation is as same as nIN5 General Input 2 general purpose input signals Reading operation is as same as nIN5 General Input 1 general purpose input signals Reading operation is as same as nIN5 General Input 0 general purpose input signals Reading operation is
126. on E Active Section SV Acceleration deceleration driving is performed and when the near home signal nSTOPO becomes active the operation stops by decelerating Irregular 1 Irregular 2 Irregular operation 1 The near home signal nSTOPO is already active before Step 1 starts Proceeds with Step 2 2 The limit signal in the detection direction is already active before Step 1 starts Proceeds with Step 2 3 The limit signal in the detection direction is activated during execution Stops driving and proceeds with Step 2 i46 NOVA electronics Inc MCX302 M17 MStep 2 Low speed home search Drive pulses are output in the specified Over Run Limit in the direction at the speed that is set as the home STOP1 Irregular 1 Search Direction detection speed HV i the home signal Normal Operation Active 3 AGING nSTOP1 becomes active To perform Spectied Seach Dresion gt Seem Section low search operation set a lower value for the home search speed HV than the initial t e e N speed SV A constant speed driving mode is To Normal Operation 4 applied and the operation stops instantly STOP Search in the when the home signal nSTOP1 becomes Opposite Direction active Irregular 2 Irregular operation 1 The home signal nSTOP1 is already active before Step 2 starts The motor drives the axis in the direction opposite to the specified search direction at the home s
127. ough mode setting the logical position counter and real position counter can be cleared after moving If the drive direction limit signal becomes active before the start or during execution of Step 4 the operation stops due to an error and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register 17 NOVA electronics Inc MCX302 M18 2 4 2 Deviation Counter Clearing Signal Output This function outputs a deviation counter clearing signal by setting a mode at the activation of the encoder Z phase signal nSTOP2 in Step 3 operation For deviation counter clearing output the pin is shared with nOUTO ACASND and DCC output signals For the clearing pulse the logical level and the pulse width within the range from 10usec to 20msec can be specified Active Encoder Z phase STOP2 Step 3 bw speed Z phase Search Deviation Counter Clear OUTO 10u 20msec Deviation counter clearing output becomes active at termination of Z phase search operation in Step 3 and Step 4 starts after completion of clearing pulse output Deviation counter clearing pulses can also be output by a single command deviation counter clear command 63h instead of an automatic home search sequence However the mode following the deviation counter clearing output must be set in advance using an automatic home search mode setting command 60h D11 DCC E Disable enable 1 enable D12 DCC L Logical level 0 or 1 D15 D13 DCCW2
128. peed or deceleration stop is applied during acceleration In the case of S curve acceleration deceleration driving the following method is applied to maintain a smooth speed curve Initial Speed initi i i i i Acceleration A If the ininal speed is 0 qe if the of is a then the DOES ONE speed at time t in acceleration region can be described as following Acceleration Deceleration v t at t time Fig 2 14 The rule of 1 12 of Parabolic Acceleration Deceleration NOVA electronics Inc MCX302 M10 Therefore the total the number of pulse p t from time 0 to t is the integrated of speed p t 1 3 x at The total output pulse is 1 3 2 3 1 2 3 1 1 3 x a 4 at 50 p t 1 12 total pulse output Therefore when the output pulse in acceleration of S curve is more than 1 12 of total output pulse MCX302 will stop increasing acceleration and start to decrease the acceleration value In the constant acceleration part when the output pulse in acceleration reaches 4 1 of total output pulse MCX302 will start to decrease the acceleration value Bi The Decelerating Stop for Preventing the Triangle Driving Profile When the decelerating stop is commanded during the gt Speed acceleration deceleration driving the acceleration is decreasing then the deceleration starts when the acceleration reaches 0 E Constraints for S curve Acceleration Deceleration Driving time 2 Decrea
129. put clock CLK If CLK input is standard 16MHz SCLK will be 8MHz Therefore the user had better driving the pulse speed in an exact multiple of SCLK period 125nSEC Otherwise the driving pulse will not very stable The frequency speed of driving pulse of MCX302 can be there are all exact the multiple of 125nSEC For instance the only frequencies that can be output are double 4 000 MHz triple 2 667 MHz quadruple 2 000 MHz five times 1 600 MHz six times 1 333 MHz seven times 1 143 MHz eight times 1 000 MHz nine times 889 KHz 10 times 800 KHz Any fractional frequencies cannot be output It is not very stable to set any desired drive speed However MCX302 can make any drive speed in using the following method 11 NOVA electronics Inc MCX302 M12 For instance in the case of the range setting value R 80 000 magnification 100 and drive speed setting value V 4900 the speed of driving pulses of 4900x100 490 KPPS is output Since this period is not a multiple integer of the SCLK period pulses of 490KPPS cannot be output under a uniform frequency Therefore as shown in Fig 2 18 MCX302 combines 16 times and 17 times of SCLK period in a rate of 674 326 to generate an average 490K PPS Fig 2 18 The Driving Pulse of 490KPPS According to this method MCX302 can generate a constant speed driving pulse in a very high accuracy In general the higher of the drive speed the lower of the accuracy But for MCX302 it still c
130. r Gies cro configuration of each input signal of the X axis The same circuit is provided to the Y axis also The time constant of the EMGN 1 gt gt filter is determined by the T oscillation circuit in the diagram m XLMTP One time pons can be selected from eight time constants using the bits D15 to D13 FL2 to FLO of the nWR3 register med ER i 1 Using the bits D12 to D8 FE4 to 0 of the nWR3 register it is possible to set whether the filter function is enabled or the XS I signal is passed through for a number of input signals At reset all the bits in the nWR3 register are cleared to 0 so that XSTOP1 o gt the filter function is disabled for all the input signals and the oT signals pass XSTOP2 tr g 8 p M Select a filter time constant from eight stages as shown in the AINE _ table below When time constant is increased the removable maximum noise width increases however the signal delay time also increases Therefore set an appropriate EPPS Bos 2 value Normally set 2 or 3 for FL2 to FLO oT d XEXPM Removable H FL2 0 maximum noise Input signal delay time XINO O jm pp width 0 1 750SEC 2uSEC 1 224uSEC 256uSEC Sie 5 x 2 448u SEC 512USEC oo 3 896USEC 1 024mSEC 4 1 792mSEC 2 048mSEC Fig 2 44 Concept of Input Signal Filter Circuit 5 3 584mSEC 4 096mSEC 6 7 168mSEC 8 192mSEC 7 14 336mSEC 16 384mSEC 1 Noise width Noise width T
131. ration and deceleration Deceleration when acceleration and Deceleration D S deceleration are set individually Initial Speed SV Drive Speed V Number of Output Pulse P Not required for continuous driving The example of setting Trapezoidal Driving Shown in the figure right hand side acceleration is form the initial speed 500 PPS to 15 000 PPS in 0 3 sec Speed Range R 4 000 000 Multiple 2 pps Acceleration A 193 15 000 500 0 3 748 333 15 000 48 333 125 M 193 Initial Speed SV 250 500 M 250 Drive Speed V 7 500 15 000 7 500 500 Please refer Chapter 6 0 3 time SEC W Triangle Prevention of Fixed Driving The triangle prevention function prevents a triangle form in linear acceleration fixed driving even if the number of Speed Mic ME ES output pulses is low When the number of pulses that were Accelerating P P 2x PatPd utilized at acceleration and deceleration exceeds 1 2 of the Stop P Output Pulse Number Pa Number of pulses total number of output pulses during acceleration this IC z utilized at acceleration stops acceleration and enters a constant speed mode Pd Number cof pulses The triangle prevention function is disabled at resetting utilized at deceleration The function can be enabled by setting bit D5 to 1 of the WR3 register Note time Fig 2 10 Triangle Prevention of Linear When continuous driving or automatic home searching Acceler
132. ration are Acceleration Deceleration A D equal the setting of deceleration is not required Initial Speed SV Drive Speed V Number of Output Pulse P W Changing the Number of Output Pulse in Driving The number of output pulse can be changed in the fixed driving If the command is for increasing the output pulse the pulse output profile is shown as Fig 2 2 or 2 3 If the command is for decreasing the output pulses the output pulse will be stopped immediately as shown in Fig 2 4 Furthermore when in the S curve acceleration deceleration driving mode the output pulse number Fig2 2 Change of Output ae change will occur to an incomplete deceleration S curve Pulse Number in Driving Speed Change of Output Pulse PN c Change of Output Pulses time time Fig2 3 Changing The Number Fig2 4 Changing The Pulse Number of Output Pulse During Deceleration Less Than Output Pulse Number W Manual Setting Deceleration for fixed Acceleration Deceleration Driving As shown in Fig 2 1 generally the deceleration of fixed acceleration deceleration driving is controlled automatically by MCX302 However in the following situations it should be preset the deceleration point by the users The change of speed is too often in the trapezoidal fixed acceleration deceleration driving Setan acceleration and a deceleration individually for S curve deceleration fixed driving In case of manual deceleration pl
133. ration deceleration Out of necessity when use hardware limit at deceleration stop mode prepare the following measures If multi axes are controlled in the same time 1 When interruption from IC can be used is effective 1 When interruption from IC can be used Constant speed area b area on Figure 3 is set as occurrence factor of interruption But this interruption is also happened when there is d area just before driving stops on Figure 3 such as when driving speed reaches initial speed or when acceleration becomes O zero There should occur area definitely if the trouble is happened just before driving stops driving speed hasn t reached initial speed yet acceleration becomes 0 and decelerating stop requirement is executed The measure is to judge if the trouble happens or not in the timing of interruption when d area ends Make constant speed area finishing interruption of IC active WR1 D13 C END 1 Start fixed pulse driving in S curve acceleration deceleration and when interruption is happened interruption processing is executed as follows B5 NOVA electronics Inc MCX302 B6 e INTERRUPTION PROCESSING nO OTHER INTERRUPTION FACTORS D GOES OUT CONSTANT SPEED AREA nRR3 D5 C END 1 This shows the interruption when driving goes into decelerating area c from constant speed area b is normal Make driving finished as it goes DECELERATING AREA nRR1 DA DSND 1 This
134. refore the acceleration at 0 2 sec is 10 000 x 10000 2 0 2 100KPPS SEC and the jerk is 100K 0 2 500 SEG Range R 800000 Multiple 10 Jerk K 1250 62 5x109 1250 x10 500x10 PPS SEC SEG Acceleration A 80 125 80 10 100 10 PPS SEC Initial Speed SV 100 100x10 1000 PPS Drive Speed V 4000 4000x10 40000 PPS 2 2 5 Pulse Width and Speed Accuracy W Duty Ratio of Drive Pulse The period time of direction pulse driving of each axis is decided by system clock SCLK The tolerance is within 1SCLK For CLK 16MHz the tolerance is 125nSEC Basically the duty ratio of each pulse is 50 as show in Fig 2 16 When the parameter setting is R 8 000 000 and V 1000 Multiple 1 V 1000PPS the driving pulse is 500uSEC on its Hi level and 500uSEC on its Low level and the period is 1mSEC 8000000 SV 1000 V 1000 Fig 2 16 High Low Level Width of Driving Pulse Output V 1000PPS However during the acceleration deceleration driving the Low level pulse length is shorter than that of Hi level pulse during the acceleration the Low level pulse is longer than that of Hi level pulse during the deceleration See Fig 2 17 Acceleration Area Constant Speed Area Deceleration Area Bener Area Constant Speed Ama Deselreton Aree _ tHA tLA gt tLA tHC tLC tHD tLD W The Accuracy of Drive Speed The clock SCLK running in MCX302 is half of external in
135. riving This IC creates an S curve by increasing reducing acceleration decelerations in a primary line at Speed 4 acceleration and deceleration of drive speed Dvd Sped Figure 2 13 shows the operation of S curve acceleration deceleration When driving starts the acceleration increases on a straight line at the specified jerk K In this case the speed data forms a secondary 4 Initial Speed parabolic curve section a When acceleration reaches vas designation value A acceleration is maintained In i Time d Acceleration i speed data forms an increase ona straight Nite line section b Jerk Slope If the difference between the specified drive speed Designation _ 4 and the current speed becomes less than the speed value that was utilized at the increase of acceleration the acceleration starts to decrease towards 0 The decrease ratio is the same as the increase ratio and the Te acceleration decreases in a linear form of the specified a Fig 2 13 S Curve Acceleration Deceleration Driving jerk K In this case the speed data forms a secondary parabolic curve section c Thus the case that acceleration has a constant part in its acceleration this book calls it The Partial S curve Acceleration On the other hand if the difference between the specified drive speed V and the current speed becomes less than the
136. s Also for a servo motor if the value that is set is too low creep or premature termination may occur In this case it is appropriate to set the value larger than J acceleration For instance when acceleration 125000 PPS SEC the value should be larger than J 125000 354 PPS In fixed pulse S curve acceleration deceleration driving if the value that is set is too low such as SV is set less than 100 creep or premature termination may occur as well Set the intial speed value SV as more than 100 6 6 Drive Speed Setting Command Data Range Data Length Drive speed setting 2 bytes V 1s the parameter determining the speed of constant speed period in trapezoidal driving In constant speed driving the drive speed is the initial speed The drive speed calculation is shown in the following formula 8 000 000 Drive Speed PPS V R Multiple If the setting drive speed is lower than the initial speed the acceleration deceleration will not be performed and the driving is 54 NOVA electronics Inc MCX302 M55 constant speed During the encoder Z phase searching at a low peed driving if the user want to perform the sudden stop once the Z phase is detected the drive speed should be set lower than the initial speed Drive speed can be altered during the driving When the drive speed of next constant speed period is set the acceleration deceleration will be performed to reach the new s
137. se the Acceleration value a The drive speed cannot be changed during the fixed S curve Accolerationi acceleration deceleration driving Deceleration b When the fixed S curve acceleration deceleration driving is performed the change of the numbers of output pulse during 9 time 1 Request for Deceleration stop 3 Acc become zero Dec begins M Fig 2 15 The rule of 1 12 of Parabolic c If an extremely low value is set as the initial speed for fixed Acceleration Deceleration the deceleration will not result a normal S curve driving profile driving of S curve acceleration deceleration premature termination output of the specified driving pulses is completed and terminated before the speed reaches the initial speed or creep output of specified driving pules is not completed even if the speed reaches the initial speed and the remaining driving pulses are output at the initital speed may occur Set initial speed value SV more than 100 d When the fixed S curve acceleration deceleration driving is performed the driving speed does not seldom reach the setting Speedi value PRS 40000 E Example of Parameter Setting 1 Perfect S Curve Acceleration Deceleration 20000 As shown in the diagram in this example the perfect S curve acceleration is applied to reach from the initial speed of 0 to AOKPPS in 0 4 seconds 02 04 SEC Acceleration The speed must be 20 000PPS half of 40 000PPS in 0 2 sec hal
138. search 2 19 NOVA electronics Inc MCX302 M20 Status register 2 Bits D7 to DO of status register 2 RR2 indicate error information and bits D12 to D8 indicate a home search execution state H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR2 HMST4 HMST3 HMST2 HMST1 HMSTO HOME o ARALM HLMT HLMT SLMT 4 SLMT Automatic Home Search STOP2 Signal Error at Autoamtic Execution State Home Search The error information bit D7 HOME is set to 1 when the encoder Z phase signal nSTOP2 is already active at the start of Step 3 during execution of automatic home search This bit is cleared when the next drive command or an automatic home search command is written The bit can also be cleared by a termination status clearing command 25h An automatic home search execution state indicates the details of the operation that is currently being executed in automatic home search Execution state Execution step Operation details 0 Waits for an automatic home search execution command 3 Step 1 Waits for activation of the STOPO signal in the specified search direction 8 Waits for activation of the STOP1 signal in the direction opposite to the specified search direction irregular operation 42 Step 2 Waits for deactivation of the signal in the direction opposite to the specified search direction irregular operation 15 Waits for activation of the STOP1 signal in the spe
139. set to apply deceleration setting value and bit DO MANLD to 0 of the WR3 register must be set to enable automatic deceleration during acceleration deceleration driving Mode setting bit Symbol Setting value Comment WR3 D1 DSNDE 1 The deceleration setting value is applied at deceleration WR3 DO MANLD 0 Automatic deceleration The following parameters must be set Parameter name Symbol Comment Range R Acceleration A Deceleration D Initial speed SV Drive speed V Number of output pulses P Not required at continuous driving Note In the case of acceleration gt deceleration Fig 2 12 the following condition is applied to the ratio of the acceleration and the deceleration V D Deceleration pps sec D gt A x A Acceleration pps sec Where CLK 16MHz 4 x 10 V Drive Speed pps For instance if the driving speed V 100kps deceleration D must be greater than 1 40 of acceleration A The value must not be less than 1 40 of the acceleration e Ifacceleration gt deceleration Fig 2 12 the greater the ratio of acceleration A to deceleration D becomes the greater the number of creep pulses becomes about maximum of 10 pulse when A D 10 times When creep pulses cause a problem solve the problem by the initial speed or setting a minus value to the acceleration counter offset NOVA electronics Inc MCX302 M9 2 2 4 S curve Acceleration Deceleration D
140. ter 13 2 and 13 3 for the output timing of pulse signal nPLS and direction signal nDIR when 1 pulse 1 direction type is engaged Setting logical level of driving pulses 0 positive logical level 1 negative logical level ee es e Positive Logical Level Negative Logical Level Setting logical level of the direction nPM DIR output signal for 1 pulse mode DIR L DIR L direction 0 Low Hi 1 Hi Low Setting the type of encoder input signals nECA PPIN and nECB PMIN 0 quadrature pulse input type 1 Up Down pulse input type When quadrature pulse input type is engaged and nECA signal goes faster 90 degree phase than nECB signal does it s count up and nECB signal goes faster 90 degree phase than nECA signal does it s count down nECA nECB Count Down When Up Down pulse input type is engaged PPIN signal is for count up input and PMIN signal is for count down input When the positive logical level pulses go up T1 PPIN signal counts up and PMIN signal counts down 42 NOVA electronics Inc MCX302 M43 D11 10 PIND1 0 The division setting for quadrature encoder input D12 D13 D14 D15 ALM L ALM E INP L INP E D11 D10 Division 0 0 1 1 0 1 1 2 Up down pulse input is not 1 0 1 4 available 1 1 Invalid Setting active level of input signal nALARM 0 active on the Low level 1 active on the Hi level Setting
141. the value of logical real position counter is smaller than that of COMP register Interrupt occurs when the value of logical real position counter is larger than or equal to that of COMP register Interrupt occurs at the end of the constant speed drive during an acceleration deceleration driving Interrupt occurs at the start of the constant speed drive during an acceleration deceleration driving Interrupt occurs when the driving is finished D15 DO will be set to 0 while resetting 4 5 Mode Register2 WR2 Each axis is with mode register WR2 The axis specified by NOP command or the condition before decides which axis s register will be written WR2 can be used for setting 1 external limit inputs 2 driving pulse types 3 encoder signal types and 4 the feedback signals from servo drivers DO Enable disable setting for COMP register which is used as the direction software limit 1 enable 0 disable Once it is enabled during the direction driving if the value of logical real position counter is larger than that of COMP the decelerating stop will be performed The DO SLMT bit of register RR2 will become 1 Under this situation further written direction driving commands will not be executed 41 NOVA electronics Inc MCX302 M42 D1 D2 D3 D4 D5 D6 D7 D8 D9 SLMT LMTMD HLMT HLMT CMPSL PLSMD PLS L DIR L PINMD Note When a position
142. tor Real Position Wave ECA PPIN Counter 32bit bown Change ECB PMIN LMTP Input Signal Integrated LMTM Compare rad Management INPOS Section ALARM 77 EMGN Note1 STOP2 0 ist ey OUT7 0 status output Drive status output ee Integrated Filter q N5 0 ZEMNA Note 1 EMGN is for all axes use Fig 1 2 Functional Block Diagram of Axis Control Section NOVA electronics Inc MCX302 4 2 The Descriptions of Functions 2 1 Pulse Output Command There are two kinds of pulse output commands fixed driving output and continuous driving output 2 1 1 Fixed Driving Output When host CPU writes a pulse numbers into MCX302 for fixed driving and configures the performance such as acceleration Speed deceleration and speed MCX302 will generate the pulses and i i Driving Speed output them automatically Fixed driving operation is performed at acceleration deceleration As shown in Fig 2 1 automatic Aito Dadeleration deceleration starts when the number of pulses becomes less than the number of pulses that were utilized at acceleration and Stop Specific driving terminates at completion of the output of the specified Initial Speed Output Pulse output pulses For fixed driving in acceleration deceleration the time following parameters must be set Fig2 1 Fixed Driving Parameter name Symbol Comment Range R When acceleration and decele
143. ually or for all the axes collectively W Suspension of automatic home search To suspend automatic home search operation write a drive decelerating stop command 26h or a drive instant stop command 27h for the axis The step currently being executed is suspended and automatic home search terminates Main status register Bits D9 to D8 of the main status register RRO indicate the driving execution of the axis These bits also indicate execution of automatic home search When automatic home search of each axis starts these bits are set to 1 and the state is maintained from the start of Step 1 operation to the end of Step 4 operation At termination of Step 4 the bits are reset to 0 H L D15 Di4 D13 D12 D11 D8 D7 D6 D5 D4 D3 D2 D1 DO vw CLl eo 0 Tempe T romeo Ld Ld Ld Automatic Home Search Error of Each Axis Driving of Each Axis Execution State of Each Axis The D1 to DO n DRV bits that indicate drive status of each axis are set to 1 during outputting drive pulse However the bits sometimes indicate 0 in a flash at the change of the steps or while outputting deviation counter clearing The D5 to D4 n ERR bits that indicate an error of each axis sometimes indicate 1 in spite of normal operation when the limit signal in the search direction is set in regular operation of Step 1 or 2 Check these error bits at termination of automatic home search instead of monitoring during execution of automatic home
144. ulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers see the table below Range Jerk Acceleration A Deceleration Initial Speed Drive Speed Output pulses R K D SV V P Constant speed driving Linear acceleralation O A Q O decelaration driving Non symmetrical linear O O O O O O acceleration deceleration driving S curve acceleration O O O A O O O deceleration driving A will be set when needed 8 2 Direction Fixed Driving Command Direction Fixed Driving The setting pulse numbers will be output through the output signal nPM In driving logical position counter will count down 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 59 NOVA electronics Inc MCX302 M60 8 3 Direction Continuous Driving Command Direction Continuous Driving Before the stop command or external signal is active the pulse numbers will be continuously output through the output signal nPP In driving logical position counter will count up 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 8 4 Direction Continuous Driving Command Direction
145. utine and status bit is 1 constant speed area is completed which is same as deceleration starts So make flag of prohibition against deceleration stop command 1 Besides it is possible that CNST constant speed area will occur just before driving completion Then return WR1 D13 status bit from 1 to 0 in order to prevent interruption On the other hand within task see flag and if it s 1 don t execute deceleration stop command 2 When interruption can t be used Terms when deceleration stop command should be executed in accelerating and constant speed driving such as and b on Figure Status of deceleration for both d timing when the trouble happens and b constant speed driving is same as constant speed driving as shown on Figure 3 But there is difference of driving speed between two Driving speed in b is near that of setting driving speed Driving speed in is near that of initial speed Therefore before driving starts prepare judgmental speed which is middle one between initial speed and setting speed Driving speed initial speed 2 initial speed When execute deceleration stop command during driving make sure status is accelerating ASND 1 or constant speed driving CNST 1 and driving speed is same or faster than judgmental speed 2 Hardware limit nLMTP M signal at deceleration stop mode Case 2 Basically use hardware limit nLMTP M signal at Sudden stop mode when fixed pulse driving in S curve accele

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