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PCL6045BL User`s manual 090916

1. RIRQ 00000400h Output an INT signal when the conditions for Comparator 3 are satisfied Specify the EA EB input lt Set EIMO to 1 bits 20 to 21 in RENV2 gt RENV2 WRITE 00 90 phase difference 1x 23 16 01 90 phase difference 2x 10 90 phase difference 4x j jnyn o 0j 11 Two pulse mode count up count forward pulses and count down pulses Specify the EA EB input count direction lt Set EDIR bit 22 in RENV2 gt RENV2 WRITE 0 When the EA phase is leading or count up count forward on the EA rising 23 16 edge 1 When the EB phase is leading or count up count forward on the EB rising L21 0 Ee edge Read the EA EB input error lt ESEE bit 16 in REST gt REST READ 1 An EA EB input error has occurred 23 16 0 0 0 Of of of n Counter reset command lt Control command CUN3R gt Counter reset Clear COUNTER3 deflection to zero command 22h 130 11 11 4 IDX synchronous signal output function Using Comparator 4 and COUNTERS the PCL can output signals to the P6n CP4n terminals at specified intervals Setting C4CO and C4C1 to 11 in the general purpose counter and setting C4S0 thru C4S3 to 1000 1001 or 1010 the IDX output the PCL can be used for IDX index operation The counter range of COUNTER4 will be 0 to the value set in RCMP4 If counting down from O the n
2. 3 When using 90 phase difference signals and 4x input PIM 10 PA PB UP1 DOWN1 4 When using two pulse input PA PB UP1 DOWN1 62 When the 1x to 32x multiplication circuit is set to 3x PMG 2 on the RENV6 operation timing will be as follows UP1 DOWN1 UP2 DOWN2 When the n 2048 division circuit is set to 512 2048 PD 512 on the RENV6 operation timing will be as follows UP2 DOWN2 UP3 DOWN3 The pulsar input mode is triggered by an FL constant speed start command 50h or by an FH constant speed start command 51h Pulsar input causes the PCL to output pulses with some pulses from the FL speed or FH speed pulse outputs being omitted Therefore there may be a difference in the timing between the pulsar input and output pulses up to the maximum internal pulse frequency The maximum input frequency for pulsar signals is restricted by the FL speed when an
3. Setting the input logic of the EZ signal lt Set RENV2 EZL bit 12 gt RENV2 WRITE 0 Falling edge 23 16 1 Rising edge z Setting the EZ count number lt Set RENV3 EZDO0 to 3 bits 4 to 7 gt RENV3 WRITE Specify the EZ count number after an origin return complete condition 7 0 Enter a value the number to count to minus 1 in EZD 0 to 3 Setting range 0 to 15 n ni nj nf Reading the EZ signal lt RSTS SEZ bit 10 gt RSTS READ 0 Turn OFF the EZ signal 15 8 1 Turn ON the EZ signal 81 9 8 Interpolation operations 9 8 1 Interpolation operations In addition to each independent operation this LSI can execute the following interpolation operations MOD Operation mode MOD Operation mode 60h Continuous linear interpolation 1 for 2 to 4 67h CCW circular interpolation synchronized axes with the U axis 61h Linear interpolation 1 for 2 to 4 axes 68h Continuous linear interpolation 1 synchronized with PA PB input 62h Continuous linear interpolation 2 for 1 to 4 69h Linear interpolation 1 synchronized with axes PA PB input 63h Linear interpolation 2 for 1 to 4 axes 6Ah_ Continuous linear interpolation 2 synchronized with PA PB input 64h Circular interpolation CW 6Bh Linear interpolation 2 synchronized with PA PB input 65h Circular interpolation CCW 6Ch CW circular inter
4. Bit Bit name Description 0 to 7 IOPO to 7 Read the status of PO to 7 0 L level 1 H level 8 SFU Set to 1 while accelerating 9 SFD Set to 1 while decelerating 10 SFC Set to 1 while feeding at constant speed 11 SALM Set to 1 when the ALM input is ON 12 SPEL Set to 1 when the EL input is ON 13 SMEL Set to 1 when the EL input is ON 14 SORG Set to 1 when the ORG input is ON 15 SSD Set to 1 when the SD input is ON Latches the SD signal Note When the backlash or slip correction function is used SFU SFD and SFC will all be 0 The main status SRUN will be 1 even if this correction is used 20 7 Commands Operation and Control Commands 7 1 Operation commands By writing the command to COMBO address 0 when a Z80 I F is used after writing the axis assignment data to COMB1 address 1 when a Z80 I F is used the LSI will start and stop as well as change the speed of the output pulses When an 8086 H8 or 68000 I F is used write 16 bit data which combines the axis assignment and operation command data 7 1 1 Procedure for writing an operation command the axis assignment is omitted Write a command to COMBO address 0 when a Z80 I F is used A waiting time of 4 register reference clock cycles approximately 0 2 usec when CLK 19 6608 MHz is required for the interval between writing a command and writing the next command writing a register and writing the I O buffe
5. 105 11 4 Idling control When starting acceleration or deceleration operation it can be started after the output of a few pulses at FL speed idling output Set the number of pulses for idling in IDL of the RENV5 register environment setting 5 If you will not be using this function enter a value n of O or 1 The LSI will start the acceleration at the same time it begins outputting pulses Therefore the start speed obtained from an initial 2 pulse cycle will be faster than the FL speed To use this function enter a value n of 2 to 7 The LSI will start the acceleration by beginning its output on the n th pulse Therefore the start speed will be the FL speed and the FL speed can be set to near the maximum starting pulse rate If this function is used with the positioning mode the total feed amount will not change Setting idling pulses and acceleration start timing BSY When n 0 OUT 1 2 3 FUP A Start acceleration on the Oth pulse When n 1 OUT 1 2 3 FUP A Start acceleration on the Oth pulse Cycle at the FL speed lt gt When N 3 OUT 1 2 3 FUP Start acceleration on the 3th pulseA Set the number of idling pulses lt Set IDLO to 2 bits 8 to 10 in RENV5 gt RENV5 WRITE Specify the
6. In order to output an ERC signal at the completion of an origin return operation set EROR bit 11 1 in the RENV1 register environment setting 1 to make the ERC signal an automatic output For details about ERC signal output timing see the timing waveform in section 9 5 1 Origin return operation In order to output an ERC signal for an immediate stop based on the EL signal ALM signal or CEMG signal input or on the emergency stop command 05h set EROE bit 10 1 in the RENV1 register and set automatic output for the ERC signal In the case of a deceleration stop the ERC signal cannot be output even when set for automatic output The ERC signal can be output by writing an ERC output command 24h The output logic of the ERC signal can be changed by setting the RENV1 register Read the RSTS extension status register to monitor the ERC signal Set automatic output for the ERC signal lt Set EROE bit 10 in RENV1 gt RENV1 WRITE 0 Does not output an ERC signal when stopped by EL ALM or CEMG input 45 8 1 Automatically outputs an ERC signal when stopped by EL ALM or CEMG input I i i i inj Set automatic output for the ERC signal lt Set EROR bit 11 in RENV1 gt RENV1 WRITE 0 Does not output an ERC signal at the completio
7. 7 3 5 PCS input command Entering this command has the same results as inputting a signal on the PCS terminal COMBO Symbol Description 28h STAON Alternative to a PCS terminal input 7 3 6 LTCH input counter latch command Entering this command has the same result as inputting a signal on the LTC terminal COMBO Symbol Description 29h LTCH Alternative to an LTC latch counter terminal input 7 3 7 SENI SEOR reset command Resets SENI and SEOR bits in SENI SEOR bit stopping interrupt flag failure to override position of main status when setting for stopping is set to auto reset when main status is read COMBO Symbol Description 2Dh SENIR Reset main status SENI bit 2Eh SEORR Reset main status SEOR bit 25 7 4 Register control command By writing a Register Control command to COMBO Address 0 when a Z80 I F is used the LSI can copy data between a register and the I O buffer When the I O buffer is used in the program for responding to an interrupt note to read the I O buffer contents before using it perform PUSH operation it and return it to its original value after use 7 4 1 Procedure for writing data to a register the axis assignment is omitted 1 Write the data that will be written to a register into the I O buffer addresses 4 to 7 when a Z80 I F is used The order in which the data is written does n
8. Reading EA EB PA PB input error lt ESEE bit 16 ESPE bit 17 in the REST gt REST READ ESEE bit 16 1 An EA EB input error occurred 23 16 ESPE bit 17 1 A PA PB input error occurred 0 0 0 Of Of Of nj n 120 When EDIR is 0 the EA EB input and count timing will be as follows For details about the PA PB input see section 9 3 Pulsar input mode 1 When using 90 phase difference signals and 1x input EA EB Counter n X n 1 2 When using 90 phase difference signals and 2x input EA EB Counter _n X n 1 X n 2 X n 1 x n 3 When using 90 phase difference signals and 4x input EA EB Counter n x n 1 xX n 2 X n 3 X n 4 X n 3 X n 2 X n 1 X n 4 When using Two pulse input counted on the rising edge EA EB Counter 1 X n 1 X n 2 X n 1 X n 121 11 10 2 Counter reset All the counters can be reset using any of the following three methods 1 When the CLR input signal turns ON set in RENV3 2 When an origin return is executed set in RENV3 3 When a command is written The PCL can also be specified to reset automatically soon after latching the counter value The CLR input timing can be set in RENV1 environment set
9. 8 3 30 RLTC1 register Latched data for COUNTER1 command position Read only The contents of COUNTER1 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6543 21 0 8 3 31 RLTC2 register Latched data for COUNTER2 mechanical position Read only The contents of COUNTER2 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 53 8 3 32 RLTC3 register Latched data for COUNTER3 deflection counter or current speed Read only The contents of COUNTER3 or the current speed are copied when triggered by the LTC an ORG input or an LTCH command When the LTFD in the RENV5 register is 0 the register latches the COUNTER3 data When the LTFD is 1 the register latches the current speed When the LTFD is 1 and movement on the axis is stopped the latched data will be 0 Data range when LTFD is 0 32 768 to 32 767 Data range when LTFD is 1 0 to 65 535 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 Bits marked with a will be the same as bit 15 when LTFD bit 14 in the RENV5 register is 0 sign extension and they will be O when the LTFD is 1 8 3 33 RLTC4 register Latched data for COU
10. Set the EZ count lt Set EZDO to 3 bits 4 to 7 in RENV3 gt RENV3 WRITE Specify the number for EZ to count that will indicate a zero return completion 7 0 Enter the value the count minus 1 in EZDO to 3 Setting range 0 to 15 nj nin Read the EZ signal lt SEZ bit 10 in RSTS gt RSTS READ 0 Turn OFF the EZ signal 15 8 1 Turn ON the EZ signal Set the EL signal input logic lt ELL input terminal gt L Positive logic input H Negative logic input Specify a method for stopping when the EL signal turns ON RENV1 WRITE lt Set ELM bit 3 in RENV1 gt 7 0 0 Immediate stop when the EL signal turns ON 1 Deceleration stop when the EL signal turns ON ial Beles n i a ba Read the EL signal lt SPEL bit 12 SMEL bit 13 in SSTSW gt SSTSW READ SPEL 0 Turn OFF EL signal SPEL 1 Turn ON EL signal 15 8 SMEL 0 Turn OFF EL signal SMEL 1 Turn ON EL signal n Applying an input filter to the EL and ORG inputs lt Set FLTR bit 26 in RENV1 gt RENV1 WRITE 1 Apply a filter to the EL and ORG inputs 31 24 By applying a filter pulses shorter than 4 usec will be ignored 69 9 5 1 Origin return operation After writing a start command the axis will continue feeding until the conditions for an origin return complete are satisfied MOD 10h Positive direction origin return operation 18h Negative direction origin return operatio
11. nN Nj Ay N Ay N N Even if the value for PRMV outside the range of 0 to the value in RCMPn the PCL will continue to perform positioning operations When driving a rotating table with 3600 pulses per revolution and when RCMP1 3599 MOD 41h and RMV 7200 the table will rotate twice and the value in COUNTER1 when stopped will be the same as the value before starting Note To use the ring counter function set the count value between 0 and the value in RCMPn If the value is outside the range above the PCL will not operate normally Set the comparator conditions C1S0 to 2 C2S0 to 2 when using a counter as a ring counter to 000 Setting example RENV4 XXXXXX80h COUNTER is in ring counter mode C1RM 1 C1S0 to 2 000 C1C0 to 1 00 RCMP 1 4 Count range 0 to 4 DIR OUT COUNTER1 0 X 1X 2X 3X 4X OX 1X 2X 3X 4X OX 1 XoX4X3X 2X 1X OX 4X 3X 2X IX OX 4X 3 132 11 12 Backlash correction and slip correction This LSI has backlash and slip correction functions These functions output the number of command pulses specified for the correction value in the speed setting in the RFA correction speed register before command operation The backlash correction is performed each time the direction of operation changes The slip correction function
12. 31 8 2 2 Cancel the operation pre register Use a pre register Cancel command 26h and a Stop command 49h 4Ah to cancel all the data in the pre registers and their status then becomes undetermined The pre register data are also cancelled if the PCL stops with an error 8 2 3 Writing to the comparator pre registers Comparator 5 has pre registers To overwrite the current data write directly to RCMP5 To write to the pre register write to PRCP5 The comparator data will be determined only by writing to PRCP5 The status of the comparator pre register can be checked by reading PFC in the RSTS register When the PFC value is 11 SPDF in the main status register MSTSW will be 1 Writing data to the pre register when it is full is not allowed After the conditions have been established the comparator data in the pre register will be shifted when the condition changes from false to true Comparator data can be written regardless of axis motion stopped operating The relationship between the pre register writing status and the PFC values are as follows Procedure 2nd pre register 1st pre register Working register PFC SPDF Initial status i i 00 0 Undetermined Undetermined Undetermined Data 1 is Data 1 is Data 1 is Wite Data Tio PRCES undetermined undetermined determined Q1 0 f Data 2 is Data 2 is Data 1 is We Data ete RBCS undetermined determined determined 19 Data 3 is Data
13. PRFH PRFL x PRUR 1 x4 Reference clock frequency Hz Acceleration time s 2 S curve acceleration without a linear range MSMD 1 in the PRMD register and PRUS register 0 PRFH PRFL x PRUR 1 x8 Reference clock frequency Hz Acceleration time s 3 S curve acceleration with a linear range MSMD 1 in the PRMD register and PRUS register gt 0 PRFH PRFL 2x PRUS x PRUR 1 x4 Acceleration time s Reference clock frequency Hz PRDR Deceleration rate setting register 16 bit Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic MSDP 0 in the PRMD register the value placed in the PRDR register will be used as the deceleration rate However when PRDR 0 the deceleration rate will be the value placed in the PRUR When the ramping down point is set to automatic there are the following restrictions While in linear interpolation 1 or circular interpolation operation and when constant synthesized speed operation MIPF 1 in PRMD is selected make deceleration time same as acceleration time For other operations arrange time so that deceleration time lt acceleration time x 2 If setting otherwise the axis may not decrease the speed to the specified FL speed when stopping In this case use a manual ramping down point MSDP 1 in the PRMD register l
14. eee eter teeters erent esse teaser teeeeeeteeeeetaeeeeeea 84 9 8 5 Linear interpolation 1 MOD 61N 0 ei cere tir eee ne etn EAEE eiA EEE EAE e A TEE 84 9 8 6 Continuous linear interpolation 2 MOD 62h ee eee eee ee erent ee ee teee erties eeetieeeeetneeeetea 85 9 8 7 Linear interpolation 2 MOD 63N 0 ieee tre erent renee ete eee etnies ee taaeee ee teeeeeseeeetieeeeeeea 85 9 8 8 Circular interpolatio iissa anaa a a a tenes cd saved nai les deb eaaa Mags aa aa aa aaa 86 9 8 9 Circular interpolation synchronized with the U AXiS eee cence ee etne reer eneee ee teeeeeeeeeeeeeneeeenea 88 9 8 10 Interpolation operation synchronized with PA PB ccccccccecceeceeeeeeeeeeeeeeaeceeeeeeeseccnaeeeeeeeeeeeees 88 9 8 11 Operation during interpolation cccceceeeeccece cece eeceeeaeceeeeeeeeeeeeaaeeeeeeeeesecceeaeeeeeeeeesecenceeeeeereeseees 89 10 Speed Patterns se cie gees i ede tenes ee a alae alae Feed et ede eel evi ne eee 90 10 1 Speed patterns 20 0 sd serie a tea eed cea ee eevee ee 90 10 2 Speed pattern setting Sensini adel deur a iva eds eae de bea nae 91 10 3 Manual FH icorrectiony nc ivi teed nd eed acide el Aes ae aad ee ee ae 95 10 4 Example of setting up an acceleration deceleration speed pattern cececeececceceeeeeeeeeeteteeeeeeeeeteees 99 10 5 Changing speed patterns while in Operation cccccccececeeceeceeeceeeeeceecaaeaeeeeeeesesscaeaeeeeeeeseeseneceeeeees
15. 10 COUNTER3 deflection counter 11 COUNTER4 general purpose 2to4 C1S0 to 2 Select a comparison method for comparator 1 Note 2 001 RCMP1 data Comparison counter regardless of counting direction 010 RCMP1 data Comparison counter while counting up count forward 011 RCMP1 data Comparison counter while counting down 100 RCMP1 data gt Comparison counter data 101 RCMP1 data lt Comparison counter data 110 Use as positive end software limit RCMP1 lt COUNTER1 Others Treats that the comparison conditions are not satisfied Note 4 5to6 C1D0 to 1 Select a process to execute when the Comparator 1 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed 7 C1RM 1 Use COUNTER1 for ring counter operation by using Comparator 1 See 11 11 5 Ring count function 8to9 C2CO to 1 Select a comparison counter for Comparator 2 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general purpose 10 to 12 C2S0 to 2 Select a comparison method for Comparator 2 Note 2 001 RCMP2 data Comparison counter regardless of counting direction 010 RCMP2 data Comparison counter while counting up count forward 011 RCMP2 data Comparison counter while counting down 100 RCMP2 data gt
16. 7 Specify the EA EB input count direction lt Set to EDIR bit 22 in RENV2 gt RENV2 WRITE 0 Count forward when the EA phase is leading Or count forward on the rising 93 16 edge of EA 1 Count forward when the EB phase is leading Or count forward on the rising L7L 1 Sap edge of EB Enable disable EA EB input lt Set EOFF bit 30 in RENV2 gt RENV2 WRITE 0 Enable EA EB input 31 24 1 Disable EA EB input EZ input is valid n Set the input signal filter for PA PB lt Set PINF bit 19 in RENV2 gt RENV2 WRITE 0 Turn OFF the filter function 23 16 1 Turn ON the filter function Input signals shorter than 3 reference clock cycles are ignored r n siete Specify the PA PB input lt Set to PIMO to 1 bit 24 to 25 in RENV2 gt RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 31 24 01 90 phase difference 2x 11 Input count forward pulses or count down pulses Two pulse input EEE pA inin Specify the PA PB input count direction lt Set to PDIR bit 26 in RENV2 gt RENV2 WRITE 0 Count up count forward when the PA phase is leading Or count up count 34 24 forward on the rising edge of PA 1 Count up count forward when the PB phase is leading Or count up count L 7 1717 nj forward on the rising edge of PB Enable disable PA PB input lt Set POFF bit 31 in RENV2 gt RENV2 WRITE 0 Enable PA PB input 31 24 1 Disable PA PB input n
17. Linear interpolation 1 using pulsar input Determined by the sign of the value in PRMV 6Ah Continuous linear interpolation 2 using Determined by the sign of the value in PRMV pulsar input 6Bh Linear interpolation 2 using pulsar input Determined by the sign of the value in PRMV 6Ch CW circular interpolation using pulsar input Determined by the circular interpolation operation 6Dh CCW circular interpolation using pulsar input Determined by the circular interpolation operation 64 9 3 1 Continuous operation using a pulsar input MOD 01h This mode allows continuous operation using a pulsar input When PA PB signals are input after writing a start command the LSI will output pulses to the OUT terminal The feed direction depends on PA PB signal input method and the value set in PDIR PA PB input method PDIR Feed direction PA PB input 0 Positive direction When the PA phase leads the PB phase 90 phase difference signal Negative direction When the PB phase leads the PA phase 1x 2x and 4x Positive direction When the PB phase leads the PA phase Negative direction When the PA phase leads the PB phase Positive direction PA input rising edge Negative direction PB input rising edge Positive direction PB input rising edge Negative direction PA input rising edge 1 Two pulse input of count up 0 count forward or count down pulses 1 The PC
18. PRFH lt However A PRUS x PRUR 1 PRDS x PRDR 1 and B PRMG 1 x 32768 x PRMV 2 x Ax PRFL PRUR PRDR 2 x PRFL x PRUR PRDR 2 ii Eliminate the linear acceleration deceleration range and make a linear acceleration range smaller When PRDS PRFL x PRDS x PRUR 2x PRDR 3 PRUS x PRUR 1 x4 PRMG 1 x 32768 PRMV lt PRUS PRFL xPRUS x PRUR PRDR 2 x8 PRMG 1 x 32768 PRMV gt Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS gt 0 PRDS 0 A VA7 B PRUR 2xPRDR 3 PRFH lt However A PRUS x PRUR 1 and B PRMG 1 x 32768 x PRMV 2 x Ax PRFL PRUR 2 x PRDR 3 x PRFL x PRUR 2 x PRDR 3 iii Eliminate the linear acceleration deceleration range When PRMV lt PRUS PRFL xPRUS x PRUR PRDR 2 x8 PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 PRFH lt PRMG 1 x 32768 x PRMV PRFL2 PRUR PRDR 2 x2 PRMV Positioning amount PREL Initial speed PRFH Operation speed PRUR Speed acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 97 3 3 When PRUS gt PRDS i Make a linear acceleration deceleration range smaller When PRMy lt PRFH PRFL x PRFH PRFL x PRUR PRDR 2 2x PRUS x PRUR 1 2 PRD
19. RENV1 WRITE 0 Negative logic 31 24 1 Positive logic n Applying a DR or PE input filter lt Set DRF bit 27 in RENV1 gt RENV1 WRITE 1 Apply a filter to DR input or PE inputs 31 24 When a filter is applied pulses shorter than 32 msec will be ignored n Setting an event interrupt cause lt Set IRDR bit 17 in RIRQ gt RIRQ WRITE 1 Output the INT signal when DR signal input changes 23 16 0 0 0 Oj Of n Reading the event interrupt cause lt ISPD bit 17 and ISMD bit 18 in RIST gt RIST READ ISPD bit 17 1 When the DR signal input changes 23 16 ISMD bit 18 1 When the DR signal input changes O 0 Of Of nj n Read operation status lt CND bits 0 to 3 in RSTS gt RSTS READ 0001 Waiting for a DR input 7 0 n nj nin Reading the DR signal lt SDRP bit 11 and SDRM bit 12 in RSTS gt RSTS READ SDRP 0 DR signal is OFF SDRP 1 DR signal is ON 15 8 SDRM 0 DR signal is OFF SDRM 1 DR signal is ON n n The external switch operation mode has the following two forms MOD Operation mode Direction of movement 02h Continuous operation using an external switch Determined by DR DR input 56h Positioning operation using an external switch Determined by DR DR input 9 4 1 Continuous operati
20. CEMG input 9 ESEM Deceleration stopped by turning ON the SD input 10 ESSD Always 0 11 Not defined Stopped by an operation data error 12 ESDT Simultaneously stopped with another axis due to an error stop on the other axis during 13 ESIP an interpolation operation Stopped by an overflow of PA PB input buffer counter occurrence 14 ESPO Stopped by an over range count occurrence while positioning in an interpolation 15 ESAO operation An EA EB input error occurs does not stop 16 ESEE A PA PB input error occurs does not stop 17 ESPE Event interrupt causes lt The corresponding interrupt bit is set to 1 and then an interrupt occurred gt Eventinisnupt cause Set cause RIRQ Cause RIST Bit Bit name Bit Bit name Automatic stop 0 IREN 0 ISEN The next operation starts continuously 1 IRN 1 ISN When it is possible to write an operation to the 2nd pre register 2 IRNM 2 ISNM When it is possible to write to the 2nd pre register for Comparator 5 3 IRND 3 ISND When acceleration starts 4 IRUS 4 ISUS When acceleration ends 5 IRUE 5 ISUE When deceleration starts 6 IRDS 6 ISDS When deceleration ends 7 IRDE 7 ISDE When the Comparator 1 conditions are satisfied 8 IRC1 8 ISC1 When the Comparator 2 conditions are satisfied 9 IRC2 9 ISC2 When the Comparator 3 conditions are satisfied 10 IRC3 10 ISC3 When the Comparator 4 conditions are satisfied 11 IRC4 11 ISC4 When the Comparator 5 cond
21. Comparison counter data 101 RCMP2 data lt Comparison counter data 110 Use as negative end software limit RCMP2 gt COUNTER 1 Others Treats that the comparison conditions do not meet Note 4 13 to 14 C2D0 to 1 Select a process to execute when the Comparator 2 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed 15 C2RM 1 Use COUNTER2 for ring counter operation by using Comparator 2 See 11 11 5 Ring count function 16 to 17 C3C0 to 1 Select a comparison counter for Comparator 3 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general purpose 46 Bit Bit name Description 18 to 20 C3S0 to 2 Select a comparison method for comparator 3 Note 2 001 RCMP3 data Comparison counter regardless of counting direction 010 RCMP3 data Comparison counter while counting forward 011 RCMP3 data Comparison counter while counting down 100 RCMP3 data gt Comparison counter data 101 RCMP3 data lt Comparison counter data 110 Prohibited setting Others Treats that the comparison conditions do not meet 21 to 22 C3D0 to 1 23 IDXM Select a process to execute when the Comparator 3 conditions are met 00 None use as an INT term
22. GND bai ee P2x MVCx 4 gt P 1x FDWx POx FUPx E LTCx 2m CLRx j INPx J4 PCSx ma DRx J4 DRx PEx P4x CP2x SLx P3x CP1x SLx 4 Functions of Terminals Signal Terminal Input anne No output Logic Description GND 17 25 Power Supply a negative power 39 56 source Make sure to connect all of these terminals 77 105 127 163 176 VDD 12 33 Power Supply 3 3 VDC power 66 88 source The allowable power supply range is 3 3 VDC 10 100 121 Make sure to connect all of these terminals 144 149 161 162 165 166 167 RST 175 Input Negative Input reset signal Make sure to set this signal LOW after turning ON the power and before starting operation Input at least 8 cycles of the reference clock while holding RST low For details about the chip s status after a reset see section 11 1 Reset in this manual CLK 164 Input Input a CMOS level reference clock signal The reference clock frequency is 19 6608 MHz The LSI creates output pulses based on the clock input on this terminal IFO 1 Input Enter the CPU I F mode IF 4 2 CPU CPU signal connected to the terminal IF1 IFO example RD WR AO WRQ L L 68000 VDD R FW LDS DTACK L H H8 RD HWR GND WAIT H L 8086 RD WR GND READY H H Z80 RD WR AO WAIT CS 3 Input Negative When the signal level on this terminal is LOW the RD and WR ter
23. MSTSW 8 Equals 1 when the CMP1 comparison conditions are met P19 127 SCP2 Main status bit MSTSW 9 Equals 1 when the CMP2 comparison conditions are met P19 127 SCP3 Main status bit MSTSW 10 Equals 1 when the CMP3 comparison conditions are met P19 127 SCP4 Main status bit MSTSW 11 _ Equals 1 when the CMP4 comparison conditions are met P19 127 SCP5 Main status bit MSTSW 12 Equals 1 when the CMP5 comparison conditions are met P19 127 SDIN Register bit RSTS 15 Equals 1 when the SD input signal is ON P55 110 SDIR Register bit RSTS 4 Set the operation direction 0 Plus direction 1 Minus direction P55 SDL Register bit RENV1 6 ee input logic of the SD signal 0 Negative logic 1 Positive P39 110 SDLT Register bit RENV1 5 Specify the latch function for the SD input 0 ON 1 OFF P39 110 SDM Register bit RENV1 4 Select the process to execute when the SD input is ON 0 P39 110 Deceleration only 1 Decelerate and stop SDMO to 1 Register bits RIPS 20 21 Current phase of a circular interpolation P59 SDRM Register bit RSTS 12 Equals 1 when the DR input signal is ON P55 67 SDRP Register bit RSTS 11 Equals 1 when the DR input signal is ON P55 67 SDSTP Command 4Ah Deceleration stop P23 SDu Terminal name 132 Ramping down signal for the U axis P8 108 SDx Terminal name 36 Ramping down signal for the X axis P8 108 SDy Terminal name 68 Ramping down signal for the Y axis P8 108 SDz Terminal name 99 Ramping down signal for the Z ax
24. On an ORG input 10 When the Comparator 4 conditions are met 11 When the Comparator 5 conditions are met 14 LTFD 1 Latch the current speed in place of COUNTERS 15 LTOF 1 Stop the latch by timing of a hardware operation Only used by software 16 to 19 SYOO to 3 Select the output timing of the internal synchronous signal 0001 When the Comparator 1 conditions are met 0010 When the Comparator 2 conditions are met 0011 When the Comparator 3 conditions are met 0100 When the Comparator 4 conditions are met 0101 When the Comparator 5 conditions are met 1000 When starting acceleration 1001 When ending acceleration 1010 When starting deceleration 1011 When ending deceleration Others Internal synchronous signal output is OFF 20 to 21 SYIO to 1 Select an input source when starting with an internal synchronous signal 00 Internal synchronous signal output from the X axis 01 Internal synchronous signal output from the Y axis 10 Internal synchronous signal output from the Z axis 11 Internal synchronous signal output from the U axis 22 MSMR 0 This bit is reset automatically when status is read out 1 Stop auto function to reset SENI and SEDR when main status is read out To reset SENI and SEOR use command 2Dh and 2Eh 48 Bit Bit name Description 23 ISMR 0 This bit is rest automatically when RIST or REST register is read out Sto
25. Ooo le gt Tscs LS A0 Ea Tess 4 srw Ri W WR E wma D010 D15 E ee Tso lt Write cycle gt A1 to A4 K N Oo lt gt Tscs Tess LS A0 E Trws Tsrw R W WR ae fic ACK WRQ T ooo o DSL a D010 D15 S E E e 151 12 6 Operation timing Item Symbol Condition Min Max Unit RST input signal width Note 1 10Tcik ns CLR input signal width 2Tok ns EA EB input signal width Teas Note 2 1Toik 8TeLK ns EZ input signal width Note 2 1Toik 8TeLK ns PA PB input signal width Tpap Note 3 1Toik 8TeLK ns ALM input signal width Note 4 2Tok ns INP input signal width Note 4 2Tok ns ERC output signal width RENV1 bit 12 to 14 000 254Tax 256Tax _ ns RENV1 bit 12 to 14 001 254x8Tax 255x8Tax RENV1 bit 12 to 14 010 254x32Tax 255x 32Tax RENV1 bit 12 to 14 011 254x128TaK 265 128To RENV1 bit 12 to 14 100 254 x 1024T ax 255 x 1024Toix RENV1 bit 12 to 14 101 254 x 4096Tax 255 x 4096Taix_ RENV1 bit 12 to 14 110 254 x 8192T ax 255 x 8192T ox RENV1 bit 12 to 14 111 LEVEL output EL EL input signal Note 4 2Teik ns width SD input signal width Note 4 2Tox ns ORG input signal width Note 4 2Tok ns P DR input signal Note 5 PTak tie PE input signal width Note 5 2Tok ns PCS input signal width 2Tox ns LTC input signal width 2Tok ns Output signal 8T ck ns CSTA ah Input i signal 5T
26. S curve deceleration range setting register 15 bit Specify the S curve deceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssp will be calculated from the value placed in PRMG E Reference clock frequency Hz Ssp pps PRDS x PRMG 1 x 65536 In other words speeds between the FH speed and FH speed Ssp and between FL speed Ssp and the FL speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve deceleration without a linear component 161 Appendix 3 Label list Label Type Position Description Reference AO Terminal name 6 Address bus 0 LSB P7 16 A1 Terminal name 7 Address bus 1 P7 16 A2 Terminal name 8 Address bus 2 P7 16 A3 Terminal name 9 Address bus 3 P7 16 A4 Terminal name 10 Address bus 4 MSB P7 16 ADJO to 1 Register bit A He Select the feed amount correction method P50 ALML Register bit RENV1 9 Set the input logic for the ALM signal 0 Negative 1 Positive P39 114 ALMM Register bit RENV1 8 Select the process to use when the ALM input is ON 0 P39 114 Immediate stop 1 Deceleration stop ALMu Terminal name 13
27. Specify the input specification for the CSTA signal lt Set STAM bit 18 in RENV1 gt RENV1 WRITE 0 Level trigger input for the CSTA signal 23 16 1 Edge trigger input for the CSTA signal n Read the CSTA signal lt SSTA bit 5 in RSTS gt RSTS READ 0 The CSTA signal is OFF 7 0 1 The CSTA signal is ON n Read the operation status lt CND bits 0 to 3 in RSTS gt RSTS READ 0010 Waiting for CSTA input 7 0 n nj nin Set an event interrupt cause lt Set IRSA bit 18 in RIRQ gt RIRQ WRITE 1 Output an INT signal when the CSTA input is ON 23 16 o o of of of nJ Reading the event interrupt cause lt ISSA bit 19 in RIST gt RIST READ 1 When the CSTA signal is ON 23 16 0 0 Of of n Simultaneous start command lt Operation command CMSTA gt Start command Output a one shot pulse of 8 reference clock cycles long from the CSTA terminal O6h The CSTA terminal is bi directional and inputs the output signal again Simultaneous start command for only own axis lt Operation command SPSTA gt Start command Used the same way as when a CSTA signal is supplied for own axis only 2Ah 11 7 2 PCS signal The PCS input is a terminal originally used for the target position override 2 However by setting the MSY bits 18 to 19 to 1 in the PRMD operation mode register the PCS input signal can enable the CSTA signal for only its own axis
28. When the comparator conditions are met you can use the function Rewrite operation data with pre register data This function is used to change the speed at a specified position Also Comparator 5 has a pre register function and can be specified for use in changing the speed several time In this case use the command to determine pre register 4Fh to specify several sets of speed data If the speed change data data used with commands to determine are left in Pre registers 1 and 2 when the current operation completes Example 1 or if the speed change data is left in Pre register 1 and some next operation data exists in Pre register 2 Example 2 the PCL will ignore the speed change data and shift the data from the pre registers Then in Example 2 the PCL will start the next operation after shifting the data from the pre registers Example 1 PFM 11 Pre register 2 Pre register 1 Register Example 2 PFM 11 Pre register 2 Pre register 1 Register Speed change data 2 determined Speed change data 1 determined Current operation data determined Next operation data determined Speed change data determined Current operation data determined PFM 00 Pre register 2 Complete Pre register 1 current operation gt Register PFM 01 Pre register 2 Complete Pre register 1 current operation gt Register Speed change data 2 undetermined Speed change d
29. gt 0 PRFH PRFL 2 x PRUS x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s PRDR Deceleration rate setting register 16 bit Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic MSDP 0 in the PRMD register the value placed in the PRDR register will be used as the deceleration rate However when PRDR 0 the deceleration rate will be the value placed in the PRUR When the ramping down point is set to automatic there are the following restrictions While in linear interpolation 1 or circular interpolation operation and when constant synthesized speed operation MIPF 1 in PRMD is selected make deceleration time same as acceleration time For other operations arrange time so that deceleration time lt acceleration time x 2 If setting otherwise the axis may not decrease the speed to the specified FL speed when stopping In this case use a manual ramping down point MSDP 1 in the RMD register 1 Linear deceleration MSMD 0 in the PRMD register PRFH PRFL x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and PRDS register 0 ere _ _ PRFH PRFL x PRDR 1 x8 Deceleration time s Reference clock frequency Hz 3 S cur
30. if it is larger than the optimum value the axis will feed at FL constant speed after decelerating is complete PRUS S curve acceleration range register 15 bit Specify the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssu will be calculated from the value placed in PRMG Ssu pps PRUS x Reference clock frequency Hz PRMG 1 x 65536 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssu and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS S curve deceleration range setting register 15 bit Specify the S curve deceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssp will be calculated from the value placed in PRMG Sep pps PRDS x Reference clock frequency Hz PRMG 1 x 65536 In other words speeds between the FH speed and FH speed Ssp and between FL speed Ssp and the FL speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation wi
31. lt When set to automatic MSDP 0 in the PRMD register gt This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelerating When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the axis will feed 160 at FL constant speed after decelerating is complete PRUS S curve acceleration range register 15 bit Specify the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Sgu will be calculated from the value placed in PRMG x Reference clock frequency Hz Ssu pps PRUS x PRMG 1 x 65536 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssu and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS
32. the LSI will output pulses to the OUT terminal Use an FL constant speed start STAFL 50h or an FH constant speed start STAFH 51h Four methods are available for inputting pulsar signals through the PA PB input terminal by setting the RENV2 environmental setting 2 register Supply a 90 phase difference signal 1x 2x or 4x Supply either count up count forward or count down pulses Two pulse input Note The backlash correction function is available with the pulsar input mode However reversing pulsar input while in the backlash correction is unavailable Besides the above 1x to 4x multiplication the PCL has a multiplication circuit of 1x to 32x and division circuit of 1 to 2048 2048 For setting the multiplication from 1x to 32x specify the PMGO to 4 in the RENV6 and for setting the division of n 2048 specify the PDO to 10 in the RENV6 UP1 UP2 UP3 PA Input interface Multiplication Division circuit To Internal PB gt circuit gt circuit 1x to 32x of n 2048 control circuit DOWN1 DOWN2 i DOWN3 P1MO0 to PIM1 PMGO0 to PMG4 PDO to PD10 The timing of the UP1 and DOWN1 signals will be as follows by setting of the PIMO to PIM1 in the RENV2 1 When using 90 phase difference signals and 1x input PIM 00 PA PB UP1 DOWN1 2 When using 90 phase difference signals and 2x input PIM 01 PA PB UP1 DOWN1
33. the duty cycle is kept constant approx 50 By setting PDTC bit 31 in the RENV1 register environment setting 1 the output pulse width can be fixed to make a constant duty cycle 50 Also when setting METM operation completion timing setting in the PRMD register operation mode the operation complete timing can be changed 1 When METM 0 the point at which the output frequency cycle is complete in the PRMD register Output pulse cycle OUT lt gt lt gt 10x Tok Last pulse 1st pulse of the next operation BSY 2 When METM 1 when the output pulse is OFF in the PRMD register Output pulse width Taw s gt is gt OUT Last pulse Next start pulse BSY When set to when the output pulse is OFF the time interval Min from the last pulse until the next starting pulse output will be Tmn 15 x Tork Teck Reference clock cycle Setting the operation complete timing lt Set METM bit 12 in PRMD gt RMD WRITE 0 At the end of a cycle of a particular output frequency 15 8 1 When the output pulse turns OFF n Setting the output pulse width lt Set PDTC bit 31 in RENV1 gt RENV1 WRITE 0 Automatically change between a constant output pulse and a constant duty 31 24 cycle approx 50 in accord with variations in speed 1 Keep the output pulse width at a constant duty cycle approx 50 el ie E S
34. the operation pre registers PRMV PRFL PRFH PRUR PRDR PRMG PRDP PRMD PRIP PRUS PRDS PRCI and the comparator pre register PRCP5 Change Operation control circuit 2nd Register Y 1st pre register pre register current data PRMV etc RMV etc Setting 8 2 1 Writing to the operation pre registers The pre registers have a two layer structure and each register can contain up to two pieces of operation data Write the data to a pre register P register name Registers that don t need to be changed do not need to be rewritten When the PCL stops its current operation the data you wrote to the pre registers is shifted into the working registers and used as the current data When the PCL is operating the data remains stored as pre register data The data will be transferred into the pre registers when a start command is issued When the current operation completes the data will be shifted into the working registers and the PCL starts the new operation automatically The status of the pre registers can be checked by reading PFM in the RSTS register When the PFM is value is 11 SPRF in the main status register MSTSW changes to 1 Writing data while the pre register is full is not allowed To change the current operating status before the operation is complete such as when you want to change the speed write the new data directly to the working register The relationship between the write stat
35. 1 below shows how to specify a stop of two or more axes In the example while the X axis or Y axis is working and even if the Y or X axis remains stopped the U axis starts operation Example 1 After setting steps 1 to 3 start the X axis and Y axis When both of these axes stop the U axis starts 1 Set MSYO to 1 bits 18 to 19 in PRMD for the U axis to 11 Start triggered by another axis stopping 2 Set MAXO to 3 bits 20 to 23 in PRMD for the U axis to 0011 When both X axis and Y axis stop 3 Write a start command for the U axis The start when another axis stops function has two operation modes one is PCL6045 compatible and the other is the PCL6045BL mode Select the operation mode using SMAX in the RENV2 register When SMAX 0 the PCL6045 compatible mode is selected PCL6045 compatible mode In order to use Other axis stops as a start condition the status of another axis has to change from operating to stopping after the axis specifying this condition is ready to start its process and then it can wait for the other axis stops For example if the X and Y axes are performing circular interpolation and All axes stop is set as a start condition for the next operation in the pre register of the X and Y axes and other axes Z and U axes are already stopped after circular interpolation the X and Y axes will never start the linear interpolation because the X and Y axes already stops before the X and Y axes start
36. 9 SCP2 Set to 1 when the COMPARATOR 2 comparison conditions are met 10 SCP3 Set to 1 when the COMPARATOR 3 comparison conditions are met 11 SCP4 Set to 1 when the COMPARATOR 4 comparison conditions are met 12 SCP5 Set to 1 when the COMPARATOR 5 comparison conditions are met 13 SEOR When a positioning override cannot be executed writing the RMV register while stopped this signal changes to 1 After the main status is read it changes to 0 14 SPRF Set to 1 when the pre register for the subsequent operation data is full 15 ISPDF Set to 1 when the pre register for comparator 5 is full Status change timing chart 1 When the continuous mode MOD 00h 08h is selected Start command Stop command WR Read main status RD l SSCM_ OTOP SRUN OP Pe 2 When the PA PB continuous mode MOD 01h is selected Start command Stop command WR Read main status RD l 19 3 When the DR continuous mode MOD 02h is selected Start command Stop command WR l l Read main status RD l 4 When the auto stop mode is selected such as positioning operation mode MOD 41h Start command WR l Read main status PRD PP SSCM OT LL SRUN Ee Pe 6 5 5 Reading the sub status and input output port SSTSW SSTSB IOPB SSTSW l SSTSB IOPB 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SSD SORG SMEL SPEL SALM SFC SFD SFU IOP7 IOP6 IOP5 IOP4 IOP3 IOP2 IOP1 IOPO
37. B2h WREST 36 Event INT status RIST F3h RRIST B3h WRIST a7 Leomoning RPLS F4h RRPLS counter ga E Counter RSPD F5h RRSPD speed monitor 3g Ramping down Rspc Fen RPSDC point Circular 40 interpolation RCI FCh RRCI BCh WRCI PRCI CCh RPRCI 8Ch WPRCI stepping number Circular 41 Jinterpolation RCIC FDh RRCIC stepping counter go Mterpolation RIPS FFh RRIPS status 28 7 5 General purpose output port control command By writing an output control command to the output port OTPB Address 2 when using a Z80 interface the PCL will control the output of the PO to P7 terminals When the I O setting for PO to P7 is set to output the PCL will output signals from terminals PO to P7 to issue the command When writing words to the port the upper 8 bits are discarded However they should be set to zero to maintain future compatibility The output status of terminals PO to P7 is latched even after the I O setting is changed to input The output status for each terminal can be set individually using the bit control command 7 5 1 Command writing procedures Write control data to output port OTPB Address 2 when a Z80 I F is used To continue with the next command the LSI must wait for four reference clock cycles approx 0 2 usec when CLK 19 6608 MHz The WRQ terminal outputs a wait request signal AO to A2 2h Me Next command address CS fo e
38. Comparators 1 and 2 can also be used as software limits SL SL Software limit function You can set software limits using two of the comparator s circuits When the mechanical position approaches the software limit range the LSI will instruct the motors to stop immediately or to stop by deceleration After that these axes can only be moved in the direction opposite to their previous travel Backlash correction function Slip correction function Both the backlash and slip corrections are available Backlash correction corrects the feed amount each time the feed direction is changed Slip correction corrects the feed amount regardless of the feed direction However the backlash correction cannot be applied while performing a circular interpolation Synchronous signal output function The LSI can output pulse signals for each specified rate interval Simultaneous start function Multiple axes controlled by the same LSI or multiple sets of this LSI can be started at the same time by a command or an external signal Simultaneous stop function Multiple axes controlled by the same LSI or multiple sets of this LSI can be stopped at the same time by a command by an external signal or by an error stop on any axis Vibration restriction function Specify a control constant in advance and add one pulse each for reverse and forward feed just before stopping Using this function vibration can be decreased while stopping Manual pu
39. Example How to set continuous interpolation while changing the interpolated axes moving from linear interpolation on the X and Y axes to Circular interpolation on the Y and Z axes to Linear interpolation on the X and Z axes STEP Register X axis Y axis Z axis Details The X Y and Z axes perform a linear PRMV 10000 5000 0 interpolation Only the X and Y axes moves because the Z axis is given with a feed amount 1 PRMD 0000_0061h 0000_0061h 0000_0061h of 0 The X Y and Z axes start immediately Start command Write 0751h FH constant speed Start command for the X Y and Z axes start PRMV 0 10000 10000 The X and Y axes perform a 90 circular interpolation with a radius of 10000 The X axis PRIP 0 10000 0 performs dummy circular interpolation PRMD __ 0000_006Fh 0000_0064h 0000_0064h Continuous operation by pre registers Start command Write 0751h FH constant speed Start command for the X Y and Z axes start The X Y and Z axes perform a linear PRMV 10000 0 5000 interpolation Only the X and Y axes moves because the Z axis is given with a feed amount 3 PRMD 0000_0061h 0000_0061h 0000_0061h of 0 Continuous operation by pre registers Start command Write 0751h FH constant speed The X Y and Z axes Start command start Using the settings above the PCL will perform steps 1 to 3 continuously STEP 2 and 3 are set during STEP1 operation 1 The X Y and Z a
40. FL constant speed start is used and by the FH speed when an FH constant speed start is used The LSI outputs INT signals as errors when both the PA and PB inputs change simultaneously or when the input frequency is exceeded and the input output buffer counter deflection adjustment 16 bit counter for pulsar input and output pulse overflows This can be monitored by the REST error interrupt factor register FP lt speed input I F phase value PMG setting value 1 PD setting value 2048 PD setting value 0 FP lt speed input I F phase value PD setting value 0 lt Examples of the relationship between the FH FL speed pps and the pulsar input frequency FP pps gt PA PB input method PMG setting value PD setting value Usable range 0 1x 0 FP lt FH FL Two pulse input 0 1x 1024 FP lt FH FL x2 2 3x 0 FP lt FH FL 3 0 1x 0 FP lt FH FL 90 phase difference 1x 0 1x 1024 FP lt FH FL x 2 2 3x 0 FP lt FH FL 3 0 1x 0 FP lt FH FL 2 90 phase difference 2x 0 1x 1024 FP lt FH FL 2 3x 0 FP lt FH FL 6 0 1x 0 FP lt FH FL 90 phase difference 4x 0 1x 1024 FP lt FH FL 2 2 3x 0 FP lt FH FL Frequency of FP Ss S CU NC PA mo re ne Note When the PA PB input frequency fluctuates take the shortest frequency not average frequency as Frequency of FP above 63 lt Setting relationship
41. H Negative logic input Select the stop method to use when the EL signal is turned ON RENV1 WRITE lt RENV1 ELM bit 3 gt 7 0 0 Stop immediately when the EL signal turns ON 1 Decelerates and stops when the EL signal turns ON 1717 1 nf T Reading the EL signal lt SSTSTW SPEL bit 12 SMEL bit 13 gt SSTSW READ SPEL 0 Turn OFF EL signal SPEL 1 Turn ON EL signal 15 8 SMEL 0 Turn OFF EL signal SMEL 1 Turn ON EL signal s Setting the EL input filter lt RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a filter to the EL ORG input 31 24 After applying a filter signals shorter than 4 usec will be ignored JApRRnAE 80 9 6 1 Feed until reaching an EL or SL position This mode is used to continue feeding until the EL or SL software limit signal is turned ON and then the operation stops normally When a start command is written on the position where the EL or SL signal is turned ON the LSI will not output pulses and it will stop the axis normally When a start command is written while the EL and SL signals are OFF the axis will stop when the EL or SL signal is turned ON Normal stop MOD 20 h Feed until reaching the EL or SL position 28 h Feed until reaching the EL or SL position 9 6 2 Leaving an EL or SL position This mode is used to continue feeding until the EL or SL software
42. P2RST_ Set the P2 terminal LOW 1Ah P2SET Set the P2 terminal HIGH 13h P3RST_ Set the P3 terminal LOW 1Bh P3SET Set the P3 terminal HIGH 14h P4RST Set the P4 terminal LOW 1Ch P4SET Set the P4 terminal HIGH 15h P5RST_ Set the P5 terminal LOW 1Dh P5SET_ Set the P5 terminal HIGH 16h P6RST_ Set the P6 terminal LOW 1Eh P6SET Set the P6 terminal HIGH 17h P7RST Set the P7 terminal LOW 1Fh P7SET Set the P7 terminal HIGH lt Control commands gt COMBO Symbol Description COMBO Symbol Description 00h NOP _ Invalid command 27h PCPCAN Clear the RCMP5 pre register 04h SRST Software reset 28h STAON Substitute PCS input 20h CUNIR Rest COUNTER 29h LTCH Substitute LTC input command position Reset COUNTER2 Uses the same process as the ain GUNAR mechanical position am SES CSTA input but for own axis Dh CUNBR Rema s 2Bh PRESHF Shift the operation pre register data deflection counter Reset COUNTER4 23h CUN4R general purpose 2Ch PCPSHF Shift the RCMPS5 pre register 24h _ ERCOUT Output an ERC signal 2Dh SENIR_ Reset SENI bit MSTSW 25h ERCRST Reset the ERC signal 2Eh SEORR Reset SEOR bit MSTSW 26h PRECAN Clear the operation 4Fh PRSET Set the speed change data in the pre register working pre register 155 lt Register control commands gt Register 2nd pre register No D
43. Register bit RIRQ 17 Enable an INT when the DR input changes P53 145 IRDS Register bit RIRQ 6 Enable an INT when the deceleration starts P53 145 IREN Register bit RIRQ 0 Enable an INT when there is a normal stop P53 145 IRLT Register bit RIRQ 14 Enable an INT when the count value is latched by an LTC input P53 145 IRN Register bit RIRQ 1 Enable INT by continuing with the next operation P53 145 IRND Register bit RIRQ 3 Enable an INT when writing to the 2nd pre register for P53 145 comparator5 is enabled IRNM Register bit RIRQ 2 nie INT when writing to 2nd pre register for operation is P53 145 IROL Register bit RIRQ 15 Enable an INT when the count value is latched by an ORG input P53 145 IRSA Register bit RIRQ 18 Enable an INT by turning ON the CSTA input P53 145 IRSD Register bit RIRQ 16 Enable an INT by turning ON the SD input P53 145 IRUE Register bit RIRQ 5 Enable an INT when the acceleration is finished P53 145 IRUS Register bit RIRQ 4 Enable an INT when acceleration starts P53 145 ISC1 Register bit RIST 8 Comparator 1 conditioned status P57 145 ISC2 Register bit RIST 9 Comparator 2 conditioned status P57 145 ISC3 Register bit RIST 10 Comparator 3 conditioned status P57 145 ISC4 Register bit RIST 11 Comparator 4 conditioned status P57 145 ISC5 Register bit RIST 12 Comparator 5 conditioned status P57 145 ISCL Register bit RIST 13 Reset the count value when a CLR signal is input P57 145 ISDE Register bit RIST 7 Equals 1 when deceleration is finis
44. a completion of direction change timer 0111 Correcting backlash 4 SDIR Operation direction 0 Positive direction 1 Negative direction 5 SSTA Becomes 1 when the CSTA input signal is turned ON 6 SSTP Becomes 1 when the CSTP input signal is turned ON 7 SEMG Becomes 1 when the CEMG input signal is turned ON 8 SPCS Becomes 1 when the PCS input signal is turned ON 9 SERC Becomes 1 when the ERC input signal is turned ON 10 SEZ Becomes 1 when the EZ input signal is turned ON 11 SDRP Becomes 1 when the DR input signal is turned ON 12 SDRM Becomes 1 when the DR input signal is turned ON 13 SCLR Becomes 1 when the CLR input signal is turned ON 14 SLTC Becomes 1 when the LTC input signal is turned ON 15 SDIN Becomes 1 when the SD input signal is turned ON Status of SD input terminal 16 SINP Becomes 1 when the INP input signal is turned ON 17 Not defined Always set to 0 18 to 19 PFCO to 1 Used to monitor the condition of the RCMP5 pre register 20 to 21 PFMO to 1 Used to monitor the condition of the operation pre registers for other than RCMP5 22 to 31 Not defined Always set to 0 55 8 3 35 REST register Used to check the error interrupt cause Read only The corresponding bit will be 1 when an error interrupt occurs This register is reset by the following procedure 1 When RENV5 ISMR 0 initial status When this register is read out it is automatically reset Also it is reset when writing data
45. an event interrupt cause lt Set IRLT bit 14 and IROT bit 15 in RIRQ gt RIRQ WRITE IRLT 1 Output an INT signal when the counter value is latched by the LTC 45 8 signal being turned ON IROL 1 Output an INT signal when the counter value is latched by the ORG LN N signal being turned ON Read the event interrupt cause lt ISLT bit 14 ISOL bit 15 in RIST gt RIST READ ISLT 1 Latch the counter value when the LTC signal turns ON 15 8 ISOL 1 Latch the counter value when the ORG signal turns ON ni ni Read the LTC signal lt SLTC bit 14 in RSTS gt RSTS READ 0 The LTC signal is OFF 15 8 1 The LTC signal is ON n Counter latch command lt Control command LTCH gt LTC input command Latch the contents of the counters COUNTER1 to 4 29h 123 11 10 4 Stop the counter COUNTER1 command position stops when the PRMD operation mode register is set to stop the counter and while in timer mode operation COUNTER2 mechanical position COUNTER3 deflection and COUNTER4 general purpose stop when the RENV3 environment setting 3 register is set to stop By setting the RENV3 register you can stop counting pulses while performing a backlash or slip correction COUNTER4 general purpose can be set to count only during operation BSY low usi
46. axis P9 67 DRz Terminal name 110 Manual input for the Z axis P9 67 DRz Terminal name 111 Manual input for the Z axis P9 67 DTMF Register bit RENV1 28 Turn OFF the direction change timer 0 2 msec P40 EAu Terminal name 135 Encoder A phase signal for the U axis P9 EAx Terminal name 40 Encoder A phase signal for the X axis P9 EAy Terminal name 71 Encoder A phase signal for the Y axis P9 EAz Terminal name 103 Encoder A phase signal for the Z axis P9 EBu Terminal name 136 Encoder B phase signal for the U axis P9 EBx Terminal name 41 Encoder B phase signal for the X axis P9 EBy Terminal name 72 Encoder B phase signal for the Y axis P9 EBz Terminal name 104 Encoder B phase signal for the Z axis P9 ECZO to 3 Register bit RSPD 16 19 Read the count value of the EZ input to monitor the zero return P58 EDIR Register bit RENV2 22 Reverse the EA EB input count direction P42 120 EIMO to 1 Register bit phe Specify the EA EB input parameters P42 120 EINF Register bit RENV2 18 Apply a noise filter to the EA EB input P42 120 ELLu Terminal name 174 Select the input logic of the end limit signal for the U axis P8 107 ELLx Terminal name 171 Select the input logic of the end limit signal for the X axis P8 107 ELLy Terminal name 172 Select the input logic of the end limit signal for the Y axis P8 107 ELLz Terminal name 173 Select the input logic of the end limit signal for the Z axis P8 107 ELM Register b
47. axis control address range 6 4 2 Internal map of each axis The internal map of each axis is defined by A0 A1 and A2 address line inputs lt When used with the Z80 I F gt 1 Write cycle AO to A2 Address signal Processing detail 000 COMBO Write a control command 001 COMB1 Assign the axis specify the axis to execute a control command 010 oTPB Change the status of the general purpose output port only bits assigned as outputs are effective 011 Invalid 100 BUFBO Write to the input output buffer bits 0 to 7 101 BUFB1 Write to the input output buffer bits 8 to 15 110 BUFB2 Write to the input output buffer bits 16 to 23 111 BUFB3 Write to the input output buffer bits 24 to 31 2 Readout cycle AO to A2 Address signal Processing detail 000 MSTSBO Read the main status bits 0 to 7 001 MSTSB1 Read the main status bits 8 to 15 010 IOPB Read the general purpose input output port 011 SSTSB Read the sub status 100 BUFBO Read from the input output buffer bits 0 to 7 101 BUFB1 Read from the input output buffer bits 8 to 15 110 BUFB2 Read from the input output buffer bits 16 to 23 111 BUFB3 Read from the input output buffer bits 24 to 31 lt When used with the 8086 I F gt 1 Write cycle A1 to A2 Address signal Processing detail 00 COMW Write the axis assignment and control command
48. belongs to area 0 to 7 Then draw a vertical horizontal line to find the contact point with the square inside the circle 3 Find the distance between the two contact points on the square from 1 and 2 above and enter this value in the PRCI register 87 To continue the end point draw function while setting MPIE in the PRMD register to 1 enter the value in the PRCI register after adding number of pulses required for the end point draw function Note 1 The PRCI register value is used to trigger the start of the deceleration timing When a smaller value is entered the PCL will start deceleration sooner and will apply the FL constant time When a larger value is entered the PCL will delay the beginning of deceleration and then will have to stop suddenly from faster than the FL speed However the interpolation trajectory is the same as the constant speed circular interpolation Note 2 To specify a ramp down point manually think of the PRCI setting as a number of output pulses so that the PRDP calculation formula for the positioning operation can be used However this formula cannot be used when the synthesized constant speed operation is ON In this case there is no other way to obtain a ramp down point except by conducting a test to get a value from the change of the RICI value 9 8 9 Circular interpolation synchronized with the U axis By synchronizing with the U axis any two axes can be used for CW circular interp
49. cause 4 If bit 5 SINT is 1 read the RIST register to identify the interrupt cause 5 Repeat steps 1 to 4 above for the Y Z and U axes The steps above will allow you to determine the interrupt cause and turn the INT output OFF Note 1 When reading a register from the interrupt routine the details of the input output buffer will change If the INT signal is output while the main routine is reading or writing registers and the interrupt routine starts the main routine may produce an error Therefore the interrupt routine should execute a PUSH POP on input output buffer Note 2 While processing all axes in steps 1 to 4 above it is possible that another interrupt may occur on an axis whose process has completed In this case if the CPU interrupts reception mode and is set for edge triggering the PCL will latch the INT output ON and it will not allow a new interrupt to interfere Therefore make sure that the CPU reads main status of all the axes again after you reset the interrupt reception status Also make sure there is no INT signal output from the PCL Then end the interrupt routine Note 3 When not using the INT terminal leave it open When using more than one PCL the INT terminals cannot be wired ORed The INT signal output can be masked by setting the RENV1 environment setting 1 register If the INT output is masked INTM 1 in RENV1 and when the interrupt conditions are satisfied the status will chang
50. command pulse use a direction change timer When DTMP bit 28 in the RENV1 environment setting 1 is set to 0 the operation can be delayed for one direction change timer unit 0 2 msec after changing the direction identification signal Setting the pulse output mode lt Set RENV1 PMDO0 to 2 bit0 to 2 gt RENV1 WRITE When feeding in the When feeding in the PMDO0 to 2 positive direction negative direction i OUT output DIR output OUT output DIR output 000 High ee 001 High Low 010 gad 011 Low 100 101 111 Low Low Setting the direction change timer 0 2 msec functi RENV1 WRITE lt Set DTMF bit 28 in RENV1 gt 34 24 0 ON 1 OFF 104 11 3 2 Control the output pulse width and operation complete timing In order to put forward the timing of stopping this LSI controls the output pulse width When the output pulse speed is slower than 1 8192 of reference clock approx 2 4 Kops when CLK 19 6608 MHz the pulse width is constant and is 4096 cycles of the reference clock approx 200 usec when CLK 19 6608 MHz For faster pulse speeds than this
51. executed it returns to zero operates until COUNTER2 0 4to7 EZDO to 3 Specify the EZ count value that is used for origin return operations 0000 1st count to 1111 16th count 8 to 9 C120 to 21 Select the input count source for COUNTER2 mechanical position 00 EA EB input 01 Output pulse 10 PA PB input 10 to 11 CI30 to 31 Select the input count source for COUNTERS deflection counter 00 Output pulse and EA EB input deflection counter 01 Output pulse and PA PB input deflection counter 10 EA EB input and PA PB input deflection counter 12 to 13 C140 to 41 Select the input count source for COUNTER4 general purpose 00 Output pulse 01 EA EB input 10 PA PB input 11 Divide the CLK count by 2 BSYC 1 Operate COUNTERS only while LSI is operating HBST is low Not defined n Always set to 0 CU1C Reset COUNTER1 command position when the CLR input turns ON CU2C Reset COUNTER2 mechanical position when the CLR input turns ON CU3C Reset COUNTER3 deflection counter when the CLR input turns ON CU4C Reset COUNTER4 general purpose when the CLR input turns ON CU1R Reset COUNTER1 command position when the origin return is complete CU2R Reset COUNTER2 mechanical position when the origin return is complete CU3R Reset COUNTER3 deflection counter when the origin return is c
52. functions Operating temperature range Power supply Package COUNTER 1 Command position counter 28 bit COUNTER 2 Mechanical position counter 28 bit COUNTER 3 Deflection counter 16 bit COUNTER 4 General purpose counter 28 bit 28 bits x 5 circuits axis Linear interpolation Any 2 to 4 axes Circular interpolation Any 2 axes 40 to 85 C Single power supply of 3 3 V 10 176 pin QFP 3 Terminal Assignment Diagram NON 4 an Lt NN NN N NNNNN Ot M EE 8 aa a aa OO ON OO zee a5 NNO NDGaPONNNAN OQwwWwroezngre sO0tsONY O Mol tandgat woo gt aaanadn ttt t UL DU ORGu ALMu EAu EBu EZu PAu PBu PEu DRu DRu PCSu VDD OUT u OIRu C ERCu tL_ BSYu L_ VDD INPu CLRu LTCu POu FUPu P1u FDWu P2u MVCu P3u CP1u 4 SLu P4u CP2u SLu P5u CP3u P6u CP4u P7u CP5u VDD VDD GND CLK VDD VDD VDD CSTA _ CSTP _ CEMG ELLx ELLy ELLz ELLu RST GND PC Note Pin number 1 is to the lower left of the LSI when you see the model name PCL6045BL marked on the chip at the front gt gt a J nan Lt aN ar AAD A DD BOW c O20 gQaaaaqa D CEPELEER NNNNNNN NN NN OYANDEKWNNNONNSDGDONIAAARAAAAAAD FIAZOOOAMDENZADKCITAOOWWRONTMNNT DO AO Q 1 aqawGdwwtcorni ancaaaaana L6045BL CJ ELy Je P7x CPSx 4 gt P6x CP4x 1 gt PSx CP3x m VOD BSY x gt ERCx gt DIRx J gt OUT x m
53. ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 52 8 3 29 RIRQ register Enables event interruption cause Bits set to 1 that will enable an event interrupt for that event 145 44 43 42 1 10 9 8 7 6 5 4 3 2 1 0 IROL IRLT IRCL IRC5 IRC4 IRC3 IRC2 IRC1 IRDE IRDS IRUE IRUS IRND IRNM IRN IREN Bit Bit name Description 0 IREN When stopping normally 1 IRN When starting the next operation continuously 2 IRNM When writing to the 2nd pre register 3 IRND When writing to the 2nd pre register for Comparator 5 4 IRUS When starting acceleration 5 IRUE When ending acceleration 6 IRDS When starting deceleration 7 IRDE When ending deceleration 8 IRC1 When Comparator 1 conditions are met 9 IRC2 When Comparator 2 conditions are met 10 IRC3 When Comparator 3 conditions are met 11 IRC4 When Comparator 4 conditions are met 12 IRC5 When Comparator 5 conditions are met 13 IRCL When resetting the count value with a CLR signal input 14 IRLT When latching the count value with an LTC signal input 15 IROL When latching the count value with an ORG signal input 16 IRSD When the SD input is ON 17 IRDR When the DR input changes 18 IRSA When the CSTA input is ON 19 to 31 Not defined Always set to 0
54. internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed Note 1 When COUNTER3 deflection counter is selected as the comparison counter the LSI compares the counted absolute value and the comparator data Absolute value range 0 to 32 767 Note 2 When you specify C1S0 to 2 110 positive software limit or C2S0 to 2 110 negative software limit select COUNTER1 command position as the comparison counter Note3 When C4S0 to 3 is set to 1000 to 1010 synchronous signal output select COUNTER4 genera purpose for the comparison counter The other counters cannot be selected To set the comparator select a positive value Note 4 When this bit is used as software limit the PCL stops operation regardless of the settings for selecting a process when the conditions are satisfied However when the PCL is operating and 10 Deceleration stop is selected it only uses a deceleration stop when operating at high speed In all other cases it stops immediately 47 8 3 17 RENV5 register This is a register for the Environment 5 settings Settings for Comparator 5 are its main use 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 LTOF LTFD LTM1 LTMO PDSM IDL2 IDL1 IDLO C5D1 C5DO C5S2_ C5S1 C5S0 C5C2 C5C1 C5C0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 po o o o oust cust cuat cuit ismr msm syit syio syo3 syo2 syo1
55. is further away from the original f target position during deceleration the axis will accelerate from the current position to FH speed and Je ie complete the positioning operation at the position l specified in the new data new RMV value Assume that the current speed is Fu and when RFL Fu a curve of next acceleration will be equal to a normal acceleration curve Change to a target 7 further away 3 If the axis has already passed over the new target position or the target position is changed to a position a that is closer than the original position during a deceleration movement on the axis will decelerate and stop Then the movement will reverse and complete the positioning operation at the position specified in the new data new RMV value ed Change to a target J position already passe The axis accelerates decelerates only when starting in high speed The target position data RMV register value can be rewritten any number of times until the positioning operation is complete Note1 If the ramping down point is set to automatic and the deceleration time gt acceleration time x 2 it may be the case that the axis cannot reduce the speed to the FL level as shown below In this case if the target position is set closer than original position and the axis is decelerating the axis will decelerate along the deceleration curve from the new override position and then slow to the FL speed and finally stop Th
56. limit signal is turned OFF When a start command is written on the position where the EL and SL signals are turned OFF the LSI will not output pulses and it will stop the axis normally When starting an operation while the EL input or SL signal is ON the G9103 will stop operation normally when both the EL input and SL signal are OFF MOD 22 h Leave from a EL or SL position 2A h Leave from a EL or SL position 9 7 EZ count operation mode This mode is to operate until EZ signal counts reaches the number EZD setting value 1 written into the RENVS3 register MOD 24 h Feed until the EZ count is completed in positive direction 2C h Feed until the EZ count is completed in negative direction After a start command is written the axis stops immediately or decelerates and stops when feeding at high speed after the EZ count equals the number stored in the register The EZ count can be set from 1 to 16 Use the constant speed start command 0050 h 0051 h for this operation When the high speed start command is used the axis will start decelerating and stop when the EZ signal turns ON so that the motion of the axis overruns the EZ position Specify logical input for the EZ signal in the RENV2 environment setting 2 register and the EZ number to count to in the RENV3 environment setting 3 register The terminal status can be monitored by reading the RSTS extension status register
57. of PA PB input gt Specify the PA PB input lt Set to PIMO to 1 bit 24 to 25 in RENV2 gt RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 31 24 01 90 phase difference 2x 11 2 sets of up or down input pulses npn Specify the PA PB input count direction lt Set to PDIR bit 26 in RENV2 gt RENV2 WRITE 0 Count up count forward when the PA phase is leading Or count up count 34 24 forward on the rising edge of PA 1 Count up count forward when the PB phase is leading Or count up count L717 17 17 1 nj forward on the rising edge of PB Enable disable PA PB input lt Set POFF bit 31 in RENV2 gt RENV2 WRITE 0 Enable PA PB input 31 24 1 Disable PA PB input n Set the DR PE input filter lt Set DRF bit 27 in RENV1 gt RENV1 WRITE 1 Insert a filter on DR input and PE input 31 24 By setting the filter the PCL ignores signals shorter than 32 msec n Reading operation status lt CND bit 0 to 3 in RSTS gt RSTS READ 1000 wait for PA PB input 7 0 n nj nin Reading PA PB input error lt ESPE bit 17 in REST gt REST READ ESPE bit 17 1 A PA PB input error occurs 23 16 0 0 Of 0 Of Of n Reading PA PB input bu
58. position in the negative direction 9 5 3 Origin search operation This mode is used to add functions to an origin return operation It consists of the following possibilities 1 An Origin return operation is made in the opposite direction to the one specified 2 A Leaving the origin position using positioning operations is executed in the opposite direction to the one specified 3 An Origin return operation is executed in the specified direction Operation 1 If the ORG input is turned ON after starting movement on the axis will stop normally Operation 2 If the ORG input is already turned ON when starting the axis will leave the origin position using positioning operations and then begin an origin return operation Operation 3 If movement on the axis is stopped by an EL signal while operating in the specified direction the axis will execute an origin return operation ORM 0000 and a leaving the origin position by positioning in the opposite direction Then it will execute an origin return operation in the specified direction When leaving the origin position by positioning the axis will repeat the positioning operation for the number of pulses specified in the RMV target position register until the origin position has been left Enter a positive number 1 to 134 217 727 in the RMV register MOD 15h Origin search operation in the positive direction 1Dh Origin search operation in the negative direction 78
59. rope te tole Le Lo 0 e re DP Bit Bit name Description 0 IPLx 1 X axis is in linear interpolation 1 mode 1 IPLy 1 Y axis is in linear interpolation 1 mode 2 IPLz 1 Z axis is in linear interpolation 1 mode 3 IPLu 1 U axis is in linear interpolation 1 mode 4 IPEx 1 X axis is in linear interpolation 2 mode 5 IPEy 1 Y axis is in linear interpolation 2 mode 6 IPEz 1 Z axis is in linear interpolation 2 mode 7 IPEu 1 U axis is in linear interpolation 2 mode 8 IPSx 1 X axis is in circular interpolation mode 9 IPSy 1 Y axis is in circular interpolation mode 10 IPSz 1 Z axis is in circular interpolation mode 11 IPSu 1 U axis is in circular interpolation mode 12 IPFx 1 X axis is specified for constant synthetic speed 13 IPFy 1 Y axis is specified for constant synthetic speed 14 IPFz 1 Z axis is specified constant synthesized speed 15 IPFu 1 U axis is specified constant synthesized speed 16 IPL 1 Executing linear interpolation 1 17 IPE 1 Executing linear interpolation 2 18 IPCW 1 Executing a CW directional circular interpolation 19 IPCC 1 Executing a CCW directional circular interpolation 20 to 21 SDMO to 1 Current quadrant of a circular interpolation 00 1st quadrant 01 2nd quadrant 10 3rd quadrant 11 4th quadrant 22 to 23 SEDO to 1 Final phase in a circular interpolation 00 1st quadrant 01 2n
60. specify a sequence number using 2 bits By reading the main status MSTSW a sequence number currently being executed SSCO to 1 can be checked Setting the sequence number does not affect the operation 18 to 19 MSY0 to 1 After writing a start command the LSI will start an axis synchronization operation based on other timing 00 Starts immediately 01 Starts on a CSTA input or command O6h 2Ah 10 Starts with an internal synchronous start signal 11 Starts when a specified axis stops moving 20 to 23 MAX 0 to 3 Specify an axis to check for an operation stop when the value of MSY 0 to 1 is 11 Setting examples 0001 Starts when the X axis stops 0010 Starts when the Y axis stops 0100 Starts when the Z axis stops 1000 Starts when the U axis stops 0101 Starts when both the X and Z axes stop 1111 Starts when all axes stop 24 MSPE 1 Deceleration stop or immediate stop by CSTP input This is used for a simultaneous stop with another axis when this other axis stops with an error 25 MSPO 1 Outputs a CSTP simultaneous stop signal when stopping due to an error 26 MADJ Specify an FH correction function 0 ON 1 OFF When S shaped deceleration is selected MSMD 1 and the operation is set to use linear interpolation 1 MOD 61h with a synthesized speed constant control MIPF 1 make sure to turn this bit ON 36 Bits Bit name Description 27 MPIE 1 After the circular inter
61. terminal P6 HIGH P24 P7M0to1 Register bits RENV specify the P7 CPS terminal details ie P7RST Command 17h Set the general purpose output port terminal P7 LOW P24 P7SET Command 1Fh Set the general purpose output port terminal P7 HIGH P24 PAu Terminal name 138 Manual pulsar phase A input for the U axis P9 62 PAx Terminal name 43 Manual pulsar phase A input for the X axis P9 62 PAy Terminal name 74 Manual pulsar phase A input for the Y axis P9 62 PAz Terminal name 107 Manual pulsar phase A input for the Z axis P9 58 PBu Terminal name 139 Manual pulsar phase B input for the U axis P9 62 PBx Terminal name 44 Manual pulsar phase B input for the X axis P9 62 PBy Terminal name 75 Manual pulsar phase B input for the Y axis P9 62 PBz Terminal name 108 Manual pulsar phase B input for the Z axis P9 62 PCPCAN Command 27h Clear the pre register PRCP5 for PCMP5 P25 PCPSHF Command 2Bh Clear the pre register PRCP5 for PCMP5 P25 PCSM Register bit RENV1 300 Allow the PCS input on the local axis CSPA signal P40 PCSL Register bit RENV1 24 Set the input logic for the PCS signal 0 Negative logic 1 P40 116 Positive logic PCSu Terminal name 143 Start positioning control for the U axis P9 116 PCSx Terminal name 48 Start positioning control for the X axis P9 116 PCSy Terminal name 84 Start positioning control for the Y axis P9 116 PCSz Terminal name 112 Start positioning control for the Z axis P9 116 PDO to 10 Register bit PENNS S
62. that 1 is in bits to be reset 2 When RENV5 ISMR 1 This bit is reset when writing data that 1 is in bits to be reset In other word it is reset by writing a value read out 15 14 13 ESAO ESPO ESIP ESDT 0 ESSD ESEM ESSP ESAL ESML ESPL ESC5 ESC4 ESC3 ESC2 ESC1 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ESPE ESEE Bit Bit name Description 0 ESC1 Stopped when Comparator 1 conditions are met SL 1 ESC2 Stopped when Comparator 2 conditions are met SL 2 ESC3 Stopped when Comparator 3 conditions are met 3 ESC4 Stopped when Comparator 4 conditions are met 4 ESC5 Stopped when Comparator 5 conditions are met 5 ESPL Stopped by the EL input being turned ON 6 ESML Stopped by the EL input being turned ON 7 ESAL Stopped by the ALM input being turned ON 8 ESSP Stopped by the CSTP input being turned ON 9 ESEM Stopped by the CEMG input being turned ON 10 ESSD Decelerated and stopped by the SD input being turned ON 11 Not defined Always set to 0 12 ESDT Stopped by an interpolation operation data error Note 1 13 ESIP Simultaneously stopped with another axis due to an error stop on the other axis during interpolation 14 ESPO Stopped when an overflow occurs in the PA PB input buffer counter 15 ESAO Stopped when the positioning counter counts beyond the range during interpolation 16 ESEE An EA EB input error occurs
63. the synthesized speed constant control in the PRMD registers or specify an end point position in the PRMV register for all of the interpolated axes The direction of operation is determined by the sign of the value in the PRMV register Automatically the axis with the maximum feed amount maximum absolute value in the PRMV register will be considered as the master axis The other axes will be the slave axes When a start command is written the LSI will output pulses to the master axis and the slave axes will be supplied a smaller number of pulses than the master axis Write a start command by setting either the SELx to SELu bits corresponding to the interpolation axes in COMB1 to 1 Either axis can be used to write a start command Setting example Use the settings below and write a start command 0751h The PCL will output pulses with the timing shown in the figure below Entering values in the blank items will not affect operation Setting X axis Y axis Z axis MOD 61h 61h 61h MIPF 0 OFF 0 OFF 0 OFF PRMV value 5 10 2 Operation speed 1000 pps Interpolation control axis O Master axis slave axis Slave axis Master axis Slave axis X axis output pulse A i ih i 1 2 3 4 5 6 7 8 9 10 Y axis output pulse _ IF LJ _ lt gt 1000pps Z axis output pulse Precision of linear interpolation As shown in the figure on the right
64. the LSI hold the RST terminal LOW while supplying at least 8 cycles of a reference clock signal After a reset the various portions of the LSI will be configured as follows Item Reset status initial status n X y Z u Internal registers pre register 0 Control command buffer 0 Axis assignment buffer 0 Input output buffer 0 INTterminal HIGH WRQ terminal HIGH IFB terminal HIGH DO to D7 terminals High Z impedance D8 to D15 terminals High Z impedance POn to P7n terminals Input terminal CSTA terminal HIGH CSTP terminal HIGH OUTn terminal HIGH DIRn terminal HIGH ERCn terminal HIGH BSYn terminal HIGH 101 11 2 Position override This LSI can override change the target position freely during operation There are two methods for overriding the target position 11 2 1 Target position override 1 By rewriting the target position data RMV register value the target position can be changed The starting position is used as a reference to change target position 1 If the new target position is further away from the original oe a target position during acceleration or constant speed A operation the axis will maintain the operation using the A i same speed pattern and it will complete the positioning x operation at the position specified in the new data new rs N RMV value i Change to a target il further away 2 If the new target position
65. the absolute position in COUNTER2 Negative direction when PRMV lt COUNTER2 44h Return to command position 0 COUNTER1 Positive direction when COUNTER1 lt 0 Negative direction when COUNTER1 gt 0 45h Return to machine position 0 COUNTER2 Positive direction when COUNTER2 lt 0 Negative direction when COUNTER2 gt 0 46h One pulse operation Positive direction 4Eh One pulse operation Negative direction 47h Timer operation 9 2 1 Positioning operation specify a target position using an incremental value MOD 41h This is a positioning mode used by placing a value in the PRMV target position register The feed direction is determined by the sign set in the PRMV register When starting the RMV register setting is loaded into the positioning counter RPLS The PCL instructs to feed respective axes to zero direction When the value of the positioning counter drops to 0 movement on the axes stops When you set the PRMV register value to zero to start a positioning operation the LSI will stop outputting pulses immediately 9 2 2 Positioning operation specify the absolute position in COUNTER1 MOD 42h This mode only uses the difference between the PRMV target position register value and COUNTER1 Since the COUNTER1 value is stored when starting to move the target position cannot be overridden by changing the COUNTER1 value although it can be overridden by changing the RMV value The dir
66. the input logic for the ORG signal lt Set ORGL bit 7 in RENV1 gt RENV1 WRITE 0 Negative logic 7 0 1 Positive logic n Read the ORG signal lt SORG bit 14 in SSTSW gt SSTSW READ 0 The ORG signal is OFF 15 8 1 The ORG signal is ON n Set the EZ count number lt Set EZDO to 3 bits 4 to 7 in RENV3 gt RENV3 WRITE Set the origin return completion condition and the EZ count number for counting 7 0 Specify the value the number to count 1 in EZDO to 3 The setting range is 0 to 15 ni ni n nj Specify the input logic of the EZ signal lt Set EZL bit 23 in RENV2 gt RENV2 WRITE 0 Falling edge 23 16 1 Rising edge n Read the EZ signal lt SEZ bit 10 in RSTS gt RSTS READ 0 The EZ signal is OFF 15 8 1 The EZ signal is ON n Apply an input filter to EZ lt Set FLTR bit 26 in RENV1 gt RENV1 WRITE 1 Apply a filter to the EZ input 31 24 By applying a filter signals with a pulse width of 4 usec or less will be ignored n 111 11 6 Servomotor I F Case in digital servo 11 6 1 INP signal The pulse strings input accepting servo driver systems have a deflection counter to count the difference between command pulse inputs and feedback pulse inputs The driver controls to adjust the difference to zero In other words a servomotor moves behind a command pulse and even after the c
67. the positioning operation However the LSI does not output any pulses Therefore the internal operation time using the constant speed start command will be a product of the frequency of the output pulses and the RMV register setting Ex When the frequency is 1000 pps and the RMS register is set to 120 pulses the internal operation time will be 120 msec Write a positive number 1 to 134 217 727 into the RMV register The EL input signal SD input signal and software limits are ignored These are always treated as OFF The ALM input signal CSTP input signal and CEMG input signals are effective The backlash slip correction vibration restriction function and when changing direction this timer function is disabled The LSI stops counting from COUNTER1 command position Regardless of the MINP setting bit 9 in the RMD operation mode register an operation complete delay controlled by the INP signal will not occur In order to eliminate deviations in the internal operation time set the METM bit 12 in the PRMD register to zero and use the cycle completion timing of the output pulse as the operation complete timing 61 9 3 Pulsar PA PB input mode This mode is used to allow operations from a pulsar input In order to enable pulsar input bring the PE terminal LOW Set POFF in the RENV2 register to zero It is also possible to apply a filter on the PE input After writing a start command when a pulsar signal is input
68. the specified P42 136 axis stops function SMEL Sub status bit SSTSW 13 Equals 1 when the EL input is ON P20 107 172 SORG Sub status bit SSTSW 14 Equals 1 when the ORG input is ON P20 111 SPCS Register bit RSTS 8 Equals 1 when the PCS input signal is ON P55 116 SPDF Main status bit MSTSW 15 Equals 1 when the pre register for comparator 5 is full P19 32 SPEL Sub status bit SSTSW 12 Equals 1 when the EL input is ON P20 107 SPRF Main status bit MSTSW 14 Equals 1 when the next operation pre register is full P19 31 SPSTA Command 2Ah The same process as the CSTA input P22 SRST Command 04h Software reset P25 SRUN Main status bit MSTSW 0 Equals 1 while starting P19 SSCO to 1 Main status bits MSTSW 7 6 Sequence code P19 SSCM Main status bit MSTSW 0 Equals 1 when a start command has already been written P19 SSD Sub status bit SSTSW 15 Equals 1 when the SD input is ON latched signal P20 110 SSTA Register bit RSTS 5 Equals 1 when the CSTA input signal is ON P50 116 SSTP Register bit RSTS 6 Equals 1 when the CSTP input signal is ON P50 118 SSTSB Byte map name when Used to read the sub status P16 using a Z80 Word map 2 when P16 SSTSW using an Used to read the sub status general input output port name 8086 STAD Command 52h High s
69. the value read out will be the main axis speed lt Precautions for using the synthesized speed constant control bit MIPF 1 gt 1 Positioning is possible only at the unit s resolution position for machine operation Therefore even if an interpolation operation is selected the machine will use the following points to approximate to an ideal or arc and the actual feed pattern will be point to point zigzag feeding With this feed pattern the actual feed amount will be longer than the ideal linear line or an ideal arc The function of the synthesized constant speed control in this LSI is to make constant synthesized speeds for multiple axes in simultaneous operation which does not mean that the speed through the ideal locus trajectory is constant For example with linear interpolation in the figure on the right using the constant synthesized speed feature the PCL will make a constant synthesized speed in order to feed at a 45 angle by decreasing the speed to 1 42 A End coordinates 10 4 Therefore the feeding interval when the Z feed speed is 1 pps will be 6 442 11 66 i seconds 2 eS The length of the ideal line dotted line is LAT 2 42 OLS X Master axis 10 4 10 77 If the machine can be 0 5 10 fed by just following the ideal line the feed interval will be 10 77 seconds Please take note of the above when using synthesized speed constant control 2 Accel
70. to the Always output Y AiE interpolation calculation i result 1 Always output Output according to the interpolation calculation result 2 Always output Output according to the ra X axis interpolation calculation result 3 Output according to the Always output interpolation calculation result 4 Output according to the Always output interpolation calculation result 5 Always output Output according to the interpolation calculation result 6 Always output Output according to the interpolation calculation result 7 Output according to the Always output interpolation calculation result The table above shows the PCL output pulses for either of the axes in each area Therefore the number of pulses required for circular interpolation the number of circular interpolation steps is equal to the number of pulses to move around the trajectory of a square that is surrounded by the circle used for the circular interpolation For example to draw a 90 arc with radius a the number of pulses required for circular interpolation will be aV 2 x 2 Enter this value in the PRCI register To obtain the number of steps for any start and end points follow the procedure below 1 First determine the area that the start point belongs to area 0 to 7 Then draw a horizontal vertical line to find the contact point with the square inside the circle 2 Next determine the area that the end point
71. turned ON after writing a start command the axis will complete its operation without another start When stopped the axis will output an INT signal gt constant speed operation constant speed operation ae speed operation pee nE to FL ae Accelerate to FH lt again when SD signal is turned off while decelerating t SD signal ON SD signal E SD signal OFF lon J 4 Latch and deceleration stop lt SDM bit 4 1 SDLT bit 5 1 in RENV1 gt If the SD signal is turned ON while in constant speed operation the axis will stop If the SD signal is turned ON while in high speed operation the axis will decelerate to FL speed and then stop Even if the SD signal is turned OFF during deceleration the axis will not accelerate If the SD signal is turned ON while writing a start command the axis will not start moving and the operation will be completed While stopped the LSI outputs an INT signal constant speed operation ay constant speed operation hed speed operation fe Pea to FL FH SD signal is lt turned OFF while FL decelerating SD signal P SD signal SD signal OFF 109 The input logic of the SD signal can be changed If the latched input is set to accept input from the SD signal and if the SD signal is OFF at the next start the latch will be reset The latch is also reset when the latch input SDLT in RENV1 is set to zero The minimum pulse width of the SD signal is 80 reference cloc
72. value 2048 When 0 is entered the division circuit will be OFF 2048 2048 27to31 PMGOto4 Specifies the magnification rate for pulses on the PA PB input Number of pulses number of pulses input from PA PB x set value 1 Note 1 When PSTP is 1 the Stop command will be ignored when BSYn H OFF regardless of the operation mode Before writing a Stop command check the main status register When SRUN 0 change PSTP to 0 and then write a Stop command 8 3 19 RENV7 register This is a register for the Environment 7 settings It is primarily used to enter the time for the vibration reduction function If both RT and FT data are other than zero the vibration reduction function is turned ON 15 14 138 12 td 1G 5 4 3 22 1 0 RT15 RT14 RT13 RT12 RT11 RT10 RT9 RT8 RT7 RTE RTS RT4 RT3 RT2 RT1 RTO FT15 FT14 FT13 FT12 FT11 FT10 FT9 FT8 Bit Bit name Description Oto15 IRTO to 15 Enter the RT time shown in the figure below The units are 32 ticks of the reference clock approx 1 6 usec 0 to 65 535 16 to 31 FTO to 15 Enter the FT time shown in the figure below The units are 32 ticks of the reference clock approx 1 6 usec 0 to 65 535 The dotted lines in the figure below are pulses added by the vibration reduction function pulse lt r STE er EE A E EER EE reesoes pulse 50 8 3 20 RCUN1 register This is a register used for COUNTE
73. when the comparator1 conditions P46 126 C1S0 to 2 Register bit RENV4 2 4 Select a comparison method for comparator1 P46 132 C1RM Register bit RENV4 7 Set COUNTER1 for ring count operation using Comparator 1 P46 132 C2CO0 to 1 Register bit RENV4 8 9 Select a comparison counter for comparator2 P46 125 C2D0 to 1 Register bit RENV4 Select a process to execute when the comparator2 conditions P46 126 13 14 are met RENV4 C2S0 to 2 Register bit 10 12 Select a comparison method for comparator2 P46 126 C2RM Register bit RENV4 15 Set COUNTER2 for ring count operation using Comparator 2 P46 132 C3C0 to 1 Register bit i pba Select a comparison counter for comparator3 P46 125 C3D0 to 1 Register bit RENV4 Select a process to execute when the comparator3 conditions P47 126 21 22 are met F RENV4 i C3S0 to 2 Register bit 18 20 Select a comparison method for comparator3 P47 126 C4C0 to 1 Register bit A Select a comparison counter for comparator4 P47 125 C4D0 to 1 Register bit RENV4 Select a process to execute when the comparator4 conditions P47 126 30 31 are met 7 RENV4 C450 to 3 Register bit 26 29 Select a comparison method for comparator4 P47 126 C5C0 to 2 Register bit RENV5 0 2 Select a comparison counter for comparator5 P48 125 C5D0 to 1 Register bit RENV5 6 7 ice process to execute when the comparator5 conditions P48 126 C5S0 to 2 Register bit RENV5 3 5 Select a comparison method for comparator5 P48 126 CEMG Terminal name
74. will stop immediately or make a deceleration stop when feeding at high speed when the ORG input turns ON Then it will feed in the opposite direction at RFA constant speed until the ORG input turns OFF Then the axis will move back in the original direction at RFA speed and stop instantly when ORG input turns ON again COUNTER reset timing When the ORG input signal turns ON 0010 Origin return operation 2 After the ORG input turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop immediately when the LSI finishes counting EZ pulses After the ORG input turns ON when feeding at high speed the axis will start decelerating At the same time the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting EZ pulses 0011 Origin return operation 3 After the ORG signal turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop instantly when the LSI finishes counting EZ pulses After the ORG signal turns ON when feeding at high speed the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will decelerate and stop When feeding at constant speed movement on the axis stops immediately by counting the EZ signal after the ORG input is turned ON When feeding at high speed the axis will decelerate and stop by counting the EZ signal after the OR
75. 01 OTPW Change the status of the general purpose output port only bits assigned as outputs are effective 10 BUFWO Write to the input output buffer bits 0 to 15 11 BUFW1 Write to the input output buffer bits 16 to 31 2 Readout cycle A1 to A2 Address signal Processing detail 00 MSTSW Read the main status bits 0 to 15 01 SSTSW Read the sub status and general purpose input output port 10 BUFWO Read from the input output buffer bits 0 to 15 11 BUFW1 Read from the input output buffer bits 16 to 31 16 lt When used with the H8 or 68000 I F gt 1 Write cycle A1 to A2 Address signal Processing detail 11 COMW Write the axis assignment and control command 10 OTPW Change the status of the general purpose output port only bits assigned as outputs are effective 01 BUFWO Write to the input output buffer bits 0 to 15 00 BUFW1 Write to the input output buffer bits 16 to 31 Readout cycle A1 to A2 Address signal Processing detail 11 MSTSW Read the main status bits 0 to 15 10 SSTSW Read the sub status and general purpose input output port 01 BUFWO Read from the input output buffer bits 0 to 15 00 BUFW1 Read from the input output buffer bits 16 to 31 17 6 5 Description of the map details 6 5 1 Write a command code and axis selection COMW COMB Write commands for reading and writing to registers and the start and stop control commands for each a
76. 1 Signal input method Input 90 phase difference signals 1x 2x 4x Counter direction Count up count forward when the EA input phase is leading Count down when the EB input phase is leading 2 Signal input method Input count up count forward pulses or count down pulses Two pulse input Counter direction Count up count forward on the rising edge of the EA input Count down on the falling edge of the EB input The counter direction or EA EB and PA PB input signals can be reversed The LSI can be set to sense an error when both the EA and EB input or both the PA and PB inputs change simultaneously and this error can be detected using the REST error interrupt cause register Set the input signal filter for EA EB EZ lt Set EINF bit 18 in RENV2 gt RENV2 WRITE 0 Turn OFF the filter function 23 16 1 Turn ON the filter function Input signals shorter than 3 reference clock cycles are ignored ee be a MSs Setting the EA EB input lt Set EIMO to 1 bit 20 to 21 in RENV2 gt RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 23 16 01 90 phase difference 2x 11 Input count up count forward pulses or count down pulses Two pulse input in n
77. 1 22 P40 112 165 INPu Terminal name 150 In position input for the U axis P9 112 INPx Terminal name 49 In position input for the X axis P9 112 INPy Terminal name 85 In position input for the Y axis P9 112 INPz Terminal name 113 In position input for the Z axis P9 112 INT Terminal name 11 Interrupt request signal P7 143 INTM Register bit RENV1 29 Mask the INT output terminal P40 144 IOPO to 7 Sub status bits SSTSW 0 7 Read the PO to P7 terminal status P20 IOPB Byte map name Pee Read the general I O port P16 IPCC Register bit RIPS 19 Executing a CCW circular interpolation P59 IPCW Register bit RIPS 18 Executing a CW circular interpolation P59 IPE Register bit RIPS 17 Born a linear interpolation by entering master axis feed P59 IPEu Register bit RIPS 7 U axis linear interpolation mode from a specified master axis P59 feed amount IPEx Register bit RIPS 4 X axis linear interpolation mode from a specified master axis P59 feed amount IPEy Register bit RIPS 5 1 axis linear interpolation mode from a specified master axis P59 eed amount IPEz Register bit RIPS 6 Z axis linear interpolation mode from a specified master axis P59 feed amount IPFu Register bit RIPS 15 Specify a synthetic constant speed for the U axis P59 IPFx Register bit RIPS 1
78. 101 0100 54h 101 0101 55h 101 0110 56h 110 0000 60h 110 0001 61h 110 0010 62h 110 0100 64h 110 0101 65h Set operation mode 000 0000 00h 000 1000 08h 000 0001 01h 000 0010 02h Continuous positive rotation controlled by command control Continuous negative rotation controlled by command control Continuous operation controlled by pulsar PA PB input Continuous operation controlled by external signal DR DR input Positive rotation origin return operation Negative rotation origin return operation Positive feed leaving from the origin position Negative feed leaving from the origin position Origin search in the positive direction Origin search in the negative direction Feed to EL or SL position Feed to EL or SL position Move away from the EL or SL position Move away from the EL or SL position Feed in the positive direction for a specified number of EZ counts Feed in the negative direction for a specified number of EZ counts Positioning operation specify the incremental target position Positioning operation specify the absolute position in COUNTER1 Positioning operation specify the absolute position in COUNTER2 Zero return of command position COUNTER 45h Zero return of mechanical position COUNTER2 Single pulse operation in the positive direction Single pulse operation in the negative direction Timer operation Positioning operation co
79. 16 01 Clear on the rising edge 11 Clears on a HIGH level n n Reading the CLR signal lt SCLR bit 13 in RSTS gt RSTS READ 0 The CLR signal is OFF 15 8 1 The CLR signal is ON n Set event interrupt cause lt Set IRCL bit 13 in RIRQ gt RIRQ WRITE 1 Output an INT signal when resetting the counter value by turning the CLR 45 8 signal ON Saige SAA Read the event interrupt cause lt ISCL bit 13 in RIST gt RIST READ 1 When you want to reset the counter value by turning ON the CLR signal 15 8 nl aka Counter reset command lt Control command CUN1R to CUN4R gt Counter reset 20h Set COUNTER1 command position to zero command 21h Set COUNTER2 mechanical position to zero 20h 21h 22h 23h 22h Set COUNTER3 23h Set COUNTER4 deflection to zero general purpose to zero _ Note In order to prevent incorrect counts when the count timing and reset timing match the counter will be 1 or 1 never 0 Please note this operation detail when detecting 0 with the comparator function 122 11 10 3 Latch the counter and count condition All the counters can latch their counts using any of the following methods The setting is made in RENV5 environment setting 5 register The latched values can be output from the RLTC1 to 4 registers 1 Turn ON the LTC signal 2 Turn ON the ORG signal 3 When the co
80. 170 Emergency stop signal P8 118 162 C120 to 21 Register bit RENV3 8 9 Specify the input count COUNTER2 mechanical position P44 119 CI30 to 31 Register bit Prk Specify the input count COUNTER3 deflection counter P44 119 Cl40t041 Register bit BENS Specify the input count COUNTER4 general purpose P44 119 CLK Terminal name 164 Reference clock 19 6608 MHz as standard P7 CLROto1 Register bit RENY Select the CLR input mode P40 122 CLRu Terminal name 151 Clear the counter input for the U axis P9 122 CLRx Terminal name 50 Clear the counter input for the X axis P9 122 CLRy Terminal name 86 Clear the counter input for the Y axis P9 122 CLRz Terminal name 114 Clear the counter input for the Z axis P9 122 CMEMG Command 05h Emergency stop P23 118 CMSTA Command 06h Output CSTA simultaneous start signal P22 116 CMSTP Command 70h 07h Output CSTP simultaneous stop signal P23 118 CNDO to 3 Register bit RSTS 0 3 Operation status monitor P55 CNTD Command 56h Remaining high speed start pulses FH constant speed gt P22 Deceleration stop CNTFH Command 55h Remaining pulses FH constant speed start pulses P22 CNTFL Command 54h Remaining pulses FL constant speed start pulses P22 CNTUD Command 57h Remaining high speed start pulses accelerate gt FH constant P22 speed gt dec
81. 2 Interpolation control axis In Circular interpolation and Linear interpolation 1 specify the speed for one axis only This axis is referred to as the interpolation control axis Interpolation control axes can only be in the order X Y Z and U for the axes that are interpolated When you want to execute both a circular interpolation and a linear interpolation 1 simultaneously there will be two interpolation control axes When linear interpolation 2 is selected each axis will be used to control the interpolation Relationship between an interpolation operation and the axes used for interpolation control No Interpolation operation Interpolation control axis 1 Linear interpolation 1 of the X Y Z and U axes X axis 2 Linear interpolation 1 of the X Y and Z axes X axis 3 Linear interpolation 1 of the Y Z and U axes Y axis 4 Linear interpolation 1 of the Y and U axis Y axis 5 Circular interpolation of the X and U axis X axis 6 Circular interpolation of the X and Z axes and linear Circular interpolation X axis interpolation 1 of the Y and U axes Linear interpolation 1 Y axis 82 9 8 3 Synthesized speed constant control This function is used to create a constant synthesized speed for linear interpolation 1 and circular interpolation operations When linear interpolation 2 is selected this function cannot be used To enable this function set the MIPF bit 15 in th
82. 2 Specify a synthetic constant speed for the X axis P59 IPFy Register bit RIPS 13 Specify synthetic constant speed for the Y axis P59 IPFz Register bit RIPS 14 Specify a synthetic constant speed for the Z axis P59 IPL Register bit RIPS 16 Executing a normal linear interpolation P59 IPLu Register bit RIPS 3 U axis is in normal linear interpolation mode P59 IPLx Register bit RIPS 0 X axis is in normal linear interpolation mode P59 IPLy Register bit RIPS 1 Y axis is in normal linear interpolation mode P59 IPLz Register bit RIPS 2 Z axis is in normal linear interpolation mode P59 IPSu Register bit RIPS 11 U axis is in circular interpolation mode P59 IPSx Register bit RIPS 8 X axis is in circular interpolation mode P59 IPSy Register bit RIPS 9 Y axis is in circular interpolation mode P59 IPSz Register bit RIPS 10 Z axis is in circular interpolation mode P59 IRC1 Register bit RIRQ 8 Enable an INT when the comparator1 conditions are met P53 145 IRC2 Register bit RIRQ 9 Enable an INT when the comparator2 conditions are met P53 145 IRC3 Register bit RIRQ 10 Enable an INT when the comparator3 conditions are met P53 145 IRC4 Register bit RIRQ 11 Enable an INT when the comparator4 conditions are met P53 145 IRC5 Register bit RIRQ 12 Enable an INT when the comparator5 conditions are met P53 145 IRCL Register bit RIRQ 13 Enable an INT when the count value is reset by a CLR input P53 145 IRDE Register bit RIRQ 7 Enable an INT when the deceleration is finished P53 145 IRDR
83. 2 i_to3 _to2 Comparator gt Comparison counter O 001 O O 001 0 O 001 O 0001 O 001 regardless of count direction i i i i Comparator Comparison counter o 010 w lo 010 0 0 010 o 0010 o 010 count up count forward only Comparator Comparison counter oio11 o lolo o fo ot lo oo11 Jo 0114 count down only Comparator gt Comparison counter O 100 O O 100 O O 100 O 0100 O 100 Comparator lt Comparison counter O 101 O O 101 O O 101 O 0101 O 101 Use as software limits O 110 O O 110 0 IDX synchronous signal output Le g Shee O 1000 regardless of counting direction _ i i IDX synchronous signal output i in O 1001 count up count forward only IDX synchronous signal output oO 1010 count down only i i i Use COUNTER1 as a ring counter O 001 __ 1 i O 1010 Use COUNTER2 as a ring counter O 001 1T O 1010 O Comparison possible Blank Comparison impossible When used as software limits value of Comparator 1 is a positive direction limit value and the comparison method is comparator lt comparison counter Value of Comparator 2 a negative limit value and the comparison method is comparator gt comparison counter Select COUNTER1 command position for the comparison counter Comparator 3 must not have C390 to 2 set to a value of 110 Settin
84. 2 is Data 1 is Aie paat PREES determined determined determined H 1 Comparison result for Data 1 Data 3 is Data 3 is Data 2 is 10 0 changes from true to false undetermined determined determined Also by setting an event interrupt cause in the RIRQ register IRND the PCL can be set to output an INT signal as the 2nd pre register changes from determined to undetermined status when the operation is complete 8 2 4 Cancel the comparator pre register data The pre register cancel command 27h will cancel the pre register data and its status becomes undetermined However please note that the register will not change to the undetermined status 32 8 3 Description of the registers The initial value of all the registers and pre registers is 0 Please note that with some registers a value of 0 is outside the allowable setting range 8 3 1 PRMV RMV register This register is used to specify the target position for positioning operations The set details change with each operation mode PMV is the register for PRMV 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14131211109 8 7 6 5 4 3 2 Setting range 134 217 728 to 134 217 727 By changing the RMV register while in operation the feed length can be overridden 8 3 2 PRFL RFL register This pre register is used to set the initial speed stop seed for high speed with acceleration deceleration operations RFL is the register for PRFL 31 30 29 2
85. 4 U axis driver alarm signal to stop the axis P8 114 ALMx Terminal name 38 X axis driver alarm signal to stop the axis P8 114 ALMy Terminal name 70 Y axis driver alarm signal to stop the axis P8 114 ALMz Terminal name 102 Z axis driver alarm signal to stop the axis P8 114 ASO to 15 Register bit RSPD 0 15 Monitor current speed P58 BRO to 11 Register bit RENV6 0 11 Specify a backlash correction or slip correction amount P50 133 BSYC Register bit RENV3 14 teal eae COUNTERS only while in operation P44 124 BSYu Terminal name 148 Operation monitor output for the U axis P10 BSYx Terminal name 60 Operation monitor output for the X axis P10 BSYy Terminal name 81 Operation monitor output for the Y axis P10 BSYz Terminal name 125 Operation monitor output for the Z axis P10 BUFBO Byte map name 4 for Z80 Write read the input output buffer bits 0 to 7 P16 18 BUFB1 Byte map name 5 for Z80 Write read the input output buffer bits 8 to 15 P16 18 BUFB2 Byte map name 6 for Z80 Write read the input output buffer bits 16 to 23 P16 18 BUFB3 Byte map name 7 for Z80 Write read the input output buffer bits 24 to 31 P16 18 BUFWO ron map 4for 8086 Write read the input output buffer bits 0 to 15 P16 18 BUFW1 ass map 6 for 8086 Write read the input output buffer bits 16 to 31 P16 18 C1C0 to 1 Register bit RENV4 0 1 Select a comparison counter for comparator 1 P46 125 C1D0 to 1 Register bit RENV4 5 6 vee process to execute
86. 5 31 PDTC PCSM INTM DTMF DRF FLTR DRL PCSL LTCL 14 13 12 11 10 9 8 7 6 5 4 3 2 1 ERCL EPW2 EPW1 EPW0 EROR EROE ALML ALMM ORGL SDL SDLT SDM ELM PMD2 PMD1 PMDO 30 29 0 22 21 2 19 148 17 46 INPL CLR1 CLRO STPM STAM ETW1 ETWO 28 27 26 25 24 23 Bits Bit name Description 0 to2 PMDO to 2 Specify output pulse details Operation in direction Operation in direction PMDO to 2 i OUT output DIR output OUT output DIR output 000 High Low 001 High Low 010 Low High 011 Low High 100 High High OUT OUT p 101 _ AN e DIR DIR OUT OUT 110 Ta aes DIR DIR 111 Low Low 3 ELM Specify the process to occur when the EL input is turned ON 0 Immediate stop 1 Deceleration stop Note 1 2 4 SDM Specify the process to occur when the SD input is turned ON 0 Deceleration only 1 Deceleration stop 5 SDLT Specify the latch function of the SD input 0 OFF 1 ON Turns ON when the SD signal width is short When the SD input is OFF while starting the latch signal is reset The latch signal is also reset when SDLT is 0 6 SDL Specify the SD signal input logic 0 Negative log
87. 64h 0000_0064h 0000_0041h The X Y and Z axes start Start command Write 0751h FH constant speed The X Y and Z axes Start command start PRMV 40000 5000 0 a X and Y axes perform linear interpolation e Z axis is given a positioning operation with a feed amount of 0 2 PRMD 007C_0061h O07C_0061h 007C_0041h The X Y and Z axes wait for the X Y and Z axes to stop Start command Write 0751h FH constant speed The X Y and Z axes Start command start Since a plane containing interpolated axes is PRMV 0 0 0 changed all of the axes are given a dummy 3 operation PRMD 007C_0041h 007C_0041h 007C_0041h The X Y and Z axes wait for the X Y and Z axes to stop Start command Write 0751h FH constant start The X Y and Z axes Start command The X and Z axes perform linear interpolation REMY 10000 0 5000 The Y axis is given a positioning operation with a feed amount of 0 4 PRMD 007C_0061h 007C_0041h 007C_0061h The X Y and Z axes wait for the X Y and Z axes to stop start Start command Write 0751h FH constant speed X Y and Z axis start command Using the settings above the PCL will perform steps 1 to 3 continuously Specify STEP4 after STEP1 is complete Start a CW circular interpolation of 90 with a radius of 10000 on the X and Y axes The Z axis performs a positioning operation with a feed amount of 0 The X and Y axes perform a linear interpolation operation 10000 5000 The Z axis performs a
88. 8 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 The setting range is 1 to 65 535 However the actual speed pps may vary with the speed magnification rate setting in the PRMG register 8 3 3 PRFH RFH register This pre register is used to specify the operation speed RFH is the working register for PRFH Write to this register to override the current speed The setting range is 1 to 65 535 However the actual speed pps may vary with the speed magnification rate set in the PRMG register 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 8 3 4 PRUR RUR register This pre register is used to specify the acceleration rate RUR is the register for PRUR 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Setting range is 1 to 65 535 Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 33 8 3 5 PRDR RDR register This pre register is used to specify the deceleration rate RDR is the register for PRDR 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 The normal setting range is 1 to 65 535 When PRDR 0 the deceleration rate will be the value set by PRUR 8 3 6 PR
89. 9 2 P sitioning operato MODS eass ce veccaeca ves Sane aay An EERE E PENEN AE EANA RA RE AARE PEFEA RANEREN AA EEFE NAAR U TEPE E RRA 60 9 2 1 Positioning operation specify a target position using an incremental value MOD 41h 60 9 2 2 Positioning operation specify the absolute position in COUNTER1 MOD 42h ee 60 9 2 3 Positioning operation specify the absolute position in COUNTER2 MOD 43h 61 9 2 4 Command position 0 return operation MOD 44h cece cnet retire ee titeee eee teeeeetieeeeetneeeereaa 61 9 2 5 Mechanical position 0 return operation MOD 45h eee eeeeeeeeeeceeeeeeeeeeeeeeaeeeeeeeaeeeeetnaeeeeeeas 61 9 2 6 One pulse operation MOD 46h 4EN 0 eee tere retiree eee ee ee te ee ee teeeeeteeeeetiaeeeestieeeeneaa 61 9 2 7 imer operation MOD 4 ON sls scriecsievied cvvicuedeneeaedecheeadueh cvvdededandeveeh ds at sucl os ALEE ERARE TEA A EATA AEAT 61 9 3 Pulsar PA PB INpUt mode sA cacl ede ins eieaa aaea tees ed act neds ceases AE ee eE aaea arae aie aaa Ainaa 62 9 3 1 Continuous operation using a pulsar input MOD 01h eesssessesssssrrssesrresrrrrssrerrssrrrrssrrrrssrrnssrenn 65 9 3 2 Positioning operations using a pulsar input specify incremental position MOD 51h 65 9 3 3 Positioning operation using pulsar input specify absolute position to COUNTER1 MOD 52h 65 9 3 4 Positioning operation using pulsar input specify the absolute position in COUNT
90. 9 5 3 1 Origin return operation 0 ORM 0000 Constant speed operation lt Sensor EL ORG gt ORG EL Operation 1 Operation 2 Operation 3 OFF OFF ON ON a E RMV setting value ecc High speed operation lt Sensor EL ORG gt Even if the axis stops normally it may not be at the origin position However COUNTER2 mechanical position provides a reliable value ORG EL Operation 1 Operation 2 Operation 3 OFF OFF ON ON RMV setting value lt lt 79 9 6 EL or SL operation mode The following four modes of EL or SL software limit operation are available Operation mode Direction of movement Operate until reaching the EL or SL Positive direction position Operate until reaching the EL or SL Negative direction position Leave from the EL or SL positions Positive direction Leave from the EL or SL positions Negative direction To specify the EL input signal set the input logic using the ELL input terminal Select the operation type immediate stop deceleration stop when the input from that terminal is ON in the RENV1 Environment setting 1 register The status of the terminal can be monitored using the SSTSW sub status For details about setting the SL software limit see section 11 11 2 Software limit function Select the EL signal input logic lt ELL input terminal gt L Positive logic input
91. Command F3h Copy RIST data to BUF P28 RRLTC1 Command EDh Copy RLTC1 data to BUF P28 RRLTC2 Command EEh Copy RLTC2 data to BUF P28 RRLTC3 Command EFh Copy RLTC3 data to BUF P28 RRLTC4 Command FOh Copy RLTC4 data to BUF P28 RRMD Command D7h Cop RMD data to BUF P27 171 RRMG Command D5h Copy RMG data to BUF P27 RRMV Command DOh Copy RMV data to BUF P27 RRPLS Command F4h Copy RPLS data to BUF P28 RRSDC Command F6h Copy RSDC data to BUF P28 RRSPD Command F5h Copy RSPD data to BUF P28 RRSTS Command Fth Copy RSTS data to BUF P28 RRUR Command D3h Copy RUR data to BUF P27 RRUS Command D9h Copy RUS data to BUF P27 RSDC Register name Automatically calculated value for the ramping down point P30 58 RSPD Register name EZ count Monitor current speed P30 58 RST Terminal name 175 Reset signal P7 101 RSTS Register name Extension status P30 55 RTO to 15 Register bits RENV7 0 15 Enter the RT time for the vibration reduction function P50 134 RUR Register name Acceleration rate Please refer to PRUR P33 91 RUS Register name S curve range during acceleration Please refer to PRUS P37 91 SALM Sub status bit SSTSW 11 Equals 1 when the ALM input is ON P20 114 SCLR Register bit RSTS 13 Equals 1 when the CLR input signal is ON P55 122 SCP1 Main status bit
92. Comparator 1 conditions are satisfied IRC2 bit 9 1 When the Comparator 2 conditions are satisfied IRC3 bit 10 1 When the Comparator 3 conditions are satisfied IRC4 bit 11 When the Comparator 4 conditions are satisfied IRC5 bit 12 When the Comparator 5 conditions are satisfied 1 1 1 gt RIRQ 7 np N Nj nN 15 n 135 Read the event interrupt INT output cause lt Bit 4 to 12 of RIST gt RIST READ ISUS bit 4 1 When the acceleration is started ISUE bit 5 1 When the acceleration is complete ISDS bit 6 1 When the deceleration is started 7 0 ISDE bit 7 1 When the deceleration is complete ISC1 bit 8 1 When the Comparator 1 conditions are satisfied ny Ay Ay AY aoa ISC2 bit 9 1 When the Comparator 2 conditions are satisfied 15 8 ISC3 bit 10 1 When the Comparator 3 conditions are satisfied ISC4 bit 11 1 When the Comparator 4 conditions are satisfied oe oe oe n ny Ay A ISC5 bit 12 1 When the Comparator 5 conditions are satisfied 11 14 1 Start triggered by another axis stopping If the start condition is specified as a Stop of two or more axes when any of the specified axes stops after operating and the other axes never start remain stopped the axis which is supposed to start when the conditions are met will start operation Example
93. DSM IDL2 IDL1 IDLO C5D1 C5D0 C5S2 C581 C5S0 C5S2 C5C1 C5CO 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 CU4L CU3L CU2L CU1L SMR MSMR SYI1 SYI0 SYO3 SYO2 SYO1 SYOO Bit Bit name Details 11 PDSM While continuous operation using PA PB and DR error interrupt occurs by EL stop 0 Start command is not necessary at the restart like PCL6045B 1 Stop operation by an EL signal of the same direction as operation While continuous operation using PA PB and DR Error interrupt occurs at the stop Start command is needed at the restart 1 22 MSMR Set the method to reset SENI and SEOR bit of main status 0 This bit is reset automatically when status is read out 1 Stop auto function to reset SENI and SEDR when main status is read out To reset SENI and SEOR use command 2Dh and 2Eh 23 ISMR Set the method to reset RIST and REST in interrupt cause register 0 This bit is reset automatically when RIST or REST register is read out 1 Stop auto function to be reset when RIST register and REST register are read out To reset this bit write to RIST and REST registers To write RIST and REST use WRIST B3h or WREST B2h command This bit is reset by writing a value read out 4 3 3 Control command The following two commands have been added These commands are used to reset SENI and SEOR bit of main status manually COMBO Symbol Detail 2Dh SENIR Reset main s
94. EAD lt ESAL bit 7 in RSET gt 7 0 1 Stop due to the ALM signal being turned ON n Set the ALM input filter lt Set FLTR bit 26 in RENV1 gt RENV1 WRITE 1 Apply a filter to the ALM input 31 24 When a filter is applied pulses less than 4 usec pulse in width will be ignored nd rl ile ko NL ai 114 11 7 External start simultaneous start 11 7 1 CSTA signal This LSI can start when triggered by an external signal on the CSTA terminals Set MSY bits 18 to 19 in the PRMD register operation mode to 01 and the LSI will start feeding when the CSTA goes LOW When you want to control multiple axes using more than one LSI connect the CSTA terminal on each LSI and input the same signals All of the axes set to waiting for CSTA input will all start at the same time In this example a start signal can be output through the CSTA terminal The input logic on the CSTA terminals cannot be changed By setting the RIRQ event interrupt cause register the INT signal can be output together with a simultaneous start when the CSTA input is ON By reading the RIST register the cause of an event interrupt can be checked The operation status waiting for CSTA input and status of the CSTA terminal can be monitored by reading the RSTS register extension status lt How to make a simultaneous start gt Set MSY0 to 1 bits 18 to 19 in the RMD register for the axes you want to start Write a start comma
95. EEERE 23 7 2 General purpose output bit control COMMAMNAS ceceeeeeceeeeeeeeeeeeaeeeeeeeee eee caeaeeeeeeesetecciaeeeeeeeeeneees 24 Ted Control COMMANG sateen heels alli dl nantes ans anna eid tale hig liedidle 25 3 1 Sotware reset COMMANG aurerra ia leaded lad el ed ed eile 25 3 2 Counter reset COMMANG acrin dieses leds edited deed else eesti 25 7 3 3 ERC output control command cccceceeeeeeeccee cece eeee ee caaeaeeeeeeetececaaeeeeeeeeeeeeseceaeaeeeeeeeseteciieeeseneeeeee 25 3 4 Pre register control COMMANG iii sc2 ecetdteledad lee leeds ded eee cee deeds 25 7 3 5 PCS inp t COMMMANG cers dives Aeiaetacce cane cndeviatacceae tabs ae dev dec E EA a atten ee taednalovedsdlateahhesrialaadne 25 7 3 6 LTCH input counter latch COMMANG cceccceeeeeeeeeeeeeeeeeeceaeeeceeeceeeecaeeesaeeseaeeeseaeeessaeeseneesenees 25 7 3 7 SENI SEOR reset command sssini naii a Na E EAN EAE ANa Edinan 25 4 Register control command c 0ces Aas ianei nA AE A EREE EE EER E 26 7 4 1 Procedure for writing data to a register the axis assignment is omitted 0 cee eeeeeee eee 26 7 4 2 Procedure for reading data from a register the axis assignment is omitted 0 cee eeee 26 7 4 3 Table of register control COMMANAS 0 cece tee ttre etter eet e eerie ee ee teee ee teee ee tieeeenieeeeeee 27 7 5 General purpose output port Control command cecceeeecceceeeeeeeeeeeeceeeeeeeseceeaa
96. ENV6 setting 6 q9 Environment RENV7 E2h RRENV7 A2h_ WRENV7 setting 7 COUNTER1 20 command RCUN1 E3h RRCUN1 A3h WRCUN1 position COUNTER2 21 mechanical RCUN2 E4h RRCUN2 A4h_ WRCUN2 position COUNTER3 22 deflection RCUN3 E5h RRCUN3 A5h_ WRCUN3 counter 23 COUNTERS RCUN4 E6h RRCUN4 AGh_ WRCUN4 general purpose 24 Comparator 1 data RCMP1 E7h RRCMP1 A7h WRCMP1 25 Comparator 2 data RCMP2 E8h RRCMP2 A8h_ WRCMP2 26 Comparator 3 data RCMP3 E9h RRCMP3 A9h_ WRCMP3 27 Comparator 4 data RCMP4 EAh RRCMP4 AAh WRCMP4 28 Comparator 5 data RCMP5 EBh RRCMP5 ABh WRCMP5 PRCP5 CBh RPRCP5 8Bh WPRCP5 Enable various 29 event interrupts RIRQ ECh RRIRQ ACh WRIRQ INTs 30 rea latch Ritc1 EDh RRLTC1 31 eae latch RLTC2 EEh RRLTC2 32 Sere latch RLTC3 EFh RRLTC3 33 relia latch Ritca Foh RRLTC4 156 Register 2nd pre register No Description Read command Write command Read command Write command Name COM Symboli COM Symboi Name COM Symboi COM Symbol BO BO BO BO 34 Extension status RSTS Fih RRSTS 35 Error INT status REST F2h RREST B2h_ WREST 36 Event INT status RIST F3h RRIST B3h_ WRIST 37 Positioning RPLS F4h RRPLS counter 3g EZ counter speed RSPD F5h RRSPD monitor 3g Ramping down Rspc Feh RRSDC point Number of steps 40 for circular RCI FCh RRCI BC
97. ER2 MOD 53h E EA E EE T E A O A D E I E EEE AE T E E E 65 9 3 5 Command position zero return operation using a pulsar input MOD 54h 00 eect eee 66 9 3 6 Mechanical position zero return operation using pulsar input MOD 5S5N ce eeeeeeeeeeeee trees 66 9 3 7 Continuous linear interpolation 1 using pulsar input MOD 68h ce eeeeeeeeteeeeeeteteeeeetnteeeeeeee 66 9 3 8 Linear interpolation 1 using pulsar input MOD 69N 0 00 ee cece eeeetee ee erent ee ee tees eetaeeeeeetneeeetea 66 9 3 9 Continuous linear interpolation 2 using pulsar input MOD GAN eee eeeteeeeeeeteeeeeteteeeeeeee 66 9 3 10 Linear interpolation 2 using pulsar input MOD 6Bh cc eeeeee ener erent eee eeteeeeee teaser sneeeerena 66 9 3 11 CW circular interpolation using pulsar input MOD 6CN 00 cee eeeeee erence ee eete esse teeeeeeetnaeeeeeeae 66 9 3 12 CCW circular interpolation using pulsar input MOD 6DN 0 eect eee eee eeteeeeeeeneeeeeeee 66 9 4 External switch LDR operation mode eee eenee eee eeeeee ee eeeae ee eeeaaeeeeeeaaeeeeseeaeeeseeaeeeeeeneeeeeneeeeeeaes 67 9 4 1 Continuous operation using an external switch MOD O2N cece eteeee ee etteee eee teeeeeeneeeereee 67 9 4 2 Positioning operation using an external switch MOD S6N 0 eee eee ee eeteee teeter eter teeeeeetneeeeeeee 68 9 5 Origin position Operation MOE ccccceceeeeeeeeeeceeeeeeeeeeeeeaeeeeeeeeeceececce
98. ERCz Terminal name 124 Driver deflection clear output for the Z axis P10 113 EROE Register bit RENV1 10 Automatic output of the ERC signal P39 113 EROR Register bit RENV1 11 Auto output an ERC signal when the zero return is complete P39 113 ESAL Register bit REST 7 Equals 1 when stopped by the ALM input turning ON P56 114 ESAO Register bit REST 15 Equals 1 when the positioning counter exceeds the count range P56 ESC1 Register bit REST 0 Stopped when the comparator1 conditions SL are met P56 ESC2 Register bit REST 1 Stopped when the comparator2 conditions SL are met P56 ESC3 Register bit REST 2 oe when the comaprator3 conditions detect out of step P56 ESC4 Register bit REST 3 Stopped when the comparator4 conditions are met P56 ESC5 Register bit REST 4 Stopped when the comparator5 conditions are met P56 ESDT Register bit REST 12 Stopped by an operation data error P56 ESEE Register bit REST 16 An EA EB input error occurred P56 ESEM Register bit REST 9 Stops by inputting CEMG ON input P56 118 ESIP Register bit REST 13 When any other axis in an interpolation operation stops in an P56 emergency this axis stops simultaneously ESML Register bit REST 6 Stopped because the EL input turned ON P56 107 ESPE Register bit REST 17 A PA PB input error occurred P56 64 ESPL Register bit REST 5 Stopped because the EL input turned ON P56 107 ESPO Register bit REST 14 The PA PB input buffer counter overflowed P56 64 ESSD Register bit REST 10 Decelerat
99. G _ gt WR T o SE ae gt 4 cycle of reference clock 7 5 2 Command bit allocation 7 6 5 4 3 2 141 0 OTP7 OTPG6 OTP5 OTP4 OTP3 OTP2 0TP1 0TPO L Output PO Output P1 Output P2 Output P3 Output P4 Output P5 Output P6 Output P7 0 Low level 1 High level 29 8 Registers 8 1 Table of registers The following registers are available for each axis 2nd Details pre register name RMV Feed amount target position PRMV RFL Initial speed PRFL RFH Operation speed PRFH RUR Acceleration rate PRUR RDR Deceleration rate PRDR RMG Speed magnification rate PRMG RDP Ramping down point PRDP RMD Operation mode PRMD RIP Circular interpolation center position master axis feed PRIP amount with linear interpolation and with multiple chips RUS S curve acceleration range PRUS RDS S curve deceleration range PRDS RFA Speed at amount correction RENV1 Environment setting 1 specify I O terminal details RENV2 Environment setting 2 specify general purpose port details RENV3 Environment setting 3 specify origin return and counter details RENV4 Environment setting 4 specify details for comparators 1 to 4 RENV5 Environment setting 5 specify details for comparator 5 RENV6 Environment setting 6 specify details for feed amount correction RENV7 Environment setting 7 specify vibration reduction control details RCUN1 COUNTER1 command position RC
100. G input is turned ON 0100 Origin return operation 4 After the ORG input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction at RFA constant speed After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting the EZ pulses 0101 Origin return operation 5 After the ORG input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly or make a deceleration stop when feeding at high speed COUNTER reset timing When finishing counting the EZ pulses 43 Bit Bit name Description 0to3 ORMO to 3 0110 Origin return operation 6 After the EL input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFA constant speed When the EL signal turns OFF the axis will stop instantly when the LSI finishes counting the EZ pulses COUNTER reset timing W
101. H and WR H lt Read cycle gt AO to A4 CS WRQ RD DO to D7 lt Write cycle gt AO to A4 CS WRQ WR DO to D7 148 12 5 2 CPU I F 2 IF1 H IFO L 8086 Item Symbol Condition Min Max Unit Address setup time for RD Tar 11 ns Address setup time for WR Taw 11 ns Address hold time for RD WR f Trwa 0 ns CS setup time for RD Tcsr 3 ns CS setup time for WR Tesw 3 ns CS hold time for RD WR Trwes 0 ns WRQ ON delay time for CS Teoswt C 40pF 1 12 ns WRQ signal LOW time Twat ATax ns Data output delay time for RD Trolo C 40pF 24 ns Data output delay time for WRQ TwrtHp C 40pF 43 ns Data float delay time for RD TrpHp C 40pF 21 ns WR signal width Twr Note 1 7 ns Data setup time for WR f Tpwr 11 ns Data hold time for WR f Twro 0 ns Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H lt Read cycle gt A1 to A4 CS WRQ RD DO to D15 lt Write cycle gt A1 to A4 CS WRQ WR 149 12 5 3 CPU I F 3 IF1 L IFO L H8 Item Symbol Condition Min Max Unit Address setup time for RD Tar 11 ns Address setup time for WR Taw 11 ns Address hold time for RD WR tf Trwa 0 ns CS setup time for RD
102. Hz Magnification rate PRMG 1 x 65536 Magnification rate setting example when the reference clock 19 6608 MHz Output speed unit pps Setting Magnification Output speed Setting Magnification Output speed range rate range rate 2999 OBB7h 0 1 0 1 to 6 553 5 59 3Bh 5 5to 327 675 1499 SDBh 0 2 0 2 to 13 107 0 29 1Dh 10 10 to 655 350 599 257h 0 5 0 5 to 32 767 5 14 OEh 20 20 to 1 310 700 299 12Bh 1 1 to 65 535 5 5h 50 50 to 3 276 750 149 95h 2 2 to 131 070 2 2h 100 100 to 6 553 500 PRDP Ramping down point register 24 bits Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the value specified in the PRDP varies according to the ramping down point setting method MSDP in the PRMD register lt When set to manual MSDP 1 in the PRMD register gt The number of pulses at which to start deceleration set in the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in the equation below 1 Linear deceleration MSMD 0 of the PRMD register PRFH PRFL x PRDR 1 Optimum value Number of pulses PRMG 1 x 32768 However the optimum value for a triangle start without changing the value in the PRFH register while turning OFF the FH correction function MADJ 1 in the PRMD register will be
103. If deceleration stop is selected hold the EL input ON until stopping The minimum pulse width of the EL signal is 80 reference clock cycles 4 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycles 0 1 usec The EL signal can be monitored by reading SSTSW sub status By reading the REST register you can check for an error interrupt caused by the EL signal turning ON When in the timer mode this signal is ignored Even in this case the EL signal can be monitored by reading SSTSW sub status The input logic of the EL signal can be set for each axis using the ELL input terminal Set the input logic of the EL signal lt ELL input terminal gt L Positive logic input H Negative logic input Stop method used when the EL signal turns ON lt Set ELM bit 3 in RENV1 gt RENV1 WRITE 0 Immediate stop by turning ON the EL signal 7 0 1 Deceleration stop by turning ON the EL signal n Reading the EL signal lt SPEL bit 12 SMEL bit 13 in SSTSW gt SSTSW READ SPEL 0 Turn OFF the EL signal SPEL 1 Turn ON the EL signal 15 8 SMEL 0 Turn OFF the EL signal SMEL 1 Turn ON the EL signal n n Reading the stop cause when the EL signal turns on REST READ lt ESPL bit 5 ESML bit 6 in REST gt 7 0 ESPL 1 Stop b
104. L PREH lt _ PRMG 1 x 32768 x PRMV PRUR PRDR 2 x2 3 S curve acceleration deceleration with linear acceleration deceleration MSMD 1 in the PRMD register and the PRUS register gt 0 PRDS register gt 0 3 1 When PRUS PRDS i Make a linear acceleration range smaller When PRMV lt PRFH PRFL x PRFH PRFL 2x PRUS x PRUR PRDR 2 j nd PRMG 1 x 32768 PRUS PRFL xPRUS x PRUR PRDR 2 x8 PRMG 1 x 32768 PRMV gt PRMG 1 x 32768 x PRMV PRUR PRDR 2 PRFH lt PRUS PRUS PREL ii Eliminate the linear acceleration deceleration range When PRMV lt PRUS PRFL x PRUS x PRUR PRDR 2 x8 PRMG 1 x32768 Change to S curve acceleration deceleration without a linear acceleration deceleration range PRUS 0 PRDS 0 PRMG 1 x 32768 x PRMV PRFL PRUR PRDR 2 x2 PRFH lt PRMV Positioning amount PREL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 96 3 2 When PRUS lt PRDS i Make a linear acceleration deceleration range smaller When PRMV lt PRFH PRFL x PRFH PREFL x PRUR PRDR 2 2 x PRUS x PRUR 1 2x PRDR 1 PRMG 1 x 32768 and PRDS PREFL x PRDS x PRUR 2x PRDR 3 PRUS x PRUR 1 x 4 PRMG 1 x 32768 A VA 4B PRUR PRDR 2 PRMV gt
105. L speed When the SD signal is turned OFF the axis will accelerate to FH speed FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL FH Bes FL FL accelerate to FH t t t SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 2 Latch and decelerate lt SDM bit 4 0 SDLT bit 5 1 in RENV1 register gt While feeding at constant speed the SD signal is ignored While in high speed operation decelerate to FL speed by turning the SD signal ON Even if the SD signal is turned OFF after decelerating or while decelerating the axis will continue moving at FL speed and will not accelerate to FH speed If the SD signal is turned ON while writing a high speed command the axis will feed at FL speed Even if the SD signal is turned OFF the axis will not accelerate to FH speed FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL FH a FL FL t t SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 108 3 Deceleration stop lt SDM bit 4 1 SDLT bit 5 0 in RENV1 register gt If the SD signal is turned ON while in constant speed operation the axis will stop While in high speed operation the axis will decelerate to FL speed when the SD signal is turned ON and then stop If the SD signal is turned OFF during deceleration the axis will accelerate to FH speed If the SD signal is
106. L stops operation when the EL signal in the current feed direction is turned ON But the PCL can be operated in the opposite direction without writing a restart command When stopped by the EL input no error interrupt INT output will occur To release the operation mode write an immediate stop command 49h Note When the immediate stop command 49h is written while the PCL is performing a multiplication operation caused by setting PIM 0 to 1 and PMG 0 to 4 the PCL will stop operation immediately and the total number of pulses that are output will not always be an integral multiple of the magnification When PSTP in RENV6 is set to 1 the PCL delays the stop timing until an integral multiple of pulses has been output However after a stop command is sent by setting PSTP to 1 check the MSTS If SRUN is 0 set PSTP to 0 When SRUN is 0 while PSTP is 1 the PCL will latch the stop command 9 3 2 Positioning operations using a pulsar input specify incremental position MOD 51h The PCL positioning is synchronized with the pulsar input by using the PRMV setting as incremental position data This mode allows positioning using a pulsar input The feed direction is determined by the sign in the PPMV register At the start the content in the RMV register is loaded to the positioning counter When PA PB signals are input the PCL outputs pulses and decrements the positioning counter When the value in the positioning counter reaches z
107. LM signal if it was started with a high speed start When the axis is started at constant speed the signal on the ALM terminal will cause an immediate stop To stop using deceleration keep the ALM input ON until the axis stops operation If the ALM signal is ON when a start command is written the LSI will not output any pulses The minimum pulse width of the ALM signal is 80 reference clock cycles 4 usec if the input filter is ON If the input filter is OFF the minimum pulse width is 2 reference clock cycles 0 1 usec When CLK 19 6608 MHz The input logic of the ALM signal can be changed The signal status of the ALM signal can be monitored by reading SSTSW sub status Stop method when the ALM signal is ON lt Set ALMM bit 8 in RENV1 gt RENV1 WRITE 0 Stop immediately when the ALM signal is turned ON 15 8 1 Deceleration stop high speed start only when the ALM signal is turned ON n Input logic setting of the ALM signal lt Set ALML bit 9 in RENV1 gt RENV1 WRITE 0 Negative logic 15 8 1 Positive logic n Read the ALM signal lt SALM bit 11 in SSTSW gt SSTSW READ 0 The ALM signal is OFF 15 8 1 The ALM signal is ON n Reading the cause of a stop when the ALM signal is turned ON REST R
108. MG RMG register This pre register is used to set the speed magnification rate RMG is the register for PRMG 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 The setting range is 2 to 4 095 Sets the relationship between the speed register PRFL RFL PRFH RFH RFA values and the operation speeds The actual operation speed pps is a product of the speed magnification rate and the speed register setting Setting example when the reference clock is 19 6608 MHz Setting Speed Operation speed Setting Speed Operation speed setting magnification rate setting range pps magnification rate range pps 2999 0 1x 0 1 to 6 553 5 59 5x 5 to 327 675 1499 0 2x 0 2 to 13 107 0 29 10x 10 to 655 350 599 0 5x 0 5 to 32 767 5 14 20x 20 to 1 310 700 299 1x 1 to 65 535 5 50x 50 to 3 276 750 149 2x 2 to 131 070 2 100x 100 to 6 553 500 8 3 7 PRDP RDP register This pre register is used to set a ramping down point deceleration start point for positioning operations RDP is the 2nd register for PRDP 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 Bits marked with a symbol are ignored when written and change their setting when read according to the setting of MSDP bit 13 in the PRMD register MSDP Setting details bit Setting range Offset for automatically set values When a positive value is entered an axis will s
109. NNEE a AANA EASA N ENNAN EANES ANENA adda 52 8 3 27 RCMPA r gistel eanna inde bettie ENA AAE ANA eadidediccsahihuididiciadihiiieadieeiadehd 52 8 3 28 RCMP5 PRGP5 register oenina t arer ri aia aiaa raTa AEAEE aa ANENA NAKANE aE ETA 52 8 3 29 RIRQ register eaoat coined vetend ei add NEA t a EAE A add de ANENA AAEE A EEA AETA KNA E EANNA 53 8 3 30 RET C1 register nansa nirean En NA NAO ENE nied cand bai N ahi idea a peal 53 8 3 31 RET C2 register si iicaiieiaedadihi tinge haan diel nae aie ede eed 53 3 32 RETC3S registers daars ia diel eile anal eran header bandana nate Eaa NTA 54 8 3 33 RET C4 register iiiesccicgieceenngesel dbs hi teladleiinndbectindieved angele cetinadhatadheeetinnd ANLAN EAK ETE ANA 54 823 34 RSLS regist nie AE E EE EEE ARE aed 55 BIS RESI TOSTE ae e E EE cand AEEA AAEE EEEE AERA RAEN 56 8 3 36 RIST TEGISLED e eree EE EEE EEEE ETE NEETA AE 57 Bar RPLS TEISTE erR ERNEA EE EEA EEE EREA EEEE EEA 57 B J 30 RSPO TOISTETAAN AER 58 8 3 39 RODCEGISLED siras oora eaaa Ea EER ER EEN EAE E AAA EEE E ARAE 58 8 340 PROROCI TEJI to asana a AE RA EEEN E EREA EAEE EEA EETA 58 8 32 41 RCICTOQIS E eri Er EEA EEEE ANAA AORA EE EOT E AEREE EAEN ae 58 8 3 42 RIPS TEJI SE i eera E EEEE ELA EAEAN E EA EEA EEA EE EA 59 9 Operation Mde dee tabs backed a aa a aaa aaa a a e a aa aa a aE aaa aaia teks tale 60 9 1 Continuous operation mode using command control ssssssssssrssssrrsseirrsstttrrssttnnstttnnssttnnssttnnnstennnnneennt 60
110. NTER4 general purpose Read only The contents of COUNTER are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 For details about the counter data latch see section 11 10 Counter Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 54 8 3 34 RSTS register The extension status can be checked Read only 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SDIN SLTC SCLR SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SDIR CND3 CND2 CND1 CNDO 0 PFM1 PFMO PFC1 PFCO 0 SINP Bit Bit name Description Oto3 CNDOto3 _ Reports the operation status 0000 Under stopped condition 1000 Waiting for PA PB input 0001 Waiting for DR input 1001 Feeding at FA constant speed 0010 Waiting for CSTA input 1010 Feeding at FL constant speed 0011 Waiting for an internal synchronous 1011 Accelerating signal 1100 Feeding at FH constant speed 0100 Waiting for another axis to stop 1101 Decelerating 0101 Waiting for a completion of ERC 1110 Waiting for INP input timer 1111 Others controlling start 0110 Waiting for
111. Negative The PCL starts its positioning operation according to this input PCSy 84 signal Override 2 of the target position PCSz 112 The input logic can be changed using software The terminal status PCSu 143 can be checked using an RSTS command signal extension status INPx 49 Input U jNegative Input the position complete signal from servo driver in position INPy 85 signal INPz 113 Input logic can be changed using software The terminal status can INPu 150 be checked using an RSTS command signal extension status CLRx 50 Input U Negative Reset a specified counter more than one is available from CLRy 86 COUNTER to 4 CLRz 114 The input logic can be changed using software The terminal status CLRu 151 can be checked using an RSTS command signal extension status 9 ee ae oe Logic Description LTCx 51 Input U Negative Latch counter value of specified counters more than one is LTCy 87 available from COUNTER to 4 LTCz 115 The input logic can be changed using software The terminal status LTCu 152 can be checked using an RSTS command signal ERCx 59 Output Negative Outputs a deflection counter clear signal to a servo driver as a pulse ERCy 80 The output logic and pulse width can be changed using software A ERCz 124 LEVEL signal output is also available The terminal status can be ERCu 147 checked using an RSTS command signal BSYx 60 Output Negative Output
112. O Constant speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON ON EL oN Operation 1 eS FA m High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON ON i i i Operation 1 AN oe 3 Operation 2 i S Emergency stop Operation 3 i Emergency stop Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for stopping at the origin return 74 9 5 1 6 Origin return operation 5 ORM 0101 O Constant speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON EZ a ee a a EL ooi oN Operation 1 Operation 2 M Emergency stop Operation 3 i l Ma Emergency stop m High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON ON EZ en EL ae ON Operation 1 L i i Operation 2 l M Emergency stop Operation 3 l Ty Emergency stop 9 5 1 7 Origin return operation 6 ORM 0110 O Constant speed operation lt Sensor EL gt EL 2 to ok Operation 1 gt l Stop when EL FA speed off m High speed operation lt Sensor EL gt EL aes a adh Operation 1 D I a al Stop when EL off FA speed Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for stopping at the origi
113. Operation 3 Ty Emergency stop 9 5 1 12 Origin return operation 11 ORM 1011 m High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON ON EL a oN Operation 1 Operation 2 M Emergency stop Operation 3 Emergency stop 9 5 1 13 Origin return operation 12 ORM 1100 m High speed operation lt Sensor EL EZ EZD 0001 gt ON EL oN Operation 1 Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for the zero stopping position Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is 0 the LSI will output an ERC signal at positions marked with an asterisk 77 9 5 2 Leaving the origin position operations After writing a start command the axis will leave the origin position when the ORG input turns ON Make sure to use the Constant speed start command 50h 51h when leaving the origin position When you write a start command while the ORG input is OFF the LSI will stop the movement on the axis as a normal stop without outputting pulses Since the ORG input status is sampled when outputting pulses if the PCL starts at constant speed while the ORG signal is ON it will stop operation after outputting one pulse since the ORG input is turned OFF Normal stop MOD 12h Leave the origin position in the positive direction 1Ah Leave the origin
114. P36 MSDP Register bit RMD 13 Specify the ramping down point manually P36 MSMD Register bit RMD 10 S curve acceleration deceleration linear accel decel when 0 P36 MSMR Register bits RENV5 me a function to reset SENI and SEDR when main status is P48 MSNO to 1 Register bits RMD 16 17 Sequence number used to control the operation block P36 MSPE Register bit RMD 24 Enable CSTP input P36 118 MSPO Register bit RMD 25 Aa CSTP simultaneous stop signal when stopped by P36 118 0 when 3 MSTSBO Byte map name _ Read the main status bits 0 to 7 P16 using a Z80 MSTSB1 Byte map name 1 When Read the main status bits 8 to 15 P16 using a Z80 Word mia 0 when P16 MSTSW P using an Read the main status bits bits O to 15 name 8086 MSYO to 1 Register bit fer to Synchronization start timing P36 135 NOP Command 00h Invalid command P23 ORG Register bit RENV17 Select the input logic for the ORG signal 0 Negative logic 1 P39 69 Positive logic 167 ORGu Terminal name 133 Origin point signal for U axis P8 69 ORGx Terminal name 37 Origin point signal for X axis P8 69 ORGy Terminal name 69 Origin point signal for Y axis P8 69 ORGz Terminal name 101 Origin point signal for Z axis P8 69 ORMO to 3 Register bits RENV3 0 3 Select origin return method P43 70 OTPO to 7 General p
115. P5 Pre register 2nd pre register for RCMP5 P30 52 name PRDP Pre register 2nd pre register for RDP P30 34 name PRDR Pre register 2nd pre register for RDR P30 34 name PRDS Pre register 2nd pre register for RDS P30 37 name PRECAN Command 26h Cancel the operation pre register P25 PRESHF Command 27h Shift the data in the operation pre register P25 PRFH Pre register 2nd pre register for RFH P30 33 name PRFL Pre register 2nd pre register for RFL P30 33 name PRIP Pre register 2nd pre register for RIP P30 37 name PRMD Pre register 2nd pre register for RMD P30 35 name PRMG Pre register 2nd pre register for RMG P30 34 name PRMV Bra det 2nd pre register for RMV P30 33 PRSET Command 4Fh Put speed change data into the operation pre register P25 128 PRUR Pre register 2nd pre register for RUR P30 33 name PRUS Pre register 2nd pre register for RUS P30 37 name PSTP Register bit RENV6 15 Specify the stop method used for stopping when a PA PB stop P50 65 command is received RCI Register name Circular interpolation step number data Please refer to PRCI P 58 86 RCIC Register name Circular interpolation step number counter P58 RCMP1 Register name Comparison data for comparator1 P51 125 RCMP2 Register name Comparison data for comparator2 P51 125 RCMP3 Register name Comparison data for comparator3 P52 125 RCMP4 Register name Comparison data for comparator4 P52 125 RCMP5 Register name Comparison data for comparator5 Please refer to PRCP5
116. P52 125 RCUN1 Register name COUNTER command position P51 RCUN2 Register name COUNTER2 mechanical position P51 RCUN3 Register name COUNTERS deflection counter P51 RCUN4 Register name COUNTER4 general purpose counter P51 RD Terminal name 4 Lead signal P7 RDP Register name Ramping down point Please refer to PRDP P34 91 RDR Register name Deceleration rate Please refer to PRDR P34 91 RDS Register name S curve range of deceleration Please refer to PRDS P37 91 RENV1 Register name Environment setting register 1 Specify the input output P30 39 terminals RENV2 Register name Environment setting register 2 Specify the details for the P30 41 general purpose port RENV3 Register name Environment setting register 3 Specify the details for a zero P30 43 return or counter RENV4 Register name Environment setting register 4 Specify the details for P30 46 comparators 1 to 4 RENV5 Register name Environment setting register 5 Specify the detail for P30 48 comparator 5 RENV6 Register name Environment setting register 6 Specify the feed amount P30 50 correction RENV7 Register name Environment setting register 7 Specify the vibration reduction P30 50 function details 170 REST Register name Error INT status P56 143 RFA Registe
117. PCL will immediately stop operation without outputting any command pulses 9 2 4 Command position 0 return operation MOD 44h This mode is used to continue operation until the COUNTER1 command position value becomes zero The direction of movement is set automatically by the sign for the value in COUNTER1 when starting This operation is the same as when positioning specify the absolute position in COUNTER by entering zero in the PRMV register however there is no need to specify the PRMV register 9 2 5 Mechanical position 0 return operation MOD 45h This mode is used to continue operations until the value in COUNTER2 mechanical position becomes zero The number of output pulses and feed direction are set automatically by internal calculations based on the COUNTER2 value when starting This operation is the same as when positioning specify the absolute position in COUNTER2 by entering zero in the PRMV register However there is no need to specify the PRMV register 9 2 6 One pulse operation MOD 46h 4Eh In this mode a single pulse is output This operation is identical to a positioning operation incremental target positioning that writes a 1 or 1 to the PRMV register However with this operation you do need not to write a 1 or 1 to the PRMV register 9 2 7 Timer operation MOD 47h This mode allows the internal operation time to be used as a timer The internal effect of this operation is identical to
118. R1 command position counter This is a counter used exclusively for command pulses Setting rage 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 8 3 21 RCUN2 register This is a register used for COUNTER2 mechanical position counter It can count three types of pulses Command pulses encoder signals EA EB input pulsar signals PA PB input Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 8 3 22 RCUNS register This is a register used for COUNTERS deflection counter It can count three types of deflections Between command pulses and encoder signals between command pulses and pulsar signals and between encoder signals and pulsar signals Setting range 32 768 to 32 767 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 8 3 23 RCUN4 register This is a register used for COUNTER4 general purpose counter It can count four types of signals Command pulses encoder signals EA EB input pulsar signals PA PB input and 1 2 ticks of the reference clock Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 For details about the counters see section 11 10 Counter 8 3 24 RCMP1 register Specify the comparison data for Comparator 1 Setting rang
119. Reading the latch status of the SD signal lt SSD bit 15 in SSTSW gt SSTSW READ 0 The SD latch signal is OFF 15 8 1 The SD latch signal is ON n Reading the SD signal lt SDIN bit 15 in the RSTS gt RSTS READ 0 The SD signal is OFF 15 8 1 The SD signal is ON n Reading the cause of an INT when stopped by the SD signal REST READ lt ESSD bit 10 in REST gt 45 8 1 Deceleration stop caused by the SD signal turning ON 0 a Apply an input filter to SD lt Set FLTR bit 26 in RENV1 gt RENV1 WRITE 1 Apply a filter to the SD input 31 24 By applying a filter signals with a pulse width of 4 usec or less will be ignored z 110 11 5 3 ORG EZ signals These signals are enabled in the origin return modes origin return leave origin position and origin position search and in the EZ count operation modes Specify the operation mode and the operation direction using the PRMD register operation mode Since the ORG signal input is latched internally there is no need to keep the external signal ON The ORG latch signal is reset when stopped The minimum pulse width of the ORG signal is 80 reference clock cycles 4 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycle 0 1 usec When CLK 19 6608 MHz The input logic of the ORG signal and EZ signal can be changed using the RENV1 regist
120. S x PRDR 1 PRMG 1 x 32768 and pry gt PRUS PRFL x PRUS x 2x PRUR PRDR 3 PRDS x PRDR 1 x4 PRMG 1 x 32768 PRFEH lt A VA B PRUR PRDR 2 However A PRUS x PRUR 1 PRDS x PRDR 1 B PRMG 1 x 32768 x PRMV 2 x Ax PRFL PRUR PRDR 2 x PRFL x PRUR PRDR 2 ii Eliminate the linear acceleration section and make a linear deceleration range smaller When PRUS PRFL x PRUS x 2x PRUR PRDR 3 PRDS x PRDR 1 x4 PRMG 1 x 32768 PRMV s and PRDS PRFL xPRDS x PRUR PRDR 2 x8 PRMG 1 x 32768 PRMV gt Change to S curve acceleration deceleration without any linear acceleration PRUS 0 PRDS gt 0 A VA7 B 2xPRUR PRDR 3 PRFH lt However A PRDS x PRDR 1 B PRMG 1 x 32768 x PRMV 2 x A x PREL 2 x PRUR PRDR 3 x PRFL x 2 x PRUR PRDR 3 iii Eliminate the linear acceleration deceleration range When PRMV lt PRDS PRFL xPRDS x PRUR PRDR 2 x8 PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 PRFH lt PRMG 1 x 32768 x PRMV PRFL2 PRUR PRDR 2 x2 PRMV Positioning amount PREL Initial speed PRFH Operation speed PRUR Operation speed acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 98 10 4 Example of setting up an a
121. SIMUItANECOUS Start e a E A E A a araea 115 1t HOSTA Signa beare a a aE da ats e sagt a d ta EE A a E aA AA TAE 115 1124P C S Signal n e a a a e E aa ea o EE aaae eaa ae e aea 116 11 8 External stop simultaneous Stop cee eecece cece eeeeee cece eeeececeeaaecaeeeeeeeeesecaaeaeeeeesesescaaeaaeeeeeeesesenanaeeeeeess 117 11 9 EMEIQeniCy SlOp sie cessecdes os aR awed EEEE cna se I AEAEE ARI ce IRR A A AA RE A 118 R10 E oI DI AI EEEE ET AE TETA AE E A EE T EE 119 11 10 1 Counter type and input Method cece cecece cece cece eeceeeeaeceeeeeeeseceaeaeceeeeeeesencaeeeeeeesesennieeeeeeeess 119 121022 COUNTER ESET EEE A dyss E de ceatsae de taae ceca dacaandisah E TA deciaa decaaeebe bead dae 122 11 10 3 Latch the counter and Count condition 2 ce ceeccece cece ee eeeeee cece eee ee tee aaeaeeeeeeesessnaaeaeeeeeeeeeesnaeees 123 11 10 4 Stop the counter 22 0 2 ceceeecce cece ee eeee ee eeee eee e eee eaeaaaeaeceeeeeeaceaaanaeeeeeeeceesaaaeeeeeseeesessaeaeaeeeeeseeessanaees 124 add COMpPalalOne 22 2 0o iat AE eee ros ccs oo AEE oen cea ieeede dunt AE sacha sdesusiiae chars sags 125 11 11 1 Comparator types and fUNCTIONS c cece ce eeecee cece eect eee ecaaeaeeeeeeeseseaaaeaeeeeeeesessnaeeeeeeeeetssiaaees 125 11 11 2 Software limit TunCuOnss 23 ses a anhaa n atin toni erd tae eed ea eee ee 129 11 11 3 Out of step stepper motor detection FUNCTION ccececceceececeeeeeeeeeeneaeceeeeeee
122. T Make PO LOW 18h POSET Make PO HIGH 11h P1RST Make P1 LOW 19h P1SET Make P1 HIGH 12h P2RST Make P2 LOW 1Ah P2SET Make P2 HIGH 13h P3RST Make P3 LOW 1Bh P3SET Make P3 HIGH 14h P4RST Make P4 LOW 1Ch P4SET Make P4 HIGH 15h P5RST Make P5 LOW 1Dh P5SET Make P5 HIGH 16h P6RST Make P6 LOW 1Eh P6SET Make P6 HIGH 17h P7RST Make P7 LOW 1Fh P7SET Make P7 HIGH The PO and P1 terminals can be set for one shot output T approx 26 msec using the RENV2 Environment setting 2 register and the output logic can be selected To use them as one shot outputs set the PO terminal to POM bits 0 and 1 11 or set the P1 terminal to P1M bits 2 and 3 11 To change the output logic set POL bit 16 on the PO terminal and P1L bit 17 on the P1 terminal In order to perform a one shot output from the PO and P1 terminals a bit control command should be written However the command you need to write will vary depending on the output logic selected See the table below for the details Terminal Logic setting BIL contol Terminal Logic setting Bit gontrol command command PO Negative logic POL 0 PORST 10h P1 Negative logic P1L 0 P1RST 11h Positive logic POL 1 POSET 18h Negative logic P1L 1 P1SET 19h When writing control commands to output ports OTPB address 2 for the Z80 interface the PO and P1 terminals will not change 24 7 3 Control command Set various
123. The driving is not stopped 17 ESPE A PA PB input error occurs The driving is not stopped 18 to 31 Not defined Always set to 0 Note 1 In any of the following cases ESDT will be 1 1 Write a Start command using linear interpolation 1 mode MOD 60h 61h 68h and 69h on only one axis 2 Write a Start command using circular interpolation mode MOD 64h 65h 66h 67h 6Ch and 6Dh on only one axis 3 Write a Start command after setting PRIP circular center coordinates to 0 0 using the circular interpolation mode 4 Write a Start command using circular interpolation mode on 3 or 4 axes 5 Write a Start command using linear interpolation 2 mode MOD 62h 63h 6Ah and 6Bh while RIP is 0 6 Tried to write a Start command using circular interpolation mode MOD 66h 67h while synchronized with the U axis But the U axis does not respond Or the U axis completes operation while in circular interpolation mode 56 8 3 36 RIST register This register is used to check event interrupt cause Read only When an event interrupt occurs the bit corresponding to the cause will be set to 1 This register is reset by the following procedure 1 When RENV5 ISMR 0 initial status When this register is read out it is automatically reset Also it is reset when writing data that 1 is in bits to be reset 2 When RENV5S ISMR 1 This bit is reset when writing data that 1 is in bits to be reset In other word it i
124. The input logic of the PCS input signal can be changed The terminal status can be monitored by reading the RSTS register extension status Specify the function of the PCS signal lt Set PCSM bit 30 in RENV1 gt RENV1 WRITE 1 Make the PCS input a CSTA signal that is available only for its own axis 31 24 lni 2 else Set the Waiting for CSTA input lt Set MSY0 to 1 bits 18 to 19 in RMD gt RMD WRITE 01 Start on a CSTA input 23 16 n n Set the input logic of the PCS signal lt Set PCSL bit 24 in RENV1 gt RENV1 WRITE 0 Negative logic 31 24 1 Positive logic n Read the PCS signal lt SPCS bit 8 in RSTS gt RSTS READ 0 The PCS signal is OFF 15 8 1 The PCS signal is ON n 116 11 8 External stop simultaneous stop This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the CSTP terminal Set MSPE bit 24 1 in the PRMD register operation mode to enable a stop from a CSTP input The axis will stop immediately or decelerate and stop when the CSTP terminal is LOW However a deceleration stop is only used for a high speed start When the axis is started at constant speed the signal on the CSTP terminal will cause an immediate stop The input logic of the CSTP terminal
125. Tocsr 3 ns CS setup time for WR Tesw 3 ns CS hold time for RD WR f Trwes 0 ns WRQ ON delay time for CS Teswt C 40pF i 12 ns WRQ signal LOW time Twarr ATax ns Data output delay time for RD Trolo C 40pF 24 ns Data output delay time for WRQ t TwrtHp C 40pF 13 ns Data float delay time for RD 7 Trono C 40pF _ 21 ns WR signal width Twr Note 1 7 ns Data setup time for WR tT Tpwr 11 ns Data hold time for WR tf Twro 0 ns Note 1 When a WRQ signal is output the duration will be the interval between FWRO H and WR H lt Read cycle gt A1 to A4 CS WRQ RD DO to D1 lt Write cycle gt A1 to A4 CS WRQ WR DO to D15 150 12 5 4 CPU I F 4 IF1 L IFO L 68000 Item Symbol Condition Min Max Unit Address setup time for LS Tas 10 ns Address hold time for LS tf Tsa 0 ns CS setup time for LS Tess 2 ns CS hold time for LS f Tscs 2 ns R W setup time for LS Trws 4 ns R W hold time for LS f Tsrw 2 ns TsLakR C 40pF 1Tcik ST cik ns ACK ON delay time for LS Tan C 40pF ITa Se aa ACK OFF delay time for LS Tanan a TOE 2 ns SHAKW LS Data output advance time for ACK TDAKLR C 40pF 1Tok ns Data float delay time for LS Tsup C 40pF 22 ns Data setup time for LS Tost 12 ns Data hold time for HACK TakbH 0 ns lt Read cycle gt A1 to A4 N
126. U Negative Input a marker signal this signal is output once for each turn of the EZy 73 encoder when using the marker signal in origin return mode EZz 106 Use of the EZ signal improves origin return precision EZu 137 The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status PAx PBx 43 44 Input U Input for receiving external drive pulses such as manual pulsar You PAy PBy 74 75 can input 90 phase difference signals 1x 2x 4x or positive PAz PBz 107 108 pulses on PA and negative pulses on PB PAu PBu 138 139 When 90 phase difference signals are used if the signal phase of PA is ahead of the PB signal the LSI will count up count forward pulses The counting direction can be changed using software PEx 45 Input U Negative Setting these terminals LOW enables PA PB and DR DR input PEy 76 By inputting an axis change switch signal one manual pulsar can be PEz 109 used alternately for four axes PEu 140 DRx DRx 46 47 Input U Negative You can start operation of the PCL with these signals manually using DRy DRy 82 83 external switches DRz DRz 110 111 Specifying the feed length constant speed continuous feed and DRu DRu 141 142 high speed continuous feed are possible The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status PCSx 48 Input U j
127. U axis Y axis Z axis PRMD 0004 0004 0004 0004 LSI A LSI B 0063h 0063h 0063h 0063h PRMV value 8 5 2 10 HCSTA CSTA oe PRIP value 10 10 10 10 Operation speed 1000 pps 1000 pps 1000 pps 1000 pps Master axis Slave Slave Slave Master slave axis axis axis axis axis Xaxis output pulse n gt U axis output pulse Y axis output pulse Zooo a n n 1 2 3 4 5 6 7 8 9 10 Z axis output pulse oe e ee E lt gt 1000pps Note If you start linear interpolation 2 while PRIP 0 an operation data error ESDT of REST is 1 will occur 85 9 8 8 Circular interpolation This function provides CW circular interpolation MOD 64h and CCW circular interpolation MOD 65h between any two axes If only one axis or 3 to 4 axis is specified for circular interpolation and a start command is written a data setting error will occur Circular interpolation takes the current position as the starting point coordinate 0 0 regardless of the values in the counters COUNTER to 4 After specifying the speed for each axis being interpolated specify whether or not to apply synthesized speed constant control MIPF in the PRMD register for each axis the end points the PRMV register value and the center point the PRIP register value If the end point is 0 the starting point both axes will draw a simple circle The synthesized speed used in the circular interpolation will be the speed set for th
128. U3B Register bit RENV3 25 Operate COUNTER3 deflection with backlash slip correction P45 133 CU3C Register bit RENV3 18 hee the COUNTERS deflection by turning ON the CLR P44 122 CU3H Register bit RENV3 30 Stop the count on COUNTERS deflection P45 124 CU3L Register bit RENV5 26 Skon COUNTER3 deflection right after latching the count P49 122 CU3R Register bit RENV3 22 ie a deflection when the zero return is P44 122 CU4B Register bit RENV3 27 Siler NTER4 general purpose backlash slip P44 133 CU4C Register bit RENV3 19 ue COUNTER4 general purpose by turning ON the CLR P44 122 CU4H Register bit RENV3 31 Stop the count on COUNTER4 general purpose P45 124 CUAL Register bit RENV5 27 Reset COUNTER4 general purpose right after latching the P49 122 count value 163 Reset COUNTER4 general purpose when the zero position CU4R Register bit RENV3 23 te P44 122 operation is complete CU4R Register bit RENV3 23 Reset COUNTER4 general purpose when the zero position P44 122 operation is complete CUN1IR Command 20h Reset COUNTER1 command position P25 122 CUN2R Command 21h Reset COUNTER2 mechanical position P25 122 CUN3R Command 22h Reset COUNTERS deflection counter P25 122 CUN4R Command 23h Reset COUNTER4 ge
129. UF data into the RIP register P27 WRIRQ Command ACh Write BUF data into the RIRQ register P27 WRIST Command B3h Write BUF data into the RIST register P28 WRMD Command 97h Write BUF data into the RMD register P27 WRMG Command 95h Write BUF data into the RMG register P27 WRMV Command 90h Write BUF data into the RMV register P27 WRQ Terminal name 13 Wait request signal P7 WRUR Command 93h Write BUF data into the RUR register P27 WRUS Command 99h Write BUF data into the RUS register P27 174 Appendix 4 Differences between the PCL6045B and PCL6045BL The PCL6045BL is a functionally upgraded version of the PCL6045 including single power supply and standard package and additional function Additionally it is upward compatible in software This section describes items that have been added to the PCL6045BL 4 1 How to identify the PCL6045 and PCL6045BL Bit 29 has been added in the RMD register and they can be checked to identify the PCL6045BL version 1 Enter the number 20000000h into the input output buffer 2 Write a WRMV command 90h Input output buffer RMV register 3 Write a 0 in order to clear the input output buffer 4 Write an RRMV command DOh Input output buffer RMV register 5 Read the input output buffer If the data read is 0 it is a PCL6045 If the data read is the value entered in step 1 above it is a PCL6045BL 4 2 1 Package As well as PCL 6045B PCL6045BL is a QFP package wit
130. UN2 COUNTER2 mechanical position RCUN3 COUNTERS deflection counter RCUN4 COUNTER general purpose counter RCMP 1 Comparison data for comparator 1 RCMP2 Comparison data for comparator 2 RCMP3 Comparison data for comparator 3 RCMP4 Comparison data for comparator 4 RCMP5 Comparison data for comparator 5 RIRQ Specify event interruption cause RLTC1 COUNTER1 command position latch data RLTC2 COUNTER2 mechanical position latch data RLTC3 COUNTERS deflection counter latch data RLTC4 COUNTER4 general purpose latch data RSTS Extension status REST Error INT status RIST Event INT status RPLS Positioning counter number of residual pulses to feed RSPD EZ counter current speed monitor RSDC Automatically calculated ramping down point RCI Number of steps for circular interpolation RCIC Circular interpolation step counter RIPS Interpolation status Register name Z o CO NIDIA B Go Po gt 30 8 2 Pre registers The following registers and start commands have pre registers RMV RFL RFH RUR RDR RMG RDP RMD RIP RUS RDS RCI and RCMP5 The term pre register refers to a register which contains the next set of operation data while the current step is executing This LSI has the following 2 layer structure and executes FIFO operation The pre registers consist of two groups
131. User s Manual For PCL6045BL Pulse Control LSI NPM Nippon Pulse Motor Co Ltd Preface Thank you for considering our pulse control LSI the PCL6045B To learn how to use the PCL6045B read this manual to become familiar with the product The handling precautions for installing this LSI are described at the end of this manual Make sure to read them before installing the LSI In addition to this manual the PLC6045B User s Manual Application Version will be available It includes programming examples Please contact us if you need a copy Cautions 1 Copying all or any part of this manual without written approval is prohibited 2 The specifications of this LSI may be changed to improve performance or quality without prior notice 3 Although this manual was produced with the utmost care if you find any points that are unclear wrong or have inadequate descriptions please let us know 4 We are not responsible for any results that occur from using this LSI regardless of item 3 above m Explanation of the descriptions in this manual The x y z and u of terminal names and bit names refer to the X axis Y axis Z axis and U axis respectively Terminals with a ex 4 RST are negative logic Their logic cannot be changed Terminals without a are positive logic Their output logic can be changed When describing the bits in registers n refers to the bit position A 0 means that the
132. X 4X 3 131 11 11 5 Ring count function COUNTER and 2 have a ring count function for use in controlling a rotating table Set C1PM 1 C1S0 to 2 000 and C1C0 to 1 00 in RENV4 and COUNTER will be in the ring count mode Then the PCL can perform the following operations Count value If counting up counting forward from the value set in RCMP1 the next counter value will be 0 Count value If counting down from 0 the next counter value will be the value set in RCMP 1 Set C2PM 1 C2S0 to 2 000 and C2C0 to 1 01 in RENV4 and COUNTER2 will be in the ring count mode Then the PCL can perform the following operations Count value If counting up counting forward from the value set in RCMP2 the next counter value will be 0 Count value If counting down from 0 the next counter value will be the value set in RCMP2 Set COUNTER to ring counter operation RENV2 WRITE lt set C1RM C1D0 to 1 C1S0 to 2 and C1C0 to 1 in RENV4 gt 7 0 10000000 Operate COUNTER as a ring counter nj nj nj nfninin Set COUNTER2Z to ring count operation RENV2 WRITE lt set C2RM C2D0 to 1 C2S0 to 2 C2C0 to 1 in RENV4 gt 45 10000001 Operate COUNTER2 as a ring counter o
133. ach other as it may cause friction that can develop an electrical charge 2 Operators must wear wrist straps which are grounded through approximately 1M ohm of resistance 3 Use low voltage soldering devices and make sure the tips are grounded 4 Do not store or use LSls or a container filled with LSIs near high voltage electrical fields such those produced by a CRT 5 Plastic package is subject to moisture and absorption of moisture develops over time even if left indoor In the case to heat whole LSIs for soldering and that absorption is concerned please dry a package before reflow It should be dried at 125 5 C for 20 to 36 hours The LSI must not be exposed to completely dry environment more than 2 times 177 6 When using the method to heat whole LSI such as infrared reflow or air reflow for soldering please follow the following conditions and up to 2 reflows is allowed Temperature profile Temperature profile temperature of plastic surface of infrared reflow oven should be within the range showed in the below figure Maximum temperature The maximum temperature of plastic surface is 260 degrees A profile A peak temperature of the surface of a package body should not exceed 260 degrees and do not keep the temperature at 250 degrees or higher for more than 10 seconds We recommend of soldering with low temperature and in short time as possible so as to reduce hypothermic stress to package Temperature C p Do no
134. aeceeeeeeeseccaeaeeeeeeeeeeecsicaeeeeeereeeeee 69 9 9 1 Origin return Operation asui aie eao aa bin tiee wean AARE EATE AEA EaI 70 9 5 2 Leaving the origin position OperationS cece tere eee eete ee ee tene test eines ee teee eee teeeee tenes nieeeeeeea 78 9 9 3 Origin Search OPSratlOn aner ea E ces Sasa de cheba E phan de chee ade teadnadeteOte cee HOG ae ede taht anette 78 9 6 EL or SL operation MOde airaa Taaa e aee aaa a a Taaa ae a aeaa aeaa a aa taie aE ah 80 9 6 1 Feed until reaching an EL or SL position siese ec tartien EEEE ee ee A A EERTE RREEA RE EREA ARTAR E FE ARA 81 9 6 2 Leaving am ELO SE POS MONA erria eraa AEE ENEA ENAA E OEE AAEE RAER 81 9 7 EZ count operation MOdE cceceeeceecce cece eeeeeeeeaeceeeeeeececeaaaeaeeeeeeeeeescaeaeceeeeeeeseccaeaeeaeeeeeesecsacaeeeeeeeeeeeee 81 9 8 Interpolation operations 2 0 0 0 cccecececeeceee cece cece eee aeeeee ceed cece eaaaeaeceeeeeeesceaeaeeeeeeeeeseccqeaeeeeeeeeeecsiceeeeeereeeeee 82 9 8 1 Interpolation OPEratiONS cceceeeecceceeceeeeeeeceeeceeeeeeececeeaeceeeeeeeeseccaaeaeeeeeeesecenaeeeeeeeeeseccucaeeeeeeeeeteees 82 9 8 2 Interpolation control AXIS 2 0 2 2 ce eee eeeeee cee ee cece ee ceeeaeee cece tesa aaeaeeeeeeeseccaaeceeeeeeeeeesecceaeeeeeseencaceeeeeeeeeeeees 82 9 8 3 Synthesized speed constant CONHIOI eee eee eee etee ee erent ee eee ne ee ee taeee ee taeee estates eeteeeetieeeeetea 83 9 8 4 Continuous linear interpolation 1 MOD 60h
135. al data bus 18 to 23 Output When connecting a 16 bit data bus connect the lower 8 signal lines here D8 to D15 24 Input Positive Bi directional data bus 26 to 32 Output When connecting a 16 bit data bus connect the upper 8 signal lines here When a Z80 I F IF1 H IFO H is used provide a pull up resistor 5k to 10 K ohms on VDD One resistor can be used for all 8 lines CSTA 168 Input Negative Input Output terminal for simultaneous start Output When more than one LSI is used and you want to start them simultaneously connect this terminal on each LSI The terminal status can be checked using an RSTS command signal extension status CSTP 169 Input Negative Input Output terminal for a simultaneous stop See Note 6 Output When more than one LSI is used and you want to stop them simultaneously connect this terminal on each LSI The terminal status can be checked using an RSTS command signal extension status CEMG 170 Input U Negative Input for an emergency stop While this signal is LOW motion cannot start If this signal changes to LOW while in operation all the motors will stop operation immediately ELLx 171 Input U Specify the input logic for the EL signal ELLy 172 LOW The input logic on EL is positive ELLz 173 HIGH The input logic on EL is negative ELLu 174 ELx 34 Input U Negative Input end limit signal in the positive direction See Note 6 Ely 66 When this signal is ON while feeding
136. als as follows for a simultaneous stop among different LSls 5k to 10kohm Stop signal As a stop signal supply a one shot signal of 4 reference clock cycles or more in length approx 0 2 usec when CLK 19 6608 MHz 117 Setting to enable CSTP input lt Set MSPE bit 24 in PRMD gt PRMD WRITE 1 Enable a stop from the CSTP input Immediate stop deceleration stop 31 24 o of of of n Auto output setting for the CSTP signal lt Set to MSPO bit 25 in the PRMD gt PRMD WRITE 1 When an axis stops because of an error the PCL will output the CSTP 31 24 signal Output signal width 8 reference clock cycles 0 0 of of n Specify the stop method to use when the CSTP signal is turned ON RENV1 WRITE lt Set STPM bit 19 in RENV1 gt 23 16 0 Immediate stop when the CSTP signal is turned ON 1 Deceleration stop when the CSTP signal is turned ON aun Hc a EA n Zhan Read the CSTP signal lt SSTP bit 6 in RSTS gt RSTS READ 0 The CSTP signal is OFF 7 0 1 The CSTP signal is ON n Read the cause of an error input lt ESSP bit 8 in REST gt REST READ 1 When stopped because the CSTP signal turned ON 15 8 Pp eee ee In Simultaneous stop command lt Operation command CMSTP gt Stop command Ou
137. alue in the RMV register A value in a register decreases for each pulse output Read data range 0 to 268 435 455 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 4 3 2 57 8 3 38 RSPD register This register is used to check the EZ count value and the current speed Read only 15 4 13 0 a 8 7 6 5 4 3 2 1 0 AS15 AS14 AS13 AS12 AS11_AS10 AS9 AS8 AS7 AS6 AS5 AS4 AS3 AS2 AS1 ASO 0 IDC2 IDC1 IDCO ECZ3 ECZ2 ECZ1 ECZO Bit Bit name Description 0 to 15 JASO to 15 Read the current speed as a step value same units as for RFL and RFH When stopped the value is 0 0 to 65 535 16 to 19 ECZO to 3 Read the count value of EZ input that is used for an origin return 0 to 15 20 to 22 IDCO to 2 Read the idling count value 0 to 7 23 to 31 Not defined _ Always set to 0 8 3 39 RSDC register This register is used to check the automatically calculated ramping down point value for the positioning operation Read only Read data range 0 to 16 777 215 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6543 2 1 0 8 3 40 PRCI RCI register This is a pre register used to set circular interpolation stepping number RCI is the register for the PRCI These registers only exist for the X Y and Z axes They do not exist for the U axis because the U axis is not available for circular interpolation control To decelerate during a circular i
138. an external resistor 5k to 10k ohms Shared use of one resister for the 8 lines is available Use the ELL terminal to change the EL signal input logic 13 6 3 CPU interface circuit block diagram 1 Z80 interface PCL6045BL 3 3V Decoding circuit AO to A4 INT RD WRQ DO to D7 RST System reset D8 to D15 terminals are pulled up 2 8086 interface 8086 PCL6045BL 3 3V wae Decoding circuit ALE A5 A19 A16 A19 ADO AD15 3 Latch A1 to A19 GND et ea d Interrupt control circuit MN MX VDD System reset System reset 14 3 H8 interface i PCL6045BL 3 3V Decoding ASt0oA5S p 7 circuit A1 to A4 IRQ RD HWR maea Ver E ir DO to D15 ee RESET nae System reset 4 68000 interface 62000 PCL6045BL AS A5 to A23 Decoding circuit A1 to A4 mm END IPLO to IPL2 Interrupt control circuit 3 3V System reset Note For the 8086 H8 and 68000 interfaces only word 16 bit access is available Byte 8 bit access is not available 15 6 4 Address map 6 4 1 Axis arrangement map In this LSI the control address range for each axis is independent It is selected by using address input terminal A3 and A4 as shown below A4 A3 Detail 0 0 X axis control address range 0 1 IY axis control address range 1 O Z axis control address range 1 1 U
139. and A7h Write BUF data into the RCMP1 register P27 WRCMP2 Command A8h Write BUF data into the RCMP2 register P27 WRCMP3 Command AQh Write BUF data into the RCMP3 register P27 WRCMP4 Command AAh Write BUF data into the RCMP4 register P27 WRCMP5 Command ABh Write BUF data into the RCMP5 register P27 WRCUN1 Command A3h Write BUF data into the RCUN1 register P27 WRCUN2 Command A4h Write BUF data into the RCUN2 register P27 WRCUN3 Command Adh Write BUF data into the RCUN3 register P27 WRCUN4 Command A6h Write BUF data into the RCUN4 register P27 WRDP Command 96h Write BUF data into the RDP register P27 WRDR Command 94h Write BUF data into the RDR register P27 WRDS Command 9Ah Write BUF data into the RDS register P27 WRENV1 Command 9Ch Write BUF data into the RENV1 register P27 WRENV2 Command 9Dh Write BUF data into the RENV2 register P27 WRENV3 Command 9Eh Write BUF data into the RENV3 register P27 WRENV4 Command 9Fh Write BUF data into the RENV4 register P27 WRENV5 Command AOh Write BUF data into the RENV5 register P27 173 WRENV6 Command Ath Write BUF data into the RENV6 register P27 WRENV7 Command A2h Write BUF data into the RENV7 register P27 WREST Command B2h Write BUF data into the REST register P28 WRFA Command 9Bh Write BUF data into the RFA register P27 WRFH Command 92h Write BUF data into the RFH register P27 WRFL Command 91h Write BUF data into the RFL register P27 WRIP Command 98h Write B
140. and Y axes wait for the Z axis to stop Previous and the Z axis starts again just like in a PRM OO E PORIN value eee etn continuous operation Start command Write 0551h FH constant speed The X and Z axes Start command X Z axes start SPRF 1 Using the settings above the PCL will perform steps 1 to 5 continuously 1 Start a CW circular interpolation of 90 with a radius 10000 on the X and Y axes 2 After the X and Y axes stop the Z axis positioning operation is complete because the feed amount is 0 3 Linear interpolation is performed on the X and Y axes 10000 5000 4 After the X and Y axes stop the Z axis positioning operation is complete because the feed amount is 0 5 Linear interpolation is performed on the X and Z axes 10000 5000 Note In STEP3 above the value for the Y axis is left the same as in the previous step STEP2 in order not to start the Y axis 138 Example 4 PCL6045B mode How to perform continuous interpolation while changing the interpolated axes moving from circular interpolation on the X and Y axes to Linear interpolation on the X and Y axes to Linear interpolation on the X and Z axes STEP Register X axis Y axis Z axis Details PRMV 40000 40000 0 The X and Y axes perform a 90 circular interpolation with a radius of 10000 PRIP 10000 0 0 The Z axis is given a positioning operation with 1 a feed amount of 0 PRMD 0000_00
141. apting of 3 3V single power supply and JEDEC standard package etc Additionally it is upward compatible in software The PCL6045BL controls four axes It can control the linear interpolation of two to four axes circular interpolations between any two axes confirm PCL operation status and output an interrupt with various conditions It also integrates an interface for servo motor drivers These functions can be used with simple commands The intelligent design philosophy reduces the burden on the CPU units to control motors 1 2 Features CPU I F The PCL6045BL contains the following CPU interface circuits 1 8 bit interface for Z80 CPU 2 16 bit interface for 8086 CPU 3 16 bit interface for H8 CPU 4 16 bit interface for 68000 CPU Acceleration Deceleration speed control Linear acceleration deceleration and S curve acceleration deceleration are available Linear acceleration deceleration can be inserted in the middle of an S curve acceleration deceleration curve Specify the S curve range The S curve range can specify each acceleration and deceleration independently Therefore you can create an acceleration deceleration profile that consists of linear acceleration and S curve deceleration or vice versa Interpolation operation Feeding with linear interpolation of any two to four axes and circular interpolation of any two axes are both possible Speed override The feed speed can be changed in the middle of any feed ope
142. arator 2 conditions are satisfied using negative logic 11 Output CP2 Comparator 2 conditions are satisfied using positive logic i z nn Specify the use of the P5 CP3 terminal lt Set P5M0 to 1 bits 10 to 11 in RENV2 gt RENV2 WRITE 10 Output CP3 Comparator 3 conditions are satisfied using negative logic 15 8 11 Output CP3 Comparator 3 conditions are satisfied using positive logic n n Specify the use of the P6 CP4 terminal lt Set P6MO0 to 1 bits 12 to 13 in RENV2 gt RENV2 WRITE 10 Output CP4 Comparator 4 conditions are satisfied using negative logic 15 8 11 Output CP4 Comparator 4 conditions are satisfied using positive logic n Specify the use of the P7 CP5 terminal lt Set P7MO to 1 bits 14 to 15 in RENV2 gt RENV2 WRITE 10 Output CP5 Comparator 5 conditions are satisfied using negative logic 15 8 11 Output CP5 Comparator 5 conditions are satisfied using positive logic njin 141 11 14 3 Continuous interpolation by dummy circular interpolation Using dummy circular interpolation MOD 6Fh allows to synchronizing between axes only by control of pre registers In this operation mode motion is synchronized with the interpolated axes in circular interpolation but the LSI does not output pulses Using this function allows performing linear interpolation after circular interpolation without dummy operation when switching axes
143. ata 2 undetermined Speed change data 1 undetermined Next operation data undetermined Next operation data undetermined Next operation data determined Set a pre register lt Control command PRESET gt Identify the pre register details as speed change data Pre register control command 4Fh 128 11 11 2 Software limit function A software limit function can be set up using Comparators 1 and 2 Select COUNTER1 command position as a comparison counter for Comparators 1 and 2 Use Comparator 1 for a positive direction limit and Comparator 2 for a negative direction limit to stop the axis based on the results of the comparator and the operation direction When the software limit function is used the following process can be executed 1 Stop pulse output immediately 2 Decelerate and then stop pulse output While using the software limit function if a deceleration stop is selected as the process to use when the comparator conditions are met C1D C2D when a machine reaches the software limit while in a high speed start 52h 53h that axis will stop using deceleration When some other process is specified for use when the conditions are met or while in a constant speed start that axis will stop immediately If a software limit is ON while writing a start command the axis will not start to move in the direction in which the software limit is enabled However
144. ation rate Set in PRDR FH speed Set in PRFH PRMG S curve deceleration Preset amount for positioning range Set in PRDS S curve Acceleration range operation Set in PRMV Set in PRUS FL speed Set in PRFL PRMG Ramp down point for positioning operation Set in PRDP or set automatically PRFL FL speed setting register 16 bit Specify the speed for FL constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh The speed will be calculated from the value in PRMG Fi speed pps PRFLX Reference clock frequency Hz PRMG 1 x 65536 PRFH FH speed setting register 16 bit Specify the speed for FH constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh When used for high speed operations acceleration deceleration operations specify a value larger than PREL The speed will be calculated from the value placed in PRMG FH speed pps PRFL x Reference clock frequency Hz PRMG 1 x 65536 91 PRUR Acceleration rate setting register 16 bit Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration MSMD 0 in the PRMD register
145. ator 4_ Comparator 5_ C1C0 to 1 C2C0 to 1 C3C0 to 1 C4C0 to 1 C5C0 to 2 COUNTER1 aby O i 00 O OO O OO O i 00 O 000 command position i i i i COUNTER2 es O 01 O 01 O 01 O 0 1 O 001 mechanical position i COUNTER3 O 410 O 40 O 40 O 40 O 010 deflection COUNTER4 general purpose O 11 O 11 O 11 O 11 O 011 Positioning counter O 100 Current speed O 101 Pre register None None None None Yes SL SL l Bag Use Use Major application COUNTER1 as COUNTER1as IDX output a ring counter a ring counter O Comparison possible Blank Comparison not possible SL and SL are used for software limits If COUNTER3 deflection is selected as the comparison counter the LSI will compare the absolute value of the counter with the comparator data Absolute value range 0 to 32 767 The bit assignments of the comparison data settings are as follows C1C0 to 1 RENV4 bits 0 to 1 C2CO to 1 RENV4 bits 8 to 9 C3C0 to 1 RENV4 bits 16 to 17 C4C0 to 1 RENV4 bits 24 to 25 C5CO to 2 RENV5 bits 0 to 2 125 Comparison method Each comparator can be assigned a comparison method from the table below Comparator 1 Comparator 2 Compa Compa Compa G mpargonmisihod PEI Serene Neem vexenen n cTator3__ ___ rator4 stator ___ p C1S0 C1RM C2S0 C1IRM C3S0 C4S0 1 C5SO i to2 to2 _to
146. ay not be normal It can be glitch Motor drivers do not recognize glitch pulses and therefore only the PCL internal counter may count this pulse Deviation from the command position control Therefore after an emergency stop you must perform an origin return to match the command position with the mechanical position 118 11 10 Counter 11 10 1 Counter type and input method In addition to the positioning counter this LSI contains four other counters These counters offer the following functions Control command position and mechanical position Detect a stepper motor that is out of step using COUNTER 3 deflection counter and a comparator Output a synchronous signal using COUNTER 4 general purpose and a comparator The positioning counter is loaded with an absolute value for the RMV register target position at the start regardless of the operation mode selected It decreases the value with each pulse that is output However if MPCS bit 14 of the RMD register operation mode is set to 1 and while a position override 2 is executed the counter does will not decrease until the PCS input is turned ON Input to COUNTER 1 is exclusively for output pulses However COUNTERS 2 to 4 can be selected as follows by setting the RENV3 register environment setting 3 COUNTER1 COUNTER2 COUNTER3 COUNTER4 Counter name Command position Mechanical position Deflection General purpose Counter type Up d
147. bit is in position 0 and that it is prohibited to write to any bit other than 0 Finally this bit will always return a 0 when read out 1 Outlinesand Features i c3svences ee a eee eee a daa edna ee ae ee a ede a eee ae 1 VET OUI CS idane aei snag Na aa aaa a a ea a aaa Aaa 1 T2 FeatUreS ionii a eaa aaa aa A a aa aaa aa a a a a aa aa alaaa 1 24 SPSCMICATIONS sanaan a a ania aa aea a 5 3 Terminal Assignment Diagrames ia Eaa a Aa A AEEA 6 4 Functions of Terminals rsrs a EE ae a ae eae ea 7 9 Block Diagram ii scseti2 en leexk aes tae ae tid at nen eee dda dae dd ria dd dad ee da ei eee ceed a et 12 6 CPU Inte mace voices aie bites tee ae ele ee te A ed eee ee E 13 6 1 Setting up Connections to a CPU ec cert teen eee enter ttnt ener eenaaeeeseeaaeeeeeeaaeeeseeaeeeeeeiaeeeeeeneeeeenaes 13 6 2 Precautions for designing hardware 0 ccccceeeeeceeeeeeeeeeeeeeeeeeenneeeeeeeaaeeeeeeaeeeseeaeeeseedaeeeseeieeeseeneeeeseaes 13 6 3 CPU interface circuit block GiAQrAM 0 0 ee eeeeeeeeeee ee ente ee eeeeee ee eeeae eee eeeaaeeeseeeaeeeeeeaeeeseecaeeeeseeieeeseeneeeeneaes 14 6 4 Address Map cecececc cece ceceeec cece ee ee ee cece ae aeeeee eee eeaaaeaeeeeeeee eae aaaeaeeeeeeeeesceaeaeeeeeeeeeseccaeaeeeeeeeeesecsacaeeeeeereeteee 16 6 4 1 Axis arrangement MAD 00 eee tr ne renee eee ened eres naeee EEEE EE ENAA EE EREE E EE 16 6 4 2 Internal map Of each AXIS ce cee ceeceece cece ee eeee eee ee ee ee ee ceeeaaeaee
148. c of the ORG input signal in the RENV1 environment 1 register This register s terminal status can be monitored with an SSTSW sub status command Specify the input logic of the EZ input signal in the RENV2 environment 2 register Specify the number for EZ to count for an origin return complete condition in the RENV3 environment 3 register This register s terminal status can be monitored by reading the RSTS extension status register Specify the logic for the EL input signal using the ELL input terminals Specify the operation to execute when the signal turns ON immediate stop deceleration stop in the RENV1 register This register s terminal status can be monitored with an SSTSW sub status command An input filter can be applied to the ORG input signal and EL input signal by setting the RENV1 register Set the ORG signal input logic lt Set ORGL bit 7 in RENV1 gt RENV1 WRITE 0 Negative logic 7 0 1 Positive logic n Read the ORG signal lt SORG bit14 in SSTSW gt SSTSW READ 0 Turn OFF the ORG signal 15 8 1 Turn ON the ORG signal n Set the EZ signal input logic lt Set EZL bit 23 in RENV2 gt RENV2 WRITE 0 Falling edge 23 16 1 Rising edge n
149. calculated as shown the equation below When using idling control modify the value for PRMV in the equation below by deducting the number of idling pulses from the value placed in the PRMV register The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV5 PRMV x PRDR 1 Optimum value Number of pulses PRUR PRDR 2 93 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and the PRDS register 0 PRFH PRFL x PRDR 1 2 Optimum value Number of pulses PRMG 1 x 32678 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and the PRDS register gt 0 Optimum value Number of pulses PRFH PREL x PRFH PREFL 2x PRDS x PRDR 1 PRMG 1 x 32678 Start deceleration at the point when the positioning counter value PRDP set value lt When set to automatic MSDP 0 in the PRMD register gt This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelerating When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand
150. cannot be changed When multiple LSIs are used to control multiple axes connect the CSTP terminals on each LSI with another CSTP terminal and input the same signal so that the axes which are set to stop on a CSTP input can be stopped simultaneously In this case a stop signal can also be output from the CSTP terminal When an axis stops because the CSTP signal is turned ON an INT signal can be output By reading the REST register you can determine the cause of an error interrupt You can monitor CSTP terminal status by reading the RSTS register extension status lt How to make a simultaneous stop gt Set MSPE bit 24 1 in the PRMD register for each of the axes that you want to stop simultaneously Then start these axes Stop these axes using any of the following three methods 1 By writing a simultaneous stop command the CSTP terminal will output a one shot signal of 8 reference clock cycles in length approx 0 4 usec when CLK 19 6608 MHz 2 Supply an external hardware signal Supply a hardware signal using an open collector output 74LS06 or equivalent 3 The CSTP terminal will output a one shot signal of 8 reference clock cycles approximately 0 4 usec when CLK 19 6608 MHz when a stop caused by an error occurs on an axis that has MSPO 1 in the PRMD register Even when the CSTP terminals on LSIs are connected together each axis can still be stopped independently by using the stop command 1 Connect the termin
151. cceleration deceleration speed pattern Ex Reference clock 19 6608 MHz When the start speed 10 pps the operation speed 100 kpps and the accel decel time 300 msec 1 Select the 2x mode for multiplier rate in order to get 100 kpps output PRMG 149 95h 2 Since the 2x mode is selected to get an operation speed 100 kpps PRFH 50000 C350h 3 In order to set a start speed of 10 pps the rate magnification is set to the 2x mode PRFL 5 0005h 4 In order to make the acceleration deceleration time 300 msec set PRUR 28 494 from the equation for the acceleration time and the PRUR value PRFH PREL x PRUR 1 x4 Acceleration time s Reference clock frequency Hz 50000 5 x PRUR 1 x4 0 3 19 6608 x10 PRUR 28 494 However since only integers can be entered for PRUR use 28 or 29 The actual acceleration deceleration time will be 295 msec if PRUR 28 or 305 msec if PRUR 29 An example of the speed pattern when PRUR 29 Speed 110kpps Operation speed 10pps Start speed 305ms i 305ms _ Time 99 10 5 Changing speed patterns while in operation By changing the RFH RUR RDR RUS or RDS registers during operation the speed and acceleration can be changed on the fly However if the ramping down point is set to automatic MSDP 0 in the PRMD register for the positioning mode do not change the values for RFL RUR RDR RUS or RDS The automatic ramping down p
152. celerates and stops by memorizing the position when the ORG signal is turned ON and stops at the memorized position 10 Feeds at high speed decelerates to the position stored in memory when an EZ signal is received after the ORG signal is turned ON Then returns to the memorized position if an overrun occurs 11 Feeds at high speed reverses after a deceleration stop triggered by the EL signal and stops when an EZ signal is received Mechanical input signals The following four signals can be input for each axis 1 EL When this signal is turned ON while feeding in the positive direction movement on this axis stops immediately with deceleration When this signal is ON no further movement occurs on the axis in the positive direction The motor can be rotated in the negative direction 2 EL Functions the same as the EL signal except that it works in the negative direction 3 SD This signal can be used as a deceleration signal or a deceleration stop signal according to the software setting When this is used as a deceleration signal and when this signal is turned ON during a high speed feed operation the motor on this axis will decelerate to the FL speed If this signal is ON and movement on the axis is started the motor on this axis will run at the FL constant speed When this signal is used as a deceleration stop signal and when this signal is turned ON during a high speed feed operation the motor on this axis wil
153. ch the input for the U axis P10 123 LTCx Terminal name 51 Latch the input for the X axis P10 123 LTCy Terminal name 87 Latch the input for the Y axis P10 123 LTCz Terminal name 115 Latch the input for the Z axis P10 123 LTFD Register bit RENV5 14 Latch the current speed data in place of COUNTER3 P48 123 LTMO to 1 Register bits ane Specify the latch timing of COUNTERS 1 to 4 P48 123 LTOF Register bit RENV5 15 Stop the latch using hardware timing P48 123 MADJ Register bit RMD 26 Disable the FH correction function P36 MAXO to 3 Register bits RMD 20 23 R the axis used to control stopping for a simultaneous P36 135 MCCE Register bit RMD 11 Stop the operation of COUNTER1 command position P36 124 MENI Register bit RMD 7 Does not output a stop INT between blocks while in continuous P36 144 operation using the pre register METM Register bit RMD 12 Select the operation completion timing 0 Stop at the end of a P36 105 cycle 1 Stop on a pulse MINP Register bit RMD 9 The operation is complete when the INP input turns ON P36 112 MIPF Register bit RMD 15 eae constant speed during an interpolation P37 83 MOD Register bits RMD 0 6 Operation mode selection P35 MPCS Register bit RMD 14 Start control positioning using a PCI input P36 103 MPIE Register bit RMD 27 Automatically enter an end point pull in operation at the end of P36 86 arc interpolation operation MSDE Register bit RMD 8 Decelerate decelerate and stop when the SD input turns ON
154. cik ns width Output signal 8TcLk ns CSTP Width Input signal 5Tck ns width BSY signal ON delay Tcmpssy STok ns time TstaBsy TTck ns i Tomppts 15T ck ns Start delay time ee Tax a Note 1 Longer than 10 cycles of CLK signal is necessary to be input while the RST terminal is LOW Note 2 If the input filter is ON lt EINF bit 18 1 in RENV2 gt the minimum time will be 3Tc x Note 3 If the input filter is ON lt PINF bit 19 1 in RENV2 gt the minimum time will be 3Tc k Note 4 If the input filter is ON lt FLTR bit 26 1 in RENV1 gt the minimum time will be 80Tc k Note 5 If the input filter is ON lt DRF bit 27 1 in RENV1 gt the minimum time will be 655 360T ck 152 1 When the EA EB inputs are in the Two pulse mode Tea Teas Teas lt gt k gt lt gt EA TeaB Teas Teas Tesp lt gt lt gt lt gt lt EB 2 When the EA EB inputs are in the 90 phase difference mode EA T T T T EAB g EAB g EB lt EAB EB 3 When the PA PB inputs are in the Two pulse mode TpaB Tpas Tpas EA T T T lt PB PB KPB EAB EB 4 When the PA PB inputs are in the 90 phase difference mode PA Teas el Pas Tras lt Tras gt lt gt PB 5 Timing for the command start when I M H and B W H A start command is written WR 2 Tcmpssy g BSY 2 Tcmopis x OUT Initial output pulse 6 Simu
155. controls such as the reset counter The procedures for writing are the same as the operation commands 7 3 1 Software reset command Used to reset this LSI COMBO Symbol Description 04h SRST Software reset Same function as making the RST terminal LOW 7 3 2 Counter reset command Reset counters to zero COMBO Symbol Description 20h CUN1R Reset COUNTER1 command position 21h CUN2R Reset COUNTER2 mechanical position 22h _ CUN3R Reset COUNTERS deflection counter 23h _ CUN4R Reset COUNTER general purpose counter malala 7 3 3 ERC output control command Control the ERC signal using commands COMBO Symbol Description 24h ERCOUT Outputs the ERC signal 25h ERCRST Resets the output when the ERC signal output is specified to a level type output 7 3 4 Pre register control command Make pre register settings undetermined and transfer pre register data to a register See section 8 2 Pre registers in this manual for details about the pre register COMBO Symbol Description 26h PRECAN Make the operation pre register undetermined 27h PCPCAN Make the RCMP5 operation pre register PRCP5 undetermined 2Bh PRESHF _ Shift the operation pre register data 2Ch PCPSHF _ Shift the RCMP5 operation pre register data 4Fh PRSET Make data in a pre register determined as speed pattern change data by a comparator
156. d for stopping at the origin return 72 9 5 1 2 Origin return operation 1 ORM 0001 O Constant speed operation lt Sensor EL ELM 0 ORG gt ORG OFF ON EL OFF ON Operation 1 lt FA speed ry Operation 2 Emergency Operation 3 Emergency m High speed operation lt Sensor EL ORG gt ORG OFF ON EL OFF ON Operation 1 FA speed ro Operation 2 h Emergency Operation 3 hy Emergency 9 5 1 3 Origin return operation 2 ORM 0010 O Constant speed operation lt Sensor EL ELM 0 ORG EZ EZD 0001 gt ORG OFF ON EL ON Operation 1 _ a Operation 2 e Emergency Operation 3 oA Emergency m High speed operation lt Sensor EL ORG EZ a 0001 gt ORG OFF ON ON i EL ON Operation 1 as a Operation 2 Emergency stop Operation 3 ama Emergency stop Note Positions marked with reflect ERC signal bat ut timing when Automatically output an ERC signal is selected for stopping at the origin return 73 9 5 1 4 Origin return operation 3 ORM 0011 O Constant speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON ON i EL ON ne Operation 1 m High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON ON f EL ON Operation 1 Ne Operation 2 gt Emergency stop Operation 3 h Emergency stop 9 5 1 5 Origin return operation 4 ORM 0100
157. d quadrant 10 3rd quadrant 11 4th quadrant 24 to 31 Not defined Always set to 0 59 9 Operation Mode Specify the basic operation mode using the MOD area bits 0 to 6 in the PRMD operation mode register 9 1 Continuous operation mode using command control This is a mode of continuous operation A start command is written and operation continues until a stop command is written MOD Operation method Direction of movement 00h Continuous operation from a command Positive direction 08h Continuous operation from a command Negative direction Stop by turning ON the EL signal corresponding to the direction of operation When operation direction is positive EL can be used When operation direction is negative EL can be used In order to start operation in the reverse direction after stopping the motion by turning ON the EL signal a new start command must be written 9 2 Positioning operation mode The following seven operation types are available for positioning operations MOD Operation method Direction of movement 4th Positioning operation Positive direction when PRMV 2 0 specify target increment position Negative direction when PRMV lt 0 42h Positioning operation Positive direction when PRMV 2 COUNTER1 specify the absolute position in COUNTER1 Negative direction when PRMV lt COUNTER1 43h Positioning operation Positive direction when PRMV 2 COUNTER2 specify
158. d the other axes are slave axes Enter the PRMV register setting for the master axis in the PRIP registers of each axis including the master axis In the PRMV registers of the slave axes enter end point of each axis Specify the speed data PRFL PRFH PRUR PRDR PRMG PRDP PRUS and PRDS for the slave axes to be the same as for the master axis The feed direction is determined by the sign of the value in the PRMV register After writing 01 into MSY 0 to 1 bits 18 and 19 in the PRMD operation mode register of the axes write a start command and set the axes to wait for the CSTA signal input By entering a CSTA signal all of the axes that set to waiting for CSTA input on all of the LSls will start at the same time The master axis provides pulses constantly The slave axes provide some of the pulses fed to the master axis but some are omitted Setting example 1 Connect the CSTA signals between LSI A and LSI B 2 Set up the LSIs as shown below Set the PRMD to start with inputting a CSTA signal 3 Write start commands LSI A 0951h LSI B 0651h 4 Write a CSTA signal input command 06h to the X axis on LSI A After completing steps 1 to 4 above the LSIs will output pulses using the timing shown in the figure below Settin LSI A LSI B g X axis
159. dge 10 Clear ona LOW 01 Clear on the rising edge 11 Clear on a HIGH 22 INPL Specify the INP signal input logic 0 Negative logic 1 Positive logic 23 LTCL Specify the operation edge for the LTC signal 0 Falling 1 Rising 24 PCSL Specify the PCS signal input logic 0 Negative logic 1 Positive logic 25 DRL Specify the DR DR signal input logic 0 Negative logic 1 Positive logic 26 FLTR 1 Apply a filter to the EL EL SD ORG ALM or INP inputs When a filter is applied signal pulses shorter than 4 usec are ignored 27 DRF 1 Apply a filter to the DR DR or PE inputs When a filter is applied signals pulses shorter than 32 msec are ignored 28 DTMF 1 Turn OFF the direction change timer 0 2 msec function 29 INTM 1 Mask an INT output Changes the interrupt circuit 30 PCSM 1 Make PCS input as a CSTA signal for only the own axis 31 PDTC 1 Keep the pulse width at a 50 duty cycle Note1 When a deceleration stop ELM 1 has been specified to occur when the EL input turns ON the axis will start the deceleration when the EL input is turned ON Therefore the axis will stop by passing over the EL position In this case be careful to avoid collisions of mechanical systems Note 2 When deceleration stop is selected keep input ON until an axis decelerates and stops The PCL determines whether it has stopped normally or not according to the stop timing Therefo
160. difference by 2 Count up count forward when the PA input phase is ahead 10 Multiply a90 phase difference by 4 Count up count forward when PA input phase is ahead 11 Count up count forward when the PA signal rises count down when the PB signal rises 26 PDIR 1 Reverse the counting direction of the PA PB inputs 27 IEND 1 Outputs an INT signal when stopping regardless of whether the stop is normal or due to an error 28 PMSK 1 Masks output pulses 29 SMAX 1 Enable a start operation that is triggered by stop on the own axis 30 EOFF 1 Disable EA EB input 31 POFF 1 Disable PA PB input Note 1 For details about outputting a general purpose one shot signal see 7 2 General purpose output bit control commands 42 8 3 15 RENV3 register This is a register for the Environment 3 settings Origin return methods and counter operation specifications are the main function of this register 15 144 13 12 1 10 0 BSYC Cl41 C140 C131 CI30 C121 Cl20 EZD3 EZD2 EZD1 EZD0 ORM3 ORM2 ORM1 ORMO CU4H CU3H CU2H 0 CU4B CU3B CU2B CU1B CU4R CU3R CU2R CU1R CU4C CU3C CU2C CU1C Bit Bit name Description Oto3 JORMO to 3 Specify an origin method 0000 Origin return operation 0 The axis will stop immediately or make a deceleration stop when feeding at high speed when the ORG input turns ON COUNTER reset timing When the ORG input turns ON 0001 Origin return operation 1 The axis
161. ds Register 2nd pre register No Detail Risa Read command Write command Name Read command Write command COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol q Feed amount RMV Doh RRMV 90h wRMv PRMV Coh RPRMV 80h WPRMV target position 2 Initial speed RFL Dih RRFL 91h WRFL PRFL Cih RPREL 81h WPRFL 3 Operation speed RFH D2h RRFH 92h WRFH PRFH C2h RPRFH 82h WPRFH 4 Acceleration rate RUR D3h RRUR 93h WRUR PRUR C3h RPRUR 83h WPRUR 5 Decelerationrate RDR D4h RRDR 94h WRDR PRDR C4h RPRDR 84h WPRDR g Speed RMG D5h RRMG 95h WRMG PRMG C5h RPRMG 85h WPRMG magnification rate Ramping down 7 Ipoint RDP D6h RRDP 96h WRDP PRDP C6h RPRDP 86h WPRDP 8 Operation mode RMD D7h RRMD 97h WRMD PRMD C7h RPRMD 87h WPRMD Circular 9 interpolation RIP Dsh RRIP 98h WRIP PRIP c8h RPRIP 88h WPRIP center 19 Acceleration RUS D9h RRUS 99h wRUS PRUS C9h RPRUS 89h WPRUS S curve range 41 Deceleration RDS DAh RRDS 9Ah WRDS PRDS CAh RPRDS 8Ah WPRDS S curve range 12 Feed amount RFA DBh RRFA 9Bh WRFA correction speed 43 Environment RENV1 DCh RRENV1 9Ch_ WRENV1 setting 1 44 Environment RENV2 DDh RRENV2 9Dh_ WRENV2 setting 2 45 Environ
162. e 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 8 3 25 RCMP2 register Specify the comparison data for Comparator 2 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 51 8 3 26 RCMP3 register Specify the comparison data for Comparator 3 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 543 2 1 0 8 3 27 RCMP4 register Specify the comparison data for Comparator 4 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 8 3 28 RCMP5 PRCP5 register Specify the comparison data for Comparator 5 PRCP5 is the 2nd pre register for RCMP5 Normally use RCMP5 To use the comparator pre register function use PRCP5 Setting range 134 217 728 to 134 217 727 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 For details about the comparators see section 11 11 Comparator Note 1 Bits marked with an asterisk will be
163. e However the INT signal will not go LOW but will remain HIGH While the interrupt conditions are satisfied and if the output mask is turned OFF INTM 0 in RENV1 the INT signal will go LOW 143 Read the interrupt status lt SENI bit2 SERR bit 4 SINT bit 5 in MSTSW gt MSTSW READ SENI 1 When IEND 1 and a stop interrupt occurs make this bit 1 7 0 After reading MSTSW it will become 0 SERR 1 Becomes 1 when an error interrupt occurs Becomes 0 by Aj ny nj reading REST SINT 1 Becomes 1 when an event interrupt occurs Becomes 0 by reading RIST Set the interrupt mask lt INTM bit 29 in RENV1 gt RENV1 WRITE 1 Mask INT output 31 24 nl sll Setting a stop interrupt lt IEND bit 27 in RENV2 gt RENV2 WRITE 1 Enable a stop interrupt 31 24 akg n ae ea ioe Select the stop interrupt mode lt MENI bit 7 of PRMD gt PRMD WRITE 1 When there is data for the next operation in the pre register the PCL will not 7 0 output a stop interrupt n Read the cause of the error interrupt lt Register control command RREST gt Read command Copy the data in the REST register error interrupt cause to BUF F2h Read the event interrupt cause lt Register control command PRIST gt Read command C
164. e PRMD operation mode register to 1 for the axes that you want to have a constant synthesized speed When the same interpolation mode is selected the axes whose MIPF bit is set to 1 will have a longer pulse output interval multiplied by the square root of two 2 for two axis simultaneous output and by the square root of three V3 for three axis simultaneous output For example when applying linear interpolation 1 to the X Y and Z axes and only the Y and Z axes have the MIPF bit 1 the interval before a pulse output on another axis after simultaneous pulse output on the Y and Z axes will be multiplied by the 2 When X and Y or X and Z output pulses at the same time the interval until the next pulse output will not change The synthesized speed constant control can only be used for 2 or 3 axes When applying linear interpolation 1 to four axes if MIPE 1 for all four axes and if all four axes output pulses at the same time the interval will also be multiplied by the V3 When the synthesized speed constant control bit is turned ON MIPF 1 the synthesized speed while performing interpolation will be the operation speed PRFH or the initial soeed PRFL of the interpolated axes SRUN SEND and SERR in MSTSW main status byte for the interpolated axis will change using the same pattern The RSPD speed monitor feature is only available for the interpolation control axes However when linear interpolation 2 is used
165. e a ar a eaaa aaaea e a aaa e a aAA 175 e a PACKAGES sa sande A E A N A A A E E S 175 4 222 POWER SUPPLY volage eena a EEE EES AEAEE A EETA AE EAE ESAR 175 4 3 Difference imi SoftWare ars eaa a a eaa a a aa aa a aa eaa a aaa aa eaaa aeaa 175 4 3 1 PRMD RMD reGIStel coprire RETEA EAE EAE AEAEE EEE A EET 175 423 2 RENVS registo irera ea Eia EEA EAEE EEEE EE EEEE A EEEE AE EEE EEEE A 176 K e E olane Kero nala ar Talo PPAR AA E E E E E 176 4 7 4 Register control COMMANG eeens re enna e e OENE RAE EETA cece EEEE AREE AAA 176 Handing Precautions eai aaea cbc a a ol seach Sete a ae aa aaa a e a a aaea aaae 177 t Design PLECAUTIONS posueren EE EAEE EE EAE E aa 177 2 Precautions for transporting and storing LSlS seccciasienin sireeni ene NEARE EEEa NRE 177 3 Precautions fof installations mri aa aa aa a aa a saaa deeds eaa a a aaa aaae 177 A OtherprecattionSies ses ie aa i Reece aa aaae aaar ea aa e aaa e aaa 178 1 Outline and Features 1 1 Outline The PCL6045BL is a CMOS LSI designed to provide the oscillating high speed pulses needed to drive stepper motors and servomotors pulse string input types using various commands It can offer various types of control over the pulse strings and therefore the motor performance These include continuous feeding positioning and origin return etc at a constant speed linear acceleration deceleration and S curve acceleration deceleration PCL6045BL is more user friendly than PCL6045B because of ad
166. e axes being interpolated FH FL if the synthesized speed constant control is ON MIPF 1 for both axes Write a start command after setting SELx to SELu in COMB1 to 1 Either axis can be used to write a start command Setting example As shown in the table below specify the MOD MIPF PRMV PRIP and operation speed for each axis being interpolated and write a start command ex 0351h that will be used by both axes The axes will move as shown on the right Uy StepNo A B C D Set X Y X Y X Y X Y 1st phase value axis axis axis axis axis axis axis axis 2nd phase i MOD 64h CW circular interpolation MIPF 1 turn ON synthesized constant speed control A 0 0 PRMV 0 O 100 100 200 O 100 10 Start point value 0 0 0 i PRIP 100 O 100 O 100 O 100 O lath H phase value 1E ee S ee Operation Simple gq arc 180 arc 270 arc H result circle f Z This LSI terminates a circular interpolation operation when either of the axes reaches the end point in the last quadrant and the end point can be specified as the whole number coordinates nearest to the end position For this reason even though the circular interpolation operation is complete the PCL will not be at the end coordinate specified To move to the coordinates of the specified end point when the circular interpolation operation is complete set the MPIE bit in the PRMD register t
167. ecaeeeeeeeeeeeccieaeeeeeeeseneees 29 f 9 1 Command writing PrOCCOUTES escossoira nA E E EAA REESE AAEE EA 29 T 9 2 Command Dit AOCANOM cscsiicascaepencneneek ceaceeeescaeaewedendeasebcguczeneunens es EEES EETA 29 8 Rogsta esa oE E A S dines pbecau E diitaae E T E E pelasbanendeee 30 6 1 Table OF rogi Stols ssion aA EEEE ESE A AAE SE EEA EA 30 8 2 PFE FEGISLENS eoira ana ear Nai NENEN SE NE TEED E E S 31 8 2 1 Writing to the operation pre registers s eesssssssrreseernanssnnnseennansannnntennaanannanednnaanannaaten naan aana anena 31 8 2 2 Cancel the operation pre regiSter ccccccceceeeeeeeeeceeaeceeeeeeeeeceaeaeeeeeeeeeceaaaaeaeeeseeeeesesdeaeeeeeeseneeees 32 8 2 3 Writing to the comparator pre reQiSters ec ccceeeeeeeteeee erent ee ee tnne esse tees eee eaeeeeetiieeeeetieeeeesieeeerena 32 8 2 4 Cancel the comparator pre register data ccccccceeceeeecceceeeeeeeeeeeceeeeeeeeeceneaeeeeeeeeeesetennaneeeeeeeeeees 32 8 3 DESCHIPUON Of theregistel Ssenari cacnn REEE AAA A 33 8 3 1 PRMV RMV register cece nee entre ne nee eee e eerie ee erties ee taeee ee taeeeseieeeeeesnaeeeeeeea 33 3 3 2 PREL REL registel s 4 sitesinde iii ee a ar ie Medea 33 8 3 3 PREAH REA register sss cite eciicts ce dese te e tte ade sde seta dees Na Rie eee det 33 8 3 4 PRUR RUR feGISter nerean dotted dre te ede iat anc ieee 33 8 3 5 PRDRAARDR reGISter niione oae Dhan desde einen oie aidan eterna 34 8 3 6 PRMG RMG regist
168. ection of movement can be set automatically by evaluating the relative relationship between the PRMV register setting and the value in COUNTER1 At start up the difference between the RMV setting and the value stored in COUNTER is loaded into the positioning counter RPLS The PCL outputs pulses so that the difference becomes 0 When the positioning counter value reaches zero the PCL stops outputting pulses If the PRMV register value is made equal to the COUNTER1 value and the positioning operation is started the PCL will immediately stop operation without outputting any command pulses 60 This mode only uses the difference between the PRMV target position register setting and the value in COUNTER2 Since the COUNTER2 value is stored when starting a positioning operation the target position cannot be overridden by changing the value in COUNTER2 although it can override the target position by changing the value in RMV The direction of movement can be set automatically by evaluating the relationship between the PRMV register setting and the value in COUNTER2 At the start the difference between the RMV setting and the value stored in COUNTER2 is loaded into the positioning counter RPLS The PCL outputs pulses so that the difference becomes 0 When the positioning counter value reaches zero the PCL stops outputting pulses If the PRMV register value is made equal to the COUNTER2 value and the positioning operation is started the
169. eeeeeseceaaaeceeeeeeesecaaaaeaeeeeeeeenaesaeeeeeeeeeeeees 16 6 5 Description of the map details ccccccceeeeeecee cece ee eeeeeeeeaeeeeeeeeeeeesecaaeaeceeeeeeeseccaeaeeeeeeeeesecciceeeeeeeeeeeee 18 6 5 1 Write a command code and axis selection COMW COMB 0 cccceeeteeeeetieeeeeetteeeeetnteeeeeeea 18 6 5 2 Write to an output port OTPW OTPB cccccceceeeceeseeeeeeeeecaeeecaeeseneeeseaeeesaaeeseeeeeseaeeesaeeseaeenaaees 18 6 5 3 Write read the input output buffer BUFW BUFB essesssssssssrreassnnnnseennnanannaaetnnaanannaneennaannannaatennaaana 18 6 5 4 Reading the main status MSTSW MSTSB c ccccceeeeeeeeeeeeetneeeeeeeneeeeee sees eetiieeeeetieeeeetieeeeeee 19 6 5 5 Reading the sub status and input output port SSTSW SSTSB IOPB eeseeeeeeeeeeeeeteeee 20 7 Commands Operation and Control CommandS sssssesssrreassnnsneennnanannantsnnanannnnnneennaanannaattnnaaaainaneeenananana aee 21 7 1 Operation COMMANAS c cccccceeeeeceeceeeeceeeeeeeteceaeaeceeeeeeesceaeaeceeeeeeeesecaaeaeaeeeeeedsaqeaeaeeeeeseeeecdaneeeeeeeseeeeee 21 7 1 1 Procedure for writing an operation command the axis assignment is omitted 0 0 0 eee 21 F122 StArl COMMMEANG EEA I E T E E O caus sande E E I O TE P dean eae evar 22 2123 Speed change commands rori naa E EETAS E ASEE 22 21 45 StOp COMMANG sinia i aa EaR e EE aa aaa A a aa 23 2125 NOP do nothing command srein eE ENERET AEA R
170. eencaeeeeeeeeeeteesenees 130 11 11 4 IDX synchronous signal output FUNCTION eee cece eect ente ee ee eaae ee eeeeaaeeeeeeaaeeeeeeaeeeeeenaeeeneaas 131 1114 9 Ring GOURTTUNGHON orare a A e a a ahve nated donee aecuslitaet dena 132 11 12 Backlash correction and Slip correction cccecccceceeeeeeeeeeeceeceeeeeeeccaaeaeeeeeeeseseccueaeeeeeeeeeeseninaeeeeeess 133 11 13 Vibration restriction function 2 0 2 ee cececeeecce cee eeeeeeceee cece ee eeeeeeaaaeaeeeeeeeeeececsaaaeceeeeeeesecaaeceeeeseesenuaeeeeeess 134 11214 Synchronous Starting Aya sec cetesacte dels ste dens terad a ss ahead iaieast its wade tah ene 135 11 14 1 Start triggered by another axis Stopping 0 2 ccc eect eee ettte eee eette test tates eeeaeeeseeaaeeeeeeneeeeeaes 136 11 14 2 Starting from an internal synchronous signal ceeeeeeeeeeeeeeeeeeeneeeeeeeaeeeeeeaeeeeeenaeeeeseneeeeneaees 140 11 14 3 Continuous interpolation by dummy circular interpolation cece ceeeceeeeeeeeeeeeeeeeeeeeneeeeeeaaes 142 11 15 Output an interrupt Signal 2 0 0 2 eee eeceeece cece cece eee neteet ee eeeeeeaaaeaeeeeeeesesecaaeaeeeeeeeseseceaaeeeeeesesscniaeeeeeess 143 12 Electrical Characteristics 3 2s07 2402 mies ds e az salen da cpangde 24nd cache aa hated aaa E A Na o S 146 1221 Absolute Maximum PAWN GS erria raar E E cuak lege tics ceveuntea de EAE AAE EERTE 146 12 2 Recommended operating conditions cee et teeter tine ee eee ete ee eee ee eet eee
171. eleration stop COMBO Byte map name 0 when Z80 Write control command P16 18 COMB1 Byte map name 1 when Z80 Axis selection P16 18 COMW e map 0 when 8086 Assign an axis or write a control command P16 18 COUNTER1 Circuit name 28 bit counter for command position control P2 119 COUNTER2 _ Circuit name 28 bit counter for mechanical position control P2 119 COUNTERS _ Circuit name 16 bit counter for the deflection counter P2 119 COUNTER4 _ Circuit name 28 bit counter for the general purpose counter P2 119 CS Terminal name 3 Chip select signal P7 CSTA Terminal name 168 Simultaneous start signal P8 115 CSTP Terminal name 169 Simultaneous stop signal P8 117 CU1B Register bit RENV3 24 ar ier aa command position with backlash slip P45 133 CUIC Register bit RENV3 16 ae COUNTER command position by turning ON the CLR P44 122 CUIL Register bit RENV5 24 Reset COUNTER1 command position right after latching the P49 122 count value CUIR Register bit RENV3 20 re eae command position when the zero return is P44 122 CU2B Register bit RENV3 25 peer ERa mechanical position with backlash slip P45 133 CU2C Register bit RENV3 17 ein N mechanical position by turning ON the P44 122 CU2H Register bit RENV3 29 Stop the count on COUNTER2 mechanical position P45 124 CU2L Register bit RENV5 25 Seen mechanical position right after latching the P49 122 CU2R Register bit RENV3 21 ee mechanical position when the zero return P44 122 C
172. en it will start moving to the new position Therefore the axis will overrun the original target position during deceleration shaded area Speed FH decelerating to FL speed es FL Time Acceleration Deceleration Flt sas _ _ gt Target position change Normally the G9103 stops without When an override is specified the Dnr ee 103 decelerate to FL spee YA G9103 d To avoid creating an overrun condition make sure that the deceleration time is less than two times of the acceleration time or if the deceleration time is more than double the acceleration time make the ramping down point a manual setting 102 Note 2 If the LSI starts decelerating by changing the target to a closer position and if you perform a position override to a position further away during this deceleration the LSI will not re accelerate It will feed to the more distant target after decelerating to FL speed Also if you overshoot the target position to lower than the initial RMV setting value during deceleration using the automatic ramp down point setting the LSI will not accelerate using the target position override If you change the target position with the position override function while decelerating with the auto ramp down function the LSI will accelerate again Note 3 The position override is only valid while feeding If you perform a position override operation just before stopping t
173. er environment setting 1 The ORG terminal status can be monitored by reading SSTSW sub status The EZ terminal status can be monitored by reading the RSTS register extension status For details about the origin return operation modes see 9 5 Origin position operation mode ORG signal and EZ signal timing ORG i When t 2 2 x Tek counts ii When Tok lt t lt 2x Terk EZ o counting is undetermined t iii When t lt Tc x does not count Torx Reference clock cycle Enabling the ORG and EZ signals lt Set MOD bits 0 to 6 in PRMD gt PRMD WRITE 001 0000 Origin return in the positive direction 7 0 001 0010 Leave origin position in the positive direction 001 0101 Origin position search in the positive direction Oj ni nin n ninin 010 0100 EZ counting in the positive direction 001 1000 Origin return in the negative direction 001 1010 Leave origin position in the negative direction 001 1101 Origin position search in the negative direction 010 1100 EZ count operation in the negative direction Set the origin return method lt Set ORMO to 3 bits 0 to 3 in RENV3 gt RENV3 WRITE See the RENV3 register description 7 0 n ni nin Set
174. er read command into COMBO The data in the register will be copied to the input output buffer Then you can read the data from the input output buffer The order for writing and reading buffers BUFWO to 1 BUFBO to 3 is not specified The data written in the input output buffer can be read at any time BUFW1 BUFWO 1 l BUFB3 BUFB2 BUFB1 BUFBO I 1 of 1 l 1 of 1 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 76543 2 1 0 18 6 5 4 Reading the main status MSTSW MSTSB MSTSB1 MSTSBO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Bit name Details 0 SSCM Set to 1 by writing a start command Set to 0 when the operation is stopped 1 SRUN Set to 1 by the start pulse output Set to 0 when the operation is stopped 2 SENI Stop interrupt flag When IEND in RENV2 is 1 the PCL turns ON the INT output when the status changes from operating to stop and the SENI bit becomes 1 After the main status is read it returns to 0 When IEND is set to 0 this flag will always be 0 3 SEND Set to 0 by writing start command Set to 1 when the operation is stopped 4 SERR Set to 1 when an error interrupt occurs Set to 0 by reading the REST 5 ISINT Set to 1 when an event or interrupt occurs Set to 0 by reading the RIST 6 to 7 SSCO to 1 Sequence number for execution or stopping 8 SCP1 Set to 1 when the COMPARATOR 1 comparison conditions are met
175. eration deceleration operations when the synthesized speed constant control bit is ON MIPF 1 Basically please use a constant speed when MIPF 1 The synthesized speed will vary with the acceleration deceleration When MIPF 1 and you select linear interpolation 1 or circular interpolation with acceleration deceleration the following limitations apply Make the acceleration rate PRUP and deceleration rate PRDR for the control axes equal Do not change the speed during S curve acceleration deceleration Failure to follow these guidelines may cause the PCL to decelerate abnormally 83 9 8 4 Continuous linear interpolation 1 MOD 60h This is the same as linear interpolation 1 and each axis operates at a speed corresponding to the PRMV setting However the PCL will continue to output pulses until a stop command is received This mode only uses the rate from the PRMV setting for all of the interpolated axes Therefore if the PRMV setting for the all of the interpolated axes is zero the PCL will output pulses to all the interpolated axes at the same speed 9 8 5 Linear interpolation 1 MOD 61h Linear interpolation 1 is used to allow a single LSI to provide interpolation operations between any 2 to 4 axes If only one axis is specified and operation is started an error ESDT Stop due to operation data error will occur After setting the operation speed for the interpolation control axes specify whether to use or not
176. ero movement on the axis will stop and the PCL any further ignores PA PB input If you set the PRMV register value to zero and start the positioning operation the PCL will stop movement on the axis immediately without outputting any command pulses 9 3 3 Positioning operation using pulsar input specify absolute position to COUNTER1 MOD 52h The PCL positioning is synchronized with the pulsar input by using the PRMV setting as the absolute value for COUNTER1 The direction of movement is determined by the magnitude relationship between the value in PRMV and the value in COUNTER1 At the start the difference between the values in RMV and COUNTER is loaded into the positioning counter When PA PB signals are input the PCL outputs pulses and decrements the positioning counter When the value in the positioning counter reaches 0 movement on the axis will stop and PCL any further ignores PA PB input If you try to start with PRMV COUNTERT the PCL will not output any pulses and it will stop immediately 9 3 4 Positioning operation using pulsar input specify the absolute position in COUNTER2 MOD 53h The operation procedures are the same as MOD 52h except that this function uses COUNTER2 instead of COUNTER1 65 9 3 5 Command position zero return operation using a pulsar input MOD 54h This mode is used to feed the axis using a pulsar input until the value in COUNTER1 command position becomes zero The number of pul
177. erties ee teeeeeneeeeneee 146 1223 DC chara CIETS S aa coat a e a piace fo coeudeaua Dieta aa sada tar E aa T 146 12 4 AC characteristics 1 reference clock essessssseessrresssrresesrresiirnssrrnnaartanedttnaaattnnadateandattnaeatanaaaednaaaeana 147 12 5 AG characteristics 2 CPU HF J ercamisrrr ia te AAE A A EA REEE T 148 12 521 CRULUE TUFTS HAFO A 28 es iTA E A EE ATAA A AAA 148 temae GPUSI F 3 IF TE L FOS LI HE eioan a a A R EE A A AT SAATI 150 12 5 4 CPU I F 4 IF1 L IFO L 68000 nsenssesnnesesinsssrrsserrrssterrssttrnssttnnssttnnssttnnssttennnstennstennnnt 151 12 6 Operation timingen riitin ort ananitania iani iaar EANA NEE SAARET TENNENE A E S ai aA 152 13 External DIMeEnsion S a a ieas araea a i lade aaa A a E Ea le AeA EEEa A dese FEE a a aei 154 Appendix 1 List of commands eea e ides eee les aeie eiaeia a dhl aae rria en abit AOE aae Taaa nee iea 155 Appendix 2 Setting speed pattern 2 0 2 cecececceccceceeeee eee ee aces cece ence caeaaaneeceeeeesaeeaaaeaeceeeeesaeeaacaeeeeeeseesecineeeeeeess 158 Appendix 3 Eabelilist cAc cence ces ieadieliei chs Fade a lads a i ae aaeei aea sau ited seen E O AAEE AA 162 Appendix 4 Differences between the PCL6045 and PCL604 5BL ccccecececeeeeceeeeeeeeeeneeceeeeeeeseesnnaneeeees 175 4 1 How to identify the PCL6045 and PCL6045BL 00 ee eee teeter eee te eee e ete ee ee eeeeee tees eetieeeeeesneeeeeea 175 4 2 Difference in Nardware tas enni ier a e apdar
178. escription Read command Write command Read command Write command l i Name COM Symbol COMI symbor Name COM Symboi COM Symbol BO y BO y BO y BO y Number of feed 1 pulses target RMV Doh RRMV 90h WRMV PRMV COh RPRMV 80h WPRMV position 2 Initial speed REL Dih RRFL 91h WREL PRFL Cih RPRFL 81h WPRFL 3 Operation speed _ RFH D2h_ RRFH 92h WRFH PRFH C2h RPRFH 82h WPRFH 4 Acceleration rate RUR D3h RRUR 93h WRUR PRUR C3h RPRUR 83h WPRUR 5 Deceleration rate RDR D4h RRDR 94n WRDR PRODR C4h RPRDR 84h WPRDR e Speed RMG D5h RRMG 95h WRMG PRMG C5h RPRMG 85h_ WPRMG magnification rate 7 A ee RDP D6h RRDP 96h WRDP PRDP C6h RPRDP 86h_ WPRDP 8 Operation mode RMD D7h RRMD 97h WRMD PRMD C7h RPRMD 87h WPRMD Circular 9 interpolation RIP D8h RRIP 98h WRIP PRIP C8h RPRIP 88h WPRIP center 49 S curve range RUS D9h RRUS 99h WRUS PRUS C9h RPRUS 89h WPRUS while accelerating 44 S curve range s inns DAh RRDS 9Ah_ WRDS PRDS CAh RPRDS 8Ah WPRDS while decelerating Feed speed to 12 correct feed RFA DBh RRFA 9Bh WRFA distance 43 Environment RENV1 DCh RRENV1 9Ch_ WRENV1 setting 1 44 Environment RENV2 DDh RRENV2 9Dh_ WRENV2 setting 2 45 Environment RENV3 DEh RRENV3 9Eh_ WRENV3 setting 3 46 Environment RENV4 DFh RRENV4 9Fh WRENV4 setting 4 47 Environment RENV5 E0h RRENV5 AOh_ WRENV5 setting 5 48 Environment RENV6 E1h RRENV6 Ath WR
179. et a division rate for PA PB inputs P50 62 PDIR Register bit RENV2 26 Reverse the counting direction of the PA and PB inputs P42 64 PDSM Register bit RENV5 11 ee by an El signal of the same direction as P48 PDTC Register bit 31 Keep the pulse width at a 50 duty cycle P40 PEu Terminal name 140 Enable the PA PB DR DR inputs for U axis P9 62 PEXx Terminal name 45 Enable the PA PB DR DR inputs for X axis P9 62 PEy Terminal name 76 Enable the PA PB DR DR inputs for Y axis P9 62 PEz Terminal name 109 Enable the PA PB DR DR inputs for Z axis P9 62 PFCO to 1 Register bits RSTS 18 19 Used as a status monitor for the PCMP5 pre register P32 55 PFMO to 1 Register bits RSTS 20 21 Used as a status monitor of the working pre register P31 55 F RENV2 F F P42 120 PIMO to 1 Register bits 24 25 Specify the PA and PB input details PINF Register bit RENV2 19 Apply a noise filter to the PA PB inputs P40 120 169 PMDO to 2 Register bits RENV1 0 2 Specify the output pulse details P39 104 PMGO to 4 Register bits pane Specify the multiplication rate for the PA PB inputs P50 62 PMSK Register bit RENV2 28 _ Specify the output pulse mask P42 POFF Register bit RENV2 31 Disable PA PB inputs P42 64 PRCI Pre register 2nd pre register for RCI P30 58 name PRC
180. et the general purpose output port terminal PO HIGH P24 PAL Register bit RENV2 17 Ai P1 terminal output logic 0 Negative logic 1 Positive P24 41 P1M0 to 1 Register bits RENV2 2 3 Specify the P1 FDW terminal details P41 P1RST Command 11h Set the general purpose output port terminal P1 LOW P24 P1SET Command 19h Set the general purpose output port terminal P1 HIGH P24 P2M0 to 1z Register bits RENV2 4 5 Specify the P2 MVC terminal details P41 P2RST Command 12h Set the general purpose output port terminal P2 LOW P24 P2SET Command 1Ah Set the general purpose output port terminal P2 HIGH P24 P3M0 to 1 Register bits RENV2 6 7 Specify the P3 CP1 SL terminal details P41 P3RST Command 13h Set the general purpose output port terminal P3 LOW P24 P3SET Command 1Bh Set the general purpose output port terminal P3 HIGH P24 P4M0 to 1 Register bits RENV2 8 9 Specify the P4 CP2 SL terminal details P41 P4RST Command 14h Set the general purpose output port terminal P4 LOW P24 P4SET Command 1Ch Set the general purpose output port terminal P4 HIGH P24 P5MO to 1 Register bits Paoa Specify the P5 CP3 terminal details RA P5RST Command 15h Set the general purpose output port terminal P5 LOW P24 P5SET Command 1Dh Set the general purpose output port terminal P5 HIGH P24 P6M0to1 Register bits RENY2 Specify the P6 CP4 IDX terminal details Ba P6RST Command 16h Set the general purpose output port terminal P6 LOW P24 P6SET Command 1Eh Set the general purpose output port
181. ety of counter circuits The following four counters are available separately for each axis Counter Use or purpose Counter Input COUNTER 1 28 bit counter for control of the command position Output pulses COUNTER 2 28 bit counter for mechanical position control EA EB input Can be used as a general purpose counter Output pulses PA PB input COUNTER 3 16 bit counter for controlling the deflection between Output pulses and EA EB input the command position and the machine s current Output pulses and PA PB input position EA EB input and PA PB input COUNTER 4 28 bit counter used to output synchronous signals Output pulses Can be used as a general purpose counter EA EB input PA PB input 1 2 of reference clock All counters can be reset by writing a command or by providing a CLR signal They can also be latched by writing a command or by providing an LTC or ORG signal The PCL6045BL can also be set to reset automatically soon after latching these signals The COUNTER 1 COUNTER 2 and COUNTER 4 counters have a ring count function that repeats counting through a specified counting range Comparator There are five comparator circuits for each axis They can be used to compare target values and internal counter values The counter to compare can be selected from COUNTER 1 command position counter COUNTER 2 mechanical position counter COUNTER 3 deflection counter and COUNTER 4 a general purpose counter
182. ext counter value will be the value set in RCMP4 and if counting up counting forward from the value set in RCMP3 the next counter value will be 0 RCMP4 setting range 1 to 134 217 727 The input for COUNTER4 can be set to Cl40 or Cl41 in RENV3 By setting IDXM in RENV4 you can select either level output or count output Select the specification for the P6 CP4 terminals RENV2 WRITE lt Set P6MO to 1 in RENV2 bits 12 to 13 gt 45 8 10 Output an IDX signal using negative logic 11 Output an IDX signal using positive logic ae Select the count input for COUNTER4 general purpose RENV3 WRITE lt Set to C140 to C141 bits 12 to 13 in RENV3 gt 45 8 00 Output pulses 10 PA PB input 01 EA EB input 11 1 2 division of clock of the CLK i in n i Select the comparison counter for Comparator 4 RENV4 WRITE lt Set C4C0 to 1 bits 24 to 25 in RENV4 gt 34 24 11 COUNTER4 general purpose npn Select the comparison method for COUNTER4 RENV4 WRITE lt Set C4S0 to 3 bits 26 to 29 in RENV4 gt 34 24 1000 IDX output regardless of count direction 1001 IDX output only while counting up counting forward Ayn A Ay 1010 IDX output only while counting down Select the IDX output mode lt Set IDXM bit 23 in RENV4 gt RENV4 WRITE 0 O
183. ffer counter status lt ESP0 bit 14 in REST gt REST READ ESPO bit 14 1 An overflow occurs 15 8 n In the descriptions in the right hand column n refers to the bit position 0 refers to bit positions where it is prohibited to write any value except zero and the bit will always be zero when read The pulsar input mode has the following 12 operation types The direction of movement for continuous operation can be changed by setting the RENV2 register without changing the wiring connections for the PA PB inputs MOD Operation mode Direction of movement 01h_ Continuous operation using pulsar input Determined by the PA PB input 54h Positioning operation using pulsar input Determined by the sign of the PRMV value absolute position 52h Positioning operation using pulsar input Determined by the relationship of the RMV and COUNTER absolute position COUNTER values 53h Positioning operation using pulsar input Determined by the relationship of the RMV and COUNTER2 absolute position COUNTER2 values 54h Specified position COUNTER1 zero point Determined by the sign of the value in COUNTER1 return operation using pulsar input 55h Specified position COUNTER2 zero point Determined by the sign of the value in COUNTER2 return operation using pulsar input 68h Continuous linear interpolation 1 using Determined by the sign of the value in PRMV pulsar input 69h
184. g At the same time the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting EZ pulses 0011 Origin return operation 3 After the ORG signal turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop instantly when the LSI finishes counting EZ pulses After the ORG signal turns ON when feeding at high speed the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will decelerate and stop When feeding at constant speed movement on the axis stops immediately by counting the EZ signal after the ORG input is turned ON When feeding at high speed the axis will decelerate and stop by counting the EZ signal after the ORG input is turned ON COUNTER reset timing When finishing counting the EZ pulses 0100 Origin return operation 4 After the ORG input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction at RFA constant speed After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting the EZ pulses 0101 Origin return operation 5 After the ORG input turns ON when feeding at constant speed the axis will stop immedia
185. g any of the values may result in failing to satisfy the comparison conditions When C4S0 to 3 1000 to 1010 for Comparator 4 lt IDX synchronous signal output gt select COUNTER4 general purpose for use as the comparison counter Other counters cannot be used for this function Enter a positive value for the comparator setting The bit assignments for various comparison methods are as follows C1S0 to 2 RENV4 bits 2 to 4 C2S0 to 2 RENV4 bits 10 to 12 C3S0 to 2 RENV4 bits 18 to 20 C4S0 to 3 RENV4 bits 26 to 29 C5S0 to 2 RENV5 bits 3 to 5 Processing method when comparator conditions are satisfied The processing method that is used when the conditions are satisfied can be selected from the table below Processing method when Comparator 1 Comparator 2 Comparator 3 Comparator 4 Comparator 5 the conditions are met C1D0 to 1 C2D0 to 1 C3D0 to 1 C4D0 to 1 C5D0 to 1 Do nothing 00 00 00 00 00 Immediate stop operation 01 01 01 01 01 Deceleration stop operation 10 10 10 10 10 Rewrite operation data with 41 41 44 41 44 pre register data Do nothing is mainly used for INT output external output of comparison result or internal synchronous starts To change the speed pattern while in operation rewrite operation data with pre register data The PRMV setting will also be transferred to the RMV However this does not affect operation T
186. g counter COMBO Symbol Description 54h CNTFL Residual pulses FL constant speed start 55h CNTFH Residual pulses FH constant speed start 56h CNTD Residual pulses high speed start 1 FH constant speed start without acceleration with deceleration 57h CNTUD Residual pulses high speed start 2 With acceleration and deceleration 3 Simultaneous start command By setting the RMD register the LSI will start an axis which is waiting for CSTA signal COMBO Symbol Description 06h CMSTA Output one shot of the start pulse from the CSTA terminal 2Ah SPSTA Only own axis will process the command the same as when the HCSTA signal is input 7 1 3 Speed change command Write this command while the motor is operating the motor on that axis will change its feed speed If this command is written while stopped it will be ignored COMBO Symbol Description 40h FCHGL Change to the FL speed immediately 41h FCHGH Change to the FH speed immediately 42h FSCHL Decelerate and change to the FL speed 43h FSCHH Accelerate and change to the FH speed 22 7 1 4 Stop command 1 Stop command Write this command to stop feeding while operating 2 COMBO Symbol Description 49h STOP Write this command while in operation to stop immediately 4Ah SDSTP Write this command while feeding at FH constant speed or high speed the motor o
187. g the conditions within SL of comparator 1 P3z CP1z The output logic of CP1 SL as well as the selection of input or SLz output functions can be changed using software P3u CP1u SLu P4x CP2x 62 Input Positive Common terminal for general purpose I O and CP2 SL SLx 93 Output When used as a CP2 SL terminal it outputs a signal while P4y CP2y 120 satisfying the conditions within SL of comparator 2 SLy 157 The output logic of CP2 SL as well as the selection of input or P4z CP2z output functions can be changed using software See Note 5 SLz P4u CP2u SLu P5x CP3x 63 Input Positive Common terminal for general purpose I O and CP3 See Note 5 P5y CP3y 94 Output When used as a CP3 terminal it outputs a signal while satisfying the P5z CP3z 126 conditions of comparator 3 P5u CP3u_ 158 The output logic of CP3 as well as the selection of input or output functions can be changed using software P6x CP4x 64 Input Positive Common terminal for general purpose I O and CP4 See Note 5 P6y CP4y 95 Output When used as a CP4 terminal it outputs a signal while satisfying the P6z CP4z 128 conditions of comparator 4 P6u CP4u_ 159 The output logic of CP4 as well as the selection of input or output functions can be changed using software 10 Signal name Terminal Input No output Logic Description P7x CP5x P7y CP5y P7z CP5z P7u CP5u 65 I
188. gative logic 11 Output the MVC constant speed feeding signal with positive logic 6to7 P3MO to 1 Specify the operation of the P3 CP1 SL terminals 00 General purpose input 01 General purpose output 10 Output the CP1 satisfied the Comparator 1 conditions signal with negative logic 11 Output the CP1 satisfied the Comparator 1 conditions signal with positive logic 8to9 P4MO to 1 Specify the operation of the P4 CP2 SL terminals 00 General purpose input 01 General purpose output 10 Output the CP2 satisfied the Comparator 2 conditions signal with negative logic 11 Output the CP2 satisfied the Comparator 2 conditions signal with positive logic 10 to 11 P5MO to 1 Specify the operation of the P5 CP3 terminals 00 General purpose input 01 General purpose output 10 Output the CP3 satisfied the Comparator 3 conditions signal with negative logic 11 Output the CP3 satisfied the Comparator 3 conditions signal with positive logic 12 to 13 P6MO to 1 Specify the operation of the P6 CP4 terminals 00 General purpose input 01 General purpose output 10 Output the CP4 satisfied the Comparator 4 conditions signal with negative logic 11 Output the CP4 satisfied the Comparator 4 conditions signal with positive logic 14 to 15 P7MO to 1 Specify the operation of the P7 CP5 terminals 00 General purpose input 01 General purpose output 10 Output the CP5 satisfied the Comparator 5 conditions
189. h WRCI PRCI CCh RPRCI 8Ch WPRCI interpolation Counter of steps 41 for circular RCIC FDh RRCIC interpolation 42 Interpolation RIPS FFh RRIPS status 157 Appendix 2 Setting speed pattern Pre register Description Sts Setting range Register PRMV Positioning amount 28 acco00n i EEFE RMV PRFL Initial speed 16 1 to 65 535 OFFFFh RFL PRFH Operation speed 16 1 to 65 535 OFFFFh RFH PRUR Acceleration rate 16 1 to 65 535 OFFFFh RUR PRDR Deceleration rate Note 1 16 0 to 65 535 OFFFFh RDR PRMG Speed magnification rate 12 2 to 4 095 OFFFh RMG PRDP Ramping down point 24 0 to 16 777 215 OFFFFFFh RDP PRUS S curve acceleration range 15 Oto 32 767 7FFFh RUS PRDS S curve deceleration range 15 Oto 32 767 7FFFh RDS Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleration factors Acceleration rate Set in PRUR Deceleration rate Set in PRDR FH speed Set in PRFH PRMG S curve deceleration Preset amount for positioning range Set in PRDS S curve Acceleration range operation Set in PRMV Set in PRUS FL speed Set in PRFL PRMG gt Ramp down point for positioning operation Set in PRDP or set automatically PRFL FL speed setting register 16 bit Specify the speed for FL constant speed o
190. h 176 pins However the dimension is slightly different 4 2 2 Power supply voltage 3 3V single power supply 5V level signal can be input Even though output signal voltage is 3 3V PCL6045BL can be connected to TTL For PCL6045B 3 3V and 5V are needed 4 3 Difference in software 4 3 1 PRMD RMD register Bit 29 MSDC and operation mode MOD 6Fh details have been added 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 MIPF MPCS MSDP METM MCCE MSMD MINP MSDE MENI 27 26 25 24 23 22 21 20 19 18 17 16 MIPM MADJ MSPO MSPE MAX3 MAX2 MAX1 MAX0 MSY1 MSYO MSN1 MSNO Bit Bit name Detail 0 to 6 MOD 100 1111 6Fh Dummy circular interpolation In this operation mode motion is synchronized with the interpolated axes in circular interpolation but the LSI does not output pulses When performing linear interpolation and circular interpolation continuously while controlling 3 or more axes synchronization between axes is available just by controlling pre registers 29 MSDC Set a method to set ramp down point automatically 0 Uses count method only when interpolation operation is performed with synthesized speed constant control like PCL6045B Otherwise calculation method is used 1 Fix the method to set ramp down point automatically to count method 175 4 3 2 RENV5 register Bits 11 PDSM 22 MSMR and 23 ISMR have been added 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 LTOF LTFD LTM1 LTMO P
191. he PCL may not accept the position override command To see if the position override command is accepted check the SEOR bit in the main status after issuing the override command If the PCL has ignored the override command the SEOR will be 1 Please note if an override command is written into the RMV register 90h while the axis is stopping the PCL changes SEOR to 1 Therefore if you write an override command before the axis has started moving the SEOR will also be changed to1 If the PCL ignores the override the SEOR will become 1 when the axis stops And after the main status is read SEOR will go back to 0 within 3 reference clock cycles Note 4 A Position Override 1 cannot be executed while performing an interpolation operation 11 2 2 Target position override 2 PCS signal By making MPCS in the PRMD operation mode register 1 the PCL will perform positioning operations for the amount specified in the PRMV register based on the timing of this command after the operation start after it starts outputting command pulses or on the ON timing of the PCS input signal A PCS input logic can be changed The PCS terminal status can be monitored using the RSTS register extension status Setting pulse control using the PCS input lt Set MPCS bit 14 in PRMD gt PRMD WRITE 1 Positioning for the number of pulses stored i
192. he axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFL constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly CONTER reset timing When finishing counting the EZ signal 1001 Origin return operation 9 After the process in origin return operation 0 has executed it returns to zero operates until COUNTER2 0 1010 Origin return operation 10 After the process in origin return operation 3 has executed it returns to zero operates until COUNTER2 0 1011 Origin return operation 11 After the process in origin return operation 5 has executed it returns to zero operates until COUNTER2 0 1100 Origin return operation 12 After the process in origin return operation 8 has executed it returns to zero operates until COUNTER2 0 Settings after an origin return complete RENV3 WRITE lt Set CU1R to 4R bits 20 to 23 in RENV3 gt 93 16 CU1R bit 20 1 Reset COUNTER1 command position CU2R bit 21 1 Reset COUNTER2 mechanical position LHL ME td se CU3R bit 22 1 Reset COUNTERS deflection counter CUAR bit 23 1 Reset COUNTER4 general purpose Setting the ERC signal for automatic output lt Set EROR bit 11 in RENV1 gt RENV1 WRITE 0 Does not output an ERC signal when an origin return is complete 15 8 1 Automatically outputs a
193. he bit assignments to select a processing method are as follows C1D0 to 1 RENV4 bits 5 to 6 C2D0 to 1 RENV4 bits 13 to 14 C3D0 to 1 RENV4 bits 21 to 22 C4D0 to 1 RENV4 bits 30 to 31 C5D0 to 1 RENV5 bits 6 to 7 126 How to set the INT output external output of comparison results and internal synchronous starting Set an event interrupt cause IRC1 bit 8 1 Output INT signal when the Comparator 1 conditions are satisfied IRC2 bit 9 1 Output INT signal when the Comparator 2 conditions are satisfied IRC3 bit 10 1 Output INT signal when the Comparator 3 conditions are satisfied IRC4 bit 11 1 Output INT signal when the Comparator 4 conditions are satisfied IRC5 bit 12 1 Output INT signal when the Comparator 5 conditions are satisfied lt Set IRC1 to 5 bit 8 to 12 in RIRQ gt RIRQ 15 WRITE 8 n nj nin Read the event interrupt cause lt ISC1 to 5 bit 8 to 12 in RIST gt IRC1 bit 8 1 When the Comparator 1 conditions are satisfied IRC2 bit 9 1 When the Comparator 2 conditions are satisfied IRC3 bit 10 1 When the Comparator 3 conditions are satisfied IRC4 bit 11 1 When the Comparator 4 conditions are satisfied IRC5 bit 12 1 When the Comparator 5 conditions are satisfied RIST 15 Read the comparator condition status lt SCP1 to 5 bits 8 to 12 in MSTSW gt SCP1 bit 8 1 W
194. hed P57 145 ISDS Register bit RIST 6 Equals 1 when deceleration starts P57 145 ISEN Register bit RIST 0 Equals 1 when stopped automatically P57 145 ISLT Register bit RIST 14 Equals 1 when the count value is latched by an LTC input P57 145 166 ISMD Register bit RIST 18 Equals 1 when a DR input signal is input P57 145 ISMR Register bit RENV5 23 Stop auto function to be reset when RIST register and REST P49 register are read out ISN Register bit RIST 1 To start the next operation continuously P57 145 ISND Register bit RIST 3 Enable writing to the 2nd pre register for comparator5 P57 145 ISNM Register bit RIST 2 Enable writing to the 2nd pre register for operations P57 145 ISOL Register bit RIST 15 Latched count value from the ORG input P57 145 ISPD Register bit RIST 17 Equals 1 when the DR input is ON P57 145 ISSA Register bit RIST 19 Equals 1 when the CSTA input is ON P57 145 ISSD Register bit RIST 16 Equals 1 when the SD input is ON P57 145 ISUE Register bit RIST 5 Equals 1 when the acceleration is finished P57 145 ISUS Register bit RIST 4 Equals 1 when to start acceleration P57 145 LTCH Command 29h Substitute the LTC input for counting or latching P25 123 LTCL Register bit RENV1 23 Select the trigger edge for the LTC signal 0 Falling edge 1 P40 123 Rising edge LTCu Terminal name 152 Lat
195. hen the Comparator 1 conditions are satisfied SCP2 bit 9 1 When the Comparator 2 conditions are satisfied SCP3 bit 10 1 When the Comparator 3 conditions are satisfied SCP4 bit 11 1 When the Comparator 4 conditions are satisfied SCP5 bit 12 1 When the Comparator 5 conditions are satisfied MSTSW 15 Specify the P3 CP1 SL terminal specifications lt P3M0 to 1 bits 6 to 7 in RENV2 gt 00 General purpose input 01 General purpose output 10 Output a CP1 Comparator 1 conditions satisfied signal using negative logic 11 Output a CP1 Comparator 1 conditions satisfied signal using positive logic RENV2 7 nj nj Specify the P4 CP2 SL terminal specifications lt P4M0 to 1 bits 8 to 9 in RENV2 gt 00 General purpose input 01 General purpose output 10 Output CP2 Comparator 2 conditions satisfied signal using negative logic 11 Output CP2 Comparator 2 conditions satisfied signal using positive logic RENV2 15 10 Output CP5 Comparator 5 conditions satisfied signal using negative logic 11 Output CP5 Comparator 5 conditions satisfied signal using positive logic Specify the P5 CP3 terminal specifications RENV2 WRITE lt Set P5M0 to 1 bits 10 to 11 in RENV2 gt 45 8 00 Ge
196. hen the EL input is OFF 0111 Origin return operation 7 After the EL signal turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFA constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When stopped by finishing counting the EL pulses 1000 Origin return operation 8 After the EL signal turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFL constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly CONTER reset timing When finishing counting the EZ signal 1001 Origin return operation 9 After the process in origin return operation 0 has executed it returns to zero operates until COUNTER2 0 1010 Origin return operation 10 After the process in origin return operation 3 has executed it returns to zero operates until COUNTER2 0 1011 Origin return operation 11 After the process in origin return operation 5 has executed it returns to zero operates until COUNTER2 0 1100 Origin return operation 12 After the process in origin return operation 8 has
197. ic 1 Positive logic 7 ORGL Specify the ORG signal input logic 0 Negative logic 1 Positive logic 8 ALMM Specify the process to occur when the ALM input is turned ON 0 Immediate stop 1 Deceleration stop 9 ALML Specify the ALM signal input logic 0 Negative logic 1 Positive logic 10 EROE 1 Automatically outputs an ERC signal when the axis is stopped immediately by a EL EL ALM or CEMG input signal However the ERC signal is not output when a deceleration stop occurs on the axis Even if the EL signal is specified for a normal stop by setting MOD 010X000 feed to the EL position in the RMD register the ERC signal is output if an immediate stop occurs 11 EROR 1 Automatically output the ERC signal when the axis completes an origin return 12 to 14 EPWO to 2 Specify the pulse width of the ERC output signal 000 12 usec 001 102 usec 010 409 usec 011 1 6 msec 100 13 msec 101 52 msec 110 104 msec 111 Level output 15 ERCL Specify the ERC signal output logic 0 Negative logic 1 Positive logic 39 Bits Bit name Description 16 to 17 JETWO to 1 Specify the ERC signal OFF timer time 00 0 usec 10 1 6 msec 01 12 usec 11 104 msec 18 ISTAM Specify the CSTA signal input type 0 Level trigger 1 Edge trigger 19 STPM Specify a stop method using CSTP input 0 Immediate stop 1 Deceleration stop Note 2 20 to 21 CLRO to 1 Specify a CLR input 00 Clear on the falling e
198. in the positive direction ELz 97 motion of an axis will stop immediately or will decelerate and stop ELu 130 Specify the input logic using the ELL terminal The terminal status can be checked using an SSTSW command signal sub status ELx 35 Input U Negative Input end limit signal in the negative direction See Note 6 ELy 67 When this signal is ON while feeding in negative direction motion ELz 98 of an axis will stop immediately or will decelerate and stop ELu 131 Specify the input logic using the ELL terminal The terminal status can be checked using an SSTSW command signal sub status SDx 36 Input U Negative Input deceleration deceleration stop signal SDy 68 Selects the input method LEVEL or LATCHED inputs SDz 99 The input logic can be selected using software The terminal status SDu 132 can be checked using an SSTSW command signal sub status ORGx 37 Input U_ Negative Input origin position signal ORGy 69 Used for origin position operations Edge detection ORGz 101 The input logic can be selected using software The terminal status ORGu 133 can be checked using an SSTSW command signal sub status ALMx 38 Input U_ Negative Input alarm signal See Note 6 ALMy 70 When this signal is ON motion of an axis stops immediately or will ALMz 102 decelerate and stop ALMu 134 The input logic can be selected using software The terminal status can be checked using an SSTSW command
199. inal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed Outputs an IDX signal while COUNTER4 RCMP2 When COUNTERS reaches 0 by counting the PCL outputs an IDX signal of two CLK cycles width This is only possible when the values in C4S0 to C4S3 are 1000 to 1010 24 to 25 C4CO0 to 1 Select a comparison counter for Comparator 4 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTERS deflection counter 11 COUNTER4 general purpose 26 to 29 C450 to 3 Select a comparison method for Comparator 4 Note 3 0001 RCMP4 data Comparison counter regardless of counting direction 0010 RCMP4 data Comparison counter while counting up count forward 0011 RCMP4 data Comparison counter while counting down 0100 RCMP4 data gt Comparison counter data 0101 RCMP4 data lt Comparison counter data 0111 Treats that the comparison conditions do not meet 1000 Use as IDX synchronous signal output regardless of counting direction 1001 Use as IDX synchronous signal output while counting up count forward 1010 Use as IDX synchronous signal output while counting down Others Treats that the comparison conditions do not meet 30 to 31 C4D0 to 1 Select a process to execute when the Comparator 4 conditions are met 00 None use as an INT terminal output or
200. ing and storing LSIs 1 Always handle LSls carefully and keep them in their packages Throwing or dropping LSIs may damage them 2 Do not store LSIs in a location exposed to water droplets or direct sunlight 3 Do not store the LSI in a location where corrosive gases are present or in excessively dusty environments 4 Store the LSIs in an anti static storage container and make sure that no physical load is placed on the LSls 3 Precautions for installation 1 In order to prevent damage caused by static electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus with an appropriate resistance factor However do not allow work on a metal surface which can cause a rapid change in the electrical charge on the LSI if the charged LSI touches the surface directly due to extremely low resistance When picking up an LSI using a vacuum device provide anti static protection using a conductive rubber pick up tip Anything which contacts the leads should have as high a resistance as possible When using a pincer that may make contact with the LSI terminals use an anti static model Do not use a metal pincer if possible Store unused LSls in a PC board storage box that is protected against static electricity and make sure there is adequate clearance between the LSls Never directly stack them on e
201. ion circuit RSDC ELx ELx SDx ORGx DRx DRx PEx POx P7x X axis circuit Y axis circuit Same as the X axis circuit Z axis circuit Same as the X axis circuit RCMP1 RCUN1 i n E Idling control Li Li Li Li 1 Li Li i Li 1 OUTx DIRx 1 Li 1 1 1 1 1 Li 1 1 1 1 1 EAx EBx PAx PBx EZx 1 i Sensor input 1 Switch input General 1 purpose port 6 CPU Interface 6 1 Setting up connections to a CPU This LSI can be connected to four types of CPUs by changing the hardware settings Use the IFO and IF1 terminals to change the settings and connect the CPU signal lines as follows Setting status CPU Tt CPU signal to connect to the 6045BL terminals IF4 IFO YP TARD terminal WRterminal AO terminal wRQ terminal L L 68000 VDD R W LDS DTACK L H H8 RD HWR GND WAIT H L 8086 RD WR GND READY H H Z80 RD WR AQ WAIT 6 2 Precautions for designing hardware All signal input terminals can be input on 0 to 5B level All signal input terminals can be pulled up to 5V more than 5k ohm but output power supply cannot be more than 3 3V To reset the LSI hold the RST signal LOW and input the CLK signal for at least 8 clock cycles Connect unused PO to P7 terminals to VDD through a pull up resistor 5k to 10k ohms When connecting a CPU with an 8 bit bus pull up terminals D8 to D15 to VDD using
202. ion stop caused by the SD input turning ON P56 110 ESSP Register bit REST 8 Stops by inputting CSTP ON input P56 118 EZL Register bit RENV2 23 Set the input logic for the EZ signal 0 Falling 1 Rising P42 EZu Terminal name 137 U axis encoder Z phase signal P9 69 EZx Terminal name 42 X axis encoder Z phase signal P9 69 EZy Terminal name 73 Y axis encoder Z phase signal P9 69 EZz Terminal name 106 Z axis encoder Z phase signal P9 69 ETWO to 1 Register bits coe Specify the ERC signal OFF timer P40 113 EZDO to 3 Register bits RENV3 4 7 Enter an EZ count value for a zero return P44 69 FCHGH Command 4th Change immediately to FH speed P22 FCHGL Command 40h Change immediately to FL speed P22 FLTR Register bit RENV1 26 _ Apply input filter P40 FSCHH Command 43h Accelerate to FH speed P22 FSCHL Command 42h Accelerate to FL speed P22 FTO to 15 Register bits PENNY Enter an FT time for the vibration reduction function P50 134 RSPD i pae IDCO to 2 Register bits 20 22 Monitor the idling count 0 to 7 pulses P58 106 IDLO to 2 Register bits RENV5 8 10 Enter the number of idling pulse 0 to 7 pulses P48 106 IDXM Register bit RENV4 23 A output specification 0 Level output 1 Pulse P47 131 IEND Register bit RENV2 27 Specify that the stop interrupt will be output P42 144 IFO Terminal name 1 CPU I F mode selection 0 P7 IF1 Terminal name 2 CPU I F mode selection 1 P7 IFB Terminal name 14 Busy CPU I F P7 INPL Register bit RENV
203. is P8 108 SEDO to 1 Register bits RIPS 22 23 Final phase of a circular interpolation P59 SELu command bit COMWw11 Select the U axis P19 82 SELx Command bit comw8 Select the X axis pigna name SELy command bit comwg9 Select the Y axis P19 82 SELz command bit cOMW 10 Select the Z axis pig 82 SEMG Register bit RSTS 7 CEMG Input signal is ON P55 118 SEND Main status bit MSTSW 3 __ Equals 0 when started automatically becomes 1 when stopped P19 SENI Main status bit MSTSW 2 Equals 1 when an interrupt is caused by stopping P19 143 SENIR Command 2Dh Reset main status SENI bit P25 SEOR Main status bit MSTSW 13 Equals 1 when unable to execute a position override P19 103 SEORR Command 2Eh Reset main status SEOR bit P25 SERC Register bit RSTS 9 Equals 1 when the ERC output signal is ON P55 113 SERR Main status bit MSTSW 3 __ Equals 1 when an error interrupt occurs P19 143 SEZ Register bit RSTS 10 Equals 1 when the EZ input signal is ON P55 81 SFC Sub status bit SSTSW 10 Equals 1 when feeding at constant speed P20 SFD Sub status bit SSTSW 9 Equals 1 when decelerating P20 SFU Sub status bit SSTSW 8 Equals 1 when accelerating P20 SINP Register bit RSTS 16 Equals 1 when the INP input signal is ON P55 112 SINT Main status bit MSTSW 4 Equals 1 when an event interrupt occurs P19 143 SLTC Register bit RSTS 14 Equals 1 when the LTC input signal is ON P55 123 SMAX Register bit RENV2 29 Select the PCL6045BL mode for the start when
204. is performed before a command regardless of the feed direction The correction amount and method is specified in the RENV6 environment setting 6 register The operation of the counter COUNTER 1 to 4 can be set using the RENV3 environment setting 3 register Enter the correction value lt BRO to 11 bits 0 to 11 in RENV6 gt RENV6 WRITE 15 8 Backlash or slip correction amount value 0 to 4095 n nj nin 7 0 ni ni nin n nj nin Set the correction method lt ADJO to 1 bits 12 to13 in RENV6 gt RENV6 WRITE 00 Turn the correction function OFF 15 8 01 Backlash correction 10 Slip correction Aj nj alia Action for backlash slip correction lt CU1B to 4B bit 24 to 27 in RENV3 gt RENV3 WRITE CU1B bit 24 1 Enable COUNTER1 command position 31 24 CUZ2B bit 25 1 Enable COUNTER2 mechanical position CU3B bit 26 1 Enable COUNTER3 deflection aye ed n ny Ay A CU4B bit 27 1 Enable COUNTER4 general purpose 133 11 13 Vibration restriction function This LSI has a function to restrict vibration when stopping by adding one pulse of reverse operation and one pulse of forward operation shortly after completing a command pulse operation Specify the output timing for additional pulses in the RENV7 environment setting 7 register When both the reverse timing RT and the f
205. it RENV1 3 Select the process to execute when the EL input is ON P36 107 0 Immediate stop 1 Deceleration stop ELu Terminal name 130 end limit signal for the U axis P8 107 ELu Terminal name 131 end limit signal for the U axis P8 107 ELx Terminal name 34 end limit signal for the X axis P8 107 ELx Terminal name 35 end limit signal for the X axis P8 107 164 ELy Terminal name 66 end limit signal for the Y axis P8 107 ELy Terminal name 67 end limit signal for the Y axis P8 107 ELz Terminal name 97 end limit signal for the Z axis P8 107 ELz Terminal name 98 end limit signal for the Z axis P8 107 EOFF Register bit RENV2 30 Invalid EA EB input P42 120 EPWOto2 Register bit RENYA Specify the ERC output signal pulse width P39 113 ERCL Register bit Renv1 15 Set the output logic of the ERC signal P39 113 0 Negative logic 1 Positive logic ERCOUT Command 24h Output an ERC signal P25 114 ERCRST Command 25h Reset the output when the ERC signal is set to level output P25 114 ERCu Terminal name 147 Driver deflection clear output for the U axis P10 113 ERCx Terminal name 59 Driver deflection clear output for the X axis P10 113 ERCy Terminal name 80 Driver deflection clear output for the Y axis P10 113
206. it can start in the opposite direction Setting example RENV4 00003838h Use Comparator 1 as positive direction software limit Use Comparator 2 as negative direction software limit Set to stop immediately when the software limit is reached RCMP1 100 000 Positive direction limit value RCMP2 100 000 Negative direction limit value Negative direction limit position Positive direction limit position RCMP2 100 000 RCMP1 100 000 Normal operation zone PURRA S E Unable to feed i Able tofeedinthe Able to feedinthe lt _i 5 Unable to feed in the negative Positive direction Negative direction in the positive direction direction Operation from the negative direction limit position Operation from the positive direction limit position Specify the comparison method for Comparator 1 RENV4 WRITE lt Set C1S0 to C1S2 bits 2 to 4 in RENV4 gt 7 0 110 Use as a positive direction software limit BSSnnines nj nin Specify the process to use when the Comparator 1 conditions are met RENV4 WRITE lt Set C1D0 to C1D1 bits 5 to 6 in RENV4 gt 7 0 01 Immediate stop 10 Deceleration stop IN NM Specify the comparison method for Comparator 2 RENV4 WRITE lt Set C2S0 to C2S2 bits 10 to 12 in RENV4 gt 45 8 110 Use as a negative direction software limit n npn Specify the process to use when the C
207. itions are satisfied 12 IRC5 12 ISC5 When the counter value is reset by a CLR signal input 13 IRCL 13 ISCL When the counter value is latched by an LTC input 14 IRLT 14 ISLT When the counter value is latched by an ORG input 15 IROL 15 ISOL When the SD input is turned ON 16 IRSD 16 ISSD When the DR input changes 17 IRDR 17 ISPD When the DR input changes 18 ISMD When the CSTA input is turned ON 18 IRSA 19 ISSA 145 12 Electrical Characteristics 12 1 Absolute maximum ratings Item Symbol Rating Unit Remarks Power supply voltage Vaa 0 3 to 4 0 V Input voltage Vin 0 3 to Vass 0 3 V Output current lout 30 mA Storage temperature Tstg 65 to 150 C 12 2 Recommended operating conditions Item Symbol Rating Unit Remarks Power supply voltage Vaa 3 0 to 3 6 V Ambient temperature Ty 40 to 85 C No condensation 12 3 DC characteristics Item Symbol Condition Min Max Unit Current consumption lad CLK 20 MHz mA Output frequency 6 666667 MHz 1 155 No load Output leakage current loz 1 be oo af yA Input capacitance 10 pF LOW input current CE RD WR AO to A4 DO to 1 yA li D15 CLK Others than those above 90 uA HIGH input current lH Vin Vbp 1 4 yA Vin 5 5V Vpp 3 0V 30 yA LOW input voltage Vit 0 3 0 8 V HIGH input voltage Vin 20 i 58 V LOW output voltage Vor lors OWA 9a Y HIGH output voltage V
208. k cycles 4 0 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycles 0 1 usec When CLK 19 6608 MHz The latch signal of the SD signal can be monitored by reading SSTSW sub status The SD signal terminal status can be monitored by reading RSTS extension status By reading the REST register you can check for an error interrupt caused by the SD signal turning ON Enable disable SD signal input lt Set MSDE bit 8 in PRMD gt RMD WRITE 0 Disable SD signal input 15 8 1 Enable SD signal input z Input logic of the SD signal lt Set SDL bit 6 in RENV1 gt RENV1 WRITE 0 Negative logic 7 0 1 Positive logic n Set the operation pattern when the SD signal is turned ON RENV1 WRITE lt Set SDM bit 4 in RENV1 gt 7 0 0 Decelerates on receiving the SD signal and feeds at FL constant speed 1 Decelerates and stops on receiving the SD signal oe ee oe ea ens Select the SD signal input type lt Set SDLT bit 5 in RENV1 gt RENV1 WRITE 0 Level input 7 0 1 Latch input To release the latch turn OFF the SD input when next start command is written nj Ea or select Level input
209. l decelerate to the FL speed and then stop 4 ORG Input signal for an origin return operation For safety make sure the EL and EL signals stay on from the EL position until the end of each stroke The input logic for these signals can be changed using the ELL terminal The input logic of the SD and ORG signals can be changed using software Servomotor I F The following three signals can be used as an interface for each axis 1 INP Input positioning complete signal that is output by a servomotor driver 2 ERC Output deflection counter clear signal to a servomotor driver 3 ALM Regardless of the direction of operation when this signal is ON movement on this axis stops immediately deceleration stop When this signal is ON no movement can occur on this axis The input output logic of the INP ERC and ALM signals can be changed using software The ERC signal is a pulsed output The pulse length can be set 12 usec to 104 msec A level output is also available Output pulse specifications Output pulses can be set to a common pulse Two pulse mode or 90 phase difference mode The output logic can also be selected Emergency stop signal CEMG input When this signal is turned ON movement on both axes stops immediately While this signal is ON no movement is allowed on any axes Interrupt signal output An INT signal interrupt request can be output for many reasons The INT terminal output signal can use ORed logic for lot
210. l name 147 General purpose port 1 for the Z axis Monitor output during P10 41 acceleration P2u MVCu Terminal name 155 s port 2 for the U axis Feeding at constant P10 41 P2x MVCx Terminal name 54 So port 2 for the X axis Feeding at constant P10 41 P2y MVCy T minainame 91 oe port 2 for the Y axis Feeding at constant P10 41 P2z MVCz Terminal name 118 General purpose port 2 for the Z axis Feeding at rated speed P10 41 P3u CP1u S General purpose port 3 for the U axis Comparator 1 P10 41 Terminal name 156 rae Lu software limit output P3x CP1x S General purpose port 3 for the X axis Comparator 1 P10 41 Terminal name 55 aes Lx software limit output P3y CP1y S Terminal name 92 General purpose port 3 for the Y axis Comparator 1 P10 41 Ly software limit output P3z CP1z S Terminal name 119 General purpose port 3 for the Z axis Comparator 1 P10 41 Lz software limit output P4u CP2u SL i General purpose port 4 for the U axis Comparator 2 P10 4 Terminal name 157 a u software limit output P4x CP2x SL General purpose port 4 for the X axis Comparator 2 P10 41 Terminal name 62 ipo x software limit output P4y CP2y SL Terminal name 93 General purpose port 4 for the Y axis Comparator 2 P10 41 y software limit output P4z CP2z SL A General purpose port 4 for the Z axis Comparator 2 P10 41 Terminal name 120 ds Z software limit output P5u CP3u Terminal name 158 Ge
211. linear Y Slave axis End coordinates 4 10 4 SCOUT COC CLLR EAT interpolation executes an interpolation from the current coordinates to the end coordinates The positional precision of a specified line during linear interpolation will be 0 5 LSB throughout the interpolation range LSB refers to the minimum feed unit for the PRMV register setting It corresponds to the resolution of the mechanical system Size of the cells in the figure on the right 0 5 LSB max X Master axis 84 9 8 6 Continuous linear interpolation 2 MOD 62h Same as Linear Interpolation 2 the PCL controls each axis using speeds that correspond to the ratios of the values set in PRIP and PRMV However in continuous mode the PCL will continue to output pulses until it receives a stop command 9 8 7 Linear interpolation 2 MOD 63h Linear interpolation 2 is used for linear interpolations between 5 or more axes and uses more than one LSI for control In this mode the PCL cannot synchronize the acceleration deceleration timing between interpolated axes so this mode cannot be used with acceleration deceleration In order to execute a linear interpolation using multiple LSIs you must use a simultaneous start signal CSTA signal For details about the CSTA signal see section 11 7 External start simultaneous start The axis with the maximum amount to be fed is referred to as the master axis during the interpolation an
212. ll be an S curve deceleration without a linear component 94 10 3 Manual FH correction When the FH correction function is turned ON MADJ 0 in the PRMD register and when the feed amount is too small for a normal acceleration and deceleration operation the LSI will automatically lower the FH speed to eliminate triangle driving However if values in the PRUR and PRDR registers are set so that the deceleration time gt acceleration time x 2 do not use the FH correction function In order to eliminate triangle driving without using the FH correction function MADJ 1 in the PRMD register lower the FH speed before starting the acceleration deceleration operation When using idling control enter a value for PRMV in the equation below after deducting the number of idling pulses The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV5 pps FH correction function sec Automatic correction of the maximum speed for changing the feed amount 95 lt To execute FH correction manually gt 1 Linear acceleration deceleration speed MSMD 0 in the PRMD register When PRFH PRFL x PRUR PRDR 2 PRMG 1 x 32768 PRMV s PRMG 1 x 32768 x PRMV PRFH lt PRFL PRUR PRDR 2 2 S curve acceleration without linear acceleration MSMD 1 in the PRMD the PRUS register 0 and the PRDS register 0 When PRFH PRFL x PRUR PRDR 2 x2 PRMG 1 x 32768 PRMV s PRF
213. lsar input function By applying manual pulse signals PA PB you can rotate a motor directly The input signals can be 90 phase difference signals 1x 2x or 4x or up and down signals In addition to the magnification rates above the PCL6045BL contains an integral pulse number magnification circuit which multiplies by 1x to 32x and a pulse quantity division circuit of 1 to 2048 2048 Software limit settings can be used and the PCL stops outputting pulses It can also feed in the opposite direction Bee Direct input of operation switch Positive and negative direction terminals DR are provided to drive a motor with an external operation switch These switches turn the motor forward and backward Out of step detection function This LSI has a deflection counter which can be used to compare command pulses and encoder signals EA EB It can be used to detect out of step operation and to confirm a position by using a comparator Idling pulse output function This function outputs a preset number of pulses at the initial speed FL before a high speed start acceleration operation Even if a value near to the maximum starting pulse rate is set during acceleration this function is effective in preventing out of step operation for stepper motors Operation mode The basic operations of this LSI are continuous operation positioning origin return linear interpolation and circular interpolation By setting the optional operati
214. ltaneous start timing CSTA lt Tstapsy gt BSY l g TstapLs S OUT Initial output pulse 153 13 External Dimensions 24 0 1 132 89 U T PCL6045BL ci UUU VOU UUU 1 44 0 10 0 2 1 7 max 154 Appendix 1 List of commands lt Operation commands gt COMBO Symbol Description COMBO Symbol Description 05h CMEMG Emergency stop 50h STAFL FL constant speed start osh cmsta CSTA output 51h STAFH FH constant speed start simultaneous start 07h CMSTP CSTP output 52h STAD High speed start 1 FH constant speed gt simultaneous stop Deceleration stop 40h FCHGL Immediate change to FL 53h STAUD High speed start 2 acceleration gt FH constant speed constant speed gt deceleration stop 41h FCHGH Immediate change to FH 54h CNTFL FL constant speed start for remaining constant speed number of pulses 42h FSCHL Decelerate to FL speed Sohne W ONTER fe oustant speed stantorcomaining number of pulses 43h FSCHH Accelerate to FH speed 56h CNTD Pei e a a 49h STOP lImmediate stop 57h CNTUD P Sakea TEMANE Numa 4Ah SDSTP Deceleration stop lt General purpose port control commands gt COMBO Symbol Description COMBO Symbol Description 10h PORST Set the PO terminal LOW 18h POSET Set the PO terminal HIGH 11h P1RST Set the P1 terminal LOW 19h P1SET Set the P1 terminal HIGH 12h
215. make all the bits in SELx to SELu of the COMB1 register equal to 1 Any axis can be used to write 1 9 8 10 Interpolation operation synchronized with PA PB This function uses the PA PB input signal after magnification or division instead of the internal clock Any PA PB input after the interpolation operation is complete will be ignored 88 9 8 11 Operation during interpolation Acceleration deceleration operations Acceleration and deceleration linear and S curve can be used with Linear interpolation 1 and circular interpolation operations Automatic setting of ramp down point is available However set the MSDP and MADJ in the PRMD register the same for all of the interpolated axes To control the ramp down point while using linear interpolation the PCL executes a comparison of RPLS and RSDC for the longest axis The RSDC setting for any shorter axes will be invalid However if more than one axis has the same length and they are the longest axes to specify a ramp down point manually you must enter the same value for all of the interpolated axes To control the ramp down point while using circular interpolation the PCL executes a comparison of RCIC and RSDC on the control axis Therefore to specify a ramp down point manually write to RSD on the control axis Error stop If any of the axes being interpolated stops with an error all of the axes being interpolated will stop SERR 1 By reading the REST error stop ca
216. ment RENV3 DEh RRENV3 9Eh WRENV3 setting 3 46 Environment RENV4 DFh RRENV4 9Fh WRENV4 setting 4 47 Environment RENV5 E0h RRENV5 AOh WRENVS5 setting 5 4g Environment RENV6 E1h RRENV6 Ath WRENV6 setting 6 4g Environment RENV7 E2h RRENV7 A2h WRENV7 setting 7 COUNTER1 20 command RCUN1 E3h RRCUN1 A3h WRCUN position COUNTER2 21 mechanical RCUN2 E4h RRCUN2 A4h WRCUN2 position COUNTER3 22 deflection RCUN3 E5h RRCUN3 A5h WRCUN3 counter 23 COUNTER4 RCUN4 E6h RRCUN4 A6h WRCUN4 general purpose 24 Data for RCMP1 E7h RRCMP1 azn WROMP comparator 1 1 25 Data for RCMP2 Esh RRCMP2 asn WROMP comparator 2 2 26 Data for RCMP3 E9h RRCMP3 agh WROMP comparator 3 3 27 Pata for RCMP4 EAh RRCMP4 aah WROMP comparator 4 4 2g Pata for RCMP5 EBh RRCMP5 ash WROMP pRcPs cBh RPRCP5 sBh WPRCPS5 comparator 5 5 29 Event INT setting RIRQ ECh RRIRQ ACh WRIRQ 27 No Detail Register 2nd pre register Read command Write command Read command Write command Name COMBO Symbol COMBO Symbol N comBo Symbol COMBO Symbol COUNTER1 30 latched data RLTC1 EDh RRLTC1 31 COUNTER RLTC2 EEh RRLTC2 latched data 32 COUNTERS RLTC3 EFh RRLTC3 latched data 33 COUNTERS RLTC4 FOh RRLTC4 latched data 34 Extension status RSTS Fih RRSTS 35 Error INT status REST F2h RREST
217. minals will be valid RD 4 Input Negative Connect to the I F terminal of the CPU The RD and WR terminals WR 5 are valid when CS terminal is LOW AO toA4 6to10 Input Positive Address control signals INT 11 Output Negative Outputs an interrupt request signal IRQ to an external CPU After this terminal is turned ON the signal will return to OFF when a REST error interrupt cause or RIST event interrupt cause signal is received The output status can be checked with an MSTSW main status command signal The INT output signal can be masked When more than one 6045BL LSI is used a wired OR connection between INT terminals is not allowed WRQ 13 Output Negative Outputs a wait request signal to cause a CPU to wait The LSI needs 4 reference clock cycles to process each command If the WRQ signal is not used make sure that an external CPU does not access this LSI during this interval IFB 14 Output jNegative Signal used to indicate that the LSI is processing commands Use this signal to make connections with a CPU that does not have a wait control input terminal When the LSI receives a write command from a CPU this signal will go LOW When the LSI finishes processing this signal will go HIGH The LSI makes sure that this terminal is HIGH and then proceeds to the next step in the case of that WRQ is not used ee ee a Logic Description DO to D7 15 to 16 Input Positive Bi direction
218. n that axis will decelerate to the FL constant speed and stop If this command is written while the axis is being fed at FL constant speed the motor on that axis will stop immediately Simultaneous stop command Stop the motor on any axis whose CSTP input stop function has been enabled by setting the RMD register COMBO Symbol Description 07h CMSTP Outputs one shot of pulses from the CSTP terminal to stop movement on that axes 3 Emergency stop command Stops an axis in an emergency 7 1 5 COMBO Symbol Description 05h CMEMG _ Emergency stop same as a CEMG signal input NOP do nothing command COMBO _ Symbol Description 00h NOP This command does not affect the operation 23 7 2 General purpose output bit control commands These commands control the individual bits of output terminals PO to P7 When the terminals are designated as outputs the LSI will output signals from terminals PO to P7 Commands that have not been designated as outputs are ignored The write procedures are the same as for the Operation commands In addition to this command by writing to a general purpose output port OTPB Address 2 when a Z80 I F is used you can set 8 bits as a group See section 7 5 General purpose output port control command COMBO Symbol Description COMBO Symbol Description 10h PORS
219. n When a zero return is complete the LSI will reset the counter and output an ERC deflection counter clear signal The RENV3 register is used to set the basic origin return method That is whether or not to reset the counter when the origin return is complete Specify whether or not to output the ERC signal in the RENV1 register For details about the ERC signal see 11 6 2 ERC signal Set the origin return method lt Set ORMO to 3 bits 0 to 3 in RENV3 gt RENV3 WRITE 0000 Origin return operation 0 7 0 The axis will stop immediately or make a deceleration stop when feeding at high speed when the ORG input turns ON are Pa ead LI LLL COUNTER reset timing When the ORG input turns ON 0001 Origin return operation 1 The axis will stop immediately or make a deceleration stop when feeding at high speed when the ORG input turns ON Then it will feed in the opposite direction at RFA constant speed until the ORG input turns OFF Then the axis will move back in the original direction at RFA speed and stop instantly when ORG input turns ON again COUNTER reset timing When the ORG input signal turns ON 0010 Origin return operation 2 After the ORG input turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop immediately when the LSI finishes counting EZ pulses After the ORG input turns ON when feeding at high speed the axis will start deceleratin
220. n ERC signal when an origin return is complete n 71 9 5 1 1 Origin return operation 0 ORM 0000 O Constant speed operation lt Sensor EL ELM 0 ORG gt Starting from here O indicates constant speed operation and m indicates high speed operation ORG OFF EL Operation 1 Cc 0 l Operation 2 Emergency Operation 3 Emergency m High speed operation lt Sensor EL ELM 0 ORG gt Even if the axis stops normally it may not be at the origin position However COUNTER 2 mechanical position provides a reliable value ORG OFF ON EL OFF ON Operation 1 Operation 2 Emergency stop Operation 3 Emergency stop m High speed operation lt Sensor EL ELM 1 ORG gt Even if the axis stops normally it may not be at the origin position However COUNTER 2 mechanical position provides a reliable value ORG OFF ON EL OFF ON Operation 1 4 gt N lt ates N Emergency stop Emergency stop Operation 2 Operation 3 peration lt Sensor EL ELM 1 SD SDM 0 SDLT 0 ORG gt m High speed o ON ORG OFF SD OFF ON ON EL Operation 1 Operation 2 sons y stop by Emergency stop reflect the ERC signal output timing when Automatically output an ERC Operation 3 Operation 4 Note Positions marked with signal is selecte
221. n of an origin return operation 15 8 1 Automatically outputs an ERC signal at the completion of an origin return eee et tle operation Set the ERC signal output width lt Set EPW0 to 2 bits 12 to 14 in RENV1 gt RENV1 WRITE 000 12 usec 100 13 msec 15 8 001 102 usec 101 52 msec Ininini l 1 010 408 usec 110 104 msec 011 1 6 msec 111 Logic level output Select output logic for the ERC signal lt Set ERCL bit 15 in RENV1 gt RENV1 WRITE 0 Negative logic 15 8 1 Positive logic n Specify the ERC signal OFF timer time RENV1 WRITE lt Set ETWO to 1 bits 16 to 17 in RENV1 gt 23 16 00 0 usec 10 1 6 msec 01 12 usec 11 104 msec i i i i i inin Read the ERC signal lt SERC bit 9 in RSTS gt RSTS READ 0 The ERC signal is OFF 15 8 1 The ERC signal is ON 3 113 Emergency stop command lt Operation command CMEMG gt Stop command Output an ERC signal 05h ERC signal output command lt Control command ERCOUT gt ERC output control Turn ON an ERC signal command ean ERC signal output reset command lt Control command ERCRST gt ERC output control Turn OFF an ERC signal command 25h 11 6 3 ALM signals Input alarm ALM signal When the ALM signal turns ON while in operation the axis will stop immediately or decelerate and stop However the axis only decelerates and stops on an A
222. n return Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is 0 the LSI will output an ERC signal at positions marked with an asterisk 75 9 5 1 8 Origin return operation 7 ORM 0111 O Constant speed operation lt Sensor EL EZ EZD 0001 gt ON EL ON ae Operation 1 pe 1 FA m High speed operation lt Sensor EL EZ EZD 0001 gt EZ EL Operation 1 ae 9 5 1 9 Origin return operation 8 ORM 1000 FA speed O Constant speed operation lt Sensor EL EZ EZD 0001 gt EZ EL Operation 1 m High speed operation lt Sensor EL EZ EZD 0001 gt ON EZ EL Operation 1 9 5 1 10 Origin return operation 9 ORM 1001 m High speed operation lt Sensor EL ORG gt ORG OFF ON EL OFF ON Operation 1 Operation 2 l M Emergency stop fs Emergency stop reflect the ERC si nal output timing when Automatically output an ERC Operation 3 Note Positions marked with signal is selected for stopping at the origin return Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is 0 the LSI will output an ERC signal at positions marked with an asterisk 76 9 5 1 11 Origin return operation 10 ORM 1010 m High speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG OFF ON ON i EL ON Operation 1 gt Operation 2 l Emergency stop
223. n the PRMV starting from the 15 0 time at which the PCS input signal is turned ON n Setting the PCS input logic lt Set PCSL bit 24 in RENV1 gt RENV1 WRITE 0 Negative logic 31 24 1 Positive logic n Reading the PCS signal lt SPCS bit 8 in RSTS gt RSTS READ 0 Turn OFF PCS signal 15 8 1 Turn ON PCS signal n PCS substitution input lt Control command STAON gt PCS input command Perform processes that are identical to those performed by supplying a PCS 8h signal Note A Position Override 2 cannot be executed while performing an interpolation operation 103 11 3 Output pulse control 11 3 1 Output pulse mode There are four types of common pulse output modes two types of Two pulse modes and two types of 90 phase difference modes as the modes to output command pulses Common pulse mode Outputs operation pulses from the OUT terminal and outputs the direction signal from the DIR terminal Two pulse mode Outputs positive direction operation pulses from the OUT terminal and outputs negative direction operation pulses from the DIR terminal 90 phase difference modes Outputs 90 phase difference pulses through the OUT and DIR terminals The output mode for command pulses is set in PMDO to 2 bits 0 to 2 in RENV1 environment setting 1 If motor drivers using the common pulse mode need a lag time since the direction signal changes until receiving a
224. nd and put the LSI in the waiting for CSTA input status Then start the axes simultaneously by either of the methods described below 1 By writing a simultaneous start command the LSI will output a one shot signal of 8 reference clock cycles approx 0 4 usec when CLK 19 6608 MHz from the CSTA terminal 2 Input hardware signal from outside Supply a hardware signal by driving the terminal with open collector output 74LS06 or equivalent CSTA signals can be supplied as level trigger or edge trigger inputs However when level trigger input is selected if CSTA L or a start command is written the axis will start immediately After connecting the CSTA terminals on each LSI each axis can still be started independently using start commands To release the waiting for CSTA input condition write an immediate stop command 49h 1 To start axes controlled by different LSIs simultaneously connect the LSIs as follows Start signal For start signal supply a one shot input signal with a pulse width of at least 4 reference clock cycles approx 0 2 usec when CLK 19 6608 MHz 115 CSTAinput lt MSY0 to 1 bits 18 to 19 in PRMD gt PRMD WRITE 01 Start by inputting a CSTA signal 23 16 n n
225. nditions for Comparator 4 are satisfied 4 When the conditions for Comparator 5 are satisfied 5 When a command is written The current speed can also be latched instead of COUNTER3 deflection Latch at the timing to use hardware above items 1 to 4 can also stopped The LTC input timing can be set by in RENV1 environment setting 1 An INT signal can be output when a counter value is latched by turning ON the LTC signal or the ORG signal This allows you to identify the cause of an event interrupt Specify the latch method for a counter 1 to 4 RENV5 WRITE lt Set LTMO to 1 bit 12 to 13 in RENVS gt 45 8 00 Turn ON the LTC signal 01 Turn ON the ORG signal n n 10 When the conditions for Comparator 4 are satisfied 11 When the conditions for Comparator 5 are satisfied Specify the latch method for the current speed lt Set LTFD bit 14 in RENV5 gt RENV5 WRITE 1 Latch the current speed instead of COUNTER 3 deflection 15 8 lni aleaz Specify latching using hardware lt Set LTOF bit 15 in RENV5 gt RENV5 WRITE 1 Stop latching at the timing to use hardware above 1 to 4 15 8 n Specify the LTC signal mode lt Set LTCL bit 23 in RENV1 gt RENV1 WRITE 0 Latch on the falling edge 23 16 1 Latch on the rising edge n Set
226. neral purpose P25 122 DO Terminal name 15 Data bus 0 LSB P8 D1 Terminal name 15 Data bus 1 P8 D10 Terminal name 27 Data bus 10 P8 D11 Terminal name 28 Data bus 11 P8 D12 Terminal name 29 Data bus 12 P8 D13 Terminal name 30 Data bus 13 P8 D14 Terminal name 31 Data bus 14 P8 D15 Terminal name 32 Data bus 15 MSB P8 D2 Terminal name 18 Data bus 2 P8 D3 Terminal name 19 Data bus 3 P8 D4 Terminal name 20 Data bus 4 P8 D5 Terminal name 21 Data bus 5 P8 D6 Terminal name 22 Data bus 6 P8 D7 Terminal name 23 Data bus 7 P8 D8 Terminal name 24 Data bus 8 P8 D9 Terminal name 26 Data bus 9 P8 DIRu Terminal name 146 Motor drive direction signal for the U axis P9 104 DIRx Terminal name 58 Motor drive direction signal for the X axis P9 104 DIRy Terminal name 79 Motor drive direction signal for the Y axis P9 104 DIRZ Terminal name 123 Motor drive direction signal for the Z axis P9 104 DRF Register bit RENV1 27 Apply a filter to DR DR signal input P40 67 DRL Register bit RENV1 25 H DR DR signal input logic 0 Negative logic 1 Positive P40 67 DRu Terminal name 141 Manual input for the U axis P9 67 DRu Terminal name 142 Manual input for the U axis P9 67 DRx Terminal name 46 Manual input for the X axis P9 67 DRx Terminal name 47 Manual input for the X axis P9 67 DRy Terminal name 82 Manual input for the Y axis P9 67 DRy Terminal name 83 Manual input for the Y
227. neral purpose input 01 General purpose output eee ie n nj 10 Output CP3 Comparator 3 conditions satisfied signal using negative logic 11 Output CP3 Comparator 3 conditions satisfied signal using positive logic Specify the P6 CP4 terminal specifications RENV2 WRITE lt Set P6M0 to 1 bits 12 to 13 in RENV2 gt 45 8 00 General purpose input 01 General purpose output z n Eu EAS 10 Output CP4 Comparator 4 conditions satisfied signal using negative logic 11 Output CP4 Comparator 4 conditions satisfied signal using positive logic Specify the P7 CP5 terminal specifications RENV2 WRITE lt Set P7M0 to 1 bits 14 to 15 in RENV2 gt 45 8 00 General purpose input 01 General purpose output ninj zirli 127 Specify the output timing for an internal synchronous signal RENV5 WRITE lt Set SYO1 to 3 bits 16 to 19 in RENV5 gt 93 16 0001 When the Comparator 1 conditions are satisfied 0010 When the Comparator 2 conditions are satisfied ioe a 0011 When the Comparator 3 conditions are satisfied 0100 When the Comparator 4 conditions are satisfied 0101 When the Comparator 5 conditions are satisfied 1000 When the acceleration starts 1001 When the acceleration is complete 1010 When the deceleration starts 1011 When the deceleration is complete Others Turn OFF internal synchronous output signal n n n n Speed change using the comparator
228. neral purpose port 5 for the U axis Comparator 3 output P10 41 P5x CP3x Terminal name 63 General purpose port 5 for the X axis Comparator 3 output P10 41 P5y CP3y Terminal name 94 General purpose port 5 for the Y axis Comparator 3 output P10 41 P5z CP3z Terminal name 126 General purpose port 5 for the Z axis Comparator 3 output P10 41 P6u CP4z Terminal name 159 General purpose port 6 for the U axis Comparator 4 output P10 41 P6x CP4x Terminal name 64 General purpose port 6 for the X axis Comparator 4 output P10 41 P6y CP4y Terminal name 95 General purpose port 6 for the Y axis Comparator 4 output P10 41 P6z CP4z Terminal name 128 General purpose port 6 for the Z axis Comparator 4 output P10 41 168 P7u CP5u Terminal name 160 General purpose port 7 for the U axis Comparator 5 output P11 41 P7x CP5x Terminal name 65 General purpose port 7 for the U axis Comparator 5 output P11 41 P7y CP5y Terminal name 96 General purpose port 7 for the U axis Comparator 5 output P11 41 P7z CP5z Terminal name 129 General purpose port 7 for the U axis Comparator 5 output P11 41 POMO to 1 Register bits RENV2 0 1 Specify the PO FUP terminal details P41 PORST Command 10h Set the general purpose output port terminal PO LOW P24 POSET Command 18h S
229. ng the RENV3 register By specifying 1 2 of the CLK reference clock signal the time after the start can be controlled Stopping COUNTER1 commana lt Set MCCE bit 11 in PRMD gt RMD WRITE 1 Stop COUNTER1 command position 15 8 n Specify the counting operation for COUNTERS 2 to 4 RENV3 WRITE lt Set CU2H to 4H bits 29 to 31 in RENV3 gt 3 24 CU2H bit 29 1 Stop COUNTER2 counting mechanical position CU3H bit 30 1 Stop COUNTER3 counting deflection nj nj ny O CUA4H bit 31 1 Stop COUNTER4 counting general purpose Setting the counters for backlash or slip correction RENV3 WRITE lt Set CU1B to 4B bits 24 to 27 in RENV3 gt 34 24 CU1B bit 24 1 Enable COUNTER1 command position CU2B bit 25 1 Enable COUNTER2 mechanical position O n ni nin CU3B bit 26 1 Enable COUNTERS deflection CU4B bit 27 1 Enable COUNTER4 general purpose Specify the counting conditions for COUNTER4 lt Set BSYC bit 14 in RENV3 gt RENV3 WRITE 1 Enable COUNTER4 general purpose only while operating BSY L 15 8 n 124 11 11 Comparator 11 11 1 Comparator types and functions This LSI has 5 circuits of 28 bit comparators per axis It compares the values set in the RCMP1 to 5 registers with
230. niini e dite tel nie ie aula ene 34 3 3 7 PRODE RDPY Tegs te aniona teense nti eect deeded anviredsd amit Mania ti etter 34 3 3 6 PRMD RMD register ocres nt tide di i eid ee dee 35 8 3 9 PRIP RIP register rideo R teeta die dat ie a ate 37 3 3 100P RUS RUS MEGISISN isc coseecceespienes coc shale ax chetine ocean ata cectwets TRATE A TRAET A TOTOAN 37 953 11 PRDS RDS NeGiste rise o r cieaddedeapachcwccy ete coe Pace decuana E O TETTA 37 g ale REATO JSO foes sts eteastite ccc tials ox chats caus tte Aes aha EE eeu ete dee cute deems unset cunts due shee A E 38 Ors T RENY TTEN SIET tate AEEA conecn ua cy de Stele ENO ets dee na cede A I EA 39 On 3 14 RENV2 TEISITI ET ces TE TE IE E tpadeayctnets AEA E 41 FT RENS TESIEN rari E E AE AE E E T AE AS 43 SIO RENYA TEGISUEN iaa rE T E EIE E EN IRE I IRATA ET 46 Orda les RENY OS TEGISUEN ar E T AE E E T AE OA TE 48 Se TRENY O TEGISUEN airaa ra ET TRE EINE E OT E O OA tedden trade gaembates 50 F1 RENS T TENSIO iior EEE AE AEE E T TA A T E 50 SLO RGU A TOSET aior reaa E TA E T AATE ATO E 51 a k RGUNZ TEGIStE Naa E TN A I AA T AE T 51 8 3 22 RCUN3 register ne aiei kariine eda LACE EnA E en de deel 51 8 3 23 RGUN4 register vesicle ended ORANE dda EANA eae enh eden 51 8 3 24 RCMP register esieigeeheaieceliahdnit aiteetiane halide an ahd ea eels abla aad ial 51 8 3 25 RCMP 2 register eee aieri nasirin denied ead eden bub lidaciadehdiiihadieeandhd 51 8 3 26 RCMP 3 regist cnnan arosi tan a NENNE ENE A
231. nput Positive Common terminal for general purpose I O and CP5 See Note 5 96 Output When used as a CP5 terminal it outputs a signal while establishing 129 the conditions of comparator 5 160 The output logic of CP5 as well as the selection of input or output functions can be changed using software Note 1 Note 2 Note 3 Note 4 Note 5 Note 6 Note 7 Input U refers to an input with a pull up resistor The internal pull up resistance 40 k to 240 k ohms is only used to keep a terminal from floating If you want to use the LSI with an open collector system an external pull up resistor 5k to 10 k ohms is required As a noise prevention measure pull up unused terminals to VDD using an external resistor 5 k to 10 k ohms or connect them directly to VDD5 Input Output refers to a terminal with a pull up resistor The internal pull up resistor 40 k to 240 k ohms is only used to keep a terminal from floating If it is connected in a wired OR circuit an external pull up resistor 5 k to 10 k ohms is required As a noise prevention measure pull up unused terminals to VDD using an external resistor 5 k to 10 k ohms If an output terminal is not being used leave it open Positive refers to positive logic Negative refers to negative logic means that the logic can be changed using software means that the logic can be changed by the setting on another terminal The logic shown refe
232. nt setting method MSDP in the PRMD register lt When set to manual MSDP 1 in the PRMD register gt Set the number of pulses at which to start deceleration in the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in the equation below 1 Linear deceleration MSMD 0 of the PRMD register PRFH PRFL x PRDR 1 Optimum value Number of pulses PRMG 1 x 32768 However the optimum value for a triangle start without changing the value in the PRFH register while turning OFF the FH correction function MADJ 1 in the PRMD register will be calculated as shown the equation below When using idling control modify the value for PRMV in the equation below by deducting the number of idling pulses from the value placed in the PRMV register The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV5 Optimum value Number of pulses EBM EBB D PRUR PRDR 2 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and the PRDS register 0 2 2 Optimum value Number of pulses ERRE EEL LERDE PIUA PRMG 1 x 32768 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and the PRDS register gt 0 PRFH PRFL x PRFH PRFL 2 x PRDS x PRDR 1 PRMG 1 x 32768 Start deceleration at the point when the positioning counter value lt RDP set value Optimum value Number of pulses
233. nterpolation enter the number of steps number of pulses calculated by the formula required for the circular interpolation Entering a number other than 0 can decelerate the speed by using an automatic ramping down point Setting range 0 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 76543210 8 3 41 RCIC register This register is used to read the count of the number of circular interpolation steps that have been completed Read only The RCI register value is loaded when a circular interpolation is started This value is decreased by one for each circular interpolation step However if the counter value is 0 the PCL will not decrease it further The counter value at the completion of a circular interpolation is held in the PCL memory until the start of the next circular interpolation operation The range for this value is 0 to 2 147 483 647 This register is shared by all axes and the value is same when read from any axis 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 43 2 1 0 58 8 3 42 RIPS register This register is used to check the interpolation setting status and the operation status Read only This register is shared by all axes and the value is same when read from any axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 IPFu IPFz IPFy IPFx IPSu IPUz IPSy IPSx IPEu IPEz IPEy IPEx IPLz IPLy IPLy IPLx 31 30 29 28 27 24 21 20 19 18 17
234. nterpolation data for a new plane Note When changing the interpolated axis failure to enter dummy operation data for all the axes may cause a continuous operation to stop or the interpolation operation may not stop when desired 137 Example 3 PCL6045 compatible mode How to perform continuous interpolation while changing the interpolated axes moving from circular interpolation on the X and Y axes to Linear interpolation on the X and Y axes to Linear interpolation on the X and Z axes STEP Register X axis Y axis Z axis Details The X and Y axes make a 90 circular Bey ae 10000 9 interpolation with a radius of 10000 PRIP 10000 0 0 The Z axis is given a positioning operation with feed amount of 0 1 The X and Y axes start immediately The Z axis PRMD 0000_0064h 0000_0064h 003C_0041h has nothing to do and waits for the X and Y axes to stop Start command Write 0751h FH constant speed The X Y and Z axes Start command start The X and Y axes perform linear interpolation co aaa ao 4 1 and the Z axis is given a positioning operation with a feed amount of 0 The X and Y axes wait for the Z axis to stop 2 PAM 004C 0061 0040 09 Tn NOs 00AIN and the Z axis waits for the X and Y axes to stop Start command Write 0751h FH constant speed The X Y and Z axes Start command start Previous X and Z axes perform linear interpolation 1 PRM TUPON value cae The X
235. ntrolled by pulsar PA PB input Positioning operation is synchronized with PA PB specify the absolute position of COUNTERT7 Positioning operation is synchronized with PA PB specify the absolute position of COUNTER2 Zero return to the command position controlled by pulsar PA PB input Zero return to a mechanical position controlled by pulsar PA PB input Positioning operation controlled by external signal DR DR input Continuous linear interpolation 1 continuous operation with linear interpolation 1 Linear interpolation 1 Continuous linear interpolation 2 continuous operation with linear interpolation 2 Linear interpolation 2 CW circular interpolation operation CCW circular interpolation operation 35 Bits Bit name Description 0to6 MOD 110 0110 66h Clockwise circular interpolation synchronized with the U axis circular linear interpolation Counter clockwise circular interpolation synchronized with the U axis circular linear interpolation 110 0111 67h 110 1000 68h 110 1001 69h 110 1010 6Ah 110 1011 6Bh 110 1100 6Ch 110 1101 6Dh 110 1111 6Fh Continuous linear interpolation 1 synchronized with PA PB Linear interpolation 1 synchronized with PA PB Continuous linear interpolation 2 synchronized with PA PB Linear interpolation 2 synchronized with PA PB Clockwise circular interpolation synchronized with PA PB Counter clockwise circular in
236. number of idling pulses from 0 to 7 15 8 Start accelerating at FL speed after outputting the specified number of pulses no npn Read the idling control counter value lt IDCO to 2 bits 20 to 22 in RSPD gt RSPD READ Read the idling control counter 23 16 0 n n n Note While setting the number of idling pulses when you write a High Speed Start 1 command 52h or 56h motion of an axis will accelerate to FH speed after outputting the specified number of idling pulses at FL speed Then the operation will be the same as the High Speed Start 2 command 106 11 5 Mechanical external input control 11 5 1 EL EL signal When an end limit signal a EL signal when feeding in the direction in the feed direction turns ON while operating motion of a machine will stop immediately or decelerate and stop After it stops even if the EL signal is turned OFF a machine will remain stopped For safety please design a structure of the machine so that the EL signal keeps ON until a machine reaches the end of the stroke even if the machine moves If the EL signal is ON when writing a start command the axis cannot start moving in the direction of the particular EL signal that is ON By setting ELM in the RENV1 environment setting 1 register the stopping pattern for use when the EL signal is turned ON can be set to immediate stop or deceleration stop high speed start only
237. o 1 and turn ON the end point draw function If the end point of the circular interpolation is set within the shaded areas the axes will not stop moving perpetual circular motion Circular interpolation precision The circular interpolation function draws a circular from the current position to the end coordinate moving CW or CCW The positional deviation from the specified curve is 0 5 LSB The figure on the right is an example of how to draw a simple circle with a radius of 11 units The LSB refers the minimum feeding unit of the PRMV register setting value It corresponds to the resolution of mechanical system size of the cells in the figure right Interporation track Solid line A circle of radius 11 Dotted line A circle of radius 11 0 5 86 Circular interpolation with acceleration deceleration To use circular interpolation with acceleration deceleration you have to enter the number of circular interpolation pulses required circular interpolation step numbers in the PRCI register for the control axis To calculate the number of pulses required for circular interpolation break the area covered by the X and Y axes into 8 0 to 7 sections using the center coordinate of the circular interpolation as the center point See the figure below The output pulse status of each axis in each area is as follows Area X axis output pulse Y axis output pulse O Output according
238. of timing They can be selected by setting the RENV5 environment setting 5 register By setting the RIRQ event interrupt cause register an INT signal can be output at the same time the internal synchronous signal is output You can determine the cause of event interrupt by reading the RIST register The operation status can be checked by reading the RSTS extension status register Specify the synchronous starting method lt Set MSYO to 1 bits 18 to 19 in PRMD gt 10 Start with an internal synchronous signal 11 Start triggered by specified axis stopping RMD 23 WRITE 16 n n Select an axis for confirming a stop setting example lt Specify the axis using MAX 0 to 3 bits 20 to 23 in PRMD gt 0001 Start when the X axis stops 0010 Start when the Y axis stops 0100 Start when the Z axis stops 1000 Start when the U axis stops 0011 Start when both the X and Y axes stop 0101 Start when both the X and Z axes stop 1011 Start when the X Y and U axes all stop 1111 Start when all of the axes stop RMD 23 WRITE 16 nj N Ayn Select the synchronous starting mode 0 PCL6045 compatible mode 1 PCL6045BL mode lt Set SMAX bit 29 in RENV2 gt Specify the internal synchronous signal output timing lt Set SYOO to 3 bits 16 to 19 in RENV5 gt 0001 When the Comparator 1 conditions are satisfied 0010 When the Comparator 2 condition
239. oint function will not work correctly An example of changing the speed pattern by changing the speed during a linear acceleration deceleration operation Speed Time 1 Make RFH smaller while accelerating the axis accelerate or decelerate until it reaches the correct speed 2 3 Change RFH after the acceleration deceleration is complete The axis will continue accelerating or decelerating until it reaches the new speed An example of changing the speed pattern by changing the speed during S curve acceleration deceleration operation Speed Time 1 Make RFH smaller and if change speed lt speed before change and the axis will accelerate decelerate using an S curve until it reaches the correct speed 5 Make RFH smaller and if change speed 2 speed before change and the axis will accelerate decelerate without changing the S curve s characteristic until it reaches the correct speed 4 Make RFH larger while accelerating and the axis will accelerate to the original speed entered without changing the S curve s characteristic Then it will accelerate again until it reaches the newly set speed 2 3 If RFH is changed after the acceleration deceleration is complete the axis will accelerate decelerate using an S curve until it reaches the correct speed 100 11 Description of the Functions 11 1 Reset After turning ON the power make sure to reset the LSI before beginning to use it To reset
240. olation MOD 66h or CCW circular interpolation MOD 67h If you specify circular interpolation for one axis or for 3 to 4 axes and try to start the operation the PCL will declare a data setting error When the U axis positioning counter RPLS reaches 0 while starting or during a circular interpolation the PCL will also declare a data setting error By simultaneously using with linear interpolation the PCL can synchronize one axis while performing a circular interpolation on two other axes This function can be used for things like a circular interpolation between the X and Y axes and to adjust the angle of a jig toward an arc tangent point with the Z axis Also in this operation the U axis operation will be a dummy motion and it cannot be used for any other purpose lt Conceptual figure gt Oscillation of the linear interpolation control axis Linear interpolation circuit Dummy operation xw xw xu w Z U X Y Circular interpolation circuit Using the operation above set the operation mode RMD for the X and Y axes to 66H 67h and set the Z and U axes to 61h Enter the number of circular interpolation steps in the PRMV register for the U axis Circular interpolation calculation pulse For details about how to obtain the number of circular interpolation steps see the discussion of circular interpolation with acceleration deceleration in the previous section To write a start or stop command
241. ommand C7h Copy PRMD data to BUF P27 RPRMG Command C5h Copy PRMG data to BUF P27 RPRMV Command COh Copy PRMV data to BUF P27 RPRUR Command C3h Copy PRUR data to BUF P27 RPRUS Command C9h Copy PRUS data to BUF P27 RRCI Command FCh Copy RCI data to BUF P28 RRCIC Command FDh Copy RCIC data to BUF P28 RRCMP1 Command E7h Copy RCMP1 data to BUF P27 RRCMP2 Command E8h Copy RCMP2 data to BUF P27 RRCMP3 Command E9h Copy RCMP3 data to BUF P27 RRCMP4 Command EAh Copy RCMP4 data to BUF P27 RRCMP5 Command EBh Copy RCMP5 data to BUF P27 RRCUN1 Command E3h Copy RCUN1 data to BUF P27 RRCUN2 Command E4h Copy RCUN2 data to BUF P27 RRCUN3 Command E5h Copy RCUN3 data to BUF P27 RRCUN4 Command E6h Copy RCUN4 data to BUF P27 RRDP Command D6h Copy RDP data to BUF P27 RRDR Command D4h Copy RDR data to BUF P27 RRDS Command DAh Copy RDS data to BUF P27 RRENV1 Command DCh Copy RENV1 data to BUF P27 RRENV2 Command DDh Copy RENV2 data to BUF P27 RRENV3 Command DEh Copy RENV3 data to BUF P27 RRENV4 Command DFh Copy RENV4 data to BUF P27 RRENV5 Command EOh Copy RENV5 data to BUF P27 RRENV6 Command Eth Copy RENV6 data to BUF P27 RRENV7 Command E2h Copy RENV7 data to BUF P27 RREST Command F2h Copy REST data to BUF P28 RRFA Command DBh Copy RFA data to BUF P27 RRFH Command D2h Copy RFH data to BUF P27 RRFL Command Dih Copy RFL data to BUF P27 RRIP Command D8h Copy RIP data to BUF P27 RRIPS Command FFh Copy RIPS data to BUF P28 RRIRQ Command ECh Copy RIRQ data to BUF P27 RRIST
242. ommand pulses stop the servomotor systems keep feeding until the count in the deflection counter reaches zero This LSI can receive a positioning complete signal INP signal from a servo driver in place of the pulse output complete timing to determine when an operation is complete When the INP signal input is used to indicate the completion status of an operation the BSYsignal when an operation is complete the main status bits 0 to 5 of the MSTSW stop condition and the extension status CNDO to 3 operation status will also change when the INP signal is input The input logic of the INP signal can be changed The minimum pulse width of the INP signal is 80 reference clock cycles 4 usec when the input filter is ON If the input filter is OFF the minimum pulse width will be 2 reference clock cycles 0 1 usec When CLK 19 6608 MHz If the INP signal is already ON when the PCL is finished outputting pulses it treats the operation as complete without any delay The INP signal can be monitored by reading the RSTS register extension status Set the operation complete delay using the INP signal PRMD WRITE lt Set MINP bit 9 in PRMD gt 45 8 0 No operation complete delay waiting for the INP signal 1 Operation complete status BSY delay until the INP signal turns ON mi Si S Sni a Ga ELLI a Input logic of the INP signal lt Set INPL bit 22 in RENV1 gt RENV1 WRITE 0 Negative logic 23 8 1 Po
243. omparator 2 conditions are met RENV4 WRITE lt Set C2D0 to C2D1 bits 13 to 14 in RENV4 gt 45 8 01 Immediate stop 10 Deceleration stop N Nj j j 129 11 11 3 Out of step stepper motor detection function If the deflection counter value controlled by the motor command pulses and the feedback pulses from an encoder on a stepper motor exceed the maximum deflection value the LSI will declare that the stepper motor is out of step The LSI monitors stepper motor operation using COUNTERS the deflection counter and a comparator The process which takes place after an out of step condition is detected can be selected from the table Processing method to use when the comparator conditions are satisfied For this function use an encoder with the same resolution as the stepper motor COUNTERS deflection can be cleared by writing a set command to the deflection counter There are two methods for inputting a feedback signal Input 90 phase difference signals 1x 2x 4x on the EA EB terminals and input count up count forward and count down pulses Two pulse mode If both EA and EB signals change at the same time the LSI will treat this as an error and output an INT signal Setting example RENV4 00360000h Satisfy the conditions of Comparator 3 lt COUNTER3 deflection Stop immediately when the conditions are satisfied RCMP3 32 The maximum deflection value is 32 pulses
244. omplete CU4R lt 3 Reset COUNTER4 general purpose when the origin return is complete 44 Bit Bit name Description 24 CU1B 1 Operate COUNTER1 command position while in backlash slip correction mode 25 CU2B 1 Operate COUNTER2 mechanical position while in backlash slip correction mode LS 26 CU3B 1 Operate COUNTER3 deflection counter while in backlash slip correction mode 27 CU4B 1 Operate COUNTER4 general purpose while in backlash slip correction mode 28 __ Not defined Always set to 0 29 CU2H 1 Stop the counting operation on COUNTER2 mechanical position Note 1 30 CU3H 1 Stop the counting operation on COUNTERS deflection counter 31 CU4H 1 Stop the counting operation on COUNTER4 general purpose Note 1 To stop the counting on COUNTER1 command position change MCCE bit 11 in the RMD register 45 8 3 16 RENV4 register This register is used for Environment 4 settings Set up comparators 1 to 4 15 14 13 12 1 10 9 8 7 6 5 4 3 2 1 0 C2RM C2D1 C2D0 C2S2 C2S1_C2S0 C2C1 C2C0 C1RM C1D1 C1D0 C1S2 C1S1 C1S0 C1C1 C1C0 C4D1 C4D0 C483 C4S82 C4S1 C4S0 C4C1 C4C0 IDXM C3D1_ C3D0 C3S2 C3S1 C3S0 C3C1 C3C0 Bit Bit name Description Oto1 C1C0 to 1 Select a comparison counter for comparator 1 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position
245. on RUS is the register for PRUS 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6543 2 1 0 The normal setting range is 1 to 32 767 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied 8 3 11 PRDS RDS register This pre register is used to specify the S curve range of the S curve deceleration RDS is the register for PRDS 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 The normal setting range is 1 to 32 767 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied 37 8 3 12 RFA register This register is used to specify the constant speed for backlash correction or slip correction This is also used as a reverse constant speed for an origin return operation 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 Although the setting range is 1 to 65 535 the actual speed pps varies with the speed magnification rate setting in the RMG register Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 38 8 3 13 RENV1 register This register is used for Environment setting 1 This is mainly used to set the specifications for input output terminals 1
246. on 2 operation details see section 9 8 Interpolation operations 9 3 11 CW circular interpolation using pulsar input MOD 6Ch Performs CW circular interpolation synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For CW circular interpolation operation details see section 9 8 Interpolation operations 9 3 12 CCW circular interpolation using pulsar input MOD 6Dh Performs CCW circular interpolation synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For CCW circular interpolation operation details see section 9 8 Interpolation operations 66 9 4 External switch DR operation mode This mode allows operations with inputs from an external switch To enable inputs from an external switch bring the PE terminal LOW After writing a start command when a DR DR signal is input the LSI will output pulses to the OUT terminal Set the RENVI environment 1 register to specify the output logic of the DR input signal The INT signal can be set to send an output when DR input is changed The RSTS extension status register can be used to check the operating status and monitor the DR input It is also possible to apply a filter to the DR or PE inputs Set the input logic of the DR DR signals lt Set DRL bit 25 in RENV1 gt
247. on complete timing the same set the RCMP1 value to 1001 or set the comparison conditions to Comparator 1 lt comparison counter 140 Specify the use of the PO FUP terminal lt Set POMO to 1 bits 0 to 1 in RENV2 gt RENV2 WRITE 10 Output an FUP accelerating signal 7 0 n n Specify the use of the P1 FDW terminal lt Set P1MO0 to 1 bits 2 to 3 in RENV2 gt RENV2 WRITE 10 Output an FDW decelerating signal 7 0 n n Select the output logic for PO one shot FUP lt Set POL bit 16 in RENV2 gt RENV2 WRITE 0 Negative logic 23 16 1 Positive logic o o n Select the output logic for P1 one shot FDW lt Set P1L bit 17 in RENV2 gt RENV2 WRITE 0 Negative logic 23 16 1 Positive logic 0 0 n Specify the use of the P3 CP1 SL terminal RENV2 WRITE lt Set P3M0 to 1 bits 6 to 7 in RENV2 gt 7 0 10 Output CP1 Comparator 1 conditions are satisfied using negative logic 11 Output CP1 Comparator 1 conditions are satisfied using positive logic ninj Z Ses Specify the use of the P4 CP2 SL terminal RENV2 WRITE lt Set P4M0 to 1 bits 8 to 9 in RENV2 gt 45 8 10 Output CP2 Comp
248. on mode bits you can use a variety of operations lt Examples of the operation modes gt 1 Start stop by command 2 Continuous operation and positioning operation using PA PB inputs manual pulsar 3 Operate for specified distances or in continuous operation using DR DR signals drive switch 4 Origin return operation 5 Positioning operation using commands 6 Hardware start of the positioning operation using CSTA input 7 Change the target position after turning ON the PCS Delay control Variety of origin return sequences Homing The following patterns can be used 1 Feeds at constant speed and stops when the ORG signal is turned ON 2 Feeds at constant speed and stops when an EZ signal is received after the ORG signal is turned ON 3 Feeds at constant speed reverses when the ORG signal is turned ON and stops when an EZ signal is received 4 Feeds at constant speed and stops when the EL signal is turned ON Normal stop 5 Feeds at constant speed reverses when the EL signal is turned ON and stops when an EZ signal is received 6 Feeds at high speed decelerates when the SD signal is turned ON and stops when the ORG signal is turned ON 7 Feeds at high speed decelerates when the ORG signal is turned ON and stops when an EZ signal is received 8 Feeds at high speed decelerates and stops after the ORG signal is turned ON Then reverses to feed and stops when an EZ signal is received 9 Feeds at high speed de
249. on using an external switch MOD 02h This mode is used to operate an axis only when the DR switch is ON After writing a start command turn the DR signal ON to feed the axis in the positive direction turn the DR signal ON to feed the axis in the negative direction using a specified speed pattern By turning ON an EL signal for the feed direction movement on the axis will stop However the axis can be fed in the reverse direction An error interrupt INT output will not occur To end this operation mode write an immediate stop command 49h If the axis is being fed with high speed commands 52h 53h movement on the axis will decelerate and stop when the DR input turns OFF If the DR input for reverse direction turns ON while decelerating movement on the axis will decelerate and stop Then it will resume in the opposite direction Setting example 1 Bring the PE input LOW 2 Specify RFL RFH RUR RDR and RMG speed setting 3 Enter 0000010 for MOD bits 0 to 6 in the RMD operation mode register 4 Write a start command 50h to 53h CND bits 0 to 3 of the RSTS extension status register will wait for 0001 DR input In this condition turn ON the DR or DR input terminal The axis will move in the specified direction using the specified speed pattern as long as the terminal is kept ON 67 9 4 2 Positioning operation using an external switch MOD 56h This mode is used for positioning based on the
250. opy the data in the RIST register event interrupt cause to BUF F3h Set the event interrupt cause lt Register control command WRIRQ gt Write command Write the BUF data to the RIRQ register event interrupt cause ACh This is operation is used to write data for the next operation and the operation after that when starting 1 When IEND 1 and MENI 0 BSY Ga mooo INT output n O TT L MSTS 2 ik a J Reading MSTS Reading MSTS Reading MSTS 2 When IEND 1 and MENI 1 BSY output r po INT output a ee MSTS 2 s Reading MSTS Note Even if IEND 1 and MENI 1 if no pre register has been specified a Start command has been written interrupt signal is output 144 Error interrupt causes lt Detail of REST The cause of an interrupt makes the corresponding bit 1 gt Error interrupt cause Cause REST Bit Bit name Stopped by Comparator 1 conditions being satisfied SL 0 ESC1 Stopped by Comparator 2 conditions being satisfied SL 1 ESC2 Stopped by Comparator 3 conditions being satisfied 2 ESC3 Stopped by Comparator 4 conditions being satisfied 3 ESC4 Stopped by Comparator 5 conditions being satisfied 4 ESC5 Stopped by turning ON the EL input 5 ESPL Stopped by turning ON the EL input 6 ESML Stopped by turning ON the ALM input 7 ESAL Stopped by turning ON the CSTP input 8 ESSP Stopped by turning ON the
251. orward timing FT are non zero the vibration restriction function is enabled The dotted lines below are pulses added by the vibration restriction function An example in the positive direction pulse ip ee ee Ge 3 cia Last pulse pulse Specify the reverse operation timing lt Set RTO to 15 bits 0 to 15 in RENV7 gt RENV7 WRITE RT range 0 to 65 535 15 8 The units are 32x of the reference clock cycle approx 1 6 usec when CLK 19 6608 MHz n nf nf n nf n nin Settable range 0 to approx 0 1 sec 7 0 ni ni nt n n n nin Specify the forward operation timing lt Set FTO to 15 bits 16 to 31 in RENV7 gt RENV7 WRITE FT range 0 to 65 535 34 24 The units are 32x of the reference clock cycle approx 1 6 usec when CLK 19 6608 MHz n nf n nf nf nf njn Settable range 0 to approx 0 1 sec 23 16 nin n n n ni nin Note The optimum values for RT and FT will vary with each piece of machinery and load Therefore it is best to obtain these values by experiment 134 11 14 Synchronous starting This LSI can perform the following operation by setting the PRMD operation mode register in advance Start triggered by another axis stopping Start triggered by an internal synchronous signal Continuous interpolation by dummy circular interpolation The internal synchronous signal output is available with 9 types
252. ot matter However secure two reference clock cycles between these writings 2 Then write a register write command to COMBO address 0 when a Z80 I F is used After writing one set of data wait at least 4 cycles approx 0 2 usec when CLK 19 6608 MHz before writing the next set of data In both case1 and case 2 when the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically AO to A2 4h 5h 6h 7h Oh Next address CS WR DO to D7 lii Four reference clock cycles or more Two reference clock cycles or more 7 4 2 Procedure for reading data from a register the axis assignment is omitted 1 First write a register read out command to COMBO address 0 when a Z80 I F is used 2 Wait at least four reference clock cycles approx 0 2 usec when CLK 19 6608 MHz for the data to be copied to the I O buffer 3 Read the data from the I O buffer addresses 4 to 7 when a Z80 I F is used The order for reading data from the I O buffer does not matter There is no minimum time between read operations When the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically A0 to A2 Next address CS WR RD DO to D7 ria aia Four reference clock cycles 26 7 4 3 Table of register control comman
253. otice for improvement NPM Nippon Pulse Motor Co Ltd Tokyo Office London Office USA China Nippon Pulse Motor Co Ltd Tachihi Bldg No 3 1 Sakae cho 6 Chome Tachikawa City Tokyo 190 0003 Japan Phone 81 42 534 7701 Fax 81 42 534 0026 Web http Awww npm co jp E mail int l npm co jp Nippon Pulse Motor Co Ltd Vista Business Centre 50 Salisbury Road Hounslow Middlesex TW4 6JQ UK Phone 44 20 8538 0315 Fax 44 20 8538 0316 Web http Awww npm co jp E mail int l npm co jp Nippon Pulse America Inc 4 Corporate Drive Radford VA 24141 U S A Phone 1 540 633 1677 Fax 1 540 633 1674 Web http www nipponpulse com E mail info nipponpulse com Nippon Pulse Shanghai Co Ltd Room 1072 No 555 Pudongdadao Road Shanghai 200120 China Phone 86 21 6859 2622 2623 Fax 86 21 6859 2628 Web http www npmchina com E mail yi npmshanghai sina net 179
254. ou lon TRSA yess N LOW output current loL VoL 0 4 V 6 mA HIGH output current loH Vou Vpop 0 4 V 6 mA Internal pull up I O terminals other than CE RD resistance Rup WR AO to A4 DO to D15 and CLK a Eor 146 12 4 AC characteristics 1 reference clock Item Symbol Condition Min Max Unit Reference clock frequency fck 20 MHz Reference clock cycle Terk 50 ns Reference clock HIGH width TckH 20 ns Reference clock LOW width Toke 20 ns T CKH ii CKL CLK T CLK 147 12 5 AC characteristics 2 CPU I F 12 5 1 CPU I F 1 IF1 H IFO H Z80 Item Symbol Condition Min Max Unit Address setup time for RD Tar 11 ns Address setup time for WR Taw 11 ns Address hold time for RD WR tf Trwa 0 i ns CS setup time for RD Tcsr 3 ns CS setup time for WR Tesw 3 ns CS hold time for RD WR f Trwes 0 ns WRQ ON delay time for CS Teswrt C 40pF ae ns WRQ signal LOW time Tie E 4Tak ns Data output delay time for RD Trolo C 40pF 24 ns Data output delay time for WRQ TwrtHp C 40pF i 13 ns Data float delay time for RD Troup C 40pF i 21 ns WR signal width Twr Note 1 7 ns Data setup time for WR Tf TbwR 11 ns Data hold time for WR Twro 0 ns Note 1 When a WRQ signal is output the duration will be the interval between WRQ
255. own counter _ Up down counter Deflection counter Up down counter Number of bits 28 28 16 28 Output pulse Possible Possible Possible Possible Encoder EA EB input Not possible Possible Possible Possible Pulsar PA PB input Not possible Possible Possible Possible 1 2 of reference clock Not possible Not possible Not possible Not possible Note When using pulsar input use the internal signal result after multiplying or dividing Specify COUNTER 2 mechanical position input RENV3 WRITE lt CI20 to 21 bit 8 to 9 in RENV3 gt 45 8 00 EA EB input 01 Output pulses Bai ree ied inn 10 PA PB input Set COUNTER 3 deflection input lt CI30 to 31 bit 10 to 11 in RENV3 gt RENV3 WRITE 00 Measure the deflection between output pulses and EA EB input 15 8 01 Measure the deflection between output pulses and PA PB input 10 Measure the deflection between EA EB input and PA PB input asd el st n n Set COUNTER 4 general purpose input lt C140 to 41 bit 12 to 13 in RENV3 gt RENV3 WRITE 00 Output pulses 15 8 01 EA EB input 10 PA PB input nn 11 1 2 of reference clock CLK 119 The EA EB and PA PB input terminal that are used as inputs for the counter can be set for one of two signal input types by setting the RENV2 environment setting 2 register
256. p auto function to be reset when RIST register and REST register are read out To reset this bit write to RIST and REST registers To write RIST and REST use WRIST B3h or WREST B2h command This bit is reset by writing a value read out 24 CU1L Resets COUNTER at the same time COUNTER is latched 25 CU2L Resets COUNTER2 at the same time COUNTER2 is latched 1 1 26 CU3L 1 Resets COUNTER3 at the same time COUNTERS is latched 27 CU4L 1 Resets COUNTER4 at the same time COUNTER4 is latched 28 to 31 Notdefined Always set to 0 49 8 3 18 RENV6 register This is a register for the Environment 6 settings It is primarily used to set feed amount correction data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 psTP 0 ADJ1 ADJO BR11 BR10 BRO BRE BR7 BRE BRS BRA BR3 BR2 BRI BRO PMG4 PMG3 PMG2 PMG1 PMGO PD10 PD9 PD8 PD7 PD6 PD5 PD4 PD3 PD2 PD1 PDO Bit Bit name Description Oto11 BROto 11 Enter a backlash correction amount or a slip correction amount 0 to 4095 12to13 ADJOto1 Select a feed amount correction method 00 Turn OFF the correction function 01 Backlash correction 10 Slip correction 14 Not defined _ Always set to 0 15 PSTP 1 Even if a stop command is written the PCL will operate for the number of pulses that are already input on PA PB Note 1 16 to 26 PDO to 10 Specifies the division ratio for pulses on the PA PB input Number of pulses set
257. peed start 1 FH constant speed gt deceleration stop P22 STAFH Command 51h Start using FH constant speed P22 STAFL Command 50h Start using FL constant speed P22 STAM Register bit RENV1 18 o CSTA signal input specification 0 Level trigger 1 P40 116 ge trigger STAON Command 28h Substitute for a PCs input P25 103 STAUD Command 53h High speed start 2 acceleration gt FH constant speed gt P22 deceleration stop STOP Command 49h Immediate stop P23 STPM Register bit RENV1 19 cont CSTP stop method 0 Immediate stop 1 Deceleration P40 118 SYIO to 1 Register bits aay Select the axis used to input an internal synchronous signal P48 139 SYOO0 to 3 Register bits Pag Set the output timing of the internal synchronous signal PASIS WPRCI Command 8Ch Write BUF data into PRCI P28 WPRCP5 Command 8Bh Write BUF data into PRCP5 P27 WPRDP Command 86h Write BUF data into PRDP P27 WPRDR Command 84h Write BUF data into PRDR P27 WPRDS Command 8Ah Write BUF data into PRDS P27 WPRFH Command 82h Write BUF data into PRFH P27 WPRFL Command 81h Write BUF data into PRFL P27 WPRIP Command 88h Write BUF data into PRIP P27 WPRMD Command 87h Write BUF data into PRMD P27 WPRMG Command 85h Write BUF data into PRMG P27 WPRMV Command 80h Write BUF data into PRMV P27 WPRUR Command 83h Write BUF data into PRUR P27 WPRUS Command 89h Write BUF data into PRUS P27 WR Terminal name 5 Write signal P7 WRCI Command BCh Write BUF data into the RCI register P27 WRCMP 1 Comm
258. perations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh The speed will be calculated from the value in PRMG E Reference clock frequency Hz FL speed pps PRFL x PRMG 1 x 65536 PRFH FH speed setting register 16 bit Specify the speed for FH constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh When used for high speed operations acceleration deceleration operations specify a value larger than PRFL The speed will be calculated from the value placed in PRMG _ Reference clock frequency Hz FH speed pps PRFH x PRMG 1 x 65536 158 PRUR Acceleration rate setting register 16 bit Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration MSMD 0 in the PRMD register PRFH PRFL x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s 2 S curve acceleration without a linear range MSMD 1 in the PRMD register and PRUS register 0 PRFH PRFL x PRUR 1 x 8 Reference clock frequency Hz Acceleration time s 3 S curve acceleration with a linear range MSMD 1 in the PRMD register and PRUS register
259. polation operation is complete the PCL will draw to the end point automatically 28 __ Not defined Always set to 0 29 MSDC 0 Uses count method only when interpolation operation is performed with constant synthesized speed control like PCL6045B Otherwise calculation method is used 1 Fix the method to set ramp down point automatically to count method 30 to 31 Not defined Always set to 0 8 3 9 PRIP RIP register This pre register is used to set the center position for circular interpolation or a master axis feed amount for linear interpolation 2 RIP is the register for PRIP 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11109 8 7 6 5 43 2 1 0 When MOD bits 0 to 6 of the PRMD register is set as shown below the register is enabled 110 0010 62h Continuous linear interpolation 2 continuous operation with the linear interpolation 2 110 0011 63h Linear interpolation 2 110 0100 64h Circular interpolation in a CW direction 110 0101 65h Circular interpolation in a CCW direction With Continuous linear interpolation 2 and Linear interpolation 2 specify the feed amount on the master axis using an incremental value With circular interpolation enter a circular center position using an incremental value Setting range 134 217 728 to 134 217 727 8 3 10 PRUS RUS register This pre register is used to specify the S curve range of the S curve accelerati
260. polation synchronized with PA PB input 66h CW circular interpolation synchronized 6Dh CCW circular interpolation synchronized with the U axis with PA PB input Continuous linear interpolation is the same as the linear interpolation used to feed multiple axes at specified rates and to start and stop feeding using commands such as the continuous mode commands Interpolation 1 executes an interpolation operation between any two to four axes in the LSI Interpolation 2 is used to control five axes or more using more than one LSI and to control feeding using linear interpolation Independent operation of the un interpolated axes is also possible The interpolation settings and operation status can be monitored by reading the RIPS interpolation status register The RIPS register is shared by all axes Reading from any axis will return the identical information Write start and stop commands to all axes to execute interpolation by setting SELx SELy SELZ and SELu in COMB1 Interpolation operations that can be combined with this LSI 1 Linear interpolation 1 of two axes 2 Linear interpolation 1 of three axes 3 Linear interpolation 1 of four axes 4 Circular interpolation of two axes 5 Linear interpolation 1 of two axes and circular interpolation of two axes Axes that are not involved in one of the interpolation operations 1 to 5 above can be operated independently or can be used to execute a linear interpolation 2 9 8
261. positioning operation with a feed amount of 0 The X and Z axes perform a linear interpolation operation 10000 5000 The Y axis performs a positioning operation with a feed amount of 0 1 2 3 139 11 14 2 Starting from an internal synchronous signal There are 9 types of internal synchronous signal output timing They can be selected by setting the RENV5 register The monitor signal for the internal synchronous signal can be output externally Example 1 below shows how to use the end of acceleration for the internal synchronous signal f Y axis Example 1 After completing steps 1 to 3 below write a start command to the X and Y axes the X axis will start when the Y axis completes its acceleration 1 Set MSYO to 1 bits 18 to19 in the X axis PRMD to 10 Start with an internal synchronous signal 2 Set SYIO to 1 bits 20 to 21 in the X axis to 01 Use an internal synchronous signal from the Y axis f 3 Set SYOO to 3 bits 16 to 19 in the Y axis RENV5 to 1001 Output an internal synchronous signal when the acceleration is complete FH i 1 I i i FL Acceleration complete FH Example 2 shows how to start another axis using the z satisfaction of the comparator conditions to generate an internal synchronous signal Be careful since comparator conditions satisfied by timing and the timing of the start of another axis may be different according to the comparison method used by
262. r and between reading a register and reading the I O buffer When the WRQ output signal is used by connecting it to the CPU the CPU automatically ensures this waiting time If you want to use a CPU that does not have this waiting function arrange the program sequence so that access is only allowed after confirming that the IFB output signal is HIGH 1 When not using WRQ A0 to A2 Next command address wR oo _ of tC DO to D7 lt q gt Secure 4 reference clo cycles by software 2 When using WRQ A0 to A2 Next command address CS Ni if e WR 7 j WRQ oo DO to D7 Command i Automatically secure 4 reference iclock cycles 21 7 1 2 Start command 1 Start command If this command is written while the motor is stopped the motor will start rotating If this command is written while the motor is operating it is taken as the next start command COMBO Symbol Description 50h _ STAFL FL constant speed start 51h STAFH FH constant speed start 52h ISTAD High speed start 1 FH constant speed gt Deceleration stop Note 1 53h STAUD High speed start 2 Acceleration FH constant speed Deceleration stop Note 1 Note 1 For details see section 10 1 Speed patterns 2 Residual pulses start command Write this command after the motor is stopped on the way to a positioning the motor will continue movement for the number of pulses left in the positionin
263. r name Speed for feeding the feed correction amount P30 38 RFH Register name Operation speed Please refer to PRFH P33 91 RFL Register name Initial speed Please refer to PRFL P33 91 Center position of a circular interpolation Master axis feed P37 85 RIP Register name amount when executing a linear interpolation using multiple LSI chips Please refer to PRIP RIPS Register name Interpolation setting status and operation status P30 RIRQ Register name Enable various event interrupts P53 143 RIST Register name Event INT status P57 143 RLTC1 Register name COUNTER 1 command position latch data P53 123 RLTC2 Register name COUNTER2 mechanical position latch data P53 123 RLTC3 Register name COUNTERS deflection counter latch data P54 123 RLTC4 Register name COUNTER4 general purpose latch data P54 123 RMD Register name Operation mode Please refer to PRMD P30 35 RMG Register name Speed magnification rate Please refer to PRMG P34 91 RMV Register name Feed amount or target position Please refer to PRMV P33 91 RPLS Register name Number of pulses remaining to be fed P30 57 RPRCI Command CCh Copy PRCI data to BUF P28 RPRCP5 Command CBh Copy PRCP5 data to BUF P27 RPRDP Command C6h Copy PRDP data to BUF P27 RPRDR Command C4h Copy PRDR data to BUF P27 RPRDS Command CAh Copy PRDS data to BUF P27 RPRFH Command C2h Copy PRFH data to BUF P27 RPRFL Command Cih Copy PRFL data to BUF P27 RPRIP Command C8h Copy PRIP data to BUF P27 RPRMD C
264. ration However the feed speed cannot be changed during operation when the synthesized speed constant control for linear interpolation is ON while using S curve deceleration Overriding target position 1 and 2 1 The target position feed amount can be changed while feeding in the positioning mode If the current position exceeds the newly entered position the motor will decelerate stop immediate stop when already feeding at a constant speed and then feed in the reverse direction 2 Starts operation like in the continuous mode and when it receives an external signal it will stop after outputting the specified number of pulses Triangle drive elimination FH correction function In the positioning mode when there are a small number of output pulses this function automatically lowers the maximum speed and eliminates triangle driving Pre register function The next two sets of data feed amount initial speed feed speed acceleration rate deceleration rate speed magnification rate ramping down point operation mode center of circular interpolation S curve range on an acceleration S curve range on a deceleration number of steps for circular interpolation can be written while executing the current data The next set of data and other sets of data can be written in advance of their execution for checking by the comparator When the current operation is complete the system will immediately execute the next operation Avari
265. ration f FH 1 2 1 Write an FH constant speed start command 51h 2 Stop feeding by writing an immediate stop command 49h 1 Write an FH constant speed start command 51h 2 Stop feeding when the positioning counter reaches zero or by writing an immediate stop 49h command When the deceleration stop command 4Ah is written to the register motion of an axis starts deceleration High speed operation 1 f FH FL ats ams N lt 1 Write high speed start command 1 52h 2 Start deceleration by writing a deceleration stop command 4Ah When the deceleration stop command 49h is written to the register an axis immediately stops When idling pulses are added by setting IDL in RENV5 to a non zero value after outputting idling pulses at FL speed motion of an axis will accelerate to FH speed 1 Write high speed start command 1 52h 2 Start deceleration when a ramping down point is reached or by writing a deceleration stop command 4Ah When positioning with a high speed start command 1 52h the ramping down point is fixed to the manual setting regardless of the setting for MSDP bit 13 in the PRMD If the ramping down point setting PRDP is zero the axis will stop immediately High speed operation 2 f FH FL 1 Write high speed command 2 53h 2 Start deceleration by writing a deceleration stop command 4Ah When
266. re even if an error stop signal is input while decelerating with high speed positioning the PCL may determine that the stop is normal In this case the PCL will continue to the next operation without canceling the data stored in the pre registers Even though in that case if error stop signals are input continuously the PCL will not continue to the next operation and it will stop with an error 40 8 3 14 RENV2 register This is a register for the Environment 2 settings Specify the function of the general purpose port EA EB input and PA PB input 18 44 13 12 4 10 P7M1 P7MO P6M1 P6MO P5M1 P5MO P4M1 P4M0 P3M1 P3MO P2M1 P2MO P1M1 P1MO POM1 POMO 341 30 29 28 27 2 235 24 23 22 21 20 19 148 17 46 POFF EOFF SMAX PMSK IEND PDIR PIM1 PIMO EZL EDIR EIM1 EIMO PINF EINF P1L POL Bits Bit name Description Oto1 POMO to 1 Specify the operation of the PO FUP terminals 00 General purpose input 01 General purpose output 10 Output the FUP acceleration signal 11 General purpose one shot signal output T 26 msec Note 1 2to3 P1M0 to 1 Specify the operation of the P1 FDW terminals 00 General purpose input 01 General purpose output 10 Output the FDW deceleration signal 11 General purpose one shot signal output T 26 msec Note 1 4to5 P2M0 to 1 Specify the operation of the P2 MVC terminal 00 General purpose input 01 General purpose output 10 Output the MVC constant speed feeding signal with ne
267. rs only to the initial status of the terminal The DIR terminal is initially in a Two pulse mode Use the RENV2 register to select an output signal When PO to P7 are set up as output terminals they can be controlled simultaneously as 8 bits or one bit at a time using output bit control commands depending on what is written to the output port OTPB When PO and P1 are set up as one shot pulse output terminals they will output a one shot signal T Approx 26 msec using the output bit control command When a deceleration stop is selected keep the input signal ON until an axis stops ORG input is synchronized with output pulses sampled and controlled by a change of sampling result Therefore keep ORG sensor ON for longer than feed amount for one pulse 11 5 Block Diagram IFO 1 Circular Interpolation circuit AO 4 CPU I F DO 15 CS HRD WR RST RUS RDS RFA HINT 1FB WRQ CEMG Acceleration Pulse width control deceleration oscillator circuit FH correction Vibration curcuit restriction circuit OUNTER 1 Comparator 1 Command position counter Encoder I F circuit COUNTER 2 ao Mechanical counter pulser I F circuit COUNTER 3 Deflection counter amp COUNTER 4 General purpose counter Divide to1 2 CLK Current speed Control Comparator 4 Positioning countrol Comparator 5 counter Slowdown point Comparator calculat
268. s 100 11 Description ofthe FUNCIO S sk ee a a e a E aa ap eeted a a kbp ie Mced gage aaa a aa aaa ara aa taaa 101 aA RA DET EEEE A EE A E E E OE E E E O E EE EE 101 11 2 POSITOMOVEITIGE set ipe a aaa aaea aae naaa aa aaa aaa a raara aa a eaaa ahai aaaea 102 1At Target positomovernide T rirerire EEE ET EEE ANEETA ERA 102 11 2 2 Target position override 2 PCS Signal oeur ariii eioi RN EEEE EER NAT 103 11 3 Outp t p lSe Controli eesis ie iaaa aaa a ae aariaa e a aa eaaa 104 1123 1 Outputpulse Moden peona aa anana a a aa aaa eaaa aaa a aaa aaia 104 11 3 2 Control the output pulse width and operation complete timing ccccesceeeeeeeeeeeeeeeteeseaeees 105 Tia Idling CONTO esiaine EE E cout dung E E EE A iyangdecunabeacs A 106 11 5 Mechanical external input Controls eici aaa a e aa a aa oaea 107 1 5 1 t EL EL signal saeara s aa E ERNE Muna Ea ad e AE Ea asi 107 1125 245 De Sig ial oee errea eda negates ia E aaa E EEA E a a e Ea sieves Ae Aet 108 11 53 VORG EZ Signal Srna n e a facets Ja ats EE a EAEE aea odnadsaledagmacut peamessaatacceste 111 11 6 Servomotor I F Case in digital servo seeeeseeeeeeeeesesesrrssterrssttrnssttrnssttnnasttnnnasttnnnatennsatnnnaaten nanena 112 11621 INP Signale e a E a r A e feds a aa e AAEE ATEAC Aaa 112 1126 2 SER GC SIQM All ices eee e ae a a oe Eaa e a a eaaa ae aa Eaa 113 TES ALM SOOS aia as ceeds eA aa anA EETA REE PARE AA aE EALE A A Ea RAE SAAE ERREA AREE 114 11 7 External start
269. s a LOW signal while feeding BSYy 81 BSYz 125 BSYu 148 POx FUPx 52 Input Positive Common terminal for general purpose I O and FUP See Note 5 POy FUPy 89 Output As an FUP terminal it outputs a LOW signal while accelerating POz FUPz 116 As a general purpose I O terminal three possibilities can be POu FUPu 153 specified input terminal output terminal and one shot pulse output terminal The usage output logic of the FUP and one shot parameters can be changed using software P1x FDWx 153 Input Positive Common terminal for general purpose I O and FDW See Note 5 P1y FDWy 90 Output As an FDW terminal it outputs a LOW signal while decelerating P1z FDWz 117 As a general purpose I O terminal three possibilities can be P1u FDWu 154 specified input terminal output terminal and one shot pulse output terminal The usage output logic of the FDW and one shot pulse parameters can be changed using software P2x MVCx 54 Input Positive Common terminal for general purpose I O and MVC See Note 5 P2y MVCy 91 Output When used as an MVC terminal it outputs a signal while performing P2z MVCz 118 a constant speed feed P2u MVCu 156 The usage and output logic of the MVC can be changed using software P3x CP1x 55 Input Positive Common terminal for general purpose I O and CP1 SL See SLx 92 Output Note 5 P3y CPty 1119 When used as a CP1 SL terminal it outputs a signal while SLy 156 satisfyin
270. s are satisfied 0011 When the Comparator 3 conditions are satisfied 0100 When the Comparator 4 conditions are satisfied 0101 When the Comparator 5 conditions are satisfied 1000 When the acceleration is started 1001 When the acceleration is complete 1010 When the deceleration is started 1011 When the deceleration is complete Others Internal synchronous output signal is OFF RENV2 31 WRITE 24 n RENV5 23 WRITE 16 n n nin Specify the input for the internal synchronous signal lt Set SY10 to 1 bits 20 to 21 in RENV5 gt 00 Use an internal synchronous signal output by the X axis 01 Use an internal synchronous signal output by the Y axis 10 Use an internal synchronous signal output by the Z axis 11 Use an internal synchronous signal output by the U axis RENV5 23 WRITE 16 nhAypn Read the operation status lt CND bits 0 to 3 in RSTS gt 0011 Wait for an internal synchronous signal 0100 Wait for another axis to stop RSTS 7 Select the event interrupt HINT output cause lt Set bit 4 to 12 of RIRQ gt IRUS bit 4 1 When the acceleration is started IRUE bit 5 1 When the acceleration is complete IRDS bit 6 1 When the deceleration is started IRDE bit 7 1 When the deceleration is complete IRC1 bit 8 1 When the
271. s easy to use the stop interrupt function To approximate a free curve interpolation using multiple linear interpolation operations event interrupts will be generated at the end of each linear interpolation When using the stop interrupt set MENI 1 in the PRMD register You can set it not to output a INT signal if there is data for the next operation The INT signal is output continuously until all the causes on all the axes that produced interrupts have been cleared In default an error interrupt cause is cleared by writing a REST error cause register read command An event interrupt cause is cleared by writing a RIST event cause register read command A Stop interrupt is cleared by reading the main status However when RENV5 MSMR bit 22 or RENV5 ISMR bit23 1 the way to clear of error interrupt cause is different from the way to clear event cause and stop interrupt In this case because registers or main status are not cleared by reading out cause register and main status INT output may not turns OFF Please refer to 6 5 4 Reading the mains status 8 3 5 REST register and 8 3 36 RIST register To determine which type of interrupt occurred on which axis and the cause of the interrupt follow the procedures below 1 Read the main status of the X axis and check whether bits 2 4 or 5 is 1 2 If bit 2 SENI is 1 a Stop interrupt occurs 3 If bit 4 SERR is 1 read the REST register to identify the interrupt
272. s of conditions on each axis When more than one 6045BL LSI is used wired OR connections are not possible 2 Specifications Item Description Number of axes 4 axes X Y Z and U axis Reference clock Standard 19 6608 MHz Max 20 MHz Positioning control range 134 217 728 to 134 217 727 28 bit Ramping down point setting range 0 to 16 777 215 24 bit Number of registers used for setting speeds Three for each axis FL FH and FA speed correction Speed setting step range 1 to 65 535 16 bits Speed magnification range Multiply by 0 1 to 100 Multiply by 0 1 0 1 to 6 553 5 pps Multiply by 1 1 to 65 535 pps Multiply by 100 100 to 6 553 500 pps When the reference clock is 19 6608 MHz Acceleration deceleration characteristics Selectable acceleration deceleration pattern for both increasing and decreasing speed separately using Linear and S curve acceleration deceleration Acceleration rate setting range 1 to 65 535 16 bit Deceleration rate setting range 1 to 65 535 16 bit Ramping down point automatic setting Automatic setting within the range of deceleration time lt acceleration time x 2 Feed speed automatic correction function Automatically lowers the feed speed for short distance positioning moves Manual operation input Manual pulsar input pushbutton switch input Counter Comparators Interpolation
273. s reset by writing a value read out 15 14 13 ISOL ISLT ISCL ISC5 ISC4 ISC3 ISC2 ISC1 ISDE ISDS ISUE ISUS ISND ISNM ISN ISEN ISSA ISMD ISPD ISSD Bit Bit name Description 0 ISEN When stopping automatically 1 ISN When the next operation starts continuously 2 ISNM When it is available to write operation to the 2nd pre register 3 ISND When it is available to write operation to the 2nd pre register for Comparator 5 4 ISUS When starting acceleration 5 ISUE When ending acceleration 6 ISDS When starting deceleration 7 ISDE When ending deceleration 8 ISC1 When the comparator 1 conditions are met 9 ISC2 When the comparator 2 conditions are met 10 ISC3 When the comparator 3 conditions are met 11 ISC4 When the comparator 4 conditions are met 12 ISC5 When the comparator 5 conditions are met 13 ISCL When the count value is reset by a CLR signal input 14 ISLT When the count value is latched by an LTC input 15 ISOL When the count value is latched by an ORG input 16 ISSD When the SD input turns ON 17 ISPD When the DR input changes 18 ISMD When the DR input changes 19 ISSA When the CSTA input turns ON 20 to 31 Not defined Always set to 0 8 3 37 RPLS register This register is used to check the value of the positioning counter number of pulses left for feeding Read only At the start this value will be the absolute v
274. ses output and the feed direction are set automatically by internal calculation using the COUNTER value at the start When setting the COUNTER1 value to zero and start the positioning operation the LSI will stop movement on the axis immediately without outputting any command pulses 9 3 6 Mechanical position zero return operation using pulsar input MOD 55h Except for using COUNTER2 instead of COUNTER the operation details are the same as for MOD 54h 9 3 7 Continuous linear interpolation 1 using pulsar input MOD 68h Performs continuous linear interpolation 1 synchronized with the pulsar input For continuous linear interpolation 1 operation details see section 9 8 Interpolation operations 9 3 8 Linear interpolation 1 using pulsar input MOD 69h Performs linear interpolation 1 synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For linear interpolation 1 operation details see section 9 8 Interpolation operations 9 3 9 Continuous linear interpolation 2 using pulsar input MOD 6Ah Performs continuous linear interpolation 2 synchronized with the pulsar input For continuous linear interpolation 2 operation details see section 9 8 Interpolation operations 9 3 10 Linear interpolation 2 using pulsar input MOD 6Bh Performs linear interpolation 2 synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For linear interpolati
275. signal sub status ae ae ee Logic Description OUTx 57 Output Negative Output command pulses for controlling a motor OUTy 78 When Common Pulse mode is selected OUTz 122 Output pulses and the feed direction is determined by DIR OUTu 145 signals When Two pulse output mode is selected Outputs pulses in the positive direction When 90 phase difference mode is selected Outputs DIR signals and 90 phase difference signals The output logic can be changed using software DIRx 58 Output Negative Output command pulses for controlling a motor or outputs direction DIRy 79 signal DIRz 123 When Common Pulse mode is selected DIRu 146 Outputs a direction signal When Two pulse output mode is selected Output pulses in the negative direction When 90 phase difference mode is selected Outputs DIR signals and 90 phase difference signals The output logic can be changed using software EAx EBx 40 41 Input U Input this signal when you want to control the mechanical position EAy EBy 71 72 using the encoder signal Input a 90 phase difference signal 1x 2x EAz EBz 103 104 4x or input positive pulses on EA and negative pulses on EB EAu EBu 135 136 When inputting 90 phase difference signals if the EA signal phase is ahead of the EB signal the LSI will count up count forward pulses The counting direction can be changed using software EZx 42 Input
276. signal with negative logic 11 Output the CP5 satisfied the Comparator 5 conditions signal with positive logic 16 POL Specify the output logic when the PO terminal is used for FUP or as a one shot 0 Negative logic 1 Positive logic 17 P1L Specify the output logic when the P1 terminal is used for FDW or as a one shot 0 Negative logic 1 Positive logic 41 Bits Bit name Description 18 EINF 1 Apply a noise filter to EA EB EZ input Ignores pulse inputs less than 3 CLK signal cycles long 19 PINF 1 Apply a noise filter to PA PB input Ignore pulse inputs less than 3 CLK signal cycles long 20 to 21 EIMO to 1 Specify the EA EB input operation 00 Multiply a90 phase difference by 1 Count up count forward when the EA input phase is ahead 01 Multiply a 90 phase difference by 2 Count up count forward when the EA input phase is ahead 10 Multiply a 90 phase difference by 4 Count up count forward when EA input phase is ahead 11 Count up count forward when the EA signal rises count down when the EB signal rises 22 EDIR 1 Reverse the counting direction of the EA EB inputs 23 EZL Specify EZ signal input logic 0 Falling edge 1 Rising edge 24 to 25 PIMO to 1 Specify the PA PB input operation 00 Multiply a90 phase difference by 1 Count up count forward when the PA input phase is ahead 01 Multiply a 90 phase
277. sitive logic SAR n Reading the INP signal lt SINP bit 16 in RSTS gt RSTS READ 0 The INP signal is OFF 23 16 1 The INP signal is ON 0 0 O 0 O O O n Set the INP input filter lt FLTR bit 26 in RENV1 gt RENV1 WRITE 1 Apply a filter to the INP input 31 24 By applying a filter pulses less than 4 usec in width are ignored n 112 11 6 2 ERC signal A servomotor delays the stop until the deflection counter in the driver reaches zero even after command pulses have stopped being delivered In order to stop the servomotor immediately the deflection counter in the servo driver must be cleared This LSI can output a signal to clear the deflection counter in the servo driver This signal is referred to as an ERC signal The ERC signal is output as one shot signal or a logic level signal The output type can be selected by setting the RENV1 register environment setting 1 If an interval is required for the servo driver to recover after turning OFF the ERC signal HIGH before it can receive new command pulses the ERC signal OFF timer can be selected by setting the RENV1 register Writing a start command Motor Operating Stopping Next operation starts V i BSY Operating Stopping ERC ERC pulse width ERC signal OFF timer Setting EPW 0 to 2 Setting ETW 0 to 1 OUT
278. svo0 Bit Bit name Description 0 to 2 C5CO to 2 Select a comparison counter for comparator 5 000 COUNTER1 command position 011 COUNTER4 general purpose 001 COUNTER2 mechanical position 100 Positioning counter 010 COUNTERS deflection counter 101 Current speed data 3to5 C5S0 to 2 Select a comparison method for comparator 5 001 RCMP5 data Comparison counter regardless of counting direction 010 RCMP5 data Comparison counter while counting up count forward 011 RCMP5 data Comparison counter while counting down 100 RCMP5 data gt Comparison counter 101 RCMP5 data lt Comparison counter Others Treats that the comparison conditions are not met 6 to7 C5DO0 to 1 Select a process to execute when the Comparator 5 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed 8 to 10 IDLO to 2 Enter the number of idling pulses 0 to 7 pulses 11 PDSM 0 Start command is not necessary at the restart like PCL6045B 1 Stop operation by an El signal of the same direction as operation While continuous operation using PA PB and DR Error interrupt occurs at the stop Start command is needed at the restart 12 to 13 LTMO to 1 Specify the latch timing for a counter COUNTER to 4 00 When the LTC input turns ON 01
279. t When deceleration time acceleration time x 2 using an automatic ramping down point gt Speed FH FL Time Accele Deceleration i i ration 1 gt lt When deceleration time gt acceleration time x 2 using an automatic ramping down point gt Speed Stop without decelerating to FL speed FH 4 FL Time i y i i Acceleration Deceleration 92 Relationship between the value entered and the deceleration time will be as follows 1 Linear deceleration MSMD 0 in the PRMD register PRFH PRFL x PRDR 1 x4 Deceleration time s Reference clock frequency Hz 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and PRDS register 0 PRFH PRFL x PRDR 1 x8 Reference clock frequency Hz Deceleration time s 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and PRDS register gt 0 PRFH PRFL 2xPRDS x PRDR 1 4 Deceleration time s Is Reference clock frequency Hz PRMG Magnification rate register 12 bit Specify the relationship between the PRFL and PRFH settings and the speed in the range of 2 to 4 095 OFFFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows Reference clock frequency
280. t keep the temperature at 250 degrees or 260 higher for more than 10 seconds 250 220 140 to 200 Time 60 to 120 seconds Within 35 seconds A profile Lead free solder reflow profile 7 Please avoid soldering in a soaking method not so as to give a dramatic change of temperature to a package and change and not so as to damage to a device 4 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive gases or excessive amounts of dust we recommend applying a moisture prevention coating 2 The package resin is made of fire retardant material however it can burn When baked or burned it may generate gases or fire Do not use it near ignition sources or flammable objects 3 This LSI is designed for use in commercial apparatus office machines communication equipment measuring equipment and household appliances If you use it in any device that may require high quality and reliability or where faults or malfunctions may directly affect human survival or injure humans such as in nuclear power control devices aviation devices or spacecraft traffic signals fire control or various types of safety devices we will not be liable for any problem that occurs even if it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances September 16 2009 No DA70023 3E 178 The specifications may be changed without n
281. tart 8 388 608 0 eee earlier and the FL speed range will be used Same as bit 23 to P 8 388 607 When a negative value is entered an axis will start deceleration later and will not reach the FL speed When number of pulses left drops to less than a set 0 0 to 16 777 215 value an axis starts to decelerate Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 34 8 3 8 PRMD RMD register This pre register is used to set the operation mode RMD is the register for PRMD 15 MIPF 14 13 12 11 10 9 8 7 MPCS MSDP METM MCCE MSMD MINP MSDE MENI MPIE MADJ MSPO MSPE MAX3 MAX2 MAX1 MAX0 MSY1 MSY0 MSN1 MSNO Bits Bit name Description Setting basic operati on mode 0to6 MOD 001 0010 001 0101 001 1101 xwx onn 010 0000 010 1000 010 0010 010 1011 010 0100 010 1100 nan 100 0001 41h 42h 43h 44h A E A T oOo0oo0oo0oo OOGO O oo0oo0oo0oo OO aO0O Oo ono o annann 46h 4Eh 47h 100 1110 100 0111 an 110 0011 63h 001 0000 10h 001 1000 18h 12h 001 1010 1Ah 15h 1Dh 20h 28h 22h 2Ah 24h 2Ch uw xan 101 0001 51h 101 0010 52h 101 0011 53h
282. tatus SENI bit 2Eh SEORR Reset main status SEOR bit 4 3 4 Register control command The following two commands Write commands have been added These command are used to reset interrupt cause register RIST and REST manually Register Details Read command Write command COMBO Symbol COMBO Symbol REST Error INT status F2h RREST B2h WREST RIST Event INT status F3h RRIST B3h WRIST 176 Handling Precautions 1 Design precautions 1 Never exceed the absolute maximum ratings even for a very short time 2 Take precautions against the influence of heat in the environment and keep the temperature around the LSI as cool as possible 3 Please note that ignoring the following may result in latching up and may cause overheating and smoke Do not apply a voltage greater than the absolute maximum rating voltage Please consider the voltage drop timing when turning the power ON OFF Be careful not to introduce external noise into the LSI Hold the unused input terminals to 3 3V or GND level Do not short circuit the outputs Protect the LSI from inductive pulses caused by electrical sources that generate large voltage surges and take appropriate precautions against static electricity 4 Provide external circuit protection components so that overvoltages caused by noise voltage surges or static electricity are not fed to the LSI 2 Precautions for transport
283. tely or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly or make a deceleration stop when feeding at high speed COUNTER reset timing When finishing counting the EZ pulses 70 0110 Origin return operation 6 RENV3 WRITE After the EL input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis 7 0 will start feeding in the opposite direction at RFA constant speed When the EL signal turns OFF the axis will stop instantly when the LSI finishes Oe LB counting the EZ pulses COUNTER reset timing When the EL input is OFF 0111 Origin return operation 7 After the EL signal turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFA constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When stopped by finishing counting the EL pulses 1000 Origin return operation 8 After the EL signal turns ON when feeding at constant speed t
284. terpolation synchronized with PA PB Dummy circular interpolation er ee ee ee a Setting optional items 7 MENI 1 When the pre register is set the PCL will not output an INT signal even if IEND becomes 1 8 MSDE 0 SD input will be invalid Checking can be done with sub status SSTSW or extended status RSTS 1 Decelerates deceleration stop by turning ON the input 9 MINP 0 Delay using an INP input will be disabled Checking can be done with sub status SSTSW or extended status RSTS 1 Completes operation by turning ON the INP input 10 MSMD Specify an acceleration deceleration type for high speed feed 0 Linear accel decel 1 S curve accel decel 11 MCCE 1 Stop COUNTER1 command position This is used to move a mechanical part without changing the PCL control position 12 METM Specify the operation completion timing 0 End of cycle 1 End of pulse When using the vibration reduction function select End of pulse 13 MSDP Specify the ramping down point for high speed feed 0 Automatic setting 1 Manual setting Effective for positioning operations and linear interpolation feeding 14 MPCS 1 While in automatic operation control the number of pulses after the PCS input is turned ON Override 2 for the target position 15 MIPF 1 Make synthetic speed constant while performing interpolation feeding 16 to 17 MSNO to 1 When you want to control an operation block
285. the comparators Example 2 Use COUNTER1 command position and Comparator 1 to start the X axis when the Y axis 1000 1 Set MSYO to 1 bits 18 to 19 in the Y axis PRMD to 10 Start from an internal synchronous signal 2 Set SYIO to 1 bits 20 to 21 in the X axis RENV5 to 01 Use an internal synchronous signal from the Y axis 3 Set SYOO to 3 bits 16 to 19 in the Y axis RENV5 to 0001 Output an internal synchronous signal when the Comparator 1 conditions are satisfied 4 Set C1C0 to 1 bits 0 to 1 in the Y axis RENV4 to 00 Comparator 1 comparison counter is COUNTER1 5 Set C1S0 to 2 bits 2 to 4 in the Y axis RENV4 to 001 Comparison method Comparator 1 Comparison counter 6 Set C1D0 to 1 bits 5 to 6 in the Y axis RENV4 to 00 Do nothing when the Comparator 1 condition are satisfied 7 Set the RCMP1 value of the Y axis to 1000 Comparison counter value of Comparator 1 is 1000 8 Write start commands for the X and Y axes The timing chart below shows the period after the Comparator 1 conditions are satisfied and the X axis starts OUTy Y axis command position counter value CP1y DP OUTx X axis command position counter value Note In the example above even if the Y feed amount is set to 2000 and the X feed amount is set to 1000 the X axis will be 1 when the Y axis position equals 1000 Therefore the operation complete position will be one pulse off for both the X and Y axes In order to make the operati
286. the counter values Comparators 1 to 4 can be used as comparison counters and can be assigned as COUNTERS 1 to 4 Comparator 5 can be assigned as COUNTER 1 to 4 a positioning counter or to track the current speed There are many comparison methods and four processing methods that can be used when the conditions are met Specify the comparator conditions in the RENV4 environment 4 and RENV5 environment 5 registers By using these comparators you can perform the following Use comparators for INT outputs external output of comparison data and for internal synchronous starts Immediate stop and deceleration stop operations Rewrite operation data with pre register data used to change speed while operating Software limit function using Comparators 1 and 2 Ring count function using COUNTER1 command position and Comparator 1 Ring count function using COUNTER2 mechanical position and Comparator 2 Detect out of step stepper motors using COUNTER3 deflection and a comparator Output a synchronous signal IDX using COUNTER4 general purpose and a Comparator 4 Comparator 5 is equipped with a pre register It can also output an INT signal as event interrupt cause when the comparator s conditions are satisfied Comparison data Each comparator can select the data for comparison from the items in the following table Comparison data Comparator 1 Comparator 2 Comparator 3 _ Compar
287. the deceleration stop command 49h is written to the register motion of an axis starts deceleration 1 Write high speed start command 2 53h 2 Start deceleration when a ramping down point is reached or by writing a deceleration stop command 4Ah If the ramping down point is set to manual MSDP 1 in the PRMD and the ramping down value PRDP is zero the axis will stop immediately 90 10 2 Speed pattern settings Specify the speed pattern using the registers pre registers shown in the table below If the next register setting is the same as the current value there is no need to write to the register again Pre register Description ene Setting range register PRMV Positioning amount 28 ecco pean RMV PRFL Initial speed 16 1 to 65 535 OFFFFh RFL PRFH Operation speed 16 1 to 65 535 OFFFFh RFH PRUR Acceleration rate 16 1 to 65 535 OFFFFh RUR PRDR Deceleration rate Note 1 16 0 to 65 535 OFFFFh RDR PRMG Speed magnification rate 12 2 to 4 095 OFFFh RMG PRDP Ramping down point 24 0 to 16 777 215 OFFFFFFh RDP PRUS S curve acceleration range 15 O to 32 767 7FFFh RUS PRDS S curve deceleration range 15 Oto 32 767 7FFFh RDS Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleration factors Acceleration rate Set in PRUR Deceler
288. the process and wait for other axis s stopping that means the change from operating to stopping does not occurs The MAX setting cannot include the own axis itself PCL6045BL mode When start when another axis stops is specified as the start condition for the next operation in a specific pre register the working axis itself can be included in the MAX setting Example Settings Operation mode for the X axis in initial operation MSYO to 1 00 MAXO to 3 0000 Operation mode calling for the X axis in the next operation MSYO to 1 11 MAXO to 3 0011 Operation mode for the Y axis in initial operation MSYO to 1 00 MAXO to 3 0000 Operation mode calling for the Y axis in the next operation MSYO to 1 11 MAXO to 3 0011 X axis positioning operation time gt Y axis positioning operation time 136 1 When the PCL6045 compatible mode SMAX 0 is selected Stopping X axis Operating Initial operation Next operation Y axis Stopping Operating 2 When the PCL6045BL mode SMAX 1 is selected X axis Stopping gt Operating Initial operation Next operation Stopping Y axis Initial operation Next operation When using continuous interpolation without changing the interpolation axes you may set the next operation in the pre register you don t need to specify any stop conditions rather using the start when another axis stops function The set
289. timing when the DR input turns ON At the start the data in the RMV register is loaded into the positioning counter When the DR input is ON the LSI will output pulses and the positioning counter will start counting down pulses When the positioning counter value reaches zero the PCL stops operation Even if the DR input is turned OFF or ON again during the operation it will have no effect on the operation If you make the RMV register value 0 and start a positioning operation the PCL will stop operation immediately without outputting any command pulses Turn ON the DR signal to feed in the positive direction Turn ON the DR signal to feed in the negative direction By turning ON the EL signal corresponding to the feed direction the axis will stop operation and issue an error interrupt INT output 68 9 5 Origin position operation mode The following six zero position operation modes are available MOD Operation mode Direction of movement 10h Origin return operation Positive direction 18h Origin return operation Negative direction 12h Leaving the origin position operation Positive direction 1Ah Leaving the origin position operation Negative direction 15h Origin position search operation Positive direction 1Dh Origin position search operation Negative direction Depending on the operation method the origin position operation uses the ORG EZ or EL inputs Specify the input logi
290. ting 1 An INT signal can be output as an event interrupt cause when a CLR signal is input Action when the CLR signal turns ON RENV3 WRITE lt Set CU1C to 4C bit 16 to 19 in the RENV3 gt 93 16 CU1C bit 16 1 Reset COUNTER1 command position CU2C bit 17 1 Reset COUNTER2 mechanical position eel coe ae n ny Ay A CU3C bit 18 1 Reset COUNTERS deflection CUAC bit 19 1 Reset COUNTER4 general purpose Action when an origin return is complete RENV3 WRITE lt Set CU1R to 4R bit 20 to 23 in RENV3 gt 93 16 CU1R bit 20 1 Reset COUNTER1 command position CU2R bit 21 1 Reset COUNTER2 mechanical position ny Ay Ay AY ce CU3R bit 22 i Reset COUNTERS deflection CUAR bit 23 1 Reset COUNTER4 general purpose Setting when latched lt Set CU1L to 4L bits 24 to 27 in RENV5 gt RENV5 WRITE CU1L bit 24 1 Reset COUNTER1 command position 31 24 CU2L bit 25 1 Reset COUNTER2 machine position CU3L bit 26 1 Reset COUNTER3 deviation 0 0 of of nf nj nj in CUAL bit 27 1 Reset COUNTER4 general purpose Action for the CLR signal lt Set CLR 0 to 1 bit 20 to 21 in RENV1 gt RENV1 WRITE 00 Clear on the falling edge 10 Clear on a LOW level 23
291. tings are shown in Example 2 below The example below describes only the items related to the operations The settings for speed and acceleration are omitted Example 2 How to set up a continuous interpolation X Y axis circular interpolation followed by an X Y axis linear interpolation without changing the interpolation axes Step Register X axis Y axis Description PRMV 10000 10000 X and Y axes perform an circular 1 PRIP 10000 0 interpolation operation of a 90 curve with a PRMD 0000_0064h 0000_0064h radius of 10000 Start command Write 0351h FH constant speed start X and Y axes start command PRMV 10000 5000 X and Y axes perform a linear interpolation 1 2 PRMD 0000_0061h 0000_0061h with an end point 1000 5000 Start command Write 0351h FH constant speed start X and Y axes start command After the settings above are complete the LSI will execute a continuous operation in the order shown below 1 The X and Y axes perform a CW circular interpolation operation of a 90 curve with a radius of 10000 2 The X and Y axes perform a linear interpolation 10000 5000 Precautions are needed for continuous interpolation operations that change a plane containing interpolated axes using the pre register function Basically to change a plane containing interpolated axes enter dummy operation data for all the axes positioning operations with the feed amount set to 0 and then write the i
292. tputs a one shot pulse of 8 reference clock cycles in length from the CSTP O7h terminal The CSTP terminal is bi directional It can input the output signal again 11 9 Emergency stop This LSI has a CEMG input terminal for use as an emergency stop signal While in operation if the CEMG input goes LOW or if you write an emergency stop command all the axes will stop immediately While the CEMG input remains LOW no axis can be operated The logical input of the CEMG terminal cannot be changed When the axes are stopped because the CEMG input is turned ON the LSI will output an INT signal By reading the REST register the cause of the error interruption can be determined The status of the CEMG terminal can be monitored by reading the REST register extension status Read the CEMG signal lt SEMG bit 7 in RSTS gt RSTS READ 0 The CEMG signal is OFF 7 0 1 The CEMG signal is ON n Read the cause of an error interrupt lt ESEM bit 9 in REST gt REST READ 1 Stopped when the CEMG signal is turned ON 15 8 eee ean eee nl Emergency stop command lt Operation command CMEMG gt Stop command The operation is the same as when a CEMG signal is input 05h Note In a normal stop operation the final pulse width is normal However in an emergency stop operation the final pulse width m
293. urpo OTPW 0 7 General purpose output port P18 se port name 2 when Change status of general purpose output port valid only for the OIE Byte map name using a Z80 output specified bits PIG 2 when OTPW Word map using an Change status of general purpose output port valid only for the P16 name 8086 output specified bits OUTu Terminal name 145 Motor driving pulse signals for U axis P9 104 OUTx Terminal name 57 Motor driving pulse signals for X axis P9 104 OUTy Terminal name 78 Motor driving pulse signals for Y axis P9 104 OUTz Terminal name 122 Motor driving pulse signals for Z axis P9 104 POL Register bit RENV2 16 Set output logic of PO terminal P24 41 POu FUPU Terminal name 153 General purpose port O for the U axis Monitor output during P10 41 acceleration POx EUPx Terminal name 52 General purpose port 0 for the X axis Monitor output during P10 41 acceleration POy FUPy Terminal name 89 General purpose port 0 for the Y axis Monitor output during P10 41 acceleration P0z FUPz Terminal name 116 General purpose port 0 for the Z axis Monitor output during P10 41 acceleration P1u FDWu Terminal name 154 General purpose port 1 for the U axis Monitor output during P10 41 acceleration P1x FDWx Terminal name 53 General purpose port 1 for the X axis Monitor output during P10 41 acceleration P1y FDWy Terminal name 90 General purpose port 1 for the Y axis Monitor output during P10 41 acceleration P4z FDWz Termina
294. us of the pre registers and the possible PFM values are as follows Procedure 2nd pre register 1st pre register Working register PFM SPRF Initial status A 00 0 Undetermined Undetermined Undetermined Data 1 is Data 1 is Data 1 is mats Operon Dala undetermined undetermined undetermined 00 i Data 1 is Data 1 is Data 1 is Willey Stan comman undetermined undetermined determined 01 0 Write Operation Data 2 and a Data 2 is Data 2 is Data 1 is 40 0 Start command while in operation undetermined determined determined Write Operation Data 3 and Start Data 3 is Data 3 is Data 1 is 11 1 command while in operation determined determined determined The operation using Operation Data 3 is Data 3 is Data 2 is 10 0 Data 1 is complete undetermined determined determined Also by setting an event interrupt cause in the RIRQ register IRNM the PCL can be set to output an INT signal as the 2nd pre register changes from determined to undetermined status when the operation is complete Note When you want the next operation to start automatically using the pre registers set the operation completion timing to cycle completion METM 0 on PRMD When pulse completion METM 1 on PRMD is set the time between the last pulse and next operation start pulse will be as little as 15x Tox Tex Reference clock cycle For details see 11 3 2 Control the output pulse width and operation completion timing
295. use register you can determine which axis actually stopped with an error SD input When SD input is enabled MSDE bit 8 in the PRMD register is set to 1 and if the SD input turns ON on any axis interpolated all axes will decelerate or decelerate and stop Idling control If any axis is in idling range none of the axes being interpolated will accelerate Correction function When a direction is changed by switching of quadrants during circular interpolation backlash correction and slip correction control cannot be used Continuous interpolation The PCL can use the pre register to make a continuous linear interpolation or circular interpolation However when the axes being interpolated change during a continuous interpolation special care is required An example of the settings for continuous interpolation using the pre register is shown in section 11 14 1 Start triggered by another axis stopping 89 10 Speed patterns 10 1 Speed patterns Speed pattern Continuous mode Positioning operation mode FL constant speed operation f FL 1 2 1 Write an FL constant speed start command 50h 2 Stop feeding by writing an immediate stop 49h or deceleration stop 4Ah command 1 Write an FL constant speed start command 50h 2 Stop feeding when the positioning counter reaches zero or by writing an immediate stop 49h or deceleration stop 4Ah command FH constant speed ope
296. utputs an IDX signal while COUNTER4 RCMP4 23 16 1 Outputs an IDX signal for two CLK cycles when COUNTER reaches 0 by counting 0 a ee ee Note While IDXM 1 writing a 0 to COUNTER4 or resetting COUNTER4 will not output an IDX signal The setting in IDXM is effective only when C4S0 to C4S3 are set to 1000 1001 or 1010 synchronous signal output Output example 1 IDXM 0 Level output Note When IDXM synchronous signal output is set to 0 and IDX outputs C4S0 to C4S3 are set to 1001 or 1010 use a count range for the RCMP4 counter that is gt 2 Regardless of the feed direction the PCL will output the IDX signal using negative logic for the output pulses Counting range 0 to 4 Settings RENV2 00002000h RENV3 00000000h RENV4 23000000h RCMP4 4 DIR OUT P6n CP4n COUNTER4 0 X 1X 2X 3X 4X OX 1X 2X 3X 4X OX 1X OX 4X 3X 2X IX OX 4X 3X 2X IX OX 4X 3 Output example 2 IDXM 1 Count output Regardless of the feed direction the PCL will output the IDX signal using negative logic for the output pulses Counting range 0 to 4 Settings RENV2 00002000h RENV3 00000000h RENV4 23800000h RCMP4 4 DIR OUT P6n CP4n COUNTER4 0 X 1X 2X 3X 4X OX 1X 2X 3X 4X OX 1 X OX 4X 3X 2X 1X OX 4X 3X X IX O
297. ve deceleration with a linear range MSMD 1 in the PRMD register and PRDS register gt 0 PRFH PRFL 2 x PRDS x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 159 PRMG Magnification rate register 12 bit Specify the relationship between the PRFL and PRFH settings and the speed in the range of 2 to 4 095 OFFFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows Reference clock frequency Hz PRMG 1 x 65536 Magnification rate Magnification rate setting example when the reference clock 19 6608 MHz Output speed unit pps Setting Magnification Output speed Setting Magnification Output speed range rate range rate 2999 OBB7h 0 1 0 1 to 6 553 5 59 3Bh 5 5to 327 675 1499 5DBh 0 2 0 2 to 13 107 0 29 1Dh 10 10 to 655 350 599 257h 0 5 0 5 to 32 767 5 14 OEh 20 20 to 1 310 700 299 12Bh 1 1 to 65 535 5 5h 50 50 to 3 276 750 149 95h 2 2 to 131 070 2 2h 100 100 to 6 553 500 PRDP Ramping down point register 24 bits Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the value specified in the PRDP varies according to the ramping down poi
298. xes perform a linear interpolation 10000 5000 0 To synchronize stop timing the Z axis performs operation with feed amount 0 in interpolation 2 The Xand Y axes perform a 90 linear circular interpolation with a radius of 10000 in CW direction The Z axis performs a dummy circular interpolation 3 The X Y and Z axes perform a linear interpolation 10000 0 5000 To synchronize stop timing the Y axis performs operation with feed amount 0 in interpolation Like the above setting interpolation operation allow performing continuous interpolation operation Continuous operation with 4 axes using the X and Y axes for circular interpolation and the Z and U axes for dummy circular interpolation can be available 142 11 15 Output an interrupt signal This LSI can output an interrupt signal INT signal There are 17 types of errors 19 types of events and change from operating to stopping that can cause an INT signal to be output All of the error interrupt causes will always output an INT signal Each of the event causes can be set in the RIRQ register to output an INT signal or not A stop interrupt is a simple interrupt function which produces an interrupt separate from a normal stop or error stop For a normal stop interrupt to be issued the confirmation process to read the RIST register is necessary as described in the Cause of an Event section If your system needs to provide a stop interrupt only when a stop occurs it i
299. xis COMBO Seta command code For details see 7 Commands Operation and Control commands SELx to u Select an axis for executing the command If all of the bits are 0 only the own axis selected by A4 A3 is selected To write the same command to more than one axis set the bits of the selected axes to 1 When you write to a register the details of the input output buffer are written into the register for each axis When you read from a register the details in the register are written into the input output buffer for each axis COMW 6 5 2 Write to an output port OTPW OTPB Specify output terminal status from the general purpose I O terminals PO to P7 Bits corresponding to terminals not set as outputs are ignored When writing a word the upper 8 bits are ignored However they should be set to 0 for future compatibility OTPO0 to 7 Specify the status of output terminals POn to P7n n x y Z u A HIGH is output when the bit is set to 1 OTPW l OTPB Ea e Sean a es e ono eo S 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 OTP7 OTP6 OTP5 OTP4 OTP3 OTP2 OTP1 OTPO 6 5 3 Write read the input output buffer BUFW BUFB When you want to write data into a register after placing the data in the input output buffer write a register write command into COMBO The data in the input output buffer will be copied into the register When you want to read data from a register write a regist
300. y turning ON the EL signal ESML 1 Stop by turning ON the EL signal me A Setting the EL input filter lt Set FLTR bit 26 in RENV1 gt RENV1 WRITE 1 Apply a filter to the EL input 31 24 Apply a filter and any signals shorter than 4 usec pulse width are ignored asses Note 1 Operation after turning ON the EL signal may be different from the above for the origin return operation 9 5 1 the origin search operation 9 5 3 and the EL or SL operation mode 9 6 See the description of each operation mode 107 11 5 2 SD signal If the SD signal input is disabled by setting MSDE in the PRMD register operation mode to 0 the SD signal will be ignored If the SD signal is enabled and the SD signal is turned ON while in operation the axis will 1 decelerate 2 latch and decelerate 3 decelerate and stop or 4 latch and perform a deceleration stop according to the setting of SDM and SDLT in the RENV1 register environment setting 1 1 Deceleration lt SDM bit 4 0 SDLT bit 5 0 in RENV1 register gt While feeding at constant speed the SD signal is ignored While in high speed operation the axis decelerates to the FL speed when the SD signal is turned ON After decelerating or while decelerating if the SD signal turns OFF the axis will accelerate to the FH speed If the SD signal is turned ON when the high speed command is written the axis will operate at F

PCL6045BL User`s manual 090916

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