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MCX314As User`s Manual

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1. 79 4 15 Data Read Register RR6 RR7 79 5 Command Lists 80 6 Commands for Data Writing 82 6 1 Range Setting 82 6 2 Jerk Setting 83 6 3 Acceleration Setting 83 6 4 Deceleration Setting 84 6 5 Initial Speed Setting 84 6 6 Drive Speed Setting 85 6 7 Output Pulse Number Interpolation Finish Point Setting 85 6 8 Manual Decelerating Point Setting 86 6 9 Circular Center Setting 86 6 10 Logical Position Co
2. 67 4 2 Register Address by 8 bit Data Bus 68 4 3 Command Register WRO 69 4 4 Mode Register1 WR1 69 4 5 Mode Register2 WR2 70 4 6 Mode Register3 WR8 72 4 7 Output Register WR4 73 4 8 Interpolation Mode Register WR5 74 4 9 Data Register WR6 WR7 75 4 10 Main Status Register RRO 75 4 11 Status Register 1 RR1 76 4 12 Status Register 2 RR2 77 4 13 Status Register 3 RRB 78 4 14 Input Register RR4 RR5
3. 99 10 Other Commands 100 10 1 Automatic Home Search Execution 100 10 2 Deviation Counter Clear Output 100 10 3 Synchronous Action Activation 100 10 4 NOP for Axis Switching 100 11 Connection Examples 101 11 1 Connection Example for 68000 CPU 101 11 2 Connection Example for Z80 CPU 101 11 3 Example of Connection with H8 CPU 102 11 4 Connection Example 103 11 5 Pulse Output Interface 103 11 6 Connection Example for Input Signals 104 11 7 Connection Example for Encoder
4. 8 2 2 3 Non Symmetrical Trapezoidal Acceleration 9 2 2 4 S curve Acceleration Deceleration Driving 11 2 2 5 Non symmetrical S Curve Acceleration Deceleration 13 2 2 6 Pulse Width and Speed Accuracy 15 2 3 Position Control 16 2 3 1 Logic Position Counter and Real position Counter 16 2 3 2 Compare Register and Software Limit 16 2 3 3 Position Counter Variable Ring 17 2 3 4 Clearing a Real Position Counter Using an External Signal 17 2 4 Interpolation 19 2 4 1 Linear Interpolation 19 2 4 2 Circular Interpolation 21 2 4 3 The Bit Pattern Interpolation 23 2 4 4 Constant Vector Speed 27 2 4 5 Continuou
5. 115 NOVA electronics Inc MCX314As M116 13 2 3 BUSYN Signal sik NNS Nf AN NA A S WRN BUSYN Hiz DF It is low when BUSYN is active And BUSYN is low after 2 SCLK cycles when WRN f active mooo g e tDF WRN t gt BUSYN Delay Time tWL BUSYN Low Level Width tCYCx4 30 nS tCYC is a cycle of CLK 13 2 4 SCLK Output Signal Timing The following output single is synchronized with SCLK output signal The level at ACLK f will be changed Output signals nPP PLS nPM DIR nDRIVE nASND nDSND nCMPP and nCMPM SCLK Output Signal tD tDD SCLK t Output Signal t Delay Time o ae ee 13 2 5 Input Pulses E Quadrature Pulses Input Mode A B phases nECA nECB nPPIN nPMIN a In A B quadrature pulse input mode when nECA and nECB input pulses are changed the value of real position counter will be changed to the value of those input pulses changed after the period of longest SCLK4 is passed b In UP DOWN pulse input mode the real position counter will become the value of those input pulses changed after the period between the beginning of nPPIN nPMIN f and the time of SCLK 4 cycle is passed nECA and nECB Phase Difference Time tCYCx2 20 nPPIN and nPMIN Hi Level Width tCYCx2 20 nPPIN and nPMIN Low Level Width tCYCx2 20 nPPIN and nPMIN Cycle tCYCx4 20 nPPIN t lt nPMIN ft between Time tCYCx4 20 tCYC is a cycle of CLK
6. Acceleration Deceleration gt time Fig 2 14 The rule of 1 12 of Parabolic Acceleration Deceleration NOVA electronics Inc MCX314As M12 Therefore the total the number of pulse p t from time 0 to t is the integrated of speed p t 1 3 x at The total output pulse is 1 3 2 3 1 2 3 1 1 3 x a 4 at so p t 1 12 total pulse output Therefore when the output pulse in acceleration of S curve is more than 1 12 of total output pulse MCX314As will stop increasing acceleration and start to decrease the acceleration value E The Decelerating Stop for Preventing the Triangle Driving Profile in S curve Driving When the decelerating stop is commanded or when the external Speed signals IN3 IN0O are active during the S curve acceleration deceleration driving the acceleration is decreasing then the deceleration starts when the acceleration reaches 0 time Constraints for S curve Acceleration Deceleration Ae Decrease the Acceleration value Acceleration 4 Driving Deceleration a The drive speed cannot be changed during the fixed pulse S curve acceleration deceleration driving E b When the fixed pulse S curve acceleration deceleration 1 aa for Deceleration N Ime driving is performed the change of the numbers of output 3 Acc become zero Dec begins pulse during the deceleration will not result a normal S curve Fig 2 15 The rule of 1 12 of Parabolic drivi
7. Procedure A same procedure for segments 4 8 2 4 6 The Acceleration Deceleration Control in Interpolation Different from other IC chips only allowing constant speed for executing the interpolations MCX314As supports the user to use trapezoidal and S curve driving for linear interpolation only In the process of interpolation for executing acceleration deceleration in continuous interpolation process the user can enable the deceleration by command 3Bh or disable deceleration by command 3Ch The purpose for the deceleration command is to enable the automatic deceleration or manual deceleration function the purpose of the disable deceleration command is to disable both of them It will be disable while power on reset During the driving the deceleration enable command cannot be executed E The Acceleration Deceleration for 2 axis 3 axis Interpolation It is possible to perform trapezoidal and S curve acceleration deceleration driving during the execution of 2 axis 3 axis linear interpolation Either automatic or manual deceleration can be used for decelerating When the manual deceleration is executed the user can set the maximum absolute value of the axes to be the setting value of master axis decelerating point For instance while executing 3 axis linear interpolation of master axis axl X ax2 Y and ax3 Z the finish point X 20000 Y 30000 Z 50000 and the assumed pulse numbers needed for d
8. 104 12 Example Program 105 13 Electrical Characteristics 114 13 1 DC CharacteristiCS 114 13 2 AC Characteristics 115 13 2 1 Clock a a E 115 13 2 2 Read Write Cycle 115 13 2 3 BUSYN Signal ono nono nnn nnn 116 13 2 4 SCLK Output Signal Timing 116 13 2 5 Input Pulses 116 13 2 6 General Purpose Input Output Signals 117 14 Timing of Input Output Signals 118 14 1 Power On Reset 118 14 2 Fixed Pulse or Continuous Pulse Driving 118 14 3 Interpolation 119 14 4 Start Drivin
9. All axes home search X axis home search Step1 Near home INO signal high speed search in the direction at 20 000pps Step2 Home IN1 signal low speed search in the direction at 500pps Step3 Z phase IN2 signal low speed search in the direction at 500pps Deviation counter clear output at Z phase search Step4 3500 pulse offset high speed drive in the direction at 20 000pps Y axis home search Step1 Near home INO signal high speed search in the direction at 20 000pps Step2 Home IN1 signal low speed search in the direction at 500pps Step3 Z phase IN2 signal low speed search in the direction at 500pps Deviation counter clear output at Z phase search Step4 700 pulse offset high speed drive in the direction at 20 000pps Z axis home search Step1 High speed search None Step2 Home IN1 signal low speed search in the direction at 400pps Step3 Z phase search None Step4 20 pulse offset drive in the direction at 400pps U axis home search Step1 High speed search None Step2 Home IN1 signal low speed search in the direction at 300pps Step3 Z phase search None Step4 Offset drive None void homesrch void X and Y axes home search parameter setting See the initial setting of main for mode setting speed 0x3 2000
10. Start Point O 0 Center Point Center Point 1000 1000 2 x 0 0 Finish Point O 2000 Finish Point E Bit Pattern Interpolation This interpolation driving receives for each axis in 16 bit units interpolation data that was converted to bit patterns through the operation by the upper level CPU and outputs interpolation pulses consecutively at the specified drive speed This function enables drawing of various loci created by the upper level CPU E Continuous Interpolation Different interpolation methods can be used continuously linear interpolation circular interpolation linear interpolation The maximum drive speed of performing continuous interpolation is 2 MHz 1500 0 0 gt 4500 6000 E Constant Vector Speed Control This function performs a constant vector speed During the interpolation driving MCX314As can set a 1 414 times pulse cycle for 2 axis simultaneous pulse output and a 1 732 time pulse cycle for 3 axis simultaneous pulse output 1 000ms 1 414 1 000 1 414ms T e 1 414ms 1 000mMS 4 a E XPM YPP a m YPM Example of Pulse Output of 2 Axis Interpolation Constant Vector Speed Vector speed 1000pps E Position Control Each axis has a 32 bit logic position counter and a 32 bits real position counter The logic position counter counts the number of output pulse and the real position counter counts the feedback number of pulse from the ex
11. Bit Name Input Signal Bit Name Input Signal n INO nINO n EX nEXPP n IN1 nIN1 n EX nEXPM n IN2 nIN2 n INP nINPOS n IN3 nIN3 n ALM nALARM 4 15 Data Read Register RR6 RR7 According to the data read command the data of internal registers will be set into registers RR6 and RR7 The low word 16 bits D15 DO is set in RR6 register and the high word 16 bits D31 D16 is set in RR7 register for data reading L DS D4 D3 D2 D1 H D15 D14 D13 D12 D11 D10 RD7 RD6 RDS RD4 RD3 RD2 RD1 RDO RRG RD15 RD14 RD13 RD12 RD11 RD10 RD9 RD8 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR7 RD31 RD30 RD29 RD28 RD27 RD26 RD25 RD24 RD23 RD22 RD21 RD20 RD19 RD18 RD17 RD16 The data is binary formatted 2 s complement is for negatives 79 NOVA electronics Inc 5 Command Lists E Write Commands MCX314As M80 Code Command Symbol Data Range Data Length 00h Range setting R R 8 000 000 multiple 1 4 bytes 16 000 multiple 500 04 Jerk setting K 1 65 535 2 Acceleration increasing rate 02 Acceleration setting A 1 8 000 2 03 Deceleration setting D 1 8 000 2 04 Initial speed setting SV 1 8 000 2 05 Drive speed setting V 1 8 000 2 ay Output pulse numbers 0 268 435 455 finish 06 Output pulse numbers finish point
12. RRO D7 4 1 nRR2 D3 2 1 nRR1 D13 12 1 The limit signal in the positive direction LMTP M is activated in Step 4 The offset action stops instantly by decelerating and the operation stops RRO D7 4 1 nRR2 D3 2 1 nRR1 D13 12 1 The IN2 signal is already active at the start of Step 3 Operation stops without executing the following steps RRO D7 4 1 nRR2 D7 1 Always check the error bits RRO D7 to D4 of each axis after termination of automatic home search When automatic home search is not performed correctly the error bit is set to 1 It is not recommended to monitor the error bit of each axis during execution of automatic home search This is because the error bit indicates 1 in spite of normal operation when the limit signal in the search direction is set in irregular operation of Step 1 or 2 E Symptom at sensor failure This section describes the symptoms when a failure occurs regularly in the sensor circuit such as a home search signal or a limit signal Analysis of intermittent failures caused by noise around the cable path loose cable or unstable operation of the device is difficult and such failures are not applicable to this case These symptoms may occur due to a logical setting error or signal wiring error at the development of a customer system 39 NOVA electronics Inc MCX314As M40 Failure cause Symptom Failure in the device of the Kept ON The axis does not advance to the dir
13. t 0 4sec time K Ly _ Vv sv Unit 2 2 2 Jerk k pps sec Drive Speed v pps _ 4v sv Initial Speed sv pps t2 Acceleration time t sec 4 40000 100 5 997 500 pps sec 0 4 k Therefore the following parameters must be set in this IC 42 gt NOVA electronics Inc MCX314As M13 WR3 0004h Mode setting of the WR3 register Range R 800000 Multiple 10 Jerk K 627 62 5x10 k xMultiple 62 5x10 997500 x10 Acceleration A 8000 Fixed to the maximum value Initial Speed SV 10 100 10 10 Drive Speed V 4000 40000 10 4000 Number of output pulse P 25000 Set when fixed pulse driving is performed Acceleration counter offset AO 0 2 2 5 Non symmetrical S Curve Acceleration Deceleration As shown in Fig 2 16 a non symmetrical S curve can be created by setting an jerk and a deceleration increasing rate individually in Drive Speed S curve acceleration deceleration driving However for fixed pulse driving a deceleration point must be specified manually since automatic deceleration is prohibited Since a triangle form prevention Speed 4 function 1 12 rule is not supported either Pe Speed gt a drive speed must be set according to the TS Acceleration 4 acceleration Deceleration Jerk K D cdl raion deceleration increasing rate and the number of output pulses To perform non symmetrical S curve acceleration deceleration driving set the
14. CMOS and TTL can be connected The user should open or pull up with 5V if the input is not used The signal with F symbol has an integral filter circuit in the internal input column of this IC See Section 2 8 for the filter function Output A It is CMOS level output 4mA driving buffer Hi level output current IOH 4mA VOH 2 4Vmin Low level output current IOL 4mA VOL 0 4Vmax Up to 10 LSTTL can be driven Output B It is open collector type output 4mA driving buffer Low level output current I OL 4mA VOL 0 4Vmax Pull up to 5V with high impedance if this output is used Bi directional Input side is TTL Smith trigger Because there is no pull high resister for those signals in this IC the user should pull up the data bus with high impedance The user should pull up to 5V with high impedance about 100 kQ when bits D15 D8 are not used Output side is CMOS level output 8mA driving buffer Hi level output current IOH 8mA VOH 2 4Vmin Low level output current IOL 8mA VOL 0 4Vmax 65 NOVA electronics Inc MCX314As M66 E Notes for the Design of Circuitry a De coupling Capacitor Please connect VDD and GND with one or two De coupling capacitors about 0 1uF b Noise Generated by Terminal Induction The noise will exist because the inductance is in these pins The user can add a capacitor 10 100pF to pins to reduce the noise c Reflection on Transfer Path The load capacity for outputting types A
15. E Up down pulse input mode By setting the D9 PINMD bit of the WR2 register to 1 a counter up down pulse input mode can be set nECA PPIN is count up input and nECB PMIN is count down input The counter counts at the rising edge of the positive pulse NECA PPIN nECB PMIN Count up Count down Use the D9 PINMD bit of the WR2 register for selecting a pulse input mode and the D11 and D10 PIND1 0 bits to set the division ratio of encoder 2 phase pulse input Note Time specification is applied to the pulse width and pulse cycle of input pulses See Section 13 2 5 Input Pulse of Chapter 13 2 9 4 Hardware Limit Signals Hardware limit signals nNLMTP and nLMTM are used for stopping the pulse output if the limit sensors of and directions are triggered When the limit signal and also the logical level are active the command of sudden stop or decelerating stop can be set by bits D3 and D4 HLMT HLMT and D2 LMTMD of register WR2 2 9 5 Interface to Servo Motor Drivers Enable Disable and logical levels of the input signals for connecting servo motor drivers such as nINPOS in position input signal and nALARM alarm input signal can be set by D15 12 bits of register WR2 nINPOS input signal responds to the in position signal of servo motor driver When enable is set and when the driving is finished nINPOS will wait for the active Then the n
16. Note the following items in regard to the storage of this IC 1 Do not throw or drop the IC Otherwise the packing material could be torn damaging the confidentiality 2 Store the IC under the temperature 30 C or lower and humidity 90 RH or lower and use the IC within 12 months 3 If the IC usage date has expired remove any dampness by backing it under the temperature 125 C for 20 hours If dampproofing is damaged before expiration apply damp removal processing also 4 Apply device corruption prevention using static electricity before applying dampness removal processing 5 After opening the dampproof package store the IC under 30 C 60 RH or lower and install it within seven days Make sure that backing processing is applied before installation of the IC that is left in the storage for a time that exceeds the expiration period as indicated above 16 2 Standard Installation Conditions by Soldering Iron The standard installation conditions for the IC by soldering iron are as follows 1 Installation method Soldering iron heating the lead section only 2 Installation conditions a 350 C for 3 seconds or less b 260 C for 10 seconds or less 16 3 Standard Installation Conditions by Solder Reflow The standard installation conditions for the IC by solder reflow are as follows 1 Installation method a Hot air solder reflow including the far middle infrared solder reflow concurrent use i b Far middle infrared so
17. deceleration riving 0 automatic deceleration 1 manual deceleration The decelerating point should be set if the manual deceleration mode is engaged D1 DSNDE Setting decelerating rate which is in accordance with the rate of the acceleration or an individual decelerating rate Set whether jerk or an individual deceleration increasing rate is used as a deceleration increasing rate at S curve acceleration deceleration driving Value of D1 Deceleration speed at Deceleration increasing rate Shape of the DSNDE linear trapezoidal at S curve acceleration deceleration acceleration deceleration acceleration deceleration curve 0 Uses the value of the Uses the value of the jerk K Symmetry acceleration speed A 1 Uses the value of the Uses the deceleration Non symmetry deceleration speed D increase speed rate L Set this bit to 0 to perform acceleration deceleration driving where acceleration and deceleration are symmetrical and set this bit to 1 to perform acceleration deceleration where acceleration and deceleration are non symmetrical Automatic deceleration cannot be performed for non symmetrical S curve acceleration deceleration fixed pulse driving In this case the DO MANLD bit must be set to 1 and a manual deceleration point DP must be set D2 SACC Setting trapezoidal driving S curve driving 0 trapezoidal driving 1 S curve driving Before S curve driving is engaged jerk K should be set 72 NOVA electr
18. 1000PPS constant speed xP 5000 Finish point 5000 Il yP 2000 Finish point 2000 2 axes linear interpolation X and Y axes circular interpolation driving I ax1 x ax2 y ax3 z Constant vector speed II ax1 R 800000 Multiple 10 II ax2 R 800000 1 414 ax1 V 100 Drive speed 1000PPS constant speed xC 5000 Center point X 5000 I1lyC 0 Center point Y 0 xP 0 Finish point X 0 full circle lyP 0 Finish point Y 0 CCW circular interpolation X and Y axes bit pattern interpolation Figure 2 32 Example Il ax1 V 1 Drive speed 10PPS constant speed Enables bit pattern data write 0 15 Writes bit patter data Stack 16 31 Writes bit data 32 47 Writes bit data Starts 2 axes BP interpolation driving II Waits for data write 48 63 Writes bit data Disables bit pattern data write Waits for termination of driving X and Y axes continuous interpolation Figure 2 37 Example ax1 V 100 Drive speed 1000PPS constant speed Il Seg 1 Waits for next data set II Seg 2 112 NOVA electronics Inc next_wait pulse 0x1 0 pulse 0x2 1500 command 0 0x30 next_wait center 0x1 1500 center 0x2 0 pulse 0x1 1500 pulse 0x2 1500 command 0 0x33 next_wait pulse 0x1 4500 pulse 0x2 0 command 0 0x30 next_wait center 0x1 0 center 0x2 1500 pulse 0x1 15
19. 14 998 XPM Delay time 5SCLK 625nsec CLK 16MHz In the above example an interrupt is generated as soon as driving of 5 000 starts canceling the synchronous action mode within the interrupt processing Without this cancellation fixed pulse driving in the direction is performed endlessly Even if driving is suspended during driving of the first 15 000 due to the limit in the direction LMTP or emergency stop EMGN driving of the next 5 000 is executed When this becomes a problem in the system operation the synchronous action function cannot be used 51 NOVA electronics Inc MCX314As M52 2 6 2 Synchronous Action Delay Time A synchronous action delay is a total of a delay from the occurrence of an activation factor and a delay up to the action as shown in the following tables E Delay from the occurrence of an activation factor 1SCLK 125nsec CLK 16MHz Activation Definition of the start of delay Delay time SCLK factor Min Standard Max P2C P LP From of the driving pulse when the LP value satisfies P lt C the comparison condition with the CMP register 1 P lt C value P2C P EP Fromt of the nECA B input signal when the EP value A B phase satisfies the comparison condition with the CMP 3 4 input register value D STA From of the WRN signal at writing of a driving command 1 2 D END From Low level termination of
20. BP direction data register for the first axis control define bp2p 0x8 BP direction data register for the second axis control define bp2m Oxa BP direction data register for the second axis control define bp3p Oxc BP direction data register for the third axis control define bp3m Oxe BP direction data register for the third axis control wreg 1 axis assignment data Write register 1 setting void wreg1 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr1 wdata wreg 2 axis assignment data Write register 2 setting void wreg2 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr2 wdata wreg 3 axis assignment data Write register 3 setting void wreg3 int axis int wdata outpw adr wr0 axis lt lt 8 Oxf axis assignment outpw adr wr3 wdata command axis assignment data For writing commands void command int axis int cmd outpw adr wr0 axis lt lt 8 cmd range axis assignment data For range R setting void range int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x00 acac axis assignment data For S curve Deceleration increasing rate L setting void acac int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x01 105 NOVA electronics
21. D13 AXIS1 x U axis activation Z axis activation Y axis activation Y X axis activation U axis activation Z axis activation Z Y axis activation X axis activation U axis activation U Z axis activation Y axis activation X axis activation H L D15 D14 D13 D12 D1 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO INT OUT o o viser OPSET EPSET LPSET EPSAV LPSAV ISTOP SSTOP CDRV CDRV FDRV FDRV J Action Each bit for specification of an action is enabled by setting to 1 and disabled by setting to 0 FDRV Activates fixed pulse driving in the direction FDRV Activates fixed pulse driving in the direction CDRV Activates continuous pulse driving in the direction CDRV Activates continuous pulse driving in the direction SSTOP Stops driving in deceleration ISTOP Stops driving immediately LPSAV Saves the current logical position counter value LP in the synchronous buffer register BR LP BR EPSA Saves the current real position counter value EP in the synchronous buffer register BR EP BR LPSET Sets the values of the WR6 and WR7 registers in the logical position counter LP LP lt WR6 7 See 3 in Section 2 6 3 Notes on Synchronous Action EPSET Sets the values of the WR6 and WR7 registers in the real position counter EP EP lt WR6 7 See 3 in Section 2 6 3 Notes on Synchronous Action OPSET Sets the values of the WR6 and WR7 registers in the pulse count P P lt WR6 7 See 3 in Section 2 6 3 Notes on Synchronous
22. Encoder B Pulse in signal for encoder phase B input This input signal together with phase A signal will make the Up Down pulse transformation to be the input count of real position counter 63 NOVA electronics Inc MCX314As M64 Signal Name Pin No Input Output Signal Description UECB PMIN 51 When the Up Down pulse input mode is selected this terminal is for DOWN pulses input Once the input pulse is up 1 the real position counter is counting down Drive Deviation Counter Clear Drive status output NDRIVE and deviation counter clear output DCC share the same pin Drive status display output nNDRIVE is set to a High level while drive pulses are output At execution of automatic home search this signal is set to a High level XDRIVE DCC 56 The axis with interpolation drive specified is set to a High level while the YDRIVE DCC 76 Output A interpolation driving is executed The DRIVE signal is set to a High level until ZDRIVE DCC 104 nINPOS becomes active while the nINPOS signal for the serve motor is enabled UDRIVE DCC 122 by mode selection A deviation counter clear output DCC signal is output for a server motor driver The signal can be output by setting the mode in automatic home search See Sections 2 5 2 and 2 5 3 At resetting the drive status display output is set General Output 7 Descend general purpose output signals XOUT7 DSND 57 After the axis is appointed by WRO register NOUT7 4 can o
23. H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR7 INT OUT o O0 VLSET OPSET EPSET LPSET EPSAV LPSAV ISTOP SSTOP CDRV CDRV FDRV FDRV L Action See Section 2 6 for details of each bit and synchronous action 90 NOVA electronics Inc MCX314As M91 7 Commands for Reading Data Data reading commands are used to read the register contents of each axis After a data reading command is written into register WRO this data will be set in registers RR6 and RR7 The host CPU can reach the data through reading registers RR6 and RR7 Reading data for registers WR6 and WR7 is binary and 2 s complement for negatives Note a It requires 250 nSEC maximum to access the command code of data reading where CLK 16MHz After the command is written and passed that time read registers RR6 and 7 b The axis assignment is for one axis If more than one axes are assigned the data reading priority is X gt Y gt Z gt U 7 1 Logical Position Counter Reading Command Symbol Data length Logical position counter reading 2 147 483 648 2 147 483 647 4 bytes The current value of logical position counter will be set in read registers RR6 and RR7 7 2 Real position Counter Reading Command Data range Data length Real position counter reading 2 147 483 648 2 147 483 647 4 bytes The current value of real position counter will be set in read registers RR6 and RR7 7 3 Current Drive
24. J gt Enablet Disable 0 gt P lt C CDRV a p e e Lasi P C CDRV e D STA gt N SSTOP a D END gt n A ISTOP a INSA E LPSAV IN3y EPSAV a e e a LPRD LPLOD e e CMD 65h EPLOD Enable1 DisableO OPLOD z Activation of Another Axes VLLOD To Y Axis AXIS1 Enable1 DisableO To Z Axis OUT AXIS2 Enable1 DisableO g Enable1 Disable O To U Axis INT AXIS3 Enable1 DisableO Enable1 Disable O gt Fig 2 41 Flow of Synchronous Action X axis 47 NOVA electronics Inc MCX314As M48 2 6 1 Example of Synchronous Action E Example 1 The Y axis is passing through the position 15 000 Starts Z direction fixed pulse drive Set the parameters and commands for this IC as follows WRE WR7 WPO WRS WR7 WRO WRS WR7 WRO WRG WR7 WRO WRS WR WPO WRE WR7 WRO WRG WR7 WRO WRS6 WR7 WRO WRG WR WRO lt WRG WR7 WRO WRO 3500h 000Ch O600h 0190h 0000h 0602h 0032h 0000h 0604h OBB8h 0000h o605h C350h oo000h 0206h 2710h o0000h 0406h 3A98h o 020Bh o o 0609h 2001h 0000h 0264h 0000h 0001h 0464h 0220h Y Z Axes Range 800 000 Multiple 10 Y Z Axes Acceleration Rate 400x125x10 500KPPS SEC Y Z Axes Initial Speed 50x10 500PPS Y Z Axes Drive Speed 3000x10 30KPPS Y Axis Output Pulse Number 50 000 Z Ax
25. nDCC signal by setting a mode at the activation of the encoder Z phase signal nIN2 in Step 3 operation For deviation counter clearing output the pin is shared between nDRIVE and DCC output signals For the clearing pulse the logical level and the pulse width within the range from 10sec to 20 sec can be specified Active Encoder Z phase IN2 f Step 3 low speed Z phase Search l Stop Deviation Counter Clear DCC F 10u 20msec Deviation counter clearing output becomes active at termination of Z phase search operation in Step 3 and Step 4 starts after completion of clearing pulse output Deviation counter clearing pulses can also be output by a single command deviation counter clear command 63h instead of an automatic home search sequence However the mode following the deviation counter clearing output must be set in advance using an extension mode setting command 60h WR7 D11 DCC E Disable enable 1 enable WR7 D12 DCC L Logical level O or 1 WR7 D15 D13 DCCW2 0 Pulse width 0 7 2 5 3 Setting a Search Speed and a Mode To perform automatic home search the following speed parameters and mode must be set E Setting speed parameters Speed parameter Command code Description High speed search speed that is applied in Steps 1 and 4 The range R acceleration A and initial speed SV must also be set to appropriate values to perform acceleration deceleration driving See Section 2 2 2 Drive spe
26. 0 Start point 0 0 Finish point 6000 5000 NOVA electronics Inc MCX314As M23 2 4 3 The Bit Pattern Interpolation This interpolation driving receives interpolation data that is created by upper level CPU and transformed to bit patterns in a block of a predetermined size and outputs interpolation pulses consecutively at the specified drive speed Every axis has 2 bit data buffers for host CPU one for direction and the other for direction When performing the bit pattern interpolation the host CPU will write the designated interpolation data for 2 or 3 axes into MCX314As If a bit in the bit pattern data from CPU is 1 MCX314As will output a pulse at the time unit if it is 0 MCX314As will not output any pulse at the time unit x For example if the user want to generate the X Y profile see Fig 2 32 the host CPU must write a set of pattern into those specific registers XPP the direction register for X axis XPM the direction register for X axis YPP and YPM the and directions registers With in the time unit MCX314As will check the registers once and decide to output a pulse or not gt Fig 2 32 Example for Bit Pattern Interpolation depending on the bit pattern lt 56 lt 48 lt 40 lt 32 lt 24 a 16 lt 8 o 01000000 OO000000 00011111 11011011 11110110 11111110 00000000 00000000 XPP X direction 01111111 11110101 00000000 00000000 00000000 00000000 0010
27. 000 in X Axis COMP WRO 010Ch WR6 0 WR7 lt 0 Clear X Axis Logical Counter LP WRO 0109h WRG 6004h WR7 0000h WRO 0164h Action of Own Axis None WRE6E 0000h WR7 0010h WRO 0664h WRO 0622h Start of Y Z Axes Direction Continuous Drive WRO lt 0121h Start of X Axis Direction Constant Drive In this example the X axis is started with fixed pulse driving in the direction after the starting of the Y and Z axes with continuous pulse driving If the X axis passes through the 320 000 pulse the X and Y axes stop by decelerating YPP ZPP 320 000 Y Z Axes s gt Decelerating Stop Decelerating Start When instant stop is specified for the synchronous actions of the Y and Z axes and the X axis passes through the 320 000 pulse the Y and Z axes stop actions instantly 49 NOVA electronics Inc MCX314As M50 E Example 3 The input signal XIN3 fell Saves position data of the X Y and Z axes In this example logical position counter values of the three axes are saved in the buffer registers BR of the axes individually at the falling of the XIN3 signal after the start of driving of the X Y and Z axes At the same time the function sets an interrupt output signal INTN to Low Active for the X axis and notifies the effect to the CPU The CPU reads the buffer contents of each axis after checking that the interrupt is caused by a synchronous action WR6E l
28. 0110 XWR3L YWR3L ZWR3L UWR3L BP1ML 0110 XRR3L YRR3L ZRR3L URR3L 0111 XWR3H YWR3H ZWR3H UWR3H BP1MH 0111 XRR3H YRR3H ZRR3H URR3H 100 0 WR4L BP2PL 100 0 RR4L 100 1 WR4H BP2PH 100 1 RR4H 1010 WR5L BP2ML 1010 RR5L 101 1 WR5H BP2MH 101 1 RR5H 1100 WR6L BP3PL 1100 RR6L 1101 WR6H BP3PH 110 1 RR6H 1110 WR7L BP3ML 1110 RR7L 1111 WR7H BP3MH 1111 RR7H 68 NOVA electronics Inc MCX314As M69 4 3 Command Register WRO Command register is used for the axis assignment and command registration for each axis in MCX314As The register consists of the bit for axis assignment bit for setting command code and bit for command resetting After the axis assignment and command code have been written to the register this command will be executed immediately The data such as drive speed setting and data writing command must be written to registers WR6 and WR7 first Otherwise when the reading command is engaged the data will be written and set through IC internal circuit to registers RR6 and RR7 When using the 8 bit data bus the user should write data into the high word byte H then low word byte L It requires 250 nSEC maximum to access the command code when CLK 16MHz The input signal BUSYN is on the Low level at this moment Please don t write the next command into WRO before BUSYN return to the Hi level H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WRO JRESET o o o U
29. 116 NOVA electronics Inc MCX314As M117 13 2 6 General Purpose Input Output Signals The figure shown at the lower left hand side illustrates the delay time when input signals nIN3 0 nEXPP nEXPM nINPOS and nALARM are read through RR4 and RRS registers The figure shown at the lower right hand side illustrates the delay time when writing general output signal data into nWR3 and nWR4 Input Signal D15 0 D15 0 nOUT7 O ap O e tDI Input Signal Data Delay Time nS tDO WRN f gt nOUT7 0 Setup Time 32 ns 117 NOVA electronics Inc MCX314As M118 14 Timing of Input Output Signals 14 1 Power On Reset 5 ee CLK P RESETN i 2 SCLK SS a BUSYN WLLL g INTN VL H lt b nPP PLS m sud pd Low nOUT O a The reset signal input to pin RESETN will keep on the Low level for at least 4 CLK cycles b When RESETN is on the Low level for 4 CLK cycles maximum the output signals of MCX314 lt As are decided c SCLK will be output after 2 CLK cycles when RESTN return to the Hi level d BUSYN keeps on the Low level for 8 CLK cycles when RESTN is on the Hi level 14 2 Fixed Pulse or Continuous Pulse Driving SCLK ecccccccce ane BUSYN nPP nPM a n nPLS m 1st Pulse 2nd Pulse cecoocoooo Final Pulse nDIR Pre state b Valid Level S A nASND af a This first driving pulses nPP nPM and nPLS will be output after 3 SCLK cycles when BUSYN is f b The nDIR direction signal is valid after 1 SCLK cycle
30. 13 2 AC Characteristics Ta 0 85 C VDD 5V 5 Output load condition 85 pF 1 TTL 13 2 1 Clock CLK Input Signal SCLK Output Signal CLK ak f S VS S ee ke 0 Se a a tCYC LDR _tDF SCLK will not be output during reset Symbol Item Min Max Unit tCYC CLK Cycle 62 5 ns tWH CLK Hi Level Width 20 ns tWL CLK Low Level Width 20 ns tDR CLK f SCLKt Delay Time 21 nS 19 ns tDF CLK f SCLK Delay Time 23 nS 25 ns 13 2 2 Read Write Cycle Read Cycle Write Cycle A2 AO Valid Address XK Valid Adress CSN RDN WRN D15 D0O a The figure shown above is used for 16 bit data bus accessing H16L8 Hi For 8 bit data bus H16L8 Low the address signals shown in the figure become A3 A0 and data signals become D7 D0 b At a read cycle the data signal D15 D0 becomes an output state as soon as both RDN and CSN become low and stays in the output state during tDF even if RDN is reset to High Avoid the occurrence of bus conflict collision Address Setup Time to RDN CSN Setup Time to RDN Output Data Delay Time from RDN Output Data Hold Time from RDN f CSN Hold Time from RDN Tf Address Hold Time from RDN Address Setup Time to WRN CSN Setup Time to WRN WRN Low Level Width Setup Time of Input Data to WRN Tf Hold Time of Input Data from WRN f CSN Hold Time from WRN 1 Address Hold Time from WRN Tf
31. 2 7 Interrupt 54 2 8 Input Signal Filter 56 2 9 Other Functions 58 2 9 1 Driving By External Pulses 58 2 9 2 Pulse Output Type Selection 59 2 9 3 Pulse Input Type Selection 60 2 9 4 Hardware Limit Signals 60 2 9 5 Interface to Servo Motor Drivers 60 2 9 6 Emergency Stop 61 2 9 7 Status Output 61 2 9 8 General Purpose Output Signal 61 NOVA electronics Inc MCX314As iv 3 Pin Assignments and Signal Description 62 4 Register 67 4 1 Register Address by 16 bit Data Bus
32. 674 326 to generate an average 490KPPS Fig 2 19 The Driving Pulse of 490KPPS According to this method MCX314As can generate a constant speed driving pulse in a very high accuracy In general the higher of the drive speed the lower of the accuracy But for MCX314As it still can maintain relative accuracy when the drive speed is high Actually the accuracy of driving pulse is still within 0 1 Using oscilloscope for observing the driving pulse we can find the jitter about 1SCLK 125nSEC This is no matter when putting the driving to a motor because the jitter will be absorbed by the inertia of motor system 2452 NOVA electronics Inc MCX314As M16 2 3 Position Control Fig 2 20 is 1 axis position control block diagram For each axis there are two 32 bit up and down counters for counting present positions and two comparison registers for comparing the present positions e PP 4direction pulse 3 gt PM direction pulse Logical Position Counter YP 32bit DOWN Real Position Counter UP 32bit DOWN Selector Wavefor m ECAYPPIN Encoder input pulse Transformation ECB PMIN WR2 Register D5 w COMP Register 32bit COMP Register 32bit Fig 2 20 Position Control Block Diagram RR1 Register DO gt RR1 Register D1 2 3 1 Logic Position Counter and Real position Counter As shown in Fig 2 20 the logic position counter is counting the driving pulses in MCX314As When one directio
33. 9 12 Deceleration Enabling Command Deceleration enabling This command enables the automatic and manual decelerations In case of the individual interpolation the user can issue this command before the driving However in continuous interpolation the user should disable the deceleration than start the driving This command should be put in the final node and written before the interpolation command of the final node is written If each axis has to decelerate individually execute this command before driving But for continuous interpolation disable the deceleration first and enable it until the last node The deceleration is disabled while resetting When the deceleration enabling command is issued the enabling status is kept until the deceleration disabling command 3C is written or the reset happens Deceleration enabling disabling is active in interpolation automatic and manual decelerations are always active when individual axis is in driving 9 13 Deceleration Disabling Command Deceleration disabling This command disables the automatic or manual deceleration in interpolation 9 14 Interpolation Interrupt Clear Command Interpolation interrupt clear This command clears the interrupt in bit pattern or continuous interpolation After the bit D15 of WRS is set to 1 in bit pattern interpolation the stack counter SC is changed from 2 to 1 and the interrupt will be generated In continuous interp
34. B and bi direction type A is 20 50pf So the reflection will happen if the PCB wiring is more than 60cm 66 NOVA electronics Inc 4 Register MCX314As M67 This chapter indicates the user how to access all the registers in MCX314As and what are the mapping addresses of these registers Please refer to Chapter 2 4 3 for the registers BP1P M BP2P M BP3P M of bit pattern interpolation 4 1 Register Address by 16 bit Data Bus As shown is the table below when 16 bit data bus is used the access address of read write register is 8 bit E Write Register in 16 bit Data Bus All registers are 16 bit length Address Symbol Register Name Contents A2 A1 AO 0 0 0 WRO Command Register for setting axis assignment and command XWR1 X axis mode register 1 for setting the logical levels of external decelerating stop enable YWR1 Y axis mode register 1 disable and the valid invalid of interrupt for each axis for each axis eee i ZWR1 Z axis mode register 1 UWR1 U axis mode register 1 XWR2 X axis mode register 2 for setting the limit signal mode driving pulse mode encoder input YWR2 Y axis mode register 2 signal mode and the logical levels and enable disable of servo jetid ZWR2 Z axis mode register 2 motor signal for each axis UWR2 U axis mode register 2 BP1P BP1P register for setting the direction bit data of the first axis in bit pattern interpolation XWR3 X axis m
35. Continuous interpolation Single step interpolation Command external signals E Related Functions of Interpolation Common Specifications of Each Axis E Drive Pulses Output When CLK 16 MHz Pulse Output Speed Range Pulse Output Accuracy within S curve Jerk 1PPS 4MPPS 0 1 according to the setting speed 954 62 5 x 10 PPS S Multiple 1 477 x 10 31 25 x 10 PPS S Multiple 500 Accelerating Decelerating Speed 125 1x 10 PPS S Multiple 1 62 5x10 500 x 10 PPS S Multiple 500 Initial Speed 1 8 000PPS Multiple 1 500PPS 4x10 PPS Multiple 500 Drive Speed 1 8 000PPS Multiple 1 500PPS 4x10 PPS 0 4 294 967 295 unlimited Constant speed symmetrical non symmetrical linear acceleration symmetrical non symmetrical parabola S curve acceleration deceleration drive Index Pulse Drive Deceleration Mode auto non symmetrical linear acceleration is also allowed manual Output pulse numbers and drive speeds changeable during the driving Triangle form prevention of linear acceleration fixed pulse drive and S curve acceleration deceleration fixed pulse drive Independent 2 pulse system or 1 pulse 1 direction system selectable Logical levels of drive pulse selectable output pin switchable Multiple 500 Output pulse Number Speed Curve E Encoder Input A B quadrature pulse style or Up Down pulse style selectable Pulse of 1 2 and 4 divisions selectab
36. D2 D1 and DO bits of the nWR3 register as Increase Rate L ld Acceleration ha a e 1 a time Fig 2 16 Non symmetrical S curve acceleration deceleration drive follows f Setting Mode setting bit Symbol Comment value WR3 D0 MANLD 1 Manual deceleration The deceleration increasing rate WR3 D1 DSNDE 1 i setting value is used at deceleration WR3 D2 SACC 1 S curve acceleration deceleration The following parameters must also be set Parameter name Symbol Comment Range R Jerk K Deceleration increasing rate L Acceleration A The maximum value 8000 must be set Deceleration D The maximum value 8000 must be set Initial speed SV Drive speed V Number of Output pulses P Not required for continuous pulse driving Set a value produced by subtracting the number of Manual deceleration point DP pulses that were utilized at deceleration from the number of output pulses P Not required for continuous pulse driving s43 NOVA electronics Inc MCX314As M14 E Example of Parameter Setting Non symmetrical pps S curve Acceleration Deceleration As shown in the diagram at acceleration the drive speed v is accelerated up to 40KPPS from the initial speed sv of 100PPS in 0 2 seconds At deceleration the drive speed v is decelerated from 40KPPS to the initial speed sv of 100PPS in 0 4 seconds Using the symmetrical S curve acceleration deceleration parame
37. Inc dcac axis assignment data For jerk L setting void dcac int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 Ox0e acc axis assignment data For acceleration deceleration A setting void acc int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x02 dec axis assignment data For deceleration D setting void dec int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x03 startv axis assignment data For initial speed SV setting void startv int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x04 speed axis assignment data For drive speed V setting void speed int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt lt 8 0x05 pulse axis assignment data For output pulse output finish point P setting void pulse int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x06 decp axis assignment data For manual deceleration DP setting void decp int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x07 center axis assignment data For circular center point C setting void center int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff out
38. Initial Speed 500 PPS Drive Speed 40K PPS 40K p pps ee a i p ni a pea i a j 4 i e 1 Output Pulse al P 40 000 as P 5 000 P 10 000 P 20 000 ne pe Pa o 1 6 sec SAR NOVA electronics Inc MCX314As B1 AppendixB Common Items Differences with MCX314 The following table lists the common items and differences between MCX314 and MCX314 lt As lead free product Item MCX314As With without lead Without lead 1 Package shape Different from MCX314 Pin assignment Same as MCX314 Electrical characteristics of each signal Same as MCX314 All the functions available to MCX314 Same as MCX314 Improvements on deficiencies of MCX314 1 Improvement on deficiency by writing at continuous interpolation pulses 2 Improvement on deficiency by specification of a circular interpolation finish point 3 Improvement of UP DOWN pulse input counting error 4 Improvement of extreme creep at S curve acceleration deceleration 1 Automatic home search 2 Automatic acceleration deceleration of non symmetrical trapezoidal driving 3 Input signal integral filter 4 Synchronous action 5 32 bit pulse 6 32 bit circular linear interpolation pulse 7 Non symmetrical complete S curve acceleration deceleration New function 8 Others clearing position counter by Z phase input real position counter increase decrease inversion manual pulsar deviation
39. RR1 Do 0 RR1 D0 0 P RR1 DO 0 COMP registerCM 1000 RR1 D1 0 RR1 D1 0 RR1 D1 0 m p ee ete ttttgtrtttgtet t t ttptye 1000 O 10000 Fig 2 21 Example of COMP Register Setting When DO and D1bits of register WR2 are set to 1 it enables the software limit In driving if the value of logical real counter is larger than COMP the decelerating stop will be performed and DO SLMT of register RR2 will change to 1 If the value of logical actual counter is smaller than that of COMP the DO bit of register RR2 will change to 0 automatically Host CPU can write the COMP and COMP registers any time However when MCX314As is reset the register values are random 246 NOVA electronics Inc MCX314As M17 2 3 3 Position Counter Variable Ring A logical position counter and a real position counter are 32 bit up down 9999 O ring counters Therefore normally when the counter value is incremented pE in the direction from FFFFFFFFh which is the maximum value of the 32 bit length the value is reset to the value 0 When the counter value is decremented in the direction from the value 0 the value is reset to FFFFFFFFh The variable ring function enables the setting of any value as the maximum value This function is useful for managing the position of the axis in circular motions that return to the home position after one rotation rather than linear motions 5000 To enable the variable ring function set the D
40. Step1 and 4 High speed 20000pps hsspeed 0x3 50 Step2 and 3 Low speed 500pps pulse 0x1 3500 X axis offset 3500 pulse pulse 0x2 700 Y axis offset 700 pulse Z axis home search parameter setting speed 0x4 40 II Step4 drive speed 400pps hsspeed 0x4 40 II Step2 search speed 400pps pulse 0x4 20 Offset 20 pulses U axis home search parameter setting hsspeed 0x8 30 Step2 search speed 300pps command Oxf 0x62 Execution of automatic home search for all the axes wait Oxf Waits for termination of all the axes if inpw adr rr0 amp 0x0010 Error display printf X axis Home Search Error n iiinowiearers amp 0x0020 printf Y axis Home Search Error n iinow adr rr0 amp 0x0040 printf Z axis Home Search Error n ANNA rO amp 0x0080 printf U axis Home Search Error n 108 NOVA electronics Inc void main void int count outpw adr wr0 0x8000 for count 0 count lt 2 count command 0x3 0xf outpw adr wr1 0x0000 outpw adr wr2 Oxe000 outpw adr wr3 0x0000 expmode 0x3 0x5d08 0x497f MCX314As M109 Software reset Mode register 1 D15 8 O All the interrupt disabled D7 0 IN3 signal Disable D6 0 IN3 signal logic Low Active D5 0 IN2 signal Disable D4 0 IN2 signal logic Low Active D3 0 IN1 signal Disable D2 0 IN1 signal logic Low Active D1 0 INO signal Disable D0 0 INO signal logi
41. WR6 lt 0000h write WR7 lt 0000h write WRO lt 0206h write WRO lt 0030h write define ax1 X axis ax2 Y axis Y44s500 a constant vector speed setting the parameter of master axis range 4 000 000 multiple 2 2 axis constant vector speed 4 000 000x1 414 5 656 000 1500 0 0 6000 4500 Initial speed 500x2 1000PPS Fig 2 37 The Example of Continuous Interpolation Axis drive speed 500x2 1000PPS finish point X 4500 finish point Y 0 Seg1 2 axis linear interpolation J1 RRO D4 D5 read If D4 or D5 1 Jump to Error RRO D9 read if error occurs Procedure A jump to handle error waiting for next segment s enable signal 29 NOVA electronics Inc MCX314As M30 If D9 0 Jump to J1 WR6 lt 0000h write center X 0 WR7 lt 0000h write WRO lt 0108h write WR6 lt 05DCh write center Y 1500 WR7 lt 0000h write WRO lt 0208h write WR6 05DCh write finish point X 1500 Seg2 WR7 lt 0000h write WRO lt 0106h write WR6 lt 05DCh write finish point Y 1500 WR7 lt 0000h write WRO lt 0206h write WRO 0033h write CCW circular interpolation Procedure A WR6 lt 0000h write finish point X 0 WR7 lt 0000h write WRO lt 0106h write WR6 lt 05DCh write finish point Y 1500 Seg3 WR7 lt 0000h write WRO lt 0206h write WRO lt 0030h write 2 axis linear interpolation
42. Z Y x o i Axis Assignment Command Code D6 0 Command code setting Please refer to chapter 5 and the chapters following for further description of command codes D11 8 Axis assignment When the bits of the axis are set to 1 the axis is assigned The assignment is not limited only for one axis but for multi axes simultaneously It is possible to write the same parameters also However the data reading is only for one assigned axis Whenever the interpolation is commanded the bits of the assigned axis axes should be set 0 D15 RESET IC command resetting When this bit is set to 1 but others are 0 the IC will be reset after command writing After command writing the BUSYN signal will be on the Low level within 875 nSEC When CLK 16 MHz maximum When 8 bit data bus is used the reset is activated when the command 80h is written to register WROH RESET bit should be set to 0 when the other commands are written 4 4 Mode Register1 WR1 Each axis is with mode register WR1 The axis specified by NOP command or the condition before decides which axis s register will be written The register consists of the bit for setting enable disable and enable logical levels of input signal IN3 INO decelerating stop sudden stop during the driving and bit for occurring the interrupt enable disable Once IN3 IN1 are active when the fixed pulse continuous pulse driving starts and also when IN signal becomes the setting logical level
43. a real position counter following normal completion of automatic home search E Logical setting of each input signal Use the bits WR1 D2 D4 and D7 of the WR1 register for input signal nINO 1 2 of active logical setting that is used by automatic home search At automatic home search the contents set in the bits WR1 D1 D3 and D5 that enable disable each signal are ignored 270 2 NOVA electronics Inc MCX314As M41 2 5 7 Examples of Automatic Home Search E Example of home search using a near home home or a Z phase signal Operation MCX314As Input signal and logical Search Search X Near Home X Home level direction speed n J n N Near home signal INO Step 1 f 7 20 000pps signal Low active Home IN1 signal Step 2 500pps Low active Z phase IN2 signal X Z Phase Step 3 i 500pps High active 3500 pulse offset Motor Driver Output Step 4 20 000pps driving in the direction e For high speed search in Step 1 and offset driving in Step 4 acceleration deceleration driving is performed where linear acceleration is applied at the speed within the range from the initial speed 1 000pps to 30 000pps in 0 2 seconds acceleration speed 19 000 0 2 95 000 pps sec e When Z phase of Step 3 is High active deviation counter pulses of 100usec are output from the XDRIVE DCC output signal pin The logical level is High active e At completion of Step 4 the logical positi
44. also ready for writing interpolation command data 75 2 NOVA electronics Inc MCX314As M76 D12 10 ZONEm Displaying the quadrant of the current position in circular interpolation D12 D11 D10 Quadrant 0 0 0 0 0 0 1 1 0 1 0 2 0 1 1 3 1 0 0 4 1 0 1 5 1 1 0 6 1 1 1 7 D14 13 BPSC1 0 In bit pattern interpolation driving it displays the value of the stack counter SC D14 Stack Counter SC Value 0 0 0 0 1 1 1 0 2 1 1 3 In bit pattern interpolation driving when SC 3 it shows the stack is full When SC 2 there is one word 16 bit space for each axis When SC 1 there is a 2 word 16 bit x 2 for each axis When SC 0 it shows all the stacks are empty and the bit pattern interpolation is finished 4 11 Status Register 1 RR1 Each axis is with status register 1 The axis specified by NOP command or the condition before decides which axis s register will be read The register can display the comparison result between logical real position counter and COMP the acceleration status of acceleration deceleration driving jerk of S curve acceleration deceleration and the status of driving finishing RR1 DO D1 D2 D3 D4 D5 D6 L H D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO EMG ALARM LMT LMT IN3 IN2 IN1 INO JADSND ACNST AASND DSND CNST ASND CMP CMP CMP CMP ASND CNST
45. are symmetrical this acceleration speed is used at deceleration For S curve acceleration deceleration driving set the maximum value of 8 000 for the parameter A is the parameter determining the acceleration The acceleration calculation is shown in the following formula 8 000 000 R a eee Multiple Acceleration PPS SEC A x 25 x For the range of A is from 1 8 000 the actual acceleration range is shown as follows When Multiple 1 125 PPS SEC 1 x 10 PPS SEC When Multiple 500 62 5 x 10 PPS SEC 500 x 10 PPS SEC 83 NOVA electronics Inc MCX314As M84 6 4 Deceleration Setting Command Data Range Data Length Deceleration setting 2 bytes This parameter is used to set a deceleration speed at deceleration in non symmetrical linear acceleration driving WR3 D1 1 In non symmetrical S curve acceleration driving set the maximum value of 8000 in this parameter D is the parameter determining the deceleration The deceleration calculation is shown in the following formula 8 000 000 R L Multiple Deceleration PPS SEC D x 125 x 6 5 Initial Speed Setting Command Data Range Data Length Initial speed setting 2 bytes SV is the parameter determining the speed of initial speed The initial speed calculation is shown in the following formula Initial Speed PPS SV x 8 000 000 L Multiple For stepper motors the user should set the initial speed
46. by the T oscillation circuit in the diagram One time constant can EMGNO a be selected from eight time constants using the bits D15 e FET to D13 FL2 to FLO of the WR6 register of the XLMTP O ti e gt extension mode setting command 06h Using the bits SETG t g T D12 to D8 FE4 to 0 of the WE6 register it is possible l TET ee ji to set whether the filter function is enabled or the signal XINOO s i o E is passed through for a number of input signals At reset l FLT O all the bits in the extension mode are cleared to 0 so that XIN1 0 T 50 the filter function is disabled for all the input signals and o ELT r the signals pass ane ar gt a XIN3 0 o a Select a filter time constant from eight stages as shown FLT eO in the table below When a time constant is increased XINPOSO I ro 52 the removable maximum noise width increases however 4 FLT Y the signal delay time also increases Therefore set an XALARMO i of appropriate value Normally set 2 or 3 for FL2 to FLO ae XEXPPO O Removable f Input signal delay XEXPMo C a FL2 0 maximum noise ji ea time width EXPLSN O 532 0 1 75uSEC 2uSEC l 1 224uSEC 256uSEC ANNA 2 448uSEC 512uSEC Same tw 3 896uSEC 1 024mSEC Hon 4 1 792MSEC 2 048mSEC Constant X 5 3 584mSEC 4 096mSEC 6 7 168MSEC 8 192mMSEC Fig 2 43 Concept of Input Signal Filter Circuit 7 14 336mSEC 16 384mSEC CLK 16MHz 1 N
47. deceleration and jerk If the frequency setting is not 16 MHz the setting values of speed and acceleration deceleration are different D15 D0 1 8 10 17 Bi directional A DATA BUS 3 state bi direction 16 bit data bus When CSN Low and RDN Low these signals are for outputting Otherwise they are high impedance inputs If 8 bit data bus is used D15 D8 can not be used and D15 D8 should be pull up to 5V through high impedance about 100 kQ A3 A0 21 22 23 24 Input A Address address signal for host CPU to access the write read registers A3 is used only when the 8 bit data bus is used CSN 25 Input A Chip Select input signal for selecting I O device for MCX314As Set CSN to the Low level for data reading and writing WRN 26 Input A Write Strobe its level is Low while data is being written to MCX314As When WRN is Low CSN and A3 A0 must be assured When WRN is up the data will be latched in the write register and while WRN is up f the levels of D15 D0 should be assured RDN 27 Input A Read Strobe its level is Low while data is being read from MCX314As Only when CSN is on the low level the selected read register data from A3 A0 address signals can be output from the data bus RESETN 28 Input A Reset reset return to the initial setting signal for MCX314As Setting RESETN to Low for more than 4 CLK cycles will reset MCX314As The RESETN setting is
48. deceleration driving when the driving changes from the D14 C STA D6 C STA S i accelerating region into the constant speed region D15 D END D7 D END when the driving is finished Each factor of interrupt can be masked by setting levels in nWR1 register bits 1 enable and 0 disable When interrupt is generated during the driving and if the interrupt is generated each bit in nRR3 will be set to 1 INTN will be on the Low level After the nRR3 status has been read from the host CPU nRR3 will be cleared from 1 to 0 and INTN will return to the High Z level Note Since the entire contents of the 8 bit data bus are cleared by reading the RR3L register read RR3H before reading RR3L register when using end of automatic home search D8 HMEND or synchronous action activation D9 SYNC 54 NOVA electronics Inc MCX314As M55 The following automatic home search end and synchronous action activation interrupts are added See the related section for the details hes ra Occurrence confirmation Setting permission prohibition i Interrupt factor nRR3 register Setting the extension mode command 60h D8 H END Automatic home search is terminated WR6 D5 HMINT f o Taw Occurrence confirmation Setting permission prohibition Interrupt factor nRR3 register Synchronous action specification command 64h D9 SYNC WR7 D15 INT A synchronous action is activated due to the specified activation fact
49. direction of each step 0 direction 1 direction 2372 NOVA electronics Inc MCX314As M38 WR7 D8 PCLR When this bit is set to 1 the logical position counter and the real position counter are cleared at termination of Step 4 WR7 D9 SAND When this bit is set to 1 operation of Step 3 stops when the home signal nIN1 and the encoder Z phase signal nIN2 become active WR7 D10 LIMIT Set this bit to 1 when setting automatic home search using an overrun limit signal nLMTP or nLMTM WR7 D11 DCC E This bit enables disables deviation counter clearing output 0 Enable 1 Disable For deviation counter clearing output the pin is shared between the nDRIVE and DCC output signals When this bit is set to 1 the pin is set to deviation counter clearing output WR7 D12 DCC L Specify a deviation counter clearing output logical level 0 Active High 1 Active Low WR7 D15 13 DCCW2 0_ Specify an active pulse width of deviation counter clearing output D15 D14 D13 Clearing pulse width DCCW2 DCCW1 DCCWO USEC 0 0 0 10 0 0 1 20 0 1 0 100 0 1 1 200 1 0 0 1 000 1 0 1 2 000 1 1 0 10 000 Note CLK 16MHz 1 1 1 20 000 WR6 D5 HMINT Use this bit to generate an interrupt signal INTN at termination of automatic home search When this bit is set to 1 the interrupt signal INTN becomes Low Active after termination of automatic home search and the RR3 D8 HMEND bit of the axis from which the interrupt was
50. driving when hardware software limit is active the decelerating stop or sudden stop will be executed Bit SLMT will not become 1 during the reverse direction driving 4 13 Status Register 3 RR3 Each axis is with status register 3 The axis specified by NOP command or the condition before decides which axis s register will be read This register is for reflecting the interrupt factor When interrupt happens the bit with the interrupt factor becomes 1 The user should set the interrupt factor through register WRI to perform the interrupt To generate an interrupt from DO to D7 interrupt Enable must be set for each factor in the WR1 register H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR3 SYNC HMENDJD END C STA C END P C P lt C P lt C P C PULSE Interrupt Factor DO PULSE When the drive pulse is up drive pulse is set on the positive logical level D1 P2 C Once the value of logical real position counter is larger than that of COMP register D2 P lt C Once the value of logical real position counter is smaller than that of COMP register D3 P lt C Once the value of logical real position counter is smaller than that of COMP register D4 P2C Once the value of logical real position counter is larger than that of COMP register D5 C END When the pulse output is finished in the constant speed drive during an acceleration deceleration drivin
51. fixed pulse driving automatic deceleration is available for symmetrical S curve only and triangle waveforms during S curve acceleration deceleration are prevented by a special method Trapezoidal Acceleration Deceleration Driving Trapezoidal Acceleration Deceleration Driving Symmetry Non Symmetry V vV Sudden Deceleration Time Time Parabola S curve Acceleration Deceleration Driving Parabola S curve Acceleration Deceleration Driving Symmetry Non symmetry V v 5 f A K j O Automatic Deceleration Manual deceleration kA P 100000 P 200000 P 400000 Sudden Acceleration A 2 P 50000 j i Time g Time NOVA electronics Inc MCX314As M2 E Linear Interpolation Any 2 or 3 axes can be selected to perform linear interpolation The position boundary is between coordinates 2 147 483 646 and 2 147 483 646 signed 32 bit format and the positioning error is within 0 5 LSB Least Significant Bit The interpolation speed range is from 1 PPS to 4 MPPS 2 axis Linear Interpolation 0 0 Z4 YA 15000 13000 5000 E Circular Interpolation Any 2 axes can be selected to perform circular interpolation The position boundary is between coordinates 2 147 483 646 and 2 147 483 646 signed 32 bit format and the positioning error is within 1 0 LSB The interpolation speed range is from 1 PPS to 4 MPPS CCW Circular Interpolation Any circle CW Circular Interpolation Full circle MA y
52. for the X and Y axes Writes an input signal filter mode in WR6 D15 D13 010 D12 D11 00 0 Filter delay 512usec IN3 signal Disables the filter through EXPP EXPM and EXPLS signals Enable filter INPOS and ALARM signals Disable the filter through IN2 signal Disables the filter through EMGN LMTP LMTM IN1 and 0 signals Enables filter Mode other than the built in filter function Set an appropriate value See Section 6 16 Set an appropriate value when performing automatic home search See Section 2 5 Writes an extension mode setting command in the X and Y axes Sets an extension mode for the X and Y axes Writes an input signal filter mode in WR6 D15 D13 100 D12 D11 D10 D9 D8 D7 DO 00 0 Filter delay 2msec IN3 signal Disables the filter through EXPP and EXPM signals Enables the filter INPOS and ALARM signal Disables the filter through IN2 signal Disables the filter through LMTP LMTM IN1 and 0 signals Enables the filter Mode other than the built in filter function set an appropriate value See Section 6 16 Set an appropriate value when performing automatic home search See Section 2 5 Writes an extension mode setting command in the Z and U axes 257 NOVA electronics Inc MCX314As M58 2 9 Other Functions 2 9 1 Driving By External Pulses Fixed pulse driving and continuous pulse driving can be controlled by either
53. n DRV will return to 0 If nINPOS input signal for servo drivers is enabled bit n DRV of main status register RRO will not return to 0 until nINPOS signal is on its active level Note It requires 250 nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 8 1 Direction Fixed Pulse Driving Code Command 20h Direction Fixed Pulse Driving The setting pulse numbers will be output through the output signal nPP In driving logical position counter will count up 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers see the table below O Required Speed curve to be output Parameter Fixed Symmetrical linear Non symmetrical linear Symmetrical S curve Non symmetrical speed acceleration acceleration deceleration acceleration deceleration S curve deceleration deceleration acceleration deceleration Range R O O O O O Jerk K O O Deceleration O increasing rate L Acceleration O O O 8000 O 8000 A Deceleration O O 8000 D Initial speed O O O O O SV Drive speed O O Q O O v Output O O O O O pulse number P Manual O deceleration point DP 93 NOVA electronics Inc MCX314As M94 8 2 Direction Fixed Pulse Driving Command Direction Fixed Pulse Driving The setting pulse numbers wil
54. of all the pulses automatic deceleration When the decelerating stop command is performed during the acceleration or when the pulse numbers of the fixed pulse drive do not reach the designated drive speed the driving will be decelerating during acceleration as show in Fig 2 9 By setting a triangle prevention mode such triangle form can be transformed to a trapezoid form even if the number of output pulses low See the section of triangle prevention of fixed pulse driving NOVA electronics Inc MCX314As M9 To perform symmetrical linear acceleration driving bits D2 to 0 of the WR3 register must be set as follows i Setting Mode setting bit Symbol value WR3 D0 MANLD 0 WR3 D1 DSNDE 0 WR3 D2 SACC 0 See 4 6 for details of the WR3 register The following parameters must be set Parameter name Symbol Comment Range R Acceleration A This value is applied to deceleration also Initial Speed SV Drive Speed V Number of p Not required for continuous pulse driving Output Pulse E The example of setting Trapezoidal Driving Shown in the figure right hand side acceleration is form the initial speed 500 PPS to 15 000 PPS in 0 3 sec Range R 4 000 000 Multiple 2 Acceleration A 193 15 000 500 0 3 48 333 48 333 125 M 193 Initial Speed SV 250 500 M 250 Drive Speed V 7 500 15 000 M 7 500 a Please refer Chapter 6 0 3 time SEC E Triangle Prevention of Fixed Pulse Dr
55. setting HAO 0 R 800000 Multiple 100 K 1010 Jerk 619KPPS SEC2 L 1010 Deceleration increasing rate 619KPPS SEC2 A 100 Accleration deceleration 125KPPS SEC D 100 Deceleration 125KPPS SEC II SV 100 Initial speed 1000PPS IIV 4000 Drive speed 40000PPS P 100000 Output pulse number 100000 LP 0 Logical position counter 0 EP 0 Real logical position counter 0 Z and U axes mode setting Mode register 1 D15 8 0 Prohibit all interrupts D7 0 IN3 signal Disable D6 0 IN3 signal logic Low Active D5 0 IN2 signal Disable D4 0 IN2 signal logic Low Active D3 0 IN1 signal Disable D2 0 IN1 signal logic Low Active D1 0 INO signal Disable D0 0 INO signal logic Low Active Mode register 2 D15 0 INPOS input Disable 1D14 0 INPOS input logic Low Active D13 0 ALARM input Disable D12 0 ALARM input logic Low Active D11 0 D10 0 Encoder input division 1 1 D9 0 Encoder input mode 2 phase pulse D8 0 Driver pulse direction logic D7 0 Driver pulse logic Positive logic D6 0 Drive pulse mode 2 pluse D5 0 COMP target Logical position counter D4 0 over run limit logic Low Active D3 0 over run limit logic Low Active D2 0 Over run limit stop mode Decelerating stop D1 0 Software limit Disable DO 0 Software limit Disable Mode register 3 D15 12 0000 D11 0 Ge
56. software over run limit cannot be used D1 SLMT Enable disable setting for COMP register which is used as the direction software limit 1 enable 0 disable Once it is enabled during the direction driving if the value of logical real position counter is smaller than that of COMP the decelerating stop will be performed The D1 SLMT bit of register RR2 will become 1 Under this situation further written direction driving commends will not be executed D2 LMTMD The bit for controlling stop type when the hardware limits NLMTP and nLMTM input signals are active 0 sudden stop 1 decelerating stop 70 NOVA electronics Inc MCX314As M71 D3 D4 D5 D6 D7 D8 D9 D11 10 PIND1 0 D12 HLMT HLMT CMPSL PLSMD PLS L DIR L PINMD ALM L Setting the logical level of direction limit input signal nLMTM 0 active on the Low level 1 active on the Hi level Setting the logical level of direction limit input signal nLMTM 0 active on the Low level 1 active on the Hi level Setting if real position counter or logical position counter is going to be compared with COMP register 0 logical position counter 1 real position counter Setting output pulse type 0 independent 2 pulse type 1 1 pulse 1 direction type When independent 2 pulse type is engaged direction pulses are output through the output signal nPP PLS and direction pulses through nPM DIR Whe
57. system 102 NOVA electronics Inc MCX314As M103 11 4 Connection Example The figure shown below illustrates the example of 1 axis driving system 4 axes can be assigned in the same way Encoder Stepper Servo Limit Error Counter Clear Servo ONOFF lt XOUTA Motor Drives MCX314As 1 4 EC A B Z Servo Ready Psitioning Conpletion XECA B XIN2 11 5 Pulse Output Interface E Output to Motor Drivers in Differential Circuit Motor Drives MCX314As CW L 4 3 1 CW i Am26LS32 CCW ia i ICCW tt Twist Pair Shield Cable GND O E Open Collector TTL Output Motor Drives MCX314As 5V ae n OW a T ia I WY K XPP Pe on l W 6 L OFN Ef Yi RiT 1 if 5V og Poy CCW ay or 7 i z2 yt XPM o Oo 74LSO6 Twist Pair Shield Cable GND For drive pulse output signals we recommend the user to use twist pair shield cable due to the concern of EMC 103 NOVA electronics Inc MCX314As M104 11 6 Connection Example for Input Signals Limit signals often pick up some noise since complicated cabling is normally involved A photo coupler alone may not be able to absorb this noise Enable the filter function in the IC and set an appropriate time constant FL 2 3 m 12 24V O X Axis Over Run Limit Disable Integral Filter To the internal circuit Enable 11 7 Connection Example for En
58. the decelerating stop will be performed during the acceleration deceleration driving and the sudden stop will be performed during the constant speed driving H D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR1 D END C STAIC END P C P lt C P lt C P C PULSE IN3 E IN3 L IN2 E IN2 L IN1 E IN1 L INO E INO L l l Interrupt Enable Disable Driving Stop Input Signal Enable Disable 69 NOVA electronics Inc MCX314As M70 D7 5 3 1 INm E The bit for setting enable disable of driving stop input signal INm 0 disable 1 enable D6 4 2 0 INm L The bit for setting enable logical levels for input signal INm 0 stop on the Low level 1 stop on the Hi level In automatic home search the logical level of the INm signal that is used is set in these bits The Enable Disable bits D5 D3 and D1 are set to Disable For the following bits the interrupt is set 1 enable 0 disable D8 PULSE Interrupt occurs when the pulse is up drive pulse is set on the positive logical level D9 P2C Interrupt occurs when the value of logical real position counter is larger than or equal to that of COMP register D10 P lt C Interrupt occurs when the value of logical real position counter is smaller than that of COMP register D11 P lt C Interrupt occurs when the value of logical real position counter is smaller than that of COMP register D12 P2C Interrupt occurs when
59. the following example driving of 5 000 is performed immediately after driving of 15 000 is terminated WR6 lt 3500h WR7 lt 000Ch X Axis Range 800 000 Multiple 10 WRO lt 0100h WR6 0190h WR7 0000h X Axis Acceleration Rate WRO 0102h 400x125x10 500KPPS SEC WR6 0032h WR7 0000h X Axis Initial Speed 50x10 500PPS WRO 0104h WR6 OBB8h WR7 0000h X Axis Drive Speed 3000x10 30KPPS WRO 0105h WR6 lt 0 WR7 0 Clear X Axis Logical Counter LP WRO lt 0109h WR6 lt 3A98h WR7 lt 0000h X Axis Output Pulse Number 15 000 WRO 0106h WR6 0020h WR7 8402h Provocative Termination of driving WRO 0164h Action of Own Axis P WR6 WR7 Direction Fixed Drive Set X Axis Synchronous Occurrence of interrupt Action Mode WR6 lt 1388h WR7 0000h Output Pulse Number of he Next Drive 5 000 WRO lt 0120h Start of X Axis Direction i Terminate of X Axis 15 000 Direction Fixed Drive Y Start of 5 000 Direction Fixed Drive Occurrence of interrupt Check the Interrupt by the Synchronous Action Check D9 SYNC 1 XRR3 lt Read Processing in the WR6 lt 0000h Interrupt Routine WR7 0000h Release of Synchronous Action Mode WRO lt 0164h The delay time from termination of driving of 15 000 to the start of driving of 5 000 is 5SCLK 625nsec CLK 16MHz LP 14 998 14 999 15 000 Final Pulse Low Level Period XPP
60. the value of logical real position counter is larger than or equal to that of COMP register D13 C END Interrupt occurs at the end of the constant speed drive during an acceleration deceleration driving D14 C STA Interrupt occurs at the start of the constant speed drive during an acceleration deceleration driving D15 D END Interrupt occurs when the driving is finished D15 D0 will be set to 0 while resetting 4 5 Mode Register2 WR2 Each axis is with mode register WR2 The axis specified by NOP command or the condition before decides which axis s register will be written WR2 can be used for setting 1 external limit inputs 2 driving pulse types 3 encoder signal types and 4 the feedback signals from servo drivers H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR2 JINP E NP L ALM E ALM L Pino PINDO PINMD DIR L PLS L PLSMD CMPSL HLMT HLMT LMM SLMT SLMT DO SLMT Enable disable setting for COMP register which is used as the direction software limit 1 enable 0 disable Once it is enabled during the direction driving if the value of logical real position counter is larger than that of COMP the decelerating stop will be performed The DO SLMT bit of register RR2 will become 1 Under this situation further written direction driving commends will not be executed Note When an extension mode position counter variable ring is used a
61. used in the constant vector speed driving 500 0 3 Time SEC WR3 0001h write manual deceleration enabling WR5 lt 0004h write define ax1 X ax2 Y WR6 lt 8480hwrite range 2 000 000 multiple 4 WR7 lt 001Eh write WRO lt 0100h write WR6 lt 0082h write acceleration WRO lt 0102h write 130x125x4 65000 PPS SEC WR6 lt 007Dh write Initial speed 125x4 500PPS WRO lt 0104h write WR6 lt 1388h write drive speed 5000x4 20000PPS WRO lt 0105h write WR6 lt D8FOh write center point X 10000 WR7 lt FFFFh write WRO lt 0108h write WR6 lt 0000h write center point Y 0 WR7 lt 0000h write WRO 0208h write WR6 lt 0000h write finish point X 0 WR7 lt 0000h write WRO lt 0106h write WR6 lt 0000h write finish point Y 0 WR7 lt 0000h write WRO lt 0206h write WR6 DOF5h write manual deceleration point setting 53493 WR7 lt 0000h write WRO lt 0107h write WRO lt 003Bh write deceleration enabling WRO lt 0033hwrite CCW circular interpolation starting E The Acceleration Deceleration for Continuous Interpolation In continuous interpolation same as in circular and bit pattern interpolations only manual deceleration in the trapezoidal driving is available The automatic deceleration in S curve driving is not available Before performing the continuous interpolation it is necessary to preset the manual decelerating point however
62. when BUSYN is f c The dDRIVE becomes Hi level when BUSYN is f d The nASND and nDSND are on invalid level after 3 SCLK cycles when BUSYN is 7 118 NOVA electronics Inc MCX314As M119 14 3 Interpolation lt PULL ee a ars E BUSYN ef Te wl nDIR __ Invalid Valid Level J Invalid Valid Level Invalid nDRIVE a The first pulses nPP nPM and nPLS of interpolation driving will be output after 4 SCLK cycles when BUSYN is f b nDRIVE will become Hi level after 1 SCLK cycle when BUSYN is f c DIR signal keeps the active level in 1 SCLK cycle before and after the Hi level pulse outputting 14 4 Start Driving after Hold Command SCLK WRN Drive Command Start Driving after Hold Command BUSYN nPP nPM a nPLS 1st Pulse 2nd Pulse nDRIVE f b a The pulses nPP nPM and nPLS of each axis will start outputting after 3 SCLK cycles when BUSYN is f b nDRIVE will become Hi level when BUSYN is for each axis 14 5 Sudden Stop The following figure illustrates the timing of sudden stop The sudden stop input signals are EMGN nLMTP M When the sudden stop mode is engaged and nALARM When sudden stop input signal becomes active or the sudden stop command is written it will stop the output of pulses immediately The width of external signals input for sudden stop must be more than 1 SCLK cycle The stop function will not be active if the width is less 1 SCLK cycle Signal Command WRN Activ
63. 0 3 7 0 Input voltage 0 3 aad Vppt0 3 Input Current 10 Reservation Temperature Power Voltage 40 125 4 75 5 25 Ambient Temperature E DC Characteristics 0 85 MCX314As M114 If the user wishes to operate the IC below 0 C please make contact with our R amp D engineer Ta 0 85 C Vpp 5V 45 Item Mark Condition Min Typ Max Unit Remark High level input g ps Vin 2 2 v voltage Low level input Vi 0 8 V voltage High level input lie Vin Vbo 10 10 yA current Low level input i Vin OV 10 10 yA D15 D0 Input signal current ig Vin OV 200 10 uA Input signal besides D15 D0 A lou 1yA Vpp 0 05 V Note 1 High level output voltage Vou lon 4mA 2 4 V Output signal besides D15 D0 lon 8MA 2 4 V D15 D0 Output signal lo 1pA 0 05 V Low level output CN VoL lo 4mA 0 4 V Output signal besides D15 D0 Vv lo 8MA 0 4 V D15 D0 Output signal Output leakage D15 D0 BUSYN INTN loz Vout Vpp or OV 10 10 yA current Smith hysteresis Vu 0 3 V voltage Consuming lbo lo 0mA CLK 16MHz 70 112 mA current Notel BUSYN and INTN output signals have no items for high level output voltage due to the open drain output E Pin Capacity Input Output capacity Ta 25 C f 1MHz D15 DO Input capacity 114 Other input pins NOVA electronics Inc MCX314As M115
64. 00 pulse 0x2 1500 command 0 0x33 next_wait pulse 0x1 0 pulse 0x2 1500 command 0 0x30 next_wait center 0x1 1500 center 0x2 0 pulse 0x1 1500 pulse 0x2 1500 command 0 0x33 wait 0x3 range 0x6 800000 acc 0x6 400 startv 0x6 50 speed 0x6 3000 pulse Ox2 50000 pulse 0x4 10000 compp 0x2 15000 Ip 0x6 0 syncmode 0x2 0x2001 0x0000 syncmode 0x4 0x0000 0x0001 command 0x2 0x20 wait 0x6 MCX314As M113 II Seg 3 II Seg 4 II Seg 5 II Seg 6 Il Seg 7 II Seg 8 Synchronous action Section 2 61 Example 1 Starts fixed pulse drive of the Z axis in the direction lif the Y axis passes through position 15000 R 800000 Multiple 10 IL A 400 Accleration deceleration 5010KPPS SEC II SV 50 Initial speed 500PPS 3000 Drive speed 30KPPS yP 50000 Y axis output pulse number zP 10000 Z axis output pulse number II yCP 15000 Y axis CMP LP 0 Logical position counter 0 Y axis synchronous action mode II Activation factor P2C activation of other axis Z Il Automatic activation None Z axis synchronous action mode Own axis action direction fixed pulse drive Starts Y axis fixed pulse drive Waits for termination of Y and Z axes 113 NOVA electronics Inc 13 Electrical Characteristics 13 1 DC Characteristics E Absolute Maximum Rated Power Voltage
65. 00000001 00100100 ax1 x ax2 y ax3 z Constant vector speed X and Y axes linear acceleration driving ILA 200 Accleration deceleration 250KPPS SEC IIV 4000 Drive speed 40000PPS xP 80000 yP 40000 fixed pulse drive Waits for termination of driving X axis non symmetrical linear acceleration driving Acceleration deceleration individual non symmetrical mode II xA 200 Accleration deceleration 250KPPS SEC II xD 50 Deceleration 62 5KPPS SEC II xV 4000 Drive speed 40000PPS xP 80000 fixed pulse drive Waits for termination of driving II Release of acceleration deceleration individual mode X and Y axes S curve acceleration deceleration driving 111 NOVA electronics Inc wreg3 0x3 0x0004 acac 0x3 1010 acc 0x3 200 speed 0x3 4000 pulse 0x1 50000 pulse 0x2 25000 command 0x3 0x21 wait 0x3 wreg3 0x3 0x0000 startv 0x4 40 speed 0x4 40 pulse 0x4 700 command 0x4 0x20 wait 0x4 pulse 0x4 350 command 0x4 0x21 wait 0x4 outpw adrt wr5 0x0124 range 0x1 800000 range 0x2 1131371 speed 0x1 100 pulse 0x1 5000 pulse 0x2 2000 command 0x0 0x30 wait 0x3 outpw adr wr5 0x0124 range 0x1 800000 range 0x2 1131371 speed 0x1 100 center 0x1 5000 center 0x2 0 pulse 0x1 0 pulse 0x2 0 command 0x0 0x33 wait 0x3 speed 0x1 1 command 0 0x36 outpw
66. 0xc 50 speed 0xc 40 pulse 0xc 10 lp 0xc 0 outpw adr wr4 0x0000 outpw adr wr5 0x0124 homesrch acc 0x3 200 speed 0x3 4000 pulse 0x1 80000 pulse 0x2 40000 command 0x3 0x20 wait 0x3 wreg3 0x1 0x0002 acc 0x1 200 dec 0x1 50 speed 0x1 4000 pulse 0x1 80000 command 0x1 0x20 wait 0x1 wreg3 0x1 0x0000 MCX314As M111 Automatic home search mode IW7 D15 D13 000 Deviation counter clear pulse width IINTID12 0 Deviation counter clear output logical level IW7 D11 0 Deviation counter clear output Disable INNTID10 0 Using an over run limit signal as a home signal Disable INNTID9 0 Z phase signal AND home signal Disable INNTID8 1 Logical Real position counter clear Enable IIWTID7 1 Step 4 drive direction direction IW7 D6 1 Step 4 Enable IWTID5 0 Step 3 search direction IW7ID4 0 Step 3 Disable IINTID3 0 Step 2 search direction direction IIW7ID2 1 Step 2 Enable IW7 D1 0 Step 1 search direction IW7 DO 0 Step 1 Disable U axis extension mode Input signal filter and others W6 D15 13 010 Input signal filter delay 512u IW6 D12 1 IN3 signal filter Enable IW6 D11 1 EXPP EXPM and EXPLS filters Enable WW6 D10 1 INPOS and ALARM signal fiters Enable IWW6 D9 0 IN2 signal filter Disable IW6 D8 1 EMGN LMTPIM IN1 0 and filters Enable IW6 D7 0 IW6 D6 0 WW6 D5 0 Automatic home search termination interrupt Prohibit W6 D
67. 1011 11111111 XPM X direction O0000000 00000000 00000000 11111111 OOO000000 00001111 11111111 11010100 YPP Y direction 00001010 11111111 11111100 O0000000 00111111 11000000 00000000 00000000 YPM Y direction Fig 2 33 shows the register configuration of the 1st axis and movements of bit data of bit pattern interpolation in this IC BP 1P register and BP1M register are 16 bit data buffers for bit pattern data form the host CPU IF the system uses 8 bit data bus the host CPU has to write the data by low byte and high byte The direction data should be written into PB1P and the direction data into PB1M Once starting the bit pattern interpolation the pulse outputting is in the order from DO REG2 0000100000000100 BP1P 1 REG1 N Host CPU 0100000000100001 gt 0001001000010000 o D15 DO 1110101 1001101001110101 gt eee ax1 PP The data will be written SREG R by stacking command sc 2 REG2 gt 0100000100001010 BP1M REG1 S 1 Host CPU 0000011100001010 j1000010000100000 o D15 gt SC 2 0001010 7 DO 0000000000001010 gt eee ax1 PM SREG e SC SC Stacking counter RRO D14 13 0 3 BP1P Data register ax1 direction BP1M Data register ax1 direction SREG 16 bit shift register REG1 16 bit buffer register 1 REG2 16 bit buffer register 2 Fig 2 33 Register Configuration and Movements of Bit Patterns of Bit Pattern Interpolation for ax1 Stacking counter SC is
68. 15 D8 BPmML the low byte of BPmM D7 DO BPmMH the high byte of BPmM D15 D8 For some addresses of bit pattern data registers are as same as nWR2 nWR7 the host CPU can not write any data into the bit pattern data register since MCX314As has been reset To write the bit pattern command the host CPU should be with the following sequence Write bit pattern BP enable command 36h into command register Write bit pattern data Write BP disable command 37h into command register Note If the host CPU doesn t disable the BP data register the data in nWR2 nWR5 registers cannot be assessed 2952 NOVA electronics Inc E The example of bit pattern interpolation The bit interpolation example is shown in Fig 2 24 We set X axis as axl Y axis as ax2 and a constant speed 1000PPS ina constant vector speed interpolation driving WRS lt 0104h write WRG lt 0900h write WR7 lt 003Dh write WRO lt 0100h write WR6 lt 4DCOh write WR7 lt 0056h write WRO lt 0200h write WRG lt 01F4h write WRO lt 0104h write WRG lt 01F4h write WRO lt 0105h write WRO lt 0039h write WRO lt 0036h write BP1P 0000h write BP1M 2BFFh write BP2P FFD4h write BP2M 0000h write WRO lt 0038h write BP1P F6FEhwrite BP1M 0000h write BP2P 000Fh write BP2M 3FCOh write WRO lt 0038h write BP1P _ 1FDBh write BP1M 0000h write BP2P lt _ OOFFh write BP2M lt FCOO
69. 15 000 Action E Starting of Z Axis Driving Provocative x Y axis is passing through the position 15 000 ZA Fig 2 40 Example of a synchronous action Example 2 Stops driving of Y and Z axes after the X axes passes the position 320000 Example 3 Saves position data of the X Y and Z axes when an input signal is set Normally such synchronous actions can be performed by coding a program on the CPU side However this function is useful when no delay by CPU software execution time is allowed The synchronous action of this IC is a function that executes a specified action immediately when a specified activation factor occurs This linked action is performed without CPU intervention achieving high precision synchronization To perform a synchronous action set a specified activation factor and a specified action in the synchronous mode registers in the IC Specify an activation factor Provocative register and other axis activation in the WR6 register specify an action in the WR7 register and write a synchronous action mode setting command 64h in the following WR6 register together with axis specification Ten activation factors are available as options for the WR6 register and fourteen actions are available as options for the WR7 register H L D15 D4 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR6 AxiS3 AxIS2 AXIS1 O o O CMD LPRD IN3 IN3 D END D STA P C P lt C P l
70. 18 Acceleration Area mha Constant Speed Area a Deceleration Area tHA ta tHC 2 tlc a tHD tD n tHA gt tLA tHC tLC tHD lt tLD Fig 2 18 Comparison of Drive Pulse Length in Acceleration Deceleration E The Accuracy of Drive Speed The clock SCLK running in MCX314As is half of external input clock CLK If CLK input is standard 16MHz SCLK will be 8MHz Therefore the user had better driving the pulse speed in an exact multiple of SCLK period 125nSEC Otherwise the driving pulse will not very stable The frequency speed of driving pulse of MCX314As can be there are all exact the multiple of 125nSEC For instance the only frequencies that can be output are double 000 MHz triple 2 667 MHz quadruple 2 000 MHz five times 1 600 MHz six times 1 333 MHz seven times l 143 MHz eight times l 000 MHz nine times 889 KHz 10 times 800 KHz Any fractional frequencies cannot be output It is not very stable to set any desired drive speed However MCX314As can make any drive speed in using the following method For instance in the case of the range setting value R 80 000 magnification 100 and drive speed setting value V 4900 the speed of driving pulses of 4900x100 490 KPPS is output Since this period is not a multiple integer of the SCLK period pulses of 490KPPS cannot be output under a uniform frequency Therefore as shown in Fig 2 19 MCX314As combines 16 times and 17 times of SCLK period in a rate of
71. 2 WR6 lt 0190h write finish point of Y WRO lt 0100h write WR7 lt 0000h write WRO lt 0206h write WR6 lt 4DCOh write range of 2 axis constant vector speed WR7 0056h write 4 000 000x1 414 5 656 000 WRO lt 0030h write 2 axis linear WRO 0200h write interpolation starting WR6 lt 01F4h write initial speed 500x2 1000PPS WRO lt 0104h write WR6 lt 01F4h write drive speed 500x2 1000PPS WRO lt 0105h write continue A 1 000 MS l 1 414 ms 1 000 ms Temen xp T LS LNS LON L NT LON XPM YPP YPM Fig 2 35 Example of 2 Axis Interpolation at A Constant Vector Speed Speed 1000PPS Caution In the process of constant vector speed the pulse width of high level of output waveform will not be changed yet kept in the same width The pulse cycle will be changed to 1 414 or 1 732 times P NOVA electronics Inc 1 000 ns L 414 ns a 1 000 ns nl XPP XPM MCX314As M28 L 732 ms n 1 414 ns YPM ZPM Fig 2 36 Example of 3 Axis Interpolation at A Constant Vector Speed speed 1000PPS 2 4 5 Continuous Interpolation The continuous interpolation is executing a series of interpolation processes such as linear interpolation circular interpolation linear interpolation gt During the continuous interpolation the driving will not stop contrarily the pulses are output continuously When executing the continuous interpolation the host CPU has to
72. 4 0 LP EP variable range function Disable W6 D3 1 Prevention of triangle forms at linear acceleration Enable IWW6 D2 0 Replacement of pulse output Disable W6 D1 0 EP Increase decrease inversion Disable W6 DO0 0 EP clearing by the IN2 signal Disable Automatic home search mode IW7 D15 D13 000 Deviation counter clear pulse width INTID12 0 Deviation counter clear output logical level IW7 D 11 0 Deviation counter clear output Disable INNTID10 0 Use of an over run limit signal as a home signal Disable IWTID9 0 Z phase signal AND home signal Disable INTID8 1 Logical real position counter clear Enable IIWTID7 0 Step 4 drive direction IW7 ID6 0 Step 4 Disable IW7ID5 0 Step 3 search direction IW7ID4 0 Step 3 Disable IINTID3 1 Step 2 search direction direction IIW7ID2 1 Step 2 Enable IW7 D1 0 Step 1 search direction IW7 DO 0 Step 1 Disable Z and U axes operation parameter initialization IlAO 0 R 800000 Multiple 10 K 1010 Jerk 619KPPS SEC2 L 1010 Deceleration increasing rate 619KPPS SEC2 A 100 Accleration deceleration 125KPPS SEC D 100 Deceleration 125KPPS SEC II SV 50 Initial speed 500PPS IIN 40 Drive speed 400PPS P 10 Output pulse number 10 II LP 0 Logical position counter 0 General purpose output register initialization 00000000 00000000 Interpolation mode register initialization
73. 4 VRING bit of the WR6 Fig 2 22 Operation of Position Counter register of the extension mode setting command 60h to 1 and set the Ring Maximum Value 9999 maximum value of the logical position counter in the COMP register and the maximum value of the real position counter in the COMP register For instance set as follows for a rotation axis that rotates one cycle with 10 000 pulses To enable the variable ring function set 1 in the D4 bit of the WR6 register of the extension mode setting command 60h Set 9 999 270Fh in the COMP register as the maximum value of the logical position counter Set 9 999 270Fh in the COMP register when using a real position counter also The count operation will be as follows Increment in the direction 9998 9999 0 1 Decrement in the direction 1 0 9999 9998 Notes e The variable ring function enable disable is set for each axis however a logical position counter and a real position counter cannot be enabled disabled individually e Ifa variable ring function is enabled a software limit function cannot be used 2 3 4 Clearing a Real Position Counter Using an External Signal This function clears a real position counter at rising of the Z phase active MCX314As level when Z phase search is applied in lt Near Home Sensor home search Normally home search is performed by iy Fome Senso assigning a near home signal a home signal an
74. 4 Axes Motor Control IC with Interpolation Function MCX314As Users Manual NOVA electronics Update history 3 7 2006 Ver 1 6 P115 117 the following items in the table 1 6 2006 Ver 1 5 P70 line 22 P70 line 24 5 20 2005 Ver 1 4 P67 line 41 P73 line 42 P80 line 14 P97 line 42 3 14 2005 Ver 1 3 P62 11 17 2004 Ver 1 2 P15 line 30 P36 line 17 P36 line 40 P38 line 53 P54 line 6 P58 line 14 P58 line 19 22 P64 line 56 P65 line 6 P70 line 31 32 P82 line 33 P91 line 11 12 P93 line 13 P93 line 23 P94 line 8 P94 line 22 P94 line 36 P117 line 11 P124 line 27 34 P124 line 31 32 Wavelength gt Width Reservation Time Hold Time Established Time gt Setup Time the start the end the end the start nWR2 3 gt nWRI 3 in the table in 4 7 Output Register WR4 the value ZOUTO for D12 gt UOUTO finish point 8 388 608 8 388 607 finish point 2 147 483 646 2 147 483 646 nWR2 5 gt nWRI 5 replaced diagram tolerance gt jitter gt 2 as the pulse count P gt as the output pulse numbers P Interruption of automatic home search gt Suspension of automatic home search During the power resetting gt When resetting nEXPP gt nEXPM Corrected a paragraph HKMT gt HLMT HKMT gt HLMT Added a paragraph Each axis is with Acceleration Deceleration and jerk is gt Acceleration Deceleration is Corrected a paragra
75. 9 7 BP Register Data Writing Enabling Command BP register data writing enabling This command enables the bit pattern data writing registers BP1P M BP2P M and PB3P M After this command is issued the data writing to register nWR1 nWRS becomes disabled The data written to the bit pattern data writing registers is disabled while resetting 97 NOVA electronics Inc MCX314As M98 9 8 BP Register Data Writing Disabling Command BP register data writing disabling This command disables the bit pattern data writing registers BP1P M BP2P M and PB3P M After this command is issued the data writing to register nWR2 nWRS becomes enabled 9 9 BP Data Stack Command BP data stacking This command stacks the data of bit pattern data writing registers BP1P M BP2P M and BP3P M After this command is issued stack counter SC will plus 1 When stack counter SC is 3 this command cannot be issued again 9 10 BP Data Clear Command BP data clearing This command clears all the bit pattern data and sets the stack counter SC to 0 9 11 Single Step Interpolation Command Single step interpolation This command performs 1 pulse each step output in interpolation driving When D12 bit of register WRS is set 1 the single step interpolation can be performed After this command is issued single step interpolation starts 98 NOVA electronics Inc MCX314As M99
76. A0 0 WR3 D2 1 0 1 0 0 Auto Deceleration Mode Jerk 31K PPS SEC2 Initial Speed 10 PPS Drive Speed 8000 PPS 8K F pps 4K o 20 4 0 sec A1 NOVA electronics Inc MCX314As A2 E 400KPPS Symmetrical S curve Acceleration Deceleration R 80000 Multiple 100 K 2000 A 8000 SV 10 V 4000 A0 0 WR3 D2 1 0 1 0 0 Auto Deceleration Mode Jerk 3 13M PPS SEC2 400K Initial Speed 1000 PPS Drive Speed 400K PPS Output Pulse P 400 000 1 0 2 0 sec E 40KPPS Non Symmetrical S curve Acceleration Deceleration 1 40K R 800000 Multiple 10 K 500 L 2000 A D 8000 SV 10 V 3000 A0 0 pps WR3 D2 1 0 1 1 1 Manual Deceleration Mode Jerk 1 25M PPS SEC2 Deceleration Increasing Rate 0 31M PPS SEC2 a Initial Speed 100PPS Drive SPeed 30K PPS 20K Output Pulse P 20 000 Manual Deceleration Point DP 10 752 0 6 1 2 sec E 40KPPS Non Symmetrical S curve Acceleration Deceleration 2 40K F R 800000 Multiple 10 K 2000 L 500 A D 8000 SV 10 V 3000 A0 0 pps WR3 D2 1 0 1 1 1 Manual Deceleration Mode Jerk 0 31M PPS SEC2 Deceleration Increasing Rate 1 25M PPS SEC2 a Initial Speed 100PPS i Drive SPeed 30K PPS 20K Output Pulse P 20 000 Manual Deceleration Point DP 15 356 0 6 1 2 sec A2 NOVA electronics Inc MCX314As A3 E 40KPPS Non Symmetrical Trapezoid Acceleration Deceleration a Acceleration Deceleration Ratio 4 1 R 800000 Maltiple 10 A 400
77. Action VLSET Sets the value of the WR6 register in the drive speed V V lt WR6 See 3 in Section 2 6 3 Notes on Synchronous Action OUT Outputs synchronous pulses as external signals An external signal uses a nDCC signal DCC Enable logical setting and a pulse width must be set in advance by using the extension mode setting command 60h See Sections 2 5 2 and 6 16 INT Generates an interrupt signal INTN D15 The interrupt signal INTN becomes Low Active and the RR3 D9 SYNC bit of the axis to which the interrupt occurred indicates 1 When CPU reads the RR3 register of the axis to which the interrupt occurred the bit of the RR3 register is cleared to 0 and the interrupt output signal is reset to Hi Z 46 NOVA electronics Inc MCX314As M47 At resetting all the activation factors and actions are set to Disable Figure 2 41 shows the flow of synchronous action of the X axis in IC If the activation factor that was set to Enable becomes active among the ten types of activation factors of the X axis the action that is set to Enable starts immediately When other axis activation is enabled the actions of the other axis that are enabled are also executed simultaneously by the X axis activation factor From Z Axis From Y Axis J gt Activation from Other Axes From U Axis Provocative Action Poet FDRV Enable1 DisableO Enable1 Disable O gt P lt Ct FDRV Enable1 Disable0
78. C is used the Z phase signal home signal and near home signal are assigned to nIN2 nIN1 and nINO respectively Except the parameter of the number of output pulse the other four parameters for the fixed pulse drive must be set to execute the acceleration deceleration continuous pulse driving 2 2 Acceleration and Deceleration Basically driving pulses of each axis are output by a fixed pulse driving command or a continuous pulse driving command of the direction or direction These types of driving can be performed with a speed curve of constant speed linear acceleration non symmetrical linear acceleration S curve acceleration deceleration or non symmetrical S curve acceleration deceleration according to the mode that is set or the operation parameter value 2 2 1 Constant Speed Driving When the drive speed set in MCX314As is lower than the initial speed or a speed higher than the drive speed is set as the initial speed the acceleration deceleration will not be performed instead a constant speed driving starts If the user wants to perform the sudden stop when the home sensor or encoder Z phase signal is active it is better not to perform the acceleration deceleration driving but the low speed constant driving from the beginning For processing constant speed driving the following parameters will be preset accordingly Parameter name Symbol Comment Speed Range R Set a value higher than the Initial Speed Initia
79. D 100 SV 40 V 4000 A0 0 WR3 D2 1 0 0 1 0 Auto Deceleration Mode 60H VWR6 D3 1 40K Triangle Prevention ON pps fl Acceleration 500K PPS SEC Deceleration 125K PPS SEC i i Initial Speed 400 PPS Drive Speed 40K PPS i N a ae P 10 000 P 20 000 Output Pulse r N P 2 Ba on a P 30 000 0 b Acceleration Deceleration Ratio 1 4 1 2 sec R 800000 Maltiple 10 A 100 D 400 SV 40 V 4000 A0 0 WR3 D2 1 0 0 1 0 Auto Deceleration Mode 60H VWVWR6 D3 1 Triangle Prevention ON PpS rl Acceleration 125K PPS SEC Pa i Deceleration 500K PPS SEC i i Initial Speed 400 PPS 4 i Drive Speed 40K PPS f P 5 000 P 10 000 P 20 000 Output Pulse i i i P 30 000 P 2 000 i 0 1 2 sec c Acceleration Deceleration Ratio 10 1 R 800000 Maltiple 10 A 400 D 40 SV 50 V 4000 A0 0 WR3 D2 1 0 0 1 0 Auto Deceleration Mode 60H VWR6 D3 1 40K r a Triangle Prevention ON pps j T Acceleration 500K PPS SEC j ea Deceleration 50K PPS SEC Ta in Initial Speed 500 PPS in eon Drive Speed 40K PPS a ia hy te s iia _p 5 000 P10 000 P 20 000 Bi Output Pulse i a ae i P 40 000 j ae a ae Te T ca ne ige N a ao a sl 0 1 6 sec d Acceleration Deceleration Ratio 1 10 R 800000 Maltiple 10 A 40 D 400 SV 50 V 4000 A0 0 WR3 D2 1 0 0 1 0 Auto Deceleration Mode 60H WVR6 D3 1 Triangle Prevention ON Acceleration 50K PPS SEC Deceleration 500K PPS SEC
80. D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RRO BPSC1 BPSCO zonez ZONE1 ZONEO CNEXT I DRV U ERR Z ERR Y ERR X ERR U DRV Z DRV Y DRV X DRV L pd J Error of Each Axis Driving of Each Axis The D7 to D4 n ERR bits that indicate an error of each axis sometimes indicate 1 in spite of normal operation when the limit signal in the search direction is set in regular operation of Step 1 or 2 Check these error bits at termination of automatic home search instead of monitoring during execution of automatic home search 38 NOVA electronics Inc MCX314As M39 E Status register 2 Bits D7 to DO of status register 2 RR2 indicate error information and bits D12 to D8 indicate a home search execution state H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR2 0 o Hms T HMST3 HMST2 HMST1 HMSTO HOME 0 EMG ALARM HLMT HLMT SLMT SLMT l Automatic Home Search Execution State IN2 Signal Error at Automatic Home Search The error information bit D7 HOME is set to 1 when the encoder Z phase signal nIN2 is already active at the start of Step 3 during execution of automatic home search This bit is cleared when the next drive command or an automatic home search command is written The bit can also be cleared by a termination status clearing command 25h An automatic home search execution state indicates the details of the operation that is currently being execut
81. DRV bit of main status register PRO will return to 0 nALARM input signal receives the alarm signal from servo motor drivers When enable is set nALARM signal will be monitored and the D4 alarm bit of RR2 register is 1 when nALARM is active The sudden stop will occur in the driving when this signal is active 60 NOVA electronics Inc MCX314As M61 These input signals from servo motor drivers can be read by RR4 and RR5 registers A deviation counter clear signal nDCC is available as a servo motor driver output signal See Sections 2 4 2 and 2 4 3 2 9 6 Emergency Stop Signal EMGN is able to perform the emergency stop function for all of the 4 axes during the driving Normally this signal is kept on the Hi level When it is falling to the Low level all axes will stop immediately and the D5 EMG bit of register RR2 each axis becomes 1 Please be noted that there is no way to select the logical level of EMGN signal Please check the following methods to perform the emergency stop function from the host CPU a Execute the sudden stop commend for all of the 4 axes at the same time Appoint all of the 4 axes then write the sudden stop command 27h to register WRO b Reset software limit Write 800h to register WRO to reset software limit 2 9 7 Status Output nDRIVE output signals and bits D3 0 n DRV of register RRO Speed A Constant can be used for drive stop statu
82. DSND AASND ACNST Status of Driving Finishing Displaying the comparison result between logical real position counter and COMP register 1 logical real position counter gt COMP register 0 logical real position counter lt COMP register Displaying the comparison result between logical real position counter and COMP register 1 logical real position counter gt COMP register 0 logical real position counter gt COMP register A X s Speed It becomes 1 when in acceleration It becomes 1 when in constant speed driving b It becomes 1 when in deceleration ASND 1 CNST 1 DSND 1 Time E S Acceleration In S curve it becomes 1 when Deceleration Acceleration Deceleration acceleration deceleration increases l l l l In S curve it becomes 1 when acceleration l deceleration keeps constant AASND 1 ACNST 1 ADSND 1 AASND 1 ACNST 1 ADSND 1 Time lt a a _ a a 76 NOVA electronics Inc MCX314As M77 D7 ADSND In S curve it becomes 1 when acceleration deceleration decreases D11 8 IN3 0_ Ifthe driving is stopped by one of external decelerating stop signals nIN3 0 it will become 1 D12 LMT If the driving is stopped by direction limit signal nLMTP it will become 1 D13 LMT If the driving is stopped by direction limit signal nLMTP it will become 1 D14 ALARM Ifthe driving is stopped by nALARM from servo drivers it will
83. Extension mode setting 4 bytes For extension mode setting set an appropriate value in each bit of the WR6 and WR7 registers that are shown below and write a command code 60h as well as specification of the axis in the WRO register As a result the contents of the WR6 and WR7 registers are set in the extension mode registers EM6 and EM7 in the IC At resetting all the bits of the extension mode registers EM6 and EM7 in the IC are cleared to 0 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WPG FL2 FL1 FLO FE4 FE3 FE2 FE1 FEO SMODE o HMINT vrinc AVTRI POINV EPINV EPCLR H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR7 DCCW2 DCCW1 DCCWO DCC LIDCC E LIMIT SAND PCLR ST4 D ST4 E ST3 D st3 e ST D ST2 E ST1 D ST1 E L J L J l J l J l J Deviation Counter Clear Output Step 4 Step 3 Step 2 Step1 WR6 DO EPCLR When driving stops triggered by the nIN2 signal the real position counter is cleared When the nIN2 signal is changed to the Active level while this bit is set to 1 the driving stops and the real position counter EP is cleared The WR1 D5 IN2 E bit must be set to 1 and the Enable level must be set in the WRI1 D4 IN2 L bit See Section 4 4 WR6 D1 EPINV Inverses increase decrease of the real position counter WR6 D1 EPINV Input pulse mode Increase decrease of the real position counter EP A Count UP when t
84. IC is equipped with an integral type filter in the input step of each input signal It is possible to set for each input signal whether the filter function is enabled or the signal is passed through A filter time constant can be selected from eight types y MCX314As LMTP eV we 3 n Ww a yxy n pe 47 LIMIT gt o Wa Built in Filter E Driving by External Signal It is possible to control each axis by external signals The direction fixed pulse driving and continuous pulse driving can be also performed through the external signals This function is used for JOG or teaching modes and will share the CPU load E Servo Motor Feedback Signals Each axis includes input pins for servo feedback signals such as in positioning An output signal for clearing a deviation counter is also available E Interrupt Signals Interrupt signals can be generated when 1 the start finish of a constant speed drive during the acceleration deceleration driving 2 the end of driving and 3 the compare result once higher lower the border lines of the position counter range An interrupt signal can be also generated during the interpolation driving E Real Time Monitoring During the driving the present status such as logical position real position drive speed acceleration deceleration status of accelerating decelerating and constant driving can be read NOVA electronics Inc MCX314As M4 E 8 or 16 Bits Data Bus S
85. Linear Interpolation 96 9 3 CW Circular Interpolation 96 9 4 CCW Circular Interpolation 97 9 5 2 Axis Bit Pattern Interpolation 97 9 6 3 Axis Bit Pattern Interpolation Drive 97 9 7 BP Register Data Writing Enabling 97 9 8 BP Register Data Writing Disabling 98 9 9 BP Data Stack 98 9 10 BP Data Clear 98 9 11 Single Step Interpolation 98 9 12 Deceleration Enabling 99 9 13 Deceleration Disabling 99 9 14 Interpolation Interrupt Clear
86. N LMTP M IN1 and 0 filter Enable IW6 D7 0 IW6 D6 0 WW6 D5 0 Automatic home search termination interrupt Prohibit W6 D4 0 LP EP variable ring function Disable WW6 D3 1 Triangle form prevention at linear acceleration Enable WW6 D2 0 Pulse output switching Disable IW6 D1 0 EP increase decrease inversion Disable W6 DO 0 EP clear by IN2 signal Disable Automatic home search mode W7 D15 D13 010 Deviation counter clear pulse width 100usec IINTID12 0 Deviation counter clear output logical level Hi IW7 D11 1 Deviation counter clear output Enable INN7ID10 0 Use of limit signal as a home signal Disable IWTID9 0 Z phase signal AND home signal Disable INTID8 1 Logical real position counter clear Enable INN7ID7 0 Step 4 driving direction direction IW7 D6 1 Step 4 Enable IWTID5 1 Step 3 search direction direction IW7 D4 1 Step 3 Enable IINTID3 1 Step 2 search direction direction IW7 D2 1 Step 2 Enable IW7 ID1 1 Step 1 search direction direction IW7 DO 1 Step 1 Enable 109 NOVA electronics Inc accofst 0x3 0 range 0x3 800000 acac 0x3 1010 dcac 0x3 1010 acc 0x3 100 dec 0x3 100 startv 0x3 100 speed 0x3 4000 pulse 0x3 100000 Ip 0x3 0 ep 0x3 0 command 0xc Oxf outpw adr wr1 0x0000 outpw adr wr2 0x0000 outpw adr wr3 0x0000 expmode 0x4 0x5d08 0x01c4 MCX314As M110 X and Y axes operation parameter initial
87. P 4 point 2 147 483 646 2 147 483 646 07 Manual deceleration point setting DP 0 4 294 967 295 4 08 Circular center point setting C 2 147 483 646 2 147 483 646 4 09 Logical position counter setting LP 2 147 483 648 2 147 483 647 4 0A Real position counter setting EP 2 147 483 648 2 147 483 647 4 0B COMP register setting CP 2 147 483 648 2 147 483 647 4 oc COMP register setting CM 2 147 483 648 2 147 483 647 4 OD Acceleration counter offsetting AO 32 768 32 767 2 0E Deceleration increasing rate L 1 65 535 2 setting 60 Extension mode setting EM Bit data 4 61 Home detection speed setting HV 1 8 000 2 64 Synchronous action mode setting SM Bit data Note When those parameters are written the total data length should be completely filled Formula Calculation for Parameters Multiple 8 008 000 Deceleration Increasing Rate _ _62 5 108 8 000 000 PPS SECY L Multiple 6 Jerk PPS SEC4 cao 8 009 000 Deceleration PPS SEC D x 125 x 8 000 000 Multiple Multiple na 8 000 000 Acceleration PPS SEC A x 125 x Se Initial Speed PS Sv R ssr A Multiple Multiple Drive Speed PPS V x ieee Multiple 80 NOVA electronics Inc MCX314As M81 E Data Reading Commands Code Command Symbol Data Range Data Length 10h Logical position counter reading LP 2 147 483 648 2 147 483 647 4 bytes 11 Real position counter reading EP 2 147 483 648 2 147 483 647 4 12 Current
88. S curve acceleration deceleration driving set bits D2 D1 and DO of the nW3 register as follows 1 When a low acceleration is set the acceleration deceleration does not increase above the set value A functions as a limiter in acceleration increase or deceleration increase in S curve acceleration and a straight line appears on Setting Mode setting bit Symbol Comment value WR3 D0 MANLD 0 Automatic deceleration 0 The acceleration setting value and jerk WR3 D1 DSNDE setting value are used at deceleration WR3 D2 SACC 1 S curve acceleration deceleration The following parameters must be set Parameter name Symbol Comment Range R Jerk K Acceleration A Always set the maximum value 8000 Initial Speed SV Drive Speed V Number of p Not required for continuous pulse driving Output Pulse the speed curve MThe Prevention of Triangle Driving Profile Speed For fixed pulse driving of S curve acceleration deceleration where acceleration and deceleration are symmetrical the following method is applied to maintain a smooth speed curve when the output pulses do not reach the pulses required for accelerating to the drive speed or deceleration stop is applied during acceleration Initial Speed If the initial speed is 0 and if the rate of acceleration is a then the speed at time t in acceleration region can be described as following v t at Acceleration 4 Deceleration
89. Speed Reading Command Data range Data length Current drive speed reading 2 bytes The value of current drive speed will be set in read registers RR6 and RR7 When the driving stops the value becomes 0 The data unit is as same as the setting value of drive speed V 91 NOVA electronics Inc MCX314As M92 7 4 Current Acceleration Deceleration Reading Command Data range Data length Current acceleration deceleration 2 bytes reading The value of current acceleration deceleration will be set in read registers RR6 and RR7 When the driving stops the read data is random number The data unit is as same as the setting value of acceleration A 7 5 Synchronous Action Buffer Register Reading Command Data range Data length Synchronous action buffer register i 2 147 483 648 2 147 483 647 4 bytes reading The value of the synchronous action buffer register is set in the RR6 and RR7 read data registers 92 NOVA electronics Inc MCX314As M93 8 Driving Commands Driving commands include the commands for each axis s drive pulse output and other related commands After the command code and axis assignment are written in command register WRO the command will be executed immediately It is possible to assign more than one axis with same command at the same time In driving bit n DRV of each axis s main status register RRO becomes 1 When the driving is finished the bit
90. When it is enable and when this signal is in its active level the HLMT of RR2 register becomes 1 XLMTM 70 Input A OVER Limit signal of direction over limit 64 NOVA electronics Inc MCX314As M65 Signal Name YLMTM ZLMTM ULMTM XIN3 0O YIN3 0O ZIN3 0 UIN3 0 XEXPP YEXPP ZEXPP UEXPP XEXPM YEXPM ZEXPM UEXPM EMGN GND VDD Pin No Input Output Signal Description 88 F During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active The active pulse width should be 98 more than 2CLK Decelerating stop sudden stop and logical levels can be set 117 during the mode selection When it is enable and when this signal is in its active level the HLMT of RR2 register becomes 1 Input 3 0 input signal to perform decelerating sudden stop for each axis 71 74 These signals can be used for HOME searching The active pulse width should 89 92 94 Input A be more than 2CLK Enable disable and logical levels can be set for IN3 INO 99 102 F In automatic home search INO IN1 and IN2 are assigned to a near home search signal a home signal and an encoder Z phase signal respectively The signal 118 121 status can be read from register RR4 RR5 134 External Operation direction drive starting signal from external source When the fixed pulse driving is commanded from an external source direction 136 Input A driving will start if this
91. XPM movement in interpolation is the long axis YPP _ JL JTL JL JL LLL TL TL Shot axis And the other is short axis The long axis YPM outputs an average pulse train The driving Fig 2 26 The Example for Pulse Output at Finish Point X 20 Y 9 pulse of the short axis depends on the long axis and the relationship of the two axes The range for each axis is a 32 bit signed counter from 2 147 483 648 2 147 483 647 signed 32 bit 2LSB 49 NOVA electronics Inc E The example of linear interpolation for 2 axes Executing linear interpolation drives in X and Y axes from the current position to the finish position X 300 Y 200 The interpolation drive speed is constant 1000PPS WR5 lt 0004h write WR6 lt 1200h write WR7 lt 007Ah write WRO lt 0100h write WR6 lt 03E8h write WRO lt 0104h write WR6 lt 03E8h write WRO lt 0105h write WR6 lt 012Ch write WR7 lt 0000h write WRO lt 0106h write WR6 lt FF38h write WR7 lt 0000h write WRO lt 0206h write WRO lt 0030h write map ax1 to X axis ax2 to Y axis range 8 000 000 Multiple 1 initial speed 1 000PPS drive speed 1 000PPS finish point of X axis 300 finish point of Y axis 200 MCX314As M20 100 200 300 200 linear interpolation driving for 2 axes enabling E The example of linear interpolation for 3 axes Executing linear interpolation drive for X Y and Z axe
92. a 2 bit counter Its value is between 0 and 3 which can be read from D14 13 of register RRO SC will decide which register for the data from the host CPU The initial value of SC is 0 So when host CPU writes bit pattern data into BP1P or BPIM the data will be stored in SREG and then SC will count up to 1 and the next data from the host CPU will be written into REG1 By this way the REG2 becomes the register when SC 2 The host CPU is not able to write any bit pattern data into MCX314As when SC 3 When the bit pattern interpolation pulse is outputting DO in SREG will be shifted output first and then in the order of D1 D 29 NOVA electronics Inc MCX314As M24 When all of SREGs have been shifted output the data in REG1 will be shifted to SREG the data in REG2 will be shifted to REGI1 and the SC will count down to 2 Then the host CPU is able to write a new data into MCX314As again In order to make MCX314As output the bit pattern data continuously the host CPU should write the data into MCX314As before SC counts down to 0 MCX314As will output a interrupt requirement signal to host CPU when SC counts down from 2 to l E The limitation for the speed of bit pattern interpolation driving The maximum pulse output speed of MCX314As is 4MHz in bit pattern interpolation mode However the maximum speed will depend on the data update rate of host CPU if the bit pattern data are more than 48bits For example of the X and Y axes bit patt
93. a deceleration an jerk acceleration increasing rate and deceleration increasing rate individually for S curve deceleration fixed pulse driving e When use circular interpolation bit pattern interpolation and continuous interpolation for acceleration and deceleration NOVA electronics Inc MCX314As M7 In case of manual deceleration please set DO bit of register WR3 to 1 and use command 07h for presetting deceleration point As to the other operation the setting is as same as that of fixed pulse driving E Changing a Drive speed During Driving Sneed In fixed pulse driving under linear acceleration at a pps 4 Range R 800000 Multiple 10 constant speed a drive speed V can be changed MO RP ae ne er A during driving However if a speed of fixed pulse 30k f 25k F V 3000 setting driving is changed at linear acceleration some premature termination may occur Therefore V 4000 setting V 1500 setting caution is necessary when using the IC by setting a low initial speed tme Fig 2 5 Example of Drive Speed Change During Driving A drive speed V cannot be changed during fixed pulse driving in S curve deceleration E Offset Setting for Acceleration Deceleration Driving The offset function can be used for compensating the s A pulses when the decelerating speed does not reach the setting initial speed during the S curve fixed pulse A EEE driving MCX314As will calculate the acc
94. adr bp1p 0x0000 outpw adr bp1m Ox2bff outpw adr bp2p Oxffd4 outpw adr bp2m 0x0000 command 0 0x38 outpw adr bp1p Oxf6fe outpw adr bp1m 0x0000 outpw adr bp2p 0x000f outpw adr bp2m 0x3fc0 command 0 0x38 outpw adr bp1p 0x1fdb outpw adr bp1m 0x0000 outpw adr bp2p OxOOff outpw adr bp2m Oxfc00 command 0 0x38 command 0 0x34 bp_wait outpw adr bp1p 0x4000 outpw adr bp1m 0x7ff5 outpw adr bp2p 0x0000 outpw adr bp2m Ox0aff command 0 0x38 command 0 0x37 wait 0x3 speed 0x1 100 pulse 0x1 4500 pulse 0x2 0 command 0 0x30 next_wait center 0x1 0 center 0x2 1500 pulse 0x1 1500 pulse 0x2 1500 command 0 0x33 MCX314As M112 S curve mode K 1010 Jerk 619KPPS SEC2 ILA 200 Accleration deceleration 250KPPS SEC IIV 4000 Drive speed 40000PPS xP 50000 yP 25000 Fixed pulse drive Release of S curve acceleration deceleration Z axis constant speed drive II SV 40 Initial speed 400PPS IIV 40 Drive speed 400PPS IIP 700 fixed pulse drive Moving 700 pulses in the direction at 400pp II P 350 Fixed pulse drive Moves 350 pulses in the direction at 400pps X and Y axes linear interpolation driving I ax1 x ax2 y ax3 z Constant vector speed II ax1 R 800000 Multiple 10 II ax2 R 800000 1 414 Il ax1 V 100 Drive speed
95. al as the home signal Disable D9 0 Z phase signal AND home signal Disable D8 1 Clears logical real position counter Enable D7 0 Step 4 driving direction direction D6 1 Step 4 Enable D5 0 Step 3 search direction D4 0 Step 3 Disable D3 1 Step 2 search direction direction D2 1 Step 2 Enable D1 1 Step 1 search direction direction DO 1 Step 1 Enable WRO lt 0160h Write Writes an extension mode setting command in the X axis WR6 lt 3500h Write Range 8 000 000 multiple 10 WR7 lt 000Ch Write WRO lt 0100h Write WR6 lt 004Ch Write Acceleration speed 95 000 PPS SEC WRO lt 0102h Write 95000 125 10 76 WR6 lt 0064h Write Initial speed 1000 PPS WRO lt 0104h Write WR6 lt 07D0h Write Speed of Steps 1 and 4 20000 PPS WRO lt 0105h Write WR6 lt 0032h Write Speed of Step 2 500 PPS gt 42 NOVA electronics Inc WRO lt 0161h Write WR6 lt ODACh Write WR7 lt 0000h Write WRO lt 0106h Write Offset driving pulse count 3500 WRO lt 0162h Write Starts execution of automatic home search E Example of home search using a limit signal MCX314As M43 For a simple home search a limit signal of one side is used as an alternative home signal However the following two conditions are applied a When high speed search operation is performed decelerating stop must be able to be performed sufficiently within the distance from the limit signal acti
96. al iti is han that of COMP it b Low if th UOUT4 CMPP 128 ogical real position counter is larger than that o it becomes Low if the value of logical real position counter is smaller than that of COMP XOUT3 O 61 64 General Output 3 0 4 general output signals for each axis OUT3 0 can output YOUT3 0 81 84 Output A the 1 0 data of D15 0 in WR4 register to Hi Low They become Low when the IC ZOUT3 0 110 113 is reset Compared with the setting of NOUT7 4 it is easier cause there is no UOUT3 0 129 132 need to have the appointed axis XINPOS 67 In position input signal for servo driver in position YINPOS 85 Input A Enable disable and logical levels can be set as commands When enable is ZINPOS 95 SRS set and after the driving is finished this signal is active and standby n DVR bit UINPOS 114 of main status register returns to 0 XALARM 68 Servo Alarm input signal for servo driver alarm YALARM 86 Input A Enable disable and logical levels can be set as commands When it is enable ZALARM 96 E and when this signal is in its active level the ALARM bit of RR2 register becomes UALARM 115 1 OVER Limit signal of direction over limit oe 93 During the direction dri l tputti decelerati t dd t urin e irection drive pulse outputting decelerating stop or sudden sto YLMTP 87 Input A ee E E P SNTE Ge Spe will be performed once this signal is active When the filter function is disabled ULMTP 116 the active pulse width must be 2CLK or more
97. already active at the start of Step 3 an error occurs and 1 is set in bit D7 of the nRR2 register Automatic home search ends Adjust the mechanical system so that Step 3 always starts from an inactive state with a stable encoder Z phase signal nIN2 2 If the limit signal in the search direction is already active before the start of Step 3 an error occurs and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register Automatic home search ends 3 If the limit signal in the search direction becomes active during execution search operation is interrupted and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register Automatic home search ends MStep 4 High speed offset drive The function outputs as many driving pulses as the output pulse numbers P that is set in the specified direction at the speed that is set in the drive speed V Use this step to move the axis from the mechanical home position to the operation home position Through mode setting the logical position counter and real position counter can be cleared after moving If the drive direction limit signal becomes active before the start or during execution of Step 4 the operation stops due to an error and 1 is set in the search direction limit error bit D2 or D3 of the nRR2 register 36 NOVA electronics Inc MCX314As M37 2 5 2 Deviation Counter Clearing Signal Output This function outputs a deviation counter clearing
98. ands for 2 3 axes linear interpolation CW CCW circular interpolation 2 3 axes bit pattern interpolation and other related commands There is no need to make the axis assignment in setting bits D11 8 of command register WRO Please set 0 in those bits Two procedures should be follow before the interpolation command is executed a interpolation accessing axes assignment set in bits D5 DO of register WR5 b speed parameter setting for master axis In interpolation driving bit D8 I DRV of main status register RRO becomes 1 and will return to 0 when the driving is finished In interpolation the n DRV bit of interpolating axis becomes 1 Note It requires 250 nSEC maximum to access the command code when CLK 16MHz Please write the next command within this period of time 9 1 2 Axis Linear Interpolation Command 2 axis linear interpolation This command performs 2 axis interpolation from present point to finish point Before driving the finish point of the 2 corresponding axes should be set by incremental value 9 2 3 Axis Linear Interpolation Command 3 axis linear interpolation This command performs 3 axis interpolation from present point to finish point Before driving the finish point of the 3 corresponding axes should be set by incremental value 9 3 CW Circular Interpolation Command CW circular interpolation This command performs 2 axis clockwise circular interpolation based on cent
99. ation Reading 92 7 5 Synchronous Action Buffer Register Reading 92 8 Driving CommandS 93 8 1 Direction Fixed Pulse Driving 93 8 2 Direction Fixed Pulse Driving 94 8 3 Direction Continuous Pulse Driving 94 8 4 Direction Continuous Pulse Driving 94 8 5 Drive Status Holding 95 8 6 Drive Status Holding Release Finishing Status Clear 95 8 7 Decelerating StOp 95 8 8 Sudden Stop 95 NOVA electronics Inc MCX314As v 9 Interpolation CommandsS 96 9 1 2 Axis Linear Interpolation 96 9 2 3 Axis
100. ation rate pps sec D gt A x Ero A Acceleration rate pps sec Where CLK 16MHz 4x10 V Drive Speed pps For instance if the driving speed V 100kps deceleration D must be greater than 1 40 of acceleration A The value must not be less than 1 40 of the acceleration e Ifacceleration gt deceleration Fig 2 12 the greater the ratio of acceleration A to deceleration D becomes the greater the number of creep pulses becomes about maximum of 10 pulse when A D 10 times When creep pulses cause a problem solve the problem by increasing the initial speed or setting a minus value to the acceleration counter offset E Example of setting parameters See below for the parameter setting of fixed pulse driving in non symmetrical linear acceleration acceleration lt deceleration WR3 lt 0002h Mode setting of the WR3 register Range R 800000 Multiple 10 Acceleration A 29 30000 1000 0 8 36250PPS SEC 36250 125 10 29 Deceleration D 116 30000 1000 0 2 145000PPS SEC 145000 125 10 116 Initial speed SV 100 1000 10 100 Drive speed V 3000 30000 10 3000 Number of output pulses P 27500 10 NOVA electronics Inc 2 2 4 S curve Acceleration Deceleration Driving This IC creates an S curve by increasing reducing acceleration decelerations in a primary line at acceleration and deceleration of drive speed Drive Speed Figure 2 13 shows the operation of S curve acceleration deceleration driving where the acc
101. become 1 D15 EMG If the driving is stopped by external emergency signal EMGN it will become 1 E The Status Bits of Driving Finishing These bits are keeping the factor information of driving finishing The factors for driving finishing in fixed pulse driving and continuous driving are shown as follows when all the drive pulses are output in fixed pulse driving b when deceleration stop or sudden stop command is written when software limit is enabled and is active O d when external deceleration signal is enabled and active e when external limit switch signals nLMTP nLMTM become active f when nALARM signal is enabled and active and g when EMGN signal is on the Low level 66 9 Above factors a and b can be controlled by the host CPU and factor c can be confirmed by register RR2 even the driving is finished As for factors d g the error status is latched in RR2 until next driving command or a clear command 25h is written After the driving is finished if the error factor bits D15 D12 become 1 n ERR bit of main status register RRO will become 1 Status bit of driving finishing can be cleared when next driving command is written or when the finishing status clear command 25h is used 4 12 Status Register 2 RR2 Each axis is with status register 2 The axis specified by NOP command or the condition before decides which axis s register will be read This
102. c Low Active Mode register 2 D15 1 INPOS input Enable D14 1 INPOS input logic High active D13 1 ALARM input Enable D12 0 ALARM input logic Low active D11 0 D10 0 Encoder input division 1 1 D9 0 Encoder input mode 2 phase pulse D8 0 Drive pulse direction logic D7 0 Drive pulse logic Positive logic D6 0 Drive pulse mode 2 pulse D5 0 COMP target Logical position counter D4 0 over run limit logic Low Active D3 0 over run limit logic Low Active D2 0 Over run limit stop mode Decelerating stop D1 0 Software over run limit Disable DO 0 Software over run limit Disable Mode register 3 D15 12 0000 D11 0 General purpose output OUT7 Low D10 0 General purpose output OUT6 Low D9 0 General purpose output OUT5 Low D8 0 General purpose output OUT4 Low D7 0 Drove state output Disable D6 0 D5 0 D4 0 External operation signal operation Disable D3 0 D2 0 Acceleration deceleration curve Linear acceleration trapezoid D1 0 Acceleration deceleration symmetry non symmetry Symmetry D0 0 Fixed pulse drive deceleration Automatic deceleration Extension mode Input signal filter and others IW6 D15 13 010 Input signal filter delay 512u IW6 D12 1 IN3 signal filter Enable W6 D11 1 EXPP EXPM and EXPLS filter Enable IW6 D10 1 INPOS and ALARM signal filter Enable IW6 D9 0 IN2 signal filter Disable IW6 D8 1 EMG
103. cceleration and deceleration are equal the setting of deceleration is not required Initial Speed SV Drive Speed V Number of Output Pulse P E Changing the Number of Output Pulse in Driving The number of output pulse can be changed in the fixed pulse driving If the command is for increasing the output pulse the pulse output profile is shown as Fig 2 2 or 2 3 If the command is for decreasing the output pulses the output pulse will be stopped immediately as shown in Fig 2 4 Furthermore when in the S curve acceleration deceleration driving mode the output pulse number change will occur to an incomplete deceleration S curve Speed A o Change of Output Pulse Lasi time Fig 2 3 Changing The Number of Output Pulse During Deceleration Speed Change of Output Pulse time Fig 2 2 Change of Output Pulse Number in Driving Speed Change of ri Output Pulse z time Fig 2 4 Changing The Pulse Number Less Than Output Pulse Number E Manual Setting Deceleration for fixed pulse Acceleration Deceleration Driving As shown in Fig 2 1 generally the deceleration of fixed pulse acceleration deceleration driving is controlled automatically by MCX314As However in the following situations it should be preset the deceleration point by the users The change of speed is too often in the trapezoidal fixed pulse acceleration deceleration driving Set an acceleration
104. coder The following diagram is the example for the encoder signal which is differential line drive output Then this signal can be received through the high speed photo coupler IC which can direct it to MCX314As MCX314As Motor Drives 220 _ ECA 470 e AWW 0 O XECA A 21k o TLP115A as 5V 404 2 NOVA electronics Inc MCX314As M105 12 Example Program The example of C program for MCX314As is shown in this section This is a 16 bit bus configuration program This program can be downloaded from our home page http www novaelec co jp File name MCX314AML C include lt stdio h gt include lt conio h gt define adr 0x2a0 Basic address define wro 0x0 Command register define wr 0x2 Mode register 1 define wr2 0x4 Mode register 2 define wr3 0x6 Mode register 3 define wr4 0x8 Output register define wr5 Oxa nterpolation mode register define wr6 Oxc Low word bits data writing register define wr7 Oxe High word bits data writing register define rrO 0x0 Main status register define rr 0x2 Status register 1 define rr2 0x4 Status register 2 define rr3 0x6 Status register 3 define rr4 0x8 Input register 1 define rr5 Oxa Input register 2 define rr6 Oxc Low word bits data reading register define rr7 Oxe High word bits data reading register define bpip 0x4 BP direction data register for the first axis control define bp1m 0x6
105. commands or external signals which can reduce the load of host CPU By inputting an encoder 2 phase signal of a manual pulsar jog feed of each axis is enabled Each axis has two input signals nEXPP and nEXPM In fixed pulse drive mode and a continuous pulse drive mode the nEXPP signal triggers driving in the direction and the nEXPM signal in the direction nEXPP controls direction pulse output and nEXPM controls direction command D3 and D4 bits of register WR3 are for the setting in driving The user should preset the parameters and commands The default level of nEXPP and nEXPM is normally set on Hi In manual pulsar mode the A phase signal is connected to nEXPP input and the B phase signal to nEXPM input E Fixed Pulse Driving Mode Set bits D4 and D3 of register WR3 to 1 and 0 respectively and set all the parameters of fixed pulse driving Once nEXPP is falling down to the Low level the direction fixed pulse driving will start once nEXPM is raising to the Hi level the direction fixed pulse driving will start The width of Low level signal must be larger than 4 CLK cycle Before this driving is finished a new Hi to Low level falling down of the signal is invalid oe XEXPM es XPP M XPM Fig 2 44 Example of The Constant Pulse Driving by External Signal E Continuous Pulse Driving Mode Set bits D4 and D3 of WR3 register to be 0 and 1 respectively and set all the parameters of continuous driving Once nEXPP i
106. counter clearing pulse output logical real position counter variable ring Replacement with MCX314 hardware Replacement with MCX314 software 1 See Chapter 16 for the installation method 2 MCX314As package exterior size 20 x 20mm pin pitch 0 5mm 144 pins Sn Bi Tin bismuth coated pin Not possible substrate pattern change is necessary Possible Notes 1 and 2 Note 1 Acceleration deceleration curve In MCX314As a part of the circuit for generating acceleration deceleration is modified to reduce creep in S curve acceleration deceleration Therefore the acceleration deceleration curve is not exactly the same as for MCX314 For instance the fixed drive termination time is slightly different When applying control with delicate timing using linear S curve acceleration deceleration of MCX314 replace the IC after sufficient evaluation of acceleration deceleration curve of MCX314As Note 2 Writing interpolation data In MCX3 14 a 4 byte length is specified for interpolation finish point center numeric data write processing However the function operates normally even if a 3 byte length is specified For instance when 2 is set the function operates normally even if FFFh and OOFFh are written in WR6 and WR7 respectively However in MCX314As a 4 byte length must be adhered to due to introduction of a 32 bit format When 2 is set as indicated in the example FFFEh and FFFFh must be written in WR6 and WR7 respe
107. ctively B1
108. d The segment driving time should be longer than the time for error checking and the command setting of next segment during the interpolation e It is impossible to operate 2 axis and 3 axis continuous interpolations at the same time f It is not allowed to change the axis assignment during the process of continuous interpolation g In continuous interpolation if one of 2 3 axes is 0 interpolation is performed correctly otherwise 0 cannot be set to the finish point of all axes in 2 3 axes linear interpolation or to the center point of both axes in circular interpolation any axis cannot set the data that drive pulse is not output If suchlike data it set interpolation cannot be performed correctly E The Example of Continuous Interpolation Fig 2 37 shows an example of executing continuous interpolation beginning at point 0 0 from segment 1 2 3 to the segment 8 In segment 1 3 5 and 7 the linear interpolation will be executed in segment 2 4 6 and 8 the circular interpolation will be executed and the track is a quadrant circle with radius 1500 The interpolation driving is at a constant vector speed 1000PPS WR5 lt 0104h write WR6 lt 0900h write WR7 lt 003Dh write WRO lt 0100h write WR6 lt 4DCOh write WR7 lt 0056h write WRO lt 0200h write WR6 lt 01F4h write WRO lt 0104h write WR6 lt 01F4h write WRO lt 0105h write WR6 1194h write WR7 lt 0000h write WRO lt 0106h write
109. d the bits of the RR3 registers are cleared to 0 and the interrupt output signal is reset to Hi Z Set this bit to 1 when giving priority to the reaching of the specified drive speed in S curve acceleration deceleration driving Set whether the IC built in filter function is set to Enable or Disable through for each of input signals 0 Disable through 1 Enable Specification bit Fitter Enable signal WR6 D8 FEO EMGN nLMTP nLMTM nINO nIN1 WR6 D9 FE1 nIN2 WR6 D10 FE2 nINPOS nALARM WR6 D11 FE3 nEXPP nEXPM EXPLS WR6 D12 FE4 nIN3 1 Set the EMGN signal in the D8 bit of the WR6 register of the X axis 2 Set the EXPLS signal in the D11 bit of the WR6 register of the X axis WR6 D15 13 FL2 0 Seta time constant of the filter See Section 2 8 for the details of the input signal filter function WR6 D15 13 Removable maximum A Input signal delay time FL2 0 noise width 0 1 75uUSEC 2uSEC 1 224uSEC 256uSEC 2 448uSEC 512uSEC 3 896uSEC 1 024mSEC 4 1 792mSEC 2 048mSEC 5 3 584mSEC 4 096mSEC 6 7 168mMSEC 8 192mMSEC 7 14 336mMSEC 16 384mSEC Each bit of the WR7 register is used to set an automatic home search mode See Automatic home search mode setting in Section 2 5 3 for details of each bit Note For an extension mode setting command set appropriate values in both the WR6 and WR7 registers since the contents of both WR6 and WR7 registers are set in the ex
110. d an encoder Z phase signal Drive Pulse nPP PM Motor to nINO to nIN2 signals and executing Eee Driving continuous pulse driving When the Circuit specified signal is activated driving will stop and then the logical position real position counters are i cleared by the CPU This function is Fig 2 23 Example of Signal Connection for Clearing The Real Position Counter by The IN2 Signal useful for solving the problem of Z phase detection position slippage that occurs due to a delay of the servo system or the mechanical system even if a low Z phase search drive speed is set To clear a real position counter with a Z phase signal in encoder Z phase search assign the Z phase signal to nIN2 signal as shown Fig 2 23 See below for the procedure for setting a mode or a command for Z phase search accompanied by clearing of the real position counter O Set a range and an initial speed Set a Z phase search drive speed If the value set for the drive speed is lower than the initial speed acceleration deceleration driving is not performed If a Z phase is detected the driving pulse stops immediately 17 NOVA electronics Inc MCX314As M18 Validate the IN2 signal and set an active level WR1 DS IN2 E 1 D4 IN2 L O Low active 1 Hi active Enable the clearing of the real position counter using the IN2 signal Set WR6 D0 EPCLR to 1 and issue an extension mode setting command 60h Note Other bits of th
111. d controlled single step interpolation b Set the initial and drive speeds of the master axis in the interpolation process with the same value and the driving becomes constant speed If the host CPU writes single step command into MCX314As at most 1mSEC the user should set the drive speed more than 1000PPS c Set interpolation data finish point center point d Write interpolation command Although the interpolation segment is enabled there is no pulse output because the single step is command controlled e Write the single step interpolation command 3Ah The driving pulses according to the interpolation calculation will be output for each axis The user may use command 3Ah for single step until the interpolation driving is finished If the user wants to stop sending single steps during the interpolation he can use the sudden stop command 27h then wait for more than 1 pulse cycle and then write the command 3Ah again to stop the driving After this all the following 3Ah commands will not be active 33 NOVA electronics Inc MCX314As M34 E External Signal Controlled Single step Interpolation The EXPLSN pin 29 is used for the single step interpolation from the external signal The user can set D11 of register WRS to 1 to enable the external signal controlled single step interpolation Normally the EXPLSN input signal is on the Hi level When it changes to Low the interpolation step will be output The
112. d out Note In case of circular or bit patter interpolation the active of hardware or software limit in either or direction will stop the interpolation driving In position Signal for Servo Motor During the interpolation driving when the in position signal nINPOS of each driving axis is active and also when the interpolation is finished the INPOS signal of the axis is stand by at its active level and D8 I DRV of RRO register returns to 0 2 4 1 Linear Interpolation Any 2 or 3 axes of the 4 axes can be set for linear interpolation To execute the linear Y 20 9 Short axis interpolation the user can according to the present point coordinates set the finish point coordinates and the interpolation segment s for 2 or 3 axes Sr Fig 2 25 shows an example of axis interpolation where linear interpolation is performed from the current coordinates to the finish point coordinates For individual axis control the command 0 5 10 15 20 x Long axis pulse number is unsigned and it is 7 f controlled by direction command or Fig 2 25 The Position Accuracy for Linear Interpolation direction command For interpolation control the command pulse number is signed The resolution of linear interpolation is within 0 5 LSB as shown in Fig 2 25 As shown in Fig 2 26 it is an example for pulse output of the linear interpolation XPP Long axis driving We define the longest distance
113. drive speed reading CV 1 8 000 2 13 Acceleration deceleration reading CA 1 8 000 2 44 Synchronous buffer register SB 2 147 483 648 2 147 483 647 4 reading E Driving Commands Code Command 20h direction fixed pulse driving 21 direction fixed pulse driving 22 direction continuous driving 23 direction continuous driving 24 Drive start holding 25 Drive start holding release stop status clear 26 Decelerating stop 27 Sudden stop E Interpolation Commands Code Command 30h 2 axis leaner interpolation 31 3 axis leaner interpolation 32 CW circular interpolation 33 CCW circular interpolation 34 2 axis bit pattern interpolation 35 3 axis bit pattern interpolation 36 BP register writing enabled 37 BP register writing disabled 38 BP data stack 39 BP data clear 3A 1 step interpolation 3B Deceleration valid 3C Deceleration invalid 3D Interpolation interrupt clear BP bit pattern E Other commands Code Command 62 Automatic home search execution 63 Deviation counter clear output 65 Synchronous action activation OF NOP for axis switching Note Please do not write the codes not mentioned above The unknown situation could happen due to IC internal circuit test 23 s NOVA electronics Inc MCX314As M82 6 Commands for Data Writing Data writing is used for setting driving parameters such as acceleration drive speed output pul
114. e nPP nPM nPLS nDRIVE n Ooo SSS o An instant stop input signal requires a pulse width of CLK 2 cycles or more even if the input signal filter is disabled When the input signal filter is enabled the input signal will be delayed according to the constant value at filtering 119 NOVA electronics Inc MCX314As M120 14 6 Decelerating Stop The following figure illustrates the timing of decelerating stop input signal and decelerating commands The decelerating stop signal are nIN3 0 and nLMTP M When the decelerating mode is engaged When speed decelerating signals become active or the decelerating stop command is written the decelerating stop function will be performed If the input signal filter is disabled the input signal is delayed according to the value of the time constant of the filter 120 NOVA electronics Inc MCX314As M121 15 Package Dimensions Unit mm inch NOVA dec MCX314As N i 4 025 Standard Size T 4 ry 1 ae e 470 p 5 p 6 J b gt bb Mm Details of Section A A2 Installation x z TAE a g A Face f NTT LUN Se Section A ZN aaa A1 A 121 NOVA electronics Inc MCX314As M122 Symbol A AZE AMOT UnG Description Minimum Standard Maximu
115. e When generating Low pulses of EXPLSN at a mechanical contact point prevent the occurrence of chattering by enabling the input signal filter see Section 2 8 of the EXPLSN signal 2945 NOVA electronics Inc MCX314As M35 2 5 Automatic Home Search This IC has a function that automatically executes a home search sequence such as high speed near home search low speed home search encoder Z phase search offset driving without CPU intervention The automatic home search function sequentially executes the steps from step 1 to step 4 that are listed below Set execution non execution and a search direction mode for each step In steps 1 and 4 search operation is performed at the high speed that is set in the drive speed In steps 2 and 3 search operation is performed at the low speed that is set in the home search speed Step number Operation Search speed Detection signal Step 1 High speed near home search Drive speed V nINO Step 2 Low speed home search Home search speed HV niN1 Step 3 Low speed Z phase search Home search speed HV nIN2 Step 4 High speed offset drive Drive speed V 1 By inputting a home signal in both nINO and nIN1 high speed search is enabled by using only one home signal See Example of home search using a home signal only in Section 2 5 7 Near HOME HOME INO IN1 Active Active Section Section Encoder Z phase l l a Decelerating Sto
116. e and high reliability equipment Installation of this IC This IC is provided in the form of a lead free package The installation conditions are different from those of the conventional lead soldered IC See Chapter 16 for the installation conditions of this IC Notes on S curve acceleration deceleration driving This IC is equipped with a function that performs decelerating stop for a fixed pulse drive with S curve deceleration of the symmetrical acceleration deceleration However when the initial speed is set to an extremely low speed 10 or less slight premature termination or creep may occur Before using a S curve deceleration drive make sure that your system allows premature termination or creep NOVA electronics Inc MCX314As iii Si SUT VIN caste a De ed ee 1 2 The Descriptions of FunctionS 6 2 1 Pulse Output Command 6 2 1 1 Fixed Pulse Driving Output 6 2 1 2 Continuous Pulse Driving Output 7 2 2 Acceleration and Deceleration 8 2 2 1 Constant Speed Driving 8 2 2 2 Trapezoidal Driving Symmetrical
117. e extension mode command are also set Issue the direction or direction continuous pulse driving command As a result of the operations described above driving starts in the specified direction as shown in Fig 2 24 When the Z phase signal reaches an active level the driving pulses stop and the real position counter is cleared at the rising of the Z phase signal active level ZPhase Search she Stop Driving Pulse EC A EC B wxec 5__ _ _ O Ofaa Real Position Counter N O N 1 N 2 N 3 N 4 N 5 N 6 N 7 0 Fig 2 24 Example of Operation of Clearing The Real Position Counter Using The IN2 Signal Notes e Only the nIN2 signal can clear the real position counter The nIN3 nIN1 and nINO signals cannot clear the counter e When the input signal filter is invalid an active level width of more than 4CLK cycles is necessary When the input signal filter is valid a time more than double the input signal delay time is necessary e It is recommended to perform Z phase search from the one direction to enhance the position detection precision e When the nIN2 signal is already set to an active level at the issuing of the extension mode setting command by setting WR6 D0 EPCLR to 1 the real position counter is cleared even if the extension mode setting command is issued 18 NOVA electronics Inc MCX314As M19 2 4 Interpolation This 4 axis motion control IC can perform any 2 3 axes linear
118. eceleration are 5000 In such situation the absolute value of Z axis is the largest so we can set up 50000 5000 45000 to be the manual deceleration point of the master axis X Please refer to the example of 3 axis linear interpolation in 2 4 1 30 NOVA electronics Inc MCX314As M31 E The Acceleration Deceleration for Circular Interpolation and Bit Pattern Interpolation In circular interpolation and bit pattern interpolation only manual deceleration in trapezoidal driving is available the automatic deceleration in S curve driving is not available The Figure on the right side shows the circular interpolation of a real circle with radius 1000 in a trapezoidal driving The user should calculate the decelerating point before driving because the automatic deceleration will not be active In the figure the circle tracks through all the 8 quadrants 0 7 In quadrant 0 Y axis is the short axis and it s displace is about 10000 2 7071 The total output pulses numbers of the short axis are 7010x8 56568 Furthermore if the initial speed is 500PPS and will be accelerated to 20KPPS after 0 3 SEC the acceleration will be 20000 500 0 3 65000PPS SEC And the output pulses during acceleration will be 500 20000 x 0 3 2 3075 Thus if we set the deceleration as same as the Output Pulse During acceleration the manual decelerating point will be 56568 3075 53493 A Acceleration Note this formula cannot be
119. ection and the limit error bit limit sensor and wiring path nRR2 D3 2 is set to 1 at termination Kept OFF The axis runs into the mechanical terminal point and the home search operation does not terminate Failure in the device of the Kept ON Although Step 1 is enabled and automatic home search is started from the near home nINO sensor signal OFF position the axis advances to Step 2 without executing Step 1 and wiring path high speed near home search Kept OFF Operation stops in Step 1 high speed near home search by setting the limit and proceeds with irregular operation of Step 2 The home search result is correct however the operation is not normal Failure in the device of the Kept ON The axis moves in the opposite direction in Step 2 low speed home search home nIN1 sensor and and stops by setting the limit At termination the error bit nNRR2 D3 2 of the wiring path limit of the opposite direction is set to 1 Kept OFF The axis moves in the opposite direction after setting the limit in the specified direction in Step 2 low speed home search and terminates by setting the limit of the opposite direction At termination the error limit nNRR2 D3 2 of the limit of the reverse direction is set to 1 Failure in the device of the Kept ON Operation stops due to an error in Step 3 low speed Z phase search Z phase nIN2 sensor and NRR2 D7 is set to n wiring path Kept OFF Operation stops in Step 3 low speed Z
120. ed V 05 Low speed search speed that is applied in Steps 2 and 3 Home search speed HV 61 Set a value lower than the initial speed SV to stop operation instantly when the search signal becomes active See Section 2 2 1 Setting an automatic home search mode Use an extension mode setting command 60h to set an automatic search mode Set each bit of the WR7 register as shown below To generate an interrupt at termination of automatic home search set D5 HMINT of the WR6 register to 1 Since bit data of the WR6 and WR7 of an extension mode setting command 60h is written to the internal registers simultaneously the appropriate values must be set for other bits of the WR6 register L H D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR7 DCCW2DCCW1DCCWO poc t bcc e LIMIT SAND PCLR ST4 D ST4 E ST3 D sT3 E ST D ST2 E ST1 D ST1 E L J L J l J l J l J Deviation Counter Clear Output Step 4 Step 3 Step 2 Step1 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR6 SMODE o HMINT ving AVTRI POINV EPINV EPCLR FL2 FL1 FLO FE4 FE3 FE2 FE1 FEO WR7 D6 4 2 0 STm E Specify whether operation of each step is executed 0 Non execution 1 Execution Use the WR1 register for logical setting of the input signal that is detected in each step See Section 4 4 WR7 D7 5 3 1 STm D Specify search operation
121. ed in automatic home search Execution state Execution step Operation details 0 Waits for an automatic home search execution command 3 Step 1 Waits for activation of the INO signal in the specified search direction 3 Waits for activation of the IN1 signal in the direction opposite to the specified search direction irregular operation 42 Step 2 Waits for deactivation of the IN1 signal in the direction opposite to the specified search direction irregular operation 15 Waits for activation of the IN1 signal in the specified search direction 20 Step 3 Waits for activation of the IN2 signal in the specified search direction 25 Step 4 Offset driving in the specified search direction 2 5 5 Errors Occurring at Automatic Home Search The following table lists the errors that may occur during execution of automatic home search Cause of the error Operation of IC at the occurrence of error Display at termination The ALARM signal was activated in any of The search driving stops instantly without RRO D7 4 1 nRR2 D4 1 the Steps 1 to 4 executing the following steps nRR1 D14 1 The EMGN signal was activated in any of The search driving stops instantly without RRO D7 4 1 nRR2 D5 1 the Steps 1 to 4 executing the following steps nRR1 D15 1 The limit signal in the positive direction LMTP M is activated in Step 3 The search driving stops instantly by decelerating without executing the following steps
122. eed 1000 PPS WRO lt 0104h Write WR6 lt 07D0Oh Write Speed of Steps 1 and 4 20000 PPS WRO lt 0105h Write WR6 lt 0032h Write Speed of Steps 2 and 3 500 PPS WRO lt 0161h Write WR6 ODACh Write Offset driving pulse count 3500 WR7 lt 0000h Write WRO lt 0106h Write WRO lt 0162h Write Starts execution of automatic home search 41 NOVA electronics Inc MCX314As M42 After start of the execution the function monitors the RRO D0 X DRV bit and terminates automatic home search if the bit is reset to 0 from 1 If automatic home search did not terminate normally due to an error the RRO D4 X ERR bit is set to 1 after termination Analyze the error based on the contents of the XRR2 D7 bits D5 to DO and bits XRR1 D15 to D12 E Example of home search using a home search signal only In this example high speed home search is triggered by one home signal that is input to both the INO and IN1 pins of this IC Operation MCX314As Input signal and logical Search Search X Home level direction speed JUL Step 1 Near home INO Signal 20 000pps Low active Step 2 Home IN1 signal 500pps Low active Step 3 Not executed Step 4 3500 pulse offset 20 000pps driving in the direction As shown in the table the same search direction is specified for the signal logical levels of Step 1 and Step 2 An opposite logical level may also be set High speed home search is perfo
123. egister 3 4 000 RR4 Input register 1 I O input for X and Y axes 9844 RR5 Input register 2 I O input for Z and U axes 1 1 0 RR6 Data reading register 1 low word of data register D15 DO 1 1 RR7 Data reading register 2 high word of data register D31 D16 Each axis is with WR1 WR2 and WR3 mode registers Each register is for 4 axis data writing at the same address Before those registers have been accessed the host CPU should specify which axis is going to be accessed by writing a NOP command into WRO 4 2 Register Address by 8 bit Data Bus In case of the 8 bit data bus access the 16 bit data bus can be divided into high and low word byte As shown in the table below xxxxL is the low word byte D7 D0 of 16 bit register xxxx xxxxH is the high word byte D15 8 of 16 bit register xxxx Only for the command register WROL WROH the user must write to the high word byte WROL then to the low word byte WROH E Write Register in 8 bit Data Bus E Read Register in 8 bit Data Bus Address Write Register Address Read Register A3 A2 A1 AO A3 A2 A1 AO 000 0 WROL 0000 RROL 000 1 WROH 000 1 RROH 0010 XWR1L YWR1L ZWR1L UWR1L 0010 XRR1L YRR1L ZRR1L URR1L 0011 XWR1H YWR1H ZWR1H UWR1H 0011 XRR1H YRR1H ZRR1H URR1H 010 0 XWR2L YWR2L ZWR2L UWR2L BP1PL 0100 XRR2L YRR2L ZRR2L URR2L 0101 XWR2H YWR2H ZWR2H UWR2H BP1PH 0101 XRR2H YRR2H ZRR2H URR2H
124. electable MCX314As can be connected to either 8 bit or 16 bit CPU Fig 1 1 is the IC functional block diagram It consists of same functioned X Y Z and U axes control sections and interpolation counting sections Fig 1 2 is the functional block diagram of each axis control section RDN Command Data Interpretation A3 A0 Process Section D15 DO0 p BUSYN Leaner Interpolation xe Circle Interpolation 2axes 3axes YP YP Circle Interpolation Counting Section ZP ZP Interpolation Control Section INT Bit Interpolation Counting Section i UP 2axes 3axes GE gt UP Main axis pulse X Axis Control Section INT Main axis pulse Y Axis Control Section INT Main axis pulse Z Axis Control Section INT Main axis pulse U Axis Control Section INT Interrupt INTN Generator Fig 1 1 MCX314As Functional Block Diagram NOVA electronics Inc MCX314As M5 To Interpolation oe Mai Section Te Jerk Generator ae Command Command Data Operating Section i Acceleration Deceleration Action Generator Managing Section External ep Speed Generator oe Signal g pea External Operation P gt PP PLS Bou So Le PAR Logical Position UP Counter 32bit DOWN Internal Generator Real Position Counter YP Wave ES DOWN Change ECB PMIN Compare Register LMTP COMPE Integrated LMTM Input Signal Filter INPOS Compare Register lt Manag
125. electing the registers from WR1 to WR3 registers RR1to RR3 100 NOVA electronics Inc MCX314As M101 11 Connection Examples 11 1 Connection Example for 68000 CPU 68000 MCX314As Clock Generator 16MHz indicates high resistance pull up 5V O C ul 74LS138 gt O C From the reset circuit of the system 11 2 Connection Example for Z80 CPU MCX314As Clock Generator OMEN 1 gt 74LS139 5V From the reset circuit of the system 101 NOVA electronics Inc MCX314As M102 11 3 Example of Connection with H8 CPU H8 3048 ees Example of 16 bit Bus Mode Connection MCX314As 5 J 16MHZ 7 16MHz indicates high resistance pul up Address Assignment in Mode 5 Address Write Register Read Register 80000 WRO RRO 80002 WR1 RR1 From the reset circuit 80004 WR2 RR2 Of the System 80006 WR3 RR3 80008 WR4 RR4 8000A WR5 RR5 8000C WRG RRG lt Low order data D15 D0 8000E WR7 RR7 lt High order data D31 D16 H8 3048 Example of 8 bit Bus Mode Connection MCX314As XTAL oS EXTAL 16M 7 CLK RD RDN AWR WRN CS4 CSN A3 A3 A2 A2 A1 A1 AO AO D15 D8 K D7 DO indicates high resistance pul up D15 D8 5V IRQ4 INTN H16L8 From the reset circuit RESETN of the
126. eleration deceleration point automatically and will arrange the pulse numbers in acceleration equal to that in Initial Speed gt i deceleration The method is calculating the output time acceleration pulses and comparing them with the Fig 2 6 Offset for Deceleration remaining pulses When the remaining pulses are equal to or less the pulses in acceleration it starts the deceleration When setting the offset for deceleration MCX314As will start deceleration early for the offset The greater is the positive value set for the offset the closer the automatic declaration point becomes increasing the creep pulses at the initial speed at deceleration termination If a negative value is set for the offset value output may stop prematurely before the speed reaches the initial speed see Fig 2 6 The default value for offset is 8 when MCX314As power on reset It is not necessary to change the shift pulse value in the case of acceleration deceleration fixed pulse driving As for fixed driving in non symmetrical trapezoidal acceleration deceleration or S curve acceleration deceleration if creep pulses or premature termination occurs at termination of driving due to the low initial speed setting correct the speed by setting the acceleration counter offset to an appropriate value 2 1 2 Continuous Pulse Driving Output When the Continuous Pulse Driving is performed MCX314As will drive pulse output in a specific speed un
127. eleration and the deceleration are symmetrical When driving starts the acceleration increases on a straight line at the specified jerk K In this case the speed data forms a secondary parabolic curve section a If the difference between the Initial Speed specified drive speed V and ig current speed becomes leration 4 less than the speed that was utilized at the increase of Deceleration acceleration the acceleration starts to decrease towards 0 The decrease ratio is the same as the increase ratio and the acceleration decreases in a linear form of the specified jerk K In this case the rate curve forms a parabola of reverse direction section b The speed reaches the specified drive speed V or the acceleration reaches 0 the speed is maintained section c SpeedA MCX314As M11 Acceleration Deceleration time Fig 2 13 Symmetrical S Curve Acceleration Deceleration Driving In fixed pulse driving of S curve acceleration deceleration where acceleration and deceleration are symmetrical deceleration starts when the number of remaining output pulses becomes less than the number of pulses that were utilized At the deceleration also the speed forms an S curve by increasing decreasing the deceleration in a primary linear form sections d and e The same operation is performed in acceleration deceleration where the drive speed is changed during continuous pulse driving To perform symmetrical
128. ement ALARM COMP Section AEN Note1 T EMGN IN3 0 Automatic Home Search Section OUT3 O General Output OUTS3 O Synchronous General Output Action Section OUT7 4 OUT 7 4 Note 1 EMGN is for all axes use Fig 1 2 Block Diagram of the X Y Z and U axis Control Section for One Axis Only NOVA electronics Inc 2 The Descriptions of Functions 2 1 Pulse Output Command MCX314As M6 There are two kinds of pulse output commands fixed pulse driving output and continuous pulse driving output 2 1 1 Fixed Pulse Driving Output When host CPU writes a pulse numbers into MCX314As for fixed pulse driving and configures the performance such as acceleration deceleration and speed MCX314As will generate the pulses and output them automatically Fixed pulse driving operation is performed at acceleration deceleration where the acceleration and deceleration are equal As shown in Fig 2 1 automatic deceleration starts when the number of pulses becomes less than the number of pulses that were utilized at acceleration and driving terminates at completion of the output of the specified output pulses For fixed pulse driving in linear acceleration the following parameters must be set Speed Driving Speed Stop Specific Initial Speed Output Pulse Fig 2 1 Fixed Pulse Driving Parameter name Symbol Range R Comment Acceleration Deceleration A D When a
129. er point from present point to finish point Before driving the finish point of the 2 corresponding axes should be set by incremental value A full circle will come out if the finish position is set 0 0 96 NOVA electronics Inc MCX314As M97 9 4 CCW Circular Interpolation Command CCW circulator interpolation This command performs 2 axis counterclockwise circular interpolation based on center point from present point to finish point Before driving the finish point of the 2 corresponding axes should be set by incremental value A full circle will come out If the finish position is set 0 0 9 5 2 Axis Bit Pattern Interpolation Command 2 axis bit pattern interpolation This command performs 2 axis bit pattern interpolation Before driving the direction bit data of the two interpolating axes should be set and the setting bit data of each axis each direction is at most 16 x 3 48 bit Once the data is over than 48 bit those remaining data can be filled during the driving 9 6 3 Axis Bit Pattern Interpolation Drive Command 3 axis bit pattern interpolation This command performs 3 axis bit pattern interpolation Before driving the direction bit data of the two interpolating axes should be set and the setting bit data of each axis each direction is at most 16 x 3 48 bit Once the data is over than 48 bit those remaining data can be filled during the driving
130. er setting the value of logic position counter Logical position counter counts Up Down according to the direction pulse output The data writing and reading of logical position counter is possible anytime 6 11 Real position Counter Setting Command Data Range Data Length Real position counter setting 2 147 483 648 2 147 483 647 4 bytes EP is the parameter setting the value of real position counter Real position counter counts Up Down according to encoder pulse input The data writing and reading of real position counter is possible anytime 86 NOVA electronics Inc MCX314As M87 6 12 COMP Register Setting Command Data Range Data Length COMP register setting 2 147 483 648 2 147 483 647 4 bytes CP is the parameter setting the value of COM register COMP register is used to compare with logical real position counter and the comparison result will be output to bit DO of register RR1 or nNOUT4 CMPP signal Also it can be used as the direction software limit The value of COMP register can be written anytime 6 13 COMP Register Setting Command Data Range Data Length COMP register setting 2 147 483 648 2 147 483 647 4 bytes CM is the parameter setting the value of COMP register COMP register is used to compare with logical real position counter and the comparison result will be output to bit DO of RR register or NOUTS CMPM signa
131. ern interpolation if the host CPU needs 100usec to update new 16 bit data for X and Y axes The maximum speed is 16 100HSEC 160KPPS E The ending of bit pattern interpolation There are 2 ways can terminate the bit pattern interpolation Write a ending code into buffer register of ax1 The bit pattern interpolation mode will be finished and stopped if the host CPU write 1 into both and directions buffer registers D15 DO BP1P 0000011110100000 BP1M 0000010000001111 4 The Interpolation Stops Once The And Direction Are 1 When the ending code is executed the SC will become 0 automatically The host CPU stops writing any command into MCX314As When SC 0 and when no other data is updated MCX314As will stop outputting pulse Then the bit pattern interpolation is finished E Utilizing the stop command to pause the interpolation The interpolation driving will be paused if a sudden stop or decelerating stop command is written into the master axis ax1 which is executing the bit pattern interpolation MCX314As will continue the bit pattern interpolation if the host CPU enables the bit pattern interpolation again If the host CPU wants to finish the interpolation after writing stop command all of the interpolation bit data in MCX314As must be cleared in using BP register 3Dh Utilizing hardware limit to interrupt the interpolation The interpolation driving will be terminated when any hardware limit of any axis i
132. et D15 of register WR5 to 1 Then INTN of MCX314As will go low once SC changes the value from 2 to 1 The host CPU will check the SC value and write bit pattern command into the register The interrupt signal will be released if the host CPU writes the SC stacking command 38h into MCX314As disable to write into BP register until ending interpolation drive Note 1 If there is more BP data coming then repeat this process The interrupt signal will be released when the clear command 3dh is written into the command register If the interrupt status is keeping on the Low level it will return to high Z level after MCX314As finishes the bit pattern interpolation 26 NOVA electronics Inc MCX314As M27 2 4 4 Constant Vector Speed MCX314As is with the constant vector speed control function which can control the resultant speed of two axes to keep the speed in constant Fig 2 34 shows the profile of 2 axes interpolation driving The vector speed reflects 1 414 times of the individual axis drive speed So we have to set the speed of 1 414 times to keep the vector speed for 2 axis driving E Constant Vector Speed Set up The user should first set the values of D9 and D8 of register WR5 to 0 and 1 Then set the range R of salve axis ax2 to be 1 414 times of the value of the master axis ax1 Therefore MCX314As will use the range parameter of master axis if only 1 axis outputs pulses However X when 2 a
133. etection direction is activated during execution Stops driving and proceeds with Step 2 35 NOVA electronics Inc MCX314As M36 MStep 2 Low speed home search Drive pulses are output in the specified Ouse Ran anatintins direction at the speed that is set as the IN1 Search Direction home detection speed HV until the Active Irregular 1 Active home signal nIN1 becomes active To Normal Operation Section Irregular 3 Beclen perform low search operation set a Specified a Direction gt l lower value for the home search speed l fe P To Normal Operation Ko ear O sa HV than the initial speed SV A we lt Exit STOP1 Search in the l e constant speed driving mode is applied I Opposite Direction and the operation stops instantly when Irregular 2 the home signal nIN1 becomes active Irregular operation 1 The home signal nIN1 is already active before Step 2 starts The motor drives the axis in the direction opposite to the specified search direction at the home search speed HV until the home signal nIN1 becomes inactive When the home signal nIN1 becomes inactive the function executes Step 2 from the beginning 2 The limit signal in the search direction is active before Step 2 starts The motor drives the axis in the direction opposite to the specified search direction at the home search speed HV until the home signal nIN1 becomes active When the home signal nIN1 become
134. etting The parameter P is setting total output pulse numbers in fixed pulse driving The value is absolute unsigned number The output pulse numbers can be changed during the driving Interpolation finish point setting This parameter is also setting the finish point of each axis in linear and circular interpolations The finish points of these axes should be set by relative numbers in 32 bit data length 85 NOVA electronics Inc MCX314As M86 6 8 Manual Decelerating Point Setting Command Data Range Data Length Manual decelerating point setting 0 4 294 967 295 4 bytes DP is the parameter setting the manual deceleration point in fixed pulse acceleration deceleration driving when the manual deceleration mode is engaged In manual deceleration mode the user can set the bit DO of WR3 register to 1 The decelerating point can be set Manual Decelerating Point Output Pulse Number Pulse Number for Deceleration 6 9 Circular Center Point Setting Command Data Range Data Length Circular center point setting 2 147 483 646 2 147 483 646 4 bytes C is the parameter setting the center point in circular interpolation The coordinates of center point should be set the relative number related to the current position 6 10 Logical Position Counter Setting Command Data Range Data Length Logical position counter setting 2 147 483 648 2 147 483 647 4 bytes LP is the paramet
135. f all the P number of drive pulses with a period from the rising edge falling edge of the nEXPP signal to the next rising edge falling edge V gt FxPx2 V Drive speed pps P Output pulses F Frequency Hz at the maximum speed of the manual pulsar encoder For instance under the condition where the maximum frequency of the manual pulsar is F 500Hz and the output pulse is P 1 the drive speed must be V 1000pps or greater Since acceleration deceleration driving is not applied set the initial speed SV to the same value as the drive speed However when a stepping motor is used for driving the drive speed must not exceed the automatic activation frequency of the motor 2 9 2 Pulse Output Type Selection There are two types of pulse output independent 2 pulse type when the driving is in direction the pulse output is from nPP PLS when the driving is in direction the pulse output is from nPM DIR 1 pulse 1 direction type nPP PLS is for pulse outputting and nPM DIR is for direction signal outputting pulse direction is set on the positive logical level gt ha Pulse Output Waveform Pulse Output Type Drive Direction nPP PLS Signal nPM DIR Signal Direction cee Lowlevel Independent 2 pulse Low level Direction EEEE Direction cone Low level 1 pulse 1 direction Direction eii Hi level Bit D6 PLSMD of register WR2 is
136. g D6 C STA When the pulse output is started in the constant speed drive during an acceleration deceleration driving D7 D END When the driving is finished D8 HMEND Automatic home search terminated See Section 2 5 D9 SYNC Synchronous action was activated See Section 2 6 When one of the interrupt factors occurs an interrupt the bit of the register becomes 1 and the interrupt output signal INTN will become the Low level The host CPU will read register RR3 of the interrupted axis the bit of RR3 will be cleared to 0 and the interrupt signal will return to the non active level Note For a 8 bit data bus all the bits are cleared when the RR3L register is read Therefore when using the DD8 HMEND and D9 SYNC bits read RR3H before reading the RR3L register 78 NOVA electronics Inc MCX314As M79 4 14 Input Register RR4 RR5 RR4 and RRS are used for displaying the input signal status The bit is 0 if the input is on the Low level the bit is 1 if the input is on the Hi level L H D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 DS D4 D3 D2 D1 DO RR4 Y ALM Y INP Y EX Y Ex INs Y IN2 Y IN1 Y INO X ALM X INP X EX x Ex x in X IN2 X IN1 X INO H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR5 JU ALM U INP U EX U EX U IN3 U IN2 U IN1 U INO Z ALM Z INP Z EX 2 x z INS Z IN2 Z IN1 Z INO
137. g after Hold Command 119 14 5 Sudden Stop 119 14 6 Decelerating Stop 120 15 Package DIMENSIONS 121 MCX314As vi NOVA electronics Inc 16 Storage and Recommended Installation Conditions 123 16 1 Storage of this IC 123 16 2 Standard Installation Conditions by Soldering Iron 123 16 3 Standard Installation Conditions by Solder Reflow 123 17 Specifications 124 Appendix A Speed Profile of Acceleration Deceleration Drive Al B1 Appendix B Common Items Differences with MCX314 NOVA electronics Inc MCX314As M1 1 OUTLINE MCX314As is a 4 axis motion control IC which can control 4 axes of either stepper motor or pulse type servo drivers for position speed and interpolation controls All of the MCX314As s function are controlled by specific registers There are c
138. g the encoder Z phase searching at a low peed driving if the user want to perform the sudden stop once the Z phase is detected the drive speed should be set lower than the initial speed Drive speed can be altered during the driving When the drive speed of next constant speed period is set the acceleration deceleration will be performed to reach the new setting drive speed then a constant speed driving starts In automatic home search this drive speed is used for high speed search speed of Step 1 and high speed drive speed of Step 4 Note a In fixed pulse S curve acceleration deceleration driving there is no way to change the drive speed during the driving In continuous S curve acceleration deceleration driving the S curve profile cannot be exactly tracked if the speed alterations during the acceleration deceleration it is better to change the drive speed in the constant speed period b In fixed pulse trapezoidal driving the frequent changes of drive speed may occur residual pulses in the ending of deceleration 6 7 Output Pulse Number Interpolation Finish Point Setting Command Data Range Data Length Output pulse number Output pulse numbers 0 4 294 967 295 interpolation finish point setting Finish point 2 147 483 646 2 147 483 646 4 bytes The number of output pulses indicates the total number of pulses that are output in fixed pulse driving An unsigned 32 bit value is set Output pulse number s
139. generated indicates 1 When the CPU reads the RR3 register of the axis from which interrupt was generated the bits of the RR3 register are cleared to 0 and the interrupt output signal is reset to Hi Z At resetting all the mode setting bits of each axis are reset to 0 2 5 4 Execution of Automatic Home Search and the Status E Execution of automatic home search Automatic home search is executed by an automatic home search execution command 62h Automatic home search can be executed by writing the command code 62h with the axis assignment to WRO register after correctly setting an automatic home search mode and speed parameter for each axis This function can be executed for each axis individually or for all the axes collectively E Suspension of automatic home search To suspend automatic home search operation write a drive decelerating stop command 26h or a drive instant stop command 27h for the axis The step currently being executed is suspended and automatic home search terminates E Main status register Bits D3 to DO of the main status register RRO indicate the driving execution of the axis These bits also indicate execution of automatic home search When automatic home search of each axis starts these bits are set to 1 and the state is maintained from the start of Step 1 operation to the end of Step 4 operation At termination of Step 4 the bits are reset to 0 H L D15 D14 D13 D12 D11
140. h write WRO lt 0038h write WRO lt 0034h write J1 RRO D14 13 read If D14 D13 1 Jump to J1 BP1P 4000h write BP1M lt 7FF5h write BP2P 0000h write BP2M _ OAFFh write WRO lt 0038h write WRO lt 0037h write J2 RRO D8 read If D8 1 Jump to J2 Define ax1 X ax2 Y MCX314As M26 setting the master axis speed parameter range 4 000 000 multiple rate 2 range of constant line speed 4 000 000x1 414 5 656 000 Initial speed 500x2 1000PPS drive speed 500x2 1000PPS clear BP data enable to write into BP register command of bit 0 15 X axis direction X axis direction Y axis direction Y axis direction BP data stacking SC 1 command of bit 16 31 X axis direction X axis direction Y axis direction Y axis direction BP data stacking SC 2 command of bit 32 47 X axis direction X axis direction Y axis direction Y axis direction BP data stacking SC 3 enable 2 axis bit pattern interpolation because SC 3 until the SC is less than 2 command of bit 48 62 X axis direction X axis direction Y axis direction Y axis direction BP data stacking SC 3 E Executing bit pattern interpolation by interrupt During the bit pattern interpolation MCX314As will generate an interrupt request signal to the host CPU while SC changes the value from 2 to 1 To enable the interrupt the host CPU must s
141. he A phase is advancing A B phase mode Count DOWN when the B phase is 0 advancing Count UP at PPIN pulse input Count DOWN at PMIN pulse input Count UP when the B phase is advancing A B phase mode Count DOWN when the A phase is 1 advancing Count UP at PMIN pulse input Count DONW at PPIN pulse input UP DOWN pulse mode UP DOWN pulse mode WR6 D2 POINV Replaces output signals of drive pulse output between nPP drive pulse in the direction and nPM drive pulse in the direction When this bit is set to 1 drive pulses are output to the nPM signal during driving in the direction and in the direction drive pulses are output to the nPP signal 88 NOVA electronics Inc WR6 D3 AVTRI See Section 2 2 2 WR6 D4 VRING WR6 D5 HMINT WR6 D7 SMODE WR6 D12 8 FE4 0 MCX314As M89 Prevents triangle forms in linear acceleration trapezoidal of fixed pulse driving 0 Disable 1 Enable Enables the variable ring function of the logical position counter and the real position counter 0 Disable 1 Enable See Section 2 3 3 Generates an interrupt signal INTN at termination of automatic home search When this bit is set to 1 the interrupt signal INTN becomes Low Active at termination of automatic home search and the RR3 D8 HMEND bit of the axes from which the interrupt is generated indicates 1 When the CPU reads the RR3 register of the axis from which the interrupt was generate
142. he contents of WR6 and WR7 are unknown while resetting 4 10 Main Status Register RRO This register is used for displaying the driving and error status of each axis It also displays interpolation driving ready signal for continuous interpolation quadrant of circular interpolation and stack counter of bit pattern interpolation H L D15 D14 D13 D12 D11 D10 Dg D8 D7 D6 DS D4 D3 D2 D1 DO RRO BPSC1 BPSCO zonez2 ZONE1 ZONEO CNEXT DRV JU ERR Z ERR Y ERR X ERR U DRV Z DRV Y DRV X DRV Ll Error Status of Each Axis Driving Status of Each Axis D3 0O n DRV Displaying driving status of each axis When the bit is 1 the axis is an outputting drive pulse when the bit is 0 the driving of the axis is finished Once the in position input signal nINPOS for servomotor is active nINPOS will return to 0 after the drive pulse output is finished During execution of automatic home search this bit is set to 1 D7 4 n ERR Displaying error status of each axis If any of the error bits D5 D0 of each axis s RR2 register and any of the error finish bits D15 D12 of each axis s RR1 register becomes 1 this bit will become 1 D8 I DRV Displaying interpolation driving status While the interpolation drive pulses are outputting the bit is 1 D9 CNEXT Displaying the possibility of continuous interpolation data writing When the bit is 1 it is ready for inputting parameters for next node and
143. hen it is 1 the external EXPLSN controlled single step interpolation mode is engaged D12 CMPLS When it is 1 the command controlled single step interpolation mode is engaged D14 CIINT Interrupt enable disable setting during interpolation 0 disable 1 enable D15 BPINT Interrupt enable disable setting during bit pattern interpolation 0 disable 1 enable D15 D0 will be set to 0 while resetting 74 NOVA electronics Inc MCX314As M75 4 9 Data Register WR6 WR7 Data registers are used for setting the written command data The low word data writing 16 bit WD15 WDb0 is for register RR6 setting and the high word data writing 16 bit WD31 WD16 is for register RR7 setting H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WRG WD15 WD14 WD13 wor2 WwbD11 WD10 WbD9 WD8 WD7 WD6 WD5 WD4 Wb3 WD2 WD1 WDO H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR7 WD31 WD30 WD29 wo2s WD27 WD26 WD25 WD24 WD23 WD22 WD21 WD20 WD19 WD18 WD17 WD16 The user can write command data with a designated data length into the write register It does not matter to write WR6 or WR7 first when 8 bit data bus is used the registers are WR6L WR6H WR7L and WR7H The written data is binary formatted 2 complement is for negatives For command data the user should use designated data length T
144. input is not 1 0 1 4 available 1 1 Invalid Setting active level of input signal nALARM 0 active on the Low level 1 active on the Hi level 274 NOVA electronics Inc MCX314As M72 D13 ALM E Setting enable disable of servo alarm input signal nALARM 0 disable 1 enable When it is enabled MCX314As will check the input signal If it is active D14 ALARM bit of RR2 register will become 1 The driving stops D14 INP L Setting logical level of nINPOS input signal 0 active on the Low level 1 active on the Hi level D15 INP E Setting enable disable of in position input signal nINPOS from servo driver 0 disable 1 enable When it is enabled bit n DRV of RRO main status register does not return to 0 until nINPOS signal is active after the driving is finished D15 D0 will be set to 0 while resetting 4 6 Mode Register3 WR3 Each axis is with mode register WR3 The axis specified by NOP command or the condition before decides which axis s register will be written WR3 can be used for manual deceleration individual deceleration S curve acceleration deceleration the setting of external operation mode and the setting of general purpose output OUT7 4 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR3 o o o o OUT7 OUT6 OUTS OUT4 OUTSL 0 o EXOP1 EXOP0 SACC DSNDE MANLD DO MANLD Setting manual automatic deceleration for the fixed pulse acceleration
145. interpolation any 2 axes circular interpolation and any 2 3 axes bit pattern interpolation Bits DO D1 ax 1 D2 D3 ax 2 and D4 D5 ax 3 of register WR5 can be pointed for performing the interpolation In the process of interpolation driving all the calculations will follow the main axis ax1 So the user has to set the parameters such as initial speed and drive speed of the main axis before performing the interpolation During the linear interpolation it is not necessary to set the main axis as long axis After setting all of the parameters for interpolations and writing the interpolation driving commands to command register WRO the user can start the interpolation driving During the interpolation driving D8 IDRV of main status register RRO will become 1 during the interpolation and it will become 0 when the interpolation is finished Also during the interpolation driving the bit n DRV of the interpolating axis will become 1 The maximum drive speed is 4MPPS for linear circular or bit pattern interpolation For continuous interpolation the maximum drive speed is 2MPPS Over Limit Error of Interpolation When the hardware limit or the software limit of each axis is active during the interpolation driving the interpolation will stop It the stop is occurred by errors RRO main status register will confirm the error bit of the designated interpolating axis PRO will become 1 and RR2 error register of this axis will be rea
146. iple 10 WR7 lt 000Ch Write WRO lt 0100h Write WR6 lt 004Ch Write Acceleration speed 95 000 PPS SEC WRO 0102h Write 95000 125 10 76 WR6 lt 0064h Write Initial speed 1000 PPS WRO 0104h Write WR6 lt 07D0h Write Speed of Steps 1 and 4 20000 PPS WRO lt 0105h Write WR6 lt 0032h Write Speed of Step 2 500 PPS WRO lt 0161h Write WR6 ODACh Write Offset driving pulse count 3500 WR7 lt 0000h Write WRO lt 0106h Write WRO lt 0162h Write Starts execution of automatic home search Notes on using limit signals e The same search direction must be applied for Steps 1 and 2 For Step 3 Z phase search apply a direction opposite to the direction of Steps 1 and 2 For Step 4 also offset driving apply a direction opposite to Steps 1 and 2 and make sure that automatic home search operation stops at the position beyond the limit active section e When Step 3 operation is performed the AND condition between a Z phase signal and a home signal IN1 cannot be applied The extension mode setting bit WR7 D9 SAND must be set to 0 44 NOVA electronics Inc MCX314As M45 2 6 Synchronous Action Synchronous action of this IC performs actions such as starting and stopping of driving within each axis and between axes in IC and between IC and an external device For instance the following actions can be performed Example 1 Starts driving of the Z axis after the Y axis passes the position
147. is Output Pulse Number 10 000 Set 15000 in Y Axis COMP Clear Y Z Axes Logical Counter LP Provocative P C Activation of Other Axes Z 7 i Action of Own Axis None Set Y Axis Synchronous Action Mode Action of Own Axis Direction Constant Drive lt Set Z Axis Synchronous Action Mode Start of Y Axis Direction Constant Drive Z axis fixed pulse driving in the direction starts when the Y axis passes through 15000 pulses after the start of Y axis driving The delay time from the rise of the 15000 pulse of the Y axis to the rise of the 1 pulse of the Z axis is 5SSCLK 625nsec CLK 16MHz 2 14999 15000 Delay by 625nsec 48 NOVA electronics Inc MCX314As M49 E Example 2 The X axis passed through the position 320000 Stops driving of the X and Y axes Provocative P lt C Activation of Other Axes Y Z Set X Axis Synchronous Action Mode Action of Own Axis Decelerating Stop Set Y Z Axes Synchronous Action Mode WR6E 3500h WR7 000Ch X Y Z Axes Range 800 000 Multiple 10 WRO lt 0700h WR6 lt 0190h WR o000h X Y Z Axes Acceleration Rate WRO 0702h 400 x 125 x 10 500KPPS SEC WR6 0032h WR7 0000h X Y Z Axes Initial Speed 50x10 500PPS WRO lt 0704h WR6 OBB8h WR7 lt 0000h X Y Z Axes Drive Speed 3000x10 30KPPS WRO lt 0705h WR6 A120h WR7 0007h X Axis Output Pulse Number 500 000 WRO 0106h WRG 1E00h WR7 lt FFFBh Set 320
148. iving The triangle prevention function prevents a triangle form in linear A acceleration fixed pulse driving even if the number of output pulses Accelerating i P 2x Pa Pd is low When the number of pulses that were utilized at acceleration Stop P Output Pulse Number Pa Number of pulses and deceleration exceeds 1 2 of the total number of output pulses a utilized at aia during acceleration this IC stops acceleration and enters a constant Pd Number of pulses utilized at deceleration speed mode Pa Pa Pd Pd The triangle prevention function is disabled at resetting The function time can be enabled by setting the WR6 D3 AVTRI bit of the extension Fig 2 10 Triangle Prevention of mode setting command 60h to 1 See Section 6 16 for details of the Linear Acceleration Driving extension mode setting command 2 2 3 Non Symmetrical Trapezoidal Acceleration When an object is to be moved using stacking equipment the acceleration and the deceleration of vertical transfer need to be changed since a gravity acceleration is applied to the object This IC can perform automatic deceleration in fixed pulse driving in non symmetrical linear acceleration where the acceleration and the deceleration are different It is not necessary to set a manual deceleration point by calculation in advance Fig 2 11 shows the case where the deceleration is greater than the acceleration and Fig 2 12 shows the case where the acceleration is greater than
149. l Also it can be used as the direction software limit The value of COMP register can be written anytime 6 14 Acceleration Counter Offsetting Command Data Range Data Length Acceleration Counter Offsetting 32 768 32 767 4 bytes AO is the parameter executing acceleration counter offset The offset value of acceleration counter will be set 8 while resetting Set this parameter value to 0 when performing acceleration fixed pulse driving by setting a low initial speed 6 15 Deceleration Increasing Rate Setting Command Data range Data length Deceleration increase set setting 2 bytes This deceleration increasing rate value is a parameter used to determine a deceleration speed increase decrease rate per unit time in S curve acceleration deceleration driving where acceleration and deceleration are non symmetrical The deceleration increasing rate is calculated as follows where the deceleration increasing rate setting value is L 2372 NOVA electronics Inc MCX314As M88 Deceleration Increasing Rate _ 62 5x10 x _8 000 000 PPS SEC L R Multiple Since the deceleration increasing rate setting value L range is from 1 to 65 535 the deceleration increasing rate range will be as follows Where multiple 1 954 PPS SEC 62 5 x 10 PPS SEC Where multiple 500 477 x 10 PPS SEC 31 25 x 10 PPS SEC 6 16 Extension Mode Setting Command Data range Data length
150. l Speed sv i 2 drive speed V Drive Speed v Drive Speed Not required for continuous pulse driving Number of Output Pulse P Fig 2 8 Constant Speed Driving E Example for Parameter Setting of Constant Speed The constant speed is set 980 pps as shown in the right Figure Speed pps Range R 8 000 000 Multiple M 1 Initial Speed SV 980 Initial Speed Drive Speed Should be less than initial speed 980 Drive Speed V 980 Number of output pulses P 2 450 o 25 time SEC Please refer each parameter in Chapter 6 2 2 2 Trapezoidal Driving Symmetrical In linear acceleration driving the drive speed accelerates in a Speedi Deceleration Acceleration primary linear form with the specified acceleration slope from Drive speed the initial speed at the start of driving When the acceleration Acceleration slope and the deceleration are the same symmetrical trapezoid in Output pulse is too low not sutable for the es requirement of drive speed counted When the remaining number of output pulses becomes Initial Speedf 2S fixed pulse driving the pulses utilized at acceleration are less than the number of acceleration pulses deceleration starts time Deceleration continues in the primary line with the same slope Fig 2 9 Trapezoidal Driving Symmetrical as that of acceleration until the speed reaches the initial speed and driving stops at completion of the output
151. l be output through the output signal nPM In driving logical position counter will count down 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 8 3 Direction Continuous Pulse Driving Command Direction Continuous Pulse Driving Before the stop command or external signal is active the pulse numbers will be continuously output through the output signal nPP In driving logical position counter will count up 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 8 4 Direction Continuous Pulse Driving Command Direction Continuous Pulse Driving Before the stop command or external signal is active the pulse numbers will be continuously output through the output signal nPM In driving logical position counter will count down 1 when one pulse is output Before writing the driving command the user should set the parameters for the outputting speed curve and the correct output pulse numbers 94 NOVA electronics Inc MCX314As M95 8 5 Drive Status Holding Command Holding for driving starting This command is to hold on the start of driving When this command is used for starting multi axis driving simultaneously the user may write other commands after the dri
152. lder reflow 2 Preheating conditions 180 190 C for 60 120 seconds 3 Solder reflow conditions a Maximum 260 C b 230 C or higher for 30 50 seconds or less 4 Solder reflow count Up to twice within the permissible storage period The temperatures in the installation conditions are based on the package surface temperature The temperature profile indicates the upper limit of the heat proof temperature Install the IC within the following profile 260 230 Temperature c 190 180 Main Preheating Heating 30 to 50 60 to 120 seconds seconds ma a m Lag Time seconds Standard Solder Reflow Heat Proof Profile 123 NOVA electronics Inc 17 Specifications E Control Axis 4 axes E Data Bus 16 8 bits selectable Interpolation Functions E 2 axes 3 axes Linear Interpolation Interpolation Range Each axis Interpolation Speed Interpolation Accuracy E Circular Interpolation Interpolation Range Each axis Interpolation Speed Interpolation Accuracy MCX314As M124 2 147 483 646 2 147 483 646 1 PPS 4 MPPS 0 5 LSB Within the range of whole interpolation 2 147 483 646 2 147 483 646 1 PPS 4 MPPS 1 LSB Within the range of whole interpolation E 2 axes 3 axes Bit Pattern Interpolation Interpolation Speed 1PPS 4 MPPS Dependent on CPU data writing time Can select any axis Constant vector speed
153. le A B quadrature pulse style E Position Counter Logic Position Counter for output pulse t range 2 147 483 648 2 147 483 647 Real Position Counter for feedback pulse range 2 147 483 648 2 147 483 647 Variable ring counter function real position counter increase decrease inversion function and real position counter clear function by the IN2 signal Data read and write possible E Comparison Register COMP Register Position comparison range 2 147 483 648 2 147 483 647 COMP Register Position comparison range 2 147 483 648 2 147 483 647 Status and signal outputs for the comparisons of position counters Software limit functioned E Automatic home search Automatic execution of Step 1 high speed near home search Step 2 low speed home search Step 3 low speed encoder Z phase search Step 4 high speed offset drive Enable Disable of each step and search direction selectable Deviation counter clear output Clear pulse width within the range of 10u 20 sec and logical level selectable 124 NOVA electronics Inc MCX314As M125 E Synchronous Action Activation factor Position counter gt COMP variation position counter lt COMP variation position counter lt COMP variation position counter gt COMP variation start of driving termination of driving IN3 signalt IN3 signal LP read command activation command Action Start of fixed pulse drive start of con
154. ls in MCX314As are controlled and synchronized by internal SCLK When the output signal of each axis is latched it can be used as an external signal source Note There is no SCLK output when RESETN is on the Low level XPP PLS YPP PLS ZPP PLS UPP PLS 35 38 40 42 Output A Pulse Pulse direction dive pulse outputting When the reset is on the Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is selectable When the 1 pulse 1 direction mode is selected this terminal is for drive output XPM DIR YPM DIR ZPM DIR UPM DIR XECA PPIN YECA PPIN ZECA PPIN UECA PPIN XECB PMIN YECB PMIN ZECB PMIN 36 39 41 43 44 46 48 50 45 47 49 Output A Input A Input A Pulse Pulse direction dive pulse outputting When the reset is on the Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is selectable When the 1 pulse 1 direction mode is selected this terminal is direction signal Encoder A Pulse in signal for encoder phase A input This input signal together with phase B signal will make the Up Down pulse transformation to be the input count of real position counter When the Up Down pulse input mode is selected this terminal is for UP pulses input Once the input pulse is up Tt the real position counter is counting up
155. m A 2 J 1 6 Height from the installation face to the top end of the 0 063 package main unit M 0 05 0 1 0 15 Height from the installation face to the bottom end of 0 002 0 004 0 006 the package main unit A2 1 35 1 4 1 45 Height from the top to the bottom of the package 0 053 0 055 0 057 main unit b 0 17 0 22 0 27 Pin width 0 007 0 009 0 011 0 09 0 145 0 2 Pin thickness 0 004 0 006 0 008 D 21 8 22 22 2 Maximum length in the package length direction 0 858 0 866 0 874 including pins D1 19 8 20 20 2 Length of the package main unit excluding pins 0 780 0 787 0 795 E 21 8 22 22 2 Maximum length in the package width direction 0 858 0 866 0 874 including pin E1 19 8 20 20 2 Width of the package main unit excluding pins 0 780 0 787 0 795 e 0 5 0 020 Pin pitch standard size L 0 45 0 6 0 75 Length of the flat section of the pins that contacts the 0 018 0 024 0 030 installation face Z 1 25 TYP Length from the center of the outer most pin to the 0 049TYP outer most pin section of the package main unit 3 0 10 Angle of the pin flat section for the installation face aks 0 08 0 003 Uniformity of the bottom of the pin permissible value in the vertical direction bbb 0 08 0 003 Permissible value of the pin center position error horizontal direction 122 NOVA electronics Inc MCX314As M123 16 Storage and Recommended Installation Conditions 16 1 Storage of this IC
156. n 1 pulse 1 direction type is engaged and directions pulses are output through the output signal nPP PLS and nPM DIR is for direction signals Note Please refer to Chapter 13 2 and 13 3 for the output timing of pulse signal nPLS and direction signal nDIR when 1 pulse 1 direction type is engaged Setting logical level of driving pulses 0 positive logical level 1 negative logical level SL Ee Eee Positive Logical Level Negative Logical Level Setting logical level of the direction nPM DIR output signal for 1 pulse mode DIR L D8 DIR L direction 0 Low Hi 1 Hi Low Setting the type of encoder input signals NECA PPIN and nECB PMIN 0 quadrature pulse input type 1 Up Down pulse input type Real position counter will count up or down when encoder input signal is triggered When quadrature pulse input type is engaged the count up will happen if the positive logical level pulses are input to phase A the count down will happen if the positive logical level pulses are input to phase B So it will count up and down when these 2 signals go up 1 and down nECA l i nECB Count Up Count Down When Up Down pulse input type is engaged nECA PPIN is for count up input and n ECB PMIN is for count down input So it will count up when the positive pulses go up f The division setting for quadrature encoder input D11 D10 Division 0 0 1 1 0 1 1 2 Up down pulse
157. n plus is outputting the counter will count up 1 when one direction pulse is outputting the counter will count down 1 The real position counter will count input pulse numbers from external encoder The type of input pulse can be either A B quadrature pulse type or Up Down pulse CW CCW type See Chapter 2 9 3 Host CPU can read or write these two counters any time The counters are signed 32 bits and the counting range is between 2 147 483 648 2 147 483 647 The negative is in 2 s complement format The counter value is random while resetting 2 3 2 Compare Register and Software Limit Each axis has as shown in Fig 2 20 two 32 bit registers which can compare the logical positions with the real positions The logical position and real position counters are selected by bit D5 CMPSL of register WR2 The main function of COMP Register is to check out the upper limit of logical real position counter When the value in the logical real position counters are larger than that of COMP Register bit DO CMP of register RR1 will become 1 On the other hand COMP Register is used for the lower limit of logical real position counter When the value of logical real position counter become smaller than hat of COMP Register bit D1 CMP of register RR1 will become 1 Fig 2 21 is an example for COMP 10000 COMP 10000 COMP and COMP registers can be used as software limit COMP registerCP 10000 a CM CP
158. necessary when the power is on Note If there is no clock input to MCX314As setting the RESETN to Low still cannot reset this IC EXPLSN 29 Input A F External Pulse pulse input signal for external pulse interpolation The normal setting is Hi level When the external pulse interpolation occurs EXPLSN is down the interpolation calculation starts and one pulse for each axis interpolation is output The width of EXPLSN on the Low level must be more than 4 CLK H16L8 30 Input A Hi 16 bit Low 8 bit data bus width selection for 16 bit 8 bit When the setting is Hi 16 bit data bus is selected for processing the 16 bit data reading writing in IC when the setting is Low 8 bit data bus D7 D0O is active for data reading writing TESTN 31 Input A Test terminal for internal circuit test Please open or connect it to 5V BUSYN 32 Output B Busy reflecting the execution of the input command at this moment Once the command is written to MCX314As the process will take 2 CLK to 4CLK 250nsec for 16MHz on the Low level When BUSYN is on the Low level the other written commands cannot be executed INTN 33 Output B Interrupt outputting an interrupt signal to the host CPU If any interrupt factor occurs the interrupt the level is Low when the interrupt is released it will return to the Hi Z level SCLK 34 Output A System Clock SCLK CLK 2 All the signa
159. neral purpose output OUT7 Low D10 0 General purpose output OUT6 Low D9 0 General purpose output OUT5 Low D8 0 General purpose output OUT4 Low D7 0 Drive state output Disable D6 0 D5 0 D4 0 External operation signal operation Disable D3 0 D2 0 Accleration deceleration curve Linear acceleration trapezoid D1 0 Accleration deceleration symmetry non symmetry Symmetry D0 0 Deceleration of fixed pulse driving Automatic deceleration Since the automatic home search is different between the Z axis and U axis set the following extension modes individually IIZ axis extension mode Input signal filter and others W6 D15 13 010 Input signal filter delay 512u IW6 D12 1 IN3 signal filter Enable W6 D11 1 EXPP EXPM and EXPLS filters Enable W6 D10 1 INPOS and ALARM signal filters Enable IW6 D9 0 IN2 signal filter Disable IW6 D8 1 EMGN LMTP M IN1 and 0 filters Enable IW6 D7 0 IW6 D6 0 WW6 D5 0 Automatic home search termination interrupt Prohibit IWW6 D4 0 LP EP variable link function Disable WW6 D3 1 Triangle form prevention at linear acceleration Enable IW6 D2 0 Switching pulse output Disable IW6 D1 0 EP increase decrease inversion Disable W6 DO 0 EP clear by the IN2 signal Disable 110 NOVA electronics Inc Il expmode 0x8 0x5d08 0x010c accofst 0xc 0 range 0xc 800000 acac 0xc 1010 dcac 0xc 1010 acc 0xc 100 dec 0xc 100 startv
160. ng profile Acceleration Deceleration c In case of executing circular interpolation bit pattern interpolation and continuous interpolation S curve acceleration deceleration cannot be executed normally d If an extremely low value is set as the initial speed for fixed pulse driving of S curve acceleration deceleration premature termination output of the specified driving pulses is completed and terminated before the speed reaches the initial speed or creep output of specified driving pulses is not completed even if the speed reaches the initial speed and the remaining driving pulses are output at the initial speed may occur E Example of Parameter Setting Symmetrical S Curve Acceleration Deceleration As shown in the diagram in this example S curve acceleration is applied to reach the drive speed to 40KPPS from the initial speed of 100PPS in 0 4 seconds 2 Speed4 At acceleration increase the speed in a straight line according to the specified jerk k The integral value area indicated by diagonal lines is the speed increase a Find the jerk k to produce the result where the speed reaches a half leration k a ue Accel slope v sv 2 of the drive speed v from the initial speed sv within a half 5 2 of the acceleration time t 0 4sec Use the following expression to find a value of K since the area indicated by diagonal lines which uses k in the left hand member is equal to the right hand member
161. ode register 3 for setting the manual deceleration individually decelerating and YWR3 Y axis mode register 3 S curve acceleration deceleration mode for each axis external 011 ZWR3 Z axis mode register 3 operation mode and general purpose output OUT7 4 UWR3 U axis mode register 3 BP1M BP1M register for setting the direction bit data of the first axis in bit pattern interpolation WR4 Output register for setting the general output OUT3 0 1 0 0 BP2P BP2P register for setting the direction bit data of the second axis in bit pattern interpolation WR5 Interpolation mode for setting axis assignment and the constant vector speed mode step rae register output mode and interrupt BP2M BP2M register for setting the direction bit data of the second axis in bit pattern interpolation WR6 Data writing register 1 for setting the low word 16 bit D15 D0O for data writing 1 1 0 BP3P BP3P register for setting the direction bit data of the third axis in bit pattern interpolation WR7 Data writing register 2 for setting the high word 16 bit D31 D16 for data writing 11 1 BP3M BP3M register for setting the direction bit data of the third axis in bit pattern interpolation a Each axis is with WR1 WR2 and WR3 mode registers Each register is for 4 axis data writing at the same address Before those registers have been accessed the host CPU should specify which axis is going to be accessed by writing a NOP command into WRO The register for bit pa
162. of increasing the multiple although the high speed driving is possible the speed resolution will be decreased So the user can set the multiple as small as possible if the setting speed has covered the desired speed For example the maximum value of parameter for setting the drive speed V is 8000 and the drive speed is set 40KPPS The user can set V 8000 and R 1 600 000 Because 40K is 5 times of 8000 we set the R 8 000 000 5 1 600 000 The Range R cannot be changed during the driving The speed will be changed discontinuously 8 NOVA electronics Inc MCX314As M83 6 2 Jerk Setting Command Data Range Data Length Jerk setting 2 bytes A jerk setting value is a parameter that determines the acceleration increase decrease rate per unit in S curve acceleration deceleration In S curve acceleration deceleration driving WR3 D1 0 where acceleration and deceleration are symmetrical this jerk is used at deceleration also 6 Ld Multiple K is the parameter determining the jerk The jerk calculation is shown in the following formula Because the setting range of jerk is 1 65 535 the jerk range is shown as follows When Multiple 1 954 PPS SEC 62 5 x 10 PPS SEC When Multiple 500 477 x 10 PPS SEC 31 25 10 PPS SEC 6 3 Acceleration Setting Command Data Range Data Length Acceleration setting 2 bytes In linear acceleration driving WR3 D1 0 where acceleration and deceleration
163. oise width Noise width TN i M _ _ IN TC Noise duty ratio FC As the condition the noise duty ratio time ratio under which noise is generated in the signal must be 1 4 or less In bits D12 to D8 FE4 to FEO of the WR6 register of an extension mode setting command 60h set whether the filter function of each input signal is enabled or signals are passed through as shown below When 1 is set in each bit the filter function of the signal is enabled Specification bit Filter Enable signal WR6 D8 FEO EMGN nLMTP nLMTM nINO nIN1 WR6 D9 FE1 nIN2 WR6 D10 FE2 nINPOS nALARM WR6 D11 FE3 nEXPP nEXPM EXPLSN WR6 D 12 FE4 nIN3 2 The EMGN signal is set using the D8 bit of the WR6 register of the X axis 3 The EXPLSN signal is set using the D11 bit of the WR6 register of the X axis 56 NOVA electronics Inc MExample of setting input signal filters Set a 512psec delay filter for EMGN and input signals LMTP LMTM INO IN1 EXPP and EXPM of the X and Y axes and specify through for other input signals of the X and Y axes Set a 2msec delay filter for input signals LMTP LMTM INO IN1 EXPP and EXPM of the Z and U axes and specify through for other input signals of the Z and U axes WR6 lt 4900h Write WR7 lt 0000h Write WRO lt 0360h Write WR6 lt 8900h Write WR7 lt 0000h Write WRO lt OC60h Write MCX314As M57 Set an extension mode
164. olation D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR5 BPINT CINT 0 cvers EXPLS 0 SPD1 SPDO o AX31 AX30 Ax21 Ax20 AX11 AX10 L J L J L J l Ji J Interrupt Step Constant Vector 3rd Axis 2nd Axis 1st Axis Speed Master Axis D1 0 AX11 10 axl master axis assignment for interpolation Axis codes are shown as follows Axis Code Binary X 0 0 1st axis X 2nd axis Y 3rd axis Z Y 0 1 D5 D4 D3 D2 D1 DO Z 1 0 1 0 O 4 0 0 U 1 1 ie a a For ax1 master axis will have the basic pulses of starting interpolation calculation the speed parameter which is for constant acceleration deceleration driving should be set before the driving D3 2 AX21 20 ax2 assignment according to the codes shown in the table above D5 4 AX31 30 ax3 assignment for 3 axis interpolation according to the codes shown in the table above Setting any value if it is only 2 axis interpolation D9 8 LSPD1 0 Constant vector speed mode setting of interpolation driving D9 Code Binary 0 0 constant vector speed invalid 0 1 2 axis constant vector speed 1 0 setting not available 1 1 3 axis constant vector speed When 2 axis constant vector speed mode is engaged the user should set the range R of ax2 to be 1 414 times of the range R of master axis ax1 When 3 axis constant vector speed mode is engaged the user should set the range R of ax2 to be 1 414 times and the range R of ax3 to be 1 732 times of the range R of master axis ax1 D11 EXPLS W
165. olation solid line circle with radium 11 dash line circle with radium 11 1 ttt tp bb tt Fig 2 29 The Example of Circular Interpolation Soe GBT Fig 2 23 The Example of Pulse Output in Circular Interpolation Driving The specifiable range of coordinates of the center point and coordinates of the finish point are from 2 147 483 646 to 2 147 483 646 signed 32 bit 2LSB The position tolerance for the specified circular curve is 1 within the entire interpolation range The interpolation speed is within the range from 1PPS to 4MPPS 21 NOVA electronics Inc E The Finish Point Checking of Circular Interpolation In the circular interpolation it assumes that the current position start point is 0 0 After the coordinates of the center point is set the radium will be decided and the circular tracking will start The maximum error range of interpolation is with in 1LSB Because of the 1LSB error range the designated finish point may not on the circular track When the value of finish point is same as that of short axis this circular interpolation is finished Fig 2 31 shows an example of CCW interpolation with the start point 0 0 center point 200 500 and finish point 702 299 The finish point is in quadrant 4 and ax2 is the short axis in quadrant 4 So the interpolation is finished when the ax2 is 299 E The Example for CW Circular Interpolation This CW circular interpolation
166. olation If an error such as over traveling occurs in the process of continuous interpolation the drive will stop at the present interpolation segment The following interpolation segment is still in the command register but will not be executed The host CPU has to reload the next command again and enable it The 1st Interpolation Segment Data Setting Start continuous interpolations Allow to write in the next data RRO D9 1 Interpolation Command Setting The 2nd Interpolation Segment Data Setting Interpolation Command Setting es Eros or m Allow to write in the next data M Finish continuous interpolations Handle error The 3rd Interpolation Segment Data Setting Interpolation Command Setting As shown in the flow chart above the host CPU has to check the error message before loading the following command If not this command will not be executed and will be jumped So the user should assure and check if any error status will occur before the following interpolation segment is loaded 28 NOVA electronics Inc MCX314As M29 E Attentions for Continuous Interpolation a Before setting the interpolation segment the user should first set other data such as center point finish point for each segment b The maximum speed for the continuous interpolation is 2MHz c The following interpolation segment must be loaded before the previous interpolation segment is finished
167. olation when the bit D14 of WRS is set to 1 the interrupt will be generated when it is ready to write the interpolation data for next node 99 NOVA electronics Inc MCX314As M100 10 Other Commands Notes The maximum time required for command processing is 250nsec CLK 16MHz The following commands must be written before this time has elapsed 10 1 Automatic Home Search Execution Command Automatic home search execution This command executes automatic home search Before execution of the command the automatic home search mode and correct parameters must be set See Section 2 5 for details of automatic home search 10 2 Deviation Counter Clear Output Command Deviation counter clear output This command outputs deviation counter clear pulses from the nDRIVE DCC output pin Before issuing this command set Output Enable a pulse logical level and a pulse width in using the extension mode setting command See Sections 2 5 2 and 2 5 3 for details 10 3 Synchronous Action Activation Command Synchronous action activation This command activates synchronous action The WR6 D9 CMD bit of the activation factor must be set to 1 in advance using the synchronous action mode setting command See Section 2 6 for details of synchronous action 10 4 NOP for Axis Switching Command NOP for axis switching No execution is performed Use this command for switching the axis for s
168. ommand registers data registers status registers and mode registers This motion control IC has the following built in functions E Individual Control for 4 Axes MCX314As controls motors through pulse string driving The IC can control motors of four axes independently with a single chip Each of the four axes has identical function capabilities and is controlled by the sane method of operation with constant speed trapezoidal or S curve driving Servo Step Motor cal Driver fee ty x aj Driver i a in Y CPU ja MCX314As Driver m zZ Driver W BALIE U E Speed Control The speed range of the pulse output is from 1PPS to 4MPPS for constant speed trapezoidal or S curve acceleration deceleration driving Speed accuracy of the pulse output is less than 0 1 at CLK 16MHz The speed of driving pulse output can be freely changed during the driving E Acceleration deceleration driving The IC can control each axis for acceleration deceleration of constant speed driving trapezoidal acceleration deceleration driving symmetry non symmetry and S curve acceleration deceleration Automatic acceleration deceleration of linear acceleration fixed speed pulse driving is available Since a primary linear increase decrease method is applied for S curve acceleration deceleration the speed curve forms a secondary parabola acceleration deceleration curve In S curve acceleration and deceleration
169. on counter value and the real position counter value are cleared Parameter and mode setting WRO lt 010Fh Write X axis selection WR1 lt 0010h Write Input signal logical setting XINO and XIN1 Low active XIN2 High active See 4 4 Sets an extension mode WR6 lt 5D00h Write Writes an input signal filer mode in WR6 See 2 8 D15 D13 010 filter delay 512usec D9 0 XIN2 signal Disables the filter through D8 1 XIN1 0 signal Enables the filer WR7 495Fh Write Writes an automatic home search mode in WR7 D15 D13 010 Deviation counter clearing pulse width 100yusec D12 0 Deviation counter clearing output logical level Active High D11 1 Deviation counter clearing output Enable output from the XDCC pin D10 0 Uses a limit signal as the home signal Disable D9 0 Z phase AND home signal Disable D8 1 Logical real position counter area Enable D7 0 Step 4 driving direction direction D6 1 Step 4 Enable D5 0 Step 3 search direction direction D4 1 Step 3 Enable D3 1 Step 2 search direction direction D2 1 Step 2 Enable D1 1 Step 1 search direction direction DO 1 Step 1 Enable WRO lt 0160h Write Writes an extension mode setting command in the x axis WR6 3500h Write Range 8 000 000 Scaling factor 10 WR7 lt 000Ch Write WRO lt 0100h Write WR6 lt 004Ch Write Acceleration speed 95 000 PPS SEC WRO lt 0102h Write 95000 125 10 76 WR6 lt 0064h Write Initial sp
170. onics Inc MCX314As M73 D4 3 EXOP1 0 Setting the external input signals nEXPP nEXPM for driving D4 EXOP1 D3 EXOPO 0 0 external signals disabled 0 1 continuous driving mode 1 0 fixed pulse driving mode 1 1 external signals disabled When the continuous driving mode is engaged the direction drive pulses will be output continuously once the nEXPP signal is on the Low level the direction pulses will be output continuously once the nEXPM signal is on the Low level When the fixed pulse driving mode is engaged the direction fixed pulse driving starts once the nEXPP signal is falling to the Low level from the Hi level the direction pulse driving starts once the nEXPM signal is falling to the Low level from the Hi level In manual pulsar mode fixed pulse driving in the direction is activated at f the nEXPP signal when the nEXPM signal is at the Low level The fixed pulse driving is activated at of the nEXPP signal when the nEXPM signal is at the Low level D7 OUTSL Driving status outputting or used as general purpose output signals nNOUT7 4 0 nOUT7 4 general purpose output The levels of D11 8 will be output through nOUT7 4 1 nOUT4 7 driving status output see the table below Signal Name Output Description Hi if logical real position counter gt COMP register nOUT4 CMPP p sa Low if logical real position counter lt COMP register Hi if logical real position c
171. operating procedure is shown as follows a Set D11 of register WRS to 1 It will enable the external signal controlled single step interpolation b Set the initial and drive speeds of the master axis in the interpolation process to be the same value and the driving becomes constant speed which should be higher than the Low pulse cycle of EXPLSN This is necessary for this controlled mode And it will set the MCX314As into a constant speed mode c Set interpolation data start point center point d Write interpolation command Although the interpolation segment is enabled there is no pulse output because the single step is command controlled e EXPLSN input on Low level The interpolation pulse will be output from each axis after 2 5 CLK the pulse falling down when the filer is invalid The Low level pulse width of EXPLSN has to be longer than 4CLK when the filter is invalid See Section 2 8 for filters Furthermore the pulse cycle of EXPLSN has to be longer than the setting speed cycle of master axis The user may repeat the Low level of EXPLSN before the interpolation is finished If the user wants to stop sending single steps during the interpolation he can use the sudden stop command 27h then wait for more than 1 pulse cycle and then input pulse on EXPLSN Low level again to stop the driving the user may try software reset also After this all the following input pulses on EXPLSN Low level will not be active Not
172. ops operation when Limit Signal Active is detected at low speed in the search direction When the automatic home search starting position is within the limit point A in the diagram on the right hand side operation starts from Step 2 without execution of Step 1 Parameter and mode setting WRO 010Fh Write WR1 lt 0000h Write WR2 0004h Write Selects X axis D4 0 Limit signal logic Low active see 4 5 D2 1 Limit stop mode Decelerating stop Sets an extension mode Writes an input signal filter mode in WR6 See 2 8 D15 D13 010 Filter delay 512usec WR6 lt 5F00h Write Input signal logical setting XINO Low active XIN1 Low active See 4 4 D8 1 XLMTM XIN1 0 signals Enables the filter WR7 lt 054Fh Write Writes an automatic home search mode in WR7 D15 D13 000 D12 0 D11 0 Deviation counter clearing output Disable D10 1 Using a limit signal as a home signal Enable D9 0 Z phase signal AND home signal Disable D8 1 Clearing the logical real position counter Enable D7 0 Step 4 driving direction direction D6 1 Step 4 Enable D5 0 Step 3 search direction D4 0 Step 3 Disable D3 1 Step 2 search direction direction D2 1 Step 2 Enable D1 1 Step 1 search direction direction DO 1 Step 1 Enable WRO 0160h Write Writes an extension mode setting command in the X axis 43 NOVA electronics Inc MCX314As M44 WR6 lt 3500h Write Range 8 000 000 Mult
173. or E Interrupt from Interpolations Enable Disable Status Check RRO The Factors of Interrupt Happening WR5 Register Register Interrupt Clearing D14 CIINT D9 CNEXT in continuous interpolation when MCX314As is available for the interpolation data of next node after next interpolation command is written the interrupt will be cleared D15 BPINT D14 13 BPS1 0 In bit pattern interpolation when the value of stack connector SC is changed from 2 to 1 and the stack is available for next BP command writing after a BP command for the stack is written the interrupt will be cleared When an interrupt is generated during interpolations this interrupt can be cleared by writing the interrupt clear command 3Dh INTN will return to the High Z level automatically once the interpolation is finished See Bit pattern Continuous Interpolation section for executing interpolation by interrupt 55 NOVA electronics Inc MCX314As M56 2 8 Input Signal Filter This IC is equipped with an integral type filter in the D15 D14 D13 D12 D11 D10 DI D8 WR6 gt EMR6 FL2 FL1 FLO FE4 FE3 FE2 FE1 FEO input stage of each input signal Figure 2 4 shows the filter configuration of each input signal of the X axis The same circuit is provided to the X Z and U axes also t The time constant of the filter is determined
174. ounter lt COMP register nOUT5 CMPM ae Low if logical real position counter 2 gt COMP register When the driving command is engaged the level becomes Hi once the driving status nOUT6 ASND is in acceleration When the driving command is engaged the level becomes Hi once the driving status nOUT7 DSND is in deceleration D11 8 OUTm Level setting for output signals OUT7 4 as general purpose output signals 0 Low level output 1 Hi level output D15 D0 will be set to 0 while resetting D15 12 D5 and D6 should be always set 0 4 7 Output Register WR4 This register is used for setting the general purpose output signals nNOUT3 0 This 16 bit register locates 4 output signals of each axis It can be also used as a 16 bit general purpose output It is Low level output when the bit is set 0 and Hi level output when the bit is set 1 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR4 UOUT3 UOUT2 UOUT1 uour ZOUT3 ZOUT2 ZOUT1 ZOUTO YOUT3 YOUT2 YOUT1 YOUTO XOUT3 XOUT2 XOUT1 XOUTO D15 D0 will be set to 0 while resetting and nOUT3 0 signals become Low level NOVA electronics Inc 4 8 Interpolation Mode Register WR5 MCX314As M74 This register is used for setting axis assignment constant vector speed mode 1 step interpolation mode and interrupt during the interp
175. p S at Detection of Near Home Step 1 High speed Near Home Search Step 2 Low s Home Search A Instant Stop at Detection of Home Step3 Low s Z phase Search ST Instant Stop at Detection of Z phase Step 4 High speed Offset Drive Fig 2 39 Prototype of Automatic Home Search Using This IC 2 5 1 Operation of Each Step In each step it is possible to specify in mode setting execution non execution and the search direction If non execution is specified the function proceeds with the next step without executing the step MStep 1 High speed near home search Drive pulses are output in the specified direction at the speed that is set in the drive speed V until the Over Run Limit in the near home signal nINO becomes active To perform INO Search Direction BEN Normal Operation Active Active high speed search operation set a higher value for the A Irregular 3 Sa drive speed V than the initial speed SV Specified Search m gt ne Acceleration deceleration driving is performed and Direction f when the near home signal nINO becomes active the operation stops by decelerating 2 e 1 Irregular 1 Irregular 2 Irregular operation 1 The near home signal nINO is already active before Step 1 starts Proceeds with Step 2 2 The limit signal in the detection direction is already active before Step 1 starts Proceeds with Step 2 3 The limit signal in the d
176. pecification by re issuing the synchronous action mode setting command 64h If the action is not released the action may be performed unexpectedly 2 By using the synchronous action function an endless loop can be formed as shown below i Start Driving of X Axis e Stop Start Driving of Y Axis rl 52 NOVA electronics Inc MCX314As M53 To stop this endless loop the activation factor that is enabled and each bit of the operation must be disabled by re issuing the synchronous action mode setting command 64h The loop will not be released simply by issuing an instant stop command or the decelerating stop command for the axis that is driving and operation continues 3 For action specification D8 LPSET D9 EPSET D10 OPSET and D11 VLSET data must be written to WR6 and WR7 before a synchronous action is activated If continuous synchronous actions coincide with activation of a synchronous action due to the delay in the writing data in WR6 and WR7 from CPU undefined data may be fetched Write data to WR6 and WR7 when non activation of synchronous actions is guaranteed 4 When a driving activation action occurs during driving the action is ignored When a decelerating stop action or an instant stop action occurs while the axis is inactive the action is ignored 53 NOVA electronics Inc MCX314As M54 2 7 Interrupt The interrupt is generated from X Y Z or U axis bit pattern interpolation or con
177. ph within this period of time after this period of time real position logical position real position logical position real position logical position real position logical position WRN nOUT7 0 gt WRNT gt nOUT7 0 Added descriptions of multiple to the end of each line Added descriptions about initial speed NOVA electronics Inc MCX314As ii Introduction Before using the MCX314As please read this manual thoroughly to ensure correct usage within the scope of the specification such as the signal voltage signal timing and operation parameter values In general semiconductor products sometimes malfunction or fail to function When incorporating this IC in a system make sure that a safe system is designed to avoid any injuries or property damage caused by malfunctioning of this IC This IC is designed for application in general electronic devices industrial automation devices industrial robots measuring instruments computers office equipment household electrical goods and so on This IC is not intended for the use in high performance high reliability equipment whose failure or malfunctioning may directly cause death or injuries atomic energy control equipment aerospace equipment transportation equipment medical equipment and various safety devices and the operation for such use is not guaranteed The customer shall be responsible for the use of this IC in any such high performanc
178. phase search by setting the limit in the specified direction The error bit of the limit in the specified direction nRR2 D3 2 is set to 1 at termination 2 5 6 Notes on Automatic Home Search E Search speed A home search speed HV must be set to a low speed to increase the home search position precision Set a value lower than the initial speed to stop the operation immediately when the input signal becomes active For encoder Z phase search of Step 3 the relationship between the Z phase signal delay and the home search speed HV becomes important For instance if a total of the photo coupler delay time of the Z phase signal path and delay time of the integral filter incorporated in the IC is the maximum 500usec the home search speed must be set so that the encoder Z phase output is ON for more than Imsec E Step 3 Z phase search starting position In Z phase search of Step 3 the function stops search driving when the Z phase signal nIN2 changes from active to inactive Therefore the Step 3 starting position that is Step 2 stop position must be stable and must be different from this change point Normally adjust mechanically so that the Step 3 starting position becomes the 180 opposite side to the encoder Z phase position E Software limit Disable the software limit during execution of automatic home search If software limit is enabled automatic home search is not performed correctly Set a software limit after setting
179. putting It is possible to use the general purpose output signal for motor driver current OFF deviation counting clear and alarm reset When resetting each bit of WR4 and nWR3 registers will be cleared then their output levels will be kept s61 NOVA electronics Inc MCX314As M62 3 Pin Assignments and Signal Description NANNN at HE gs K 72 71 70 69 68 67 66 65 64 63 62 6l 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 VD ak D UE PM N LEGY PPI N ZECR PMN ZEY PPI N YECR PM N YECY PPI N XB PMN PPI N Pin 1 Mrk See Chapter 15 for the 144 pin LQFP package 20x20mm external package 22x22mm pin pitch 0 5mm pin coating Sn Bi Tin bismuth 62 NOVA electronics Inc E Signal Description MCX314As M63 Signals KOOO YOOO ZOOO and UOOO are input output signals for X Y Z and U axes where n stands for X Y Z and U If the signals are named OOON they are negative active or low active See the end of this chapter for description of input output circuits An integral filter circuit is available in the internal input column of this IC for the input signals with F symbol See Section 2 8 for the filter function Signal Name CLK Pin No 53 Input Output Input A Signal Description Clock clock signal for internal synchronous loop of MCX314As The standard frequency is 16 MHz This signal is for drive speed acceleration
180. pw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x08 p axis assignment data For logical position counter LP setting void Ip int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x09 ep axis assignment data For real position counter EP setting void ep int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 Ox0a 106 MCX314As M106 NOVA electronics Inc compp axis assignment data For COMP CP setting void compp int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x0b compm axis assignment data For COMP CM setting void compm int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 Ox0c accofst axis assignment data For acceleration counter shift AO setting void accofst int axis long wdata outpw adr wr7 wdata gt gt 16 amp Oxffff outpw adr wr6 wdata amp Oxffff outpw adr wr0 axis lt lt 8 0x0d hsspeed axis assignment data Home Search Speed HV setting void hsspeed int axis int wdata outpw adr wr6 wdata outpw adr wr0 axis lt l
181. rating stop and the total amount of pulse output form segment 5 is 5000 So the manual deceleration point will be 5000 2000 3000 The cycle of deceleration should be started and finished within the same segment gt 32 NOVA electronics Inc MCX314As M33 2 4 7 Single step interpolation from Command or External Signal Single step is defined as pulse by pulse outputting Either command or external signal can execute the single step interpolation When one pulse is outputting the master axis interpolation will be set in the constant speed driving The Hi level width of each axis s output pulse is 1 2 of the pulse cycle which is decided by the interpolating master axis s drive speed The Low level width is kept until next command or external signal comes Fig 2 38 is the example showing the execution of single step interpolation from an external signal The master axis s initial speed is 500PPS the drive speed is at SOOPPS constant speed driving The Hi level width of output pulse is 1msec ees Coo Tooo o e T e T 1 mSEC YPM Fig 2 38 Example of Single Step Interpolation 500PPS by External Signal EXPLSN E Command Controlled Single step Interpolation The command 3Ah is for single step interpolation The user can set D12 of register WR5 to 1 to enable the command controlled single step interpolation The operating procedure is shown as follow a Set D12 of register WR5 to 1 It will enable the comman
182. rcular interpolation Note The coordinates setting value is the relative value of the start point coordinates In Fig 2 27 it explains the definition of CW and CCW circular interpolations The CW circular interpolation is starting from the start point to the finish position with a clockwise direction the CCW circular interpolation is with a counter clockwise direction When the finish point is set to 0 0 a circle will come out In Fig 2 28 it explains the long axis and the short axis First we define 8 quadrants in the X Y plane and put the numbers 0 7 to each quadrant We find the absolute value of ax1 is always larger than that of ax2 in quadrants 0 3 4 and 7 so we call ax1 is the long axis ax2 is the short axis in these quadrants in quadrants 1 2 5 and 6 ax2 is the long axis axl is the short axis The short axis will output pulses regularly and the long axis will output pulses depending on the interpolation calculation ax2 CCW circular interpolation Finish point Start point Center point sad Finish point p Start point CW circular interpolation Fig 2 27 CW CCW Circular Interpolation In Fig 2 29 it is an example to generate a circle with the center point 11 0 and the finish point 0 0 Its radium is 11 In Fig 2 30 shows the pulse output ttt ppt ttt Q 3 a2 4 4 7 es Al F XK ax1 ax P YPM Quadrant 9 1 gt 2 a 3 ja A X start point finish point e track of interp
183. register is for reflecting the error information and automatic home search When an error occurs the error information bit one of D7 to DO is set to 1 When one or more of D7 to DO bits of RR2 register are 1 n ERR bits of main status register RRO become 1 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO RR2 o o Hust HMST3 HMST2 HMST1 HMSTO HOME o EMG ALARM HLMT HLMT SLMT SLMT L J l J Automatic Home Search Error Information Execution State DO SLMT DO SLMT During the direction driving when logical real position counter gt COMP COMP enabled and used as software limit D1 SLMT During the direction driving when logical real position counter lt COMP COMPenabled and used as software limit D2 HLMT When external direction limit signal nLMTP is on its active level 77 NOVA electronics Inc MCX314As M78 D3 HLMT When external direction limit signal nLMTM is on its active level D4 ALARM When the alarm signal nALARM for servo motor is on its active level D5 EMG When emergency stop signal EMGN becomes Low level D7 HOME Error occurred at execution of automatic home search When the encoder Z phase signal nIN2 is already active at the start of Step 3 this bit is set to 1 D12 8 HMST4 0 The home search execution state indicates the contents of the automatic home search execution currently performed See Section 2 5 4 In
184. rmed in Step 1 and operation stops by decelerating when the home signal becomes active If the stop position is within the home signal active section controls escapes in the opposite direction by the irregular operation of Step 2 and searches a home in operation of Step 2 If the Step 1 stop position passed through the home signal Over Run Limit in the active section the limit in the search direction is set in Step INO IN1 Searc Direction Active Active 2 In this case irregular operation is performed m Section Section Search When the automatic home search starting position is in Step 1 Direction point A as shown in the diagram the function performs irregular operation of Step 2 without executing Step 1 L When the starting position is in point B in the diagram the function performs irregular operation in Step 2 after Step 2 al A B setting the limit in search direction in Step 1 e e Parameter and mode setting WRO lt 010Fh Write Selects X axis WR1 lt 0000h Write Input signal logical setting XINO Low active XIN1 Low active See 4 4 Sets an extension mode WR6 lt 5F00h Write Writes a mode of an input signal filter in WR6 see 2 8 D15 D13 010 Filter delay 512usec D8 1 XIN1 0 signal Enables the filter WR7 lt 014Fh Write Writes an automatic home search mode in WR7 D15 D13 000 D12 0 D11 0 Deviation counter clearing output Disable D10 0 Uses a limit sign
185. s falling down to the Low level the direction continuous driving will start once nEXPM is raising to the Low level the direction continuous driving will start When nEXPP and nEXPM returns to the Hi level from the Low level the decelerating stop will be performed in trapezoidal driving and the sudden stop in constant speed driving XEXPP Lew penod M Low period xee MUUL S XPM Fig 2 45 Example of Continuous Driving by External Signal 58 NOVA electronics Inc MCX314As M59 E Manual pulsar mode Set the bits D4 and D3 of the WR3 register to 1 and set the necessary speed parameter for driving and the output pulse number Connect the A phase signal of the encoder to nEXPP input and the B phase signal to nEXPM input The fixed pulse driving is activated when the nEXPM signal is at a Low level and the nEXPP signal is at the rising edge When the output pulse number is set to 1 one drive pulse is output at each of the rising edge and falling edge of the nEXPP signal If the output pulse number is set to P the P number of drive pulses is output Normal rotation Reverse rotation XEXPP A phase eM es a a E B phase SS SSS Sooo XPM TLO STL Fig 2 46 Example Output Pulse 1Driving by A Manual Pulsar Normal rotation Reverse rotation D a e a a cee eee A phase Fig 2 47 Example of Output Pulse 2 Driving by A Manual Pulsar Set the speed parameter in the following conditions to complete output o
186. s Interpolation 28 2 4 6 The Acceleration Deceleration Control in Interpolation 30 2 4 7 Single step interpolation from Command or External Signal 33 2 5 Automatic Home Search 35 2 5 1 Operation of Each Step 35 2 5 2 Deviation Counter Clearing Signal Output 37 2 5 3 Setting a Search Speed and a Mode 37 2 5 4 Execution of Automatic Home Search and the Status 38 2 5 5 Errors Occurring at Automatic Home Search 39 2 5 6 Notes on Automatic Home Search 40 2 5 7 Examples of Automatic Home Search 41 2 6 Synchronous Action 45 2 6 1 Example of Synchronous Action 48 2 6 2 Synchronous Action Delay Time 52 2 6 3 Notes on Synchronous Action 52
187. s active And if host CPU wants to finish the interpolation all of the interpolation data in MCX314As must be cleared 24 NOVA electronics Inc E Writing the bit pattern data into the register in MCX314As MCX314As M25 Either by 16 bit data bus or by 8 bit data bus the address map of the command buffer for bit pattern interpolation data is show as follows The addresses map of register for 16 bit data bus in bit pattern interpolation Address r The register with Name of register Content A2 A1 AO the same address 0 0 0 WRO 0 0 1 nWR1 0 1 0 BP1P ax1 direction data nWR2 0 1 1 BP1M ax1 direction data nWR3 1 0 0 BP2P ax2 direction data WR4 1 0 1 BP2M ax2 direction data WR5 1 1 0 BP3P Note ax3 direction data WR6 1 1 1 BP3M Note ax3 direction data WR7 Note BP3P and BP3M share the same registers WR6 and 7 The addresses map of register for 8 bit data bus in bit pattern interpolation Address gt Address Name of register Name of register A3 A2 A1 AO A3 A2 A1 AO 0 0 0 0 1 0 0 0 BP2PL 0 0 0 1 1 0 0 1 BP2PH 0 0 1 0 1 0 1 0 BP2ML 0 0 1 1 1 0 1 1 BP2MH 0 1 0 0 BP1PL 1 1 0 0 BP3PL 0 1 0 1 BP1PH 1 1 0 1 BP3PH 0 1 1 0 BP1ML 1 1 1 0 BP3ML 0 1 1 1 BP1MH 1 1 1 1 BP3MH Note BPmPL BPmPH BPmML BPmMH represent the following bit groups m is 1 3 BPmPL the low byte of BPmP D7 DO BPmPH the high byte of BPmP D
188. s active the motor drives in the direction opposite to the specified search direction at the home search speed HV until the home signal nIN1 becomes inactive When the home signal nIN1 becomes inactive the function executes Step 2 from the beginning 3 The limit signal in the search direction becomes active during execution Driving stops and the same operation as for 2 is performed MStep 3 Low speed Z phase search Drive pulses are output in the specified Over Bain Gikiihe direction at the speed that is set as the IN2 Search Direction home search speed HV until the encoder Active Active Z phase signal nIN2 becomes active To Normal Operation iam Error 3 Section perform low speed search operation seta Specified Searc Direction gt l gt l lower value for the home search speed e e HV than the initial speed SV A fixed aye T Error 1 Error 2 speed driving mode is applied and driving stops instantly when the encoder Z phase signal nIN2 becomes active As the search condition for stopping driving the AND condition of the encoder Z phase signal nIN2 and the home signal nIN1 can be applied A deviation counter clear signal can be output for a servomotor when the encoder Z phase signal nIN2 rises to active See Section 2 5 2 The real position counter EP can be cleared when an encoder Z phase signal nIN2 rises to active See Section 2 3 4 Notes 1 If the encoder Z phase signal nIN2 is
189. s from the current position to the finish position X 15 000 Y 16 000 Z 20 000 The initial speed 500PPS acceleration deceleration 40 000PPS SEC drive speed 5 000PPS WR5 lt 0024h write WR6 lt 1200h write WR7 lt 007Ah write WRO lt 0100h write WR6 lt 0140h write WRO lt 0102h write WR6 lt 01F4h write WRO lt 0104h write WR6 lt 1388h write WRO lt 0105h write WR6 lt 3A98h write WR7 lt 0000h write WRO lt 0106h write WR6 lt 3E80h write WR7 lt 0000h write WRO lt 0206h write WR6 lt 4E20h write WR7 lt 0000h write WRO lt 0406h write WRO lt 003Bh write WRO lt 0031h write define ax1 X axis ax2 Y axis ax3 Z axis range 8 000 000 Multiple 1 accel decel speed 40 000 SEC 40 000 125 1 320 140h initial speed 500PPS drive speed 5 000PPS finish point of X axis 15 000 finish point of Y axis 16 000 finish point of Z axis 20 000 deceleration enabling zA 15000 16000 20000 20000 Y v 6000 o 7 X 15000 linear interpolation driving for 3 axes enabling 20 NOVA electronics Inc 2 4 2 Circular Interpolation Any 2 axes of the 4 axes can be selected for circular interpolation MCX314As M21 The circular interpolation is starting from the current position start point After setting the center point of circular the finish position and the CW or CCW direction the user can start the ci
190. s output of each axis Stop Acceleration Speed Deceleration Stop oat a The driving status of acceleration constant speed deceleration will be output to bits D2 ASND D3 CNST and D4 DSDD and also the signals nOUT6 ASND and nOUT7 DSND will show the levels However these output signals and general purpose output signals share the same terminal D7 OUTSL bit of register WR3 should be set 1 for drive status output time Status Register Output Signal Drive Status RRO n DRV nRR1 ASND nRR1 CNST nRR1 DSND nDRIVE DCC nOUT6 ASND nOUT7 DSND Stop 0 0 0 0 Low Low Low Acceleration 1 1 0 0 Hi Hi Low Constant F 1 0 1 0 Hi Low Low Speed Deceleration 1 0 0 1 Hi Low Hi Moreover in S curve accelerating decelerating driving the state of acceleration constant speed deceleration will be also shown to bits D5 AASND D6 ACNST and D7 ADSND of register RR1 2 9 8 General Purpose Output Signal In MCX314As there are 8 general purpose output pins nOUT3 0 amp nOUT7 4 for each axis However during the outputting nOUT7 4 cannot be used cause they share the same terminals with the position comparison output and drive status output NOUT3 0 can be output when the output levels of register WR4 have been set If the user wants to use nNOUT7 4 signals D7 OUTSL of register WR3 should be set in the general purpose output mode then the output levels of D11 8 OUT7 4 of register WR3 can be set for out
191. se numbers It is possible to write the same data for more than one axis simultaneously if more those axes are assigned If the data length is two bytes WR6 register can be used If the data is 4 bytes the high word data can be written into register WR7 and the low word into register WR6 Then the axis assignment and command code will be written into register WRO for execution Writing data for registers WR6 and WR7 is binary and 2 s complement for negatives Each data should be set within the permitted data range If the setting data out of range the driving can not be done Note a It requires 250 nSEC maximum to access the command code when CLK 16MHz Please don t write the next command or data into WRO when the present command is written b Except acceleration offset OA the other parameters are unknown while resetting So please per set proper values for those driving related parameters before the driving starts 6 1 Range Setting Command Data Range Data Length 8 000 000 multiple 1 16 000 Range setting 4 bytes multiple 500 R is the parameter determining the multiple of drive speed acceleration deceleration and jerk The multiple can be calculated as follows where the range setting value is R Multiple 8 000 000 For the parameter setting range of drive speed acceleration deceleration is 1 8000 if the higher value is needed the user should have a larger multiple In case
192. signal is down J 138 F Otherwise when the continuous pulse driving is commanded from an external source driving will start if this signal is on the Low level In manual pulsar 140 mode the encoder A phase signal is input to this pin External Operation direction drive starting signal from external source 135 When the fixed pulse driving is commanded from an external source direction 137 Input A driving will start if this signal is down J 139 F Otherwise when the continuous pulse driving is commanded from an external source direction driving will start if this signal is on the Low level In manual 141 pulsar mode the encoder B phase signal is input to this pin Emergency Stop input signal to perform the emergency stop for all axes Input A When this signal is on the Low level including the interpolation driving every axis 142 will stop the operation immediately EMG bit of register RR2 of each axis will a become 1 The low level pulse width should be more than 2CLK Note For this signal its logical levels cannot be selected 9 19 20 37 52 55 66 Ground OV Terminal 75 91 103 All of the 13 pins must be connected to OV 127 133 143 18 54 65 5V Power Terminal 90 109 126 All of the 7 pins must be connected to 5V 144 E Input Output Circuit Input A More than 10 kQ hundreds of kilo impedance is for internal impedance which can pull up the VDD to the TTL level input of Smith trigger
193. sing rate L 627 62 5x 10 L x Multiple 62 5x10 0 9975x10 x10 Acceleration A 8000 Fixed to the maximum value Deceleration D 8000 Fixed to the maximum value Initial Speed SV 10 100 10 10 Drive Speed V 4000 40000 10 4000 Number of Output Pulse P 20000 Manual deceleration point DP 11980 Acceleration counter offset AO 0 Note The above expression used for calculating the number of pulses that were utilized at deceleration is an ideal expression In the actual IC operation creep or premature termination occurs depending on the parameter values that are set 14 NOVA electronics Inc MCX314As M15 2 2 6 Pulse Width and Speed Accuracy E Duty Ratio of Drive Pulse The period time of direction pulse driving of each axis is decided by system clock SCLK The tolerance is within 1SCLK For CLK 16MHz the tolerance is 125nSEC Basically the duty ratio of each pulse is 50 as show in Fig 2 17 When the parameter setting is R 8 000 000 and V 1000 Multiple 1 V 1000PPS the driving pulse is SOOUSEC on its Hi level and 500uSEC on its Low level and the period is 1mSEC R 8000000 SV 1000 V 1000 Fig 2 17 High Low Level Width of Driving Pulse Output V 1000PPS However during the acceleration deceleration driving the Low level pulse length is shorter than that of Hi level pulse during the acceleration the Low level pulse is longer than that of Hi level pulse during the deceleration See Fig 2
194. smaller than the self starting frequency of stepper motors For a servo motor also if the value that is set is too low creep or premature termination may occur at decelerating termination of fixed pulse driving In this case take the following measures a Linear acceleration driving with symmetrical acceleration deceleration e Set 0 in the acceleration counter offset A0 e Enable the triangle form prevention function extension command 60h WR6 D3 AVTRD 1 b Linear acceleration driving with symmetrical deceleration deceleration e Set 0 in the acceleration offset counter offset A0 e Enable the triangle form prevention function extension command 60h WR6 D3 AVTRI 1 However in a case where acceleration gt deceleration the number of creep pulses increases as the ratio of acceleration A and deceleration D increases In this case increase the initial speed 84 NOVA electronics Inc MCX314As M85 6 6 Drive Speed Setting Command Data Range Data Length Drive speed setting 2 bytes V is the parameter determining the speed of constant speed period in trapezoidal driving In constant speed driving the drive speed is the initial speed The drive speed calculation is shown in the following formula Drive Speed PPS V x 000 000 EER Multiple If the setting drive speed is lower than the initial speed the acceleration deceleration will not be performed and the driving is constant speed Durin
195. speed accelerating DSND speed decelerating CMPP position gt COMP CMPM position lt COMP Drive status and status registers readable E Limit Signals Input 2 points for each and side Logical levels and decelerating sudden stop selectable E Emergency Stop Signal Input EMG 1 point for 4 axes Contents of integral type filters Equipped with integral filters in the input column of each input signal One time constant can be selected from eight types E Electrical Characters Temperature Range for Driving 0 85 C 32 F 185 F Power Voltage for Driving 5V45 Consumption current 70mA typ 112mA max Input Output Signal Level CMOS TTL connectable Input Clock Pulse 16 000 MHz Standard E Package 144 pin plastic LQFP pitch 0 5mm lead free item Dimension 20 x 20 x 1 4 mm External size including pins 22 x 22 x 1 6 mm 125 NOVA electronics Inc MCX314As A1 AppendixA Speed Profile of Acceleration Deceleration Drive The following curves are based on the test records from MCX314As output drive pulses and speed curve traces E 40KPPS Symmetrical S curve Acceleration Deceleration R 800000 Multiple 10 K 700 A 8000 SV 10 V 4000 A0 0 WR3 D2 1 0 1 0 0 Auto Deceleration Mode Jerk 893K PPS SEC2 Initial Speed 100 PPS Drive Speed 40K PPS 20K o 1 0 1 6 sec E 8000PPS Symmetrical S curve Acceleration Deceleration R 8000000 Multiple 1 K 2000 A 8000 SV 10 V 8000
196. starts from the current point start point 0 0 to the finish point X 5000 Y 5000 the center point is X 5000 Y 0 The interpolating speed is constant at 1000PPS in a constant vector speed driving WR5 lt 0104h write WR6 lt 0900h write WR7 lt 003Dh write WRO lt 0100h write WR6 lt 4DCOh write WR7 lt 0056h write WRO lt 0200h write WRO lt 01F4h write WRO lt 0104h write WR6 lt 01F4h write WRO lt 0105h write WR6 lt 1388h write WR7 lt 0000h write WRO lt 0108h write WR6 lt 0000h write WR7 lt 0000h write WRO lt 0208h write WR6 lt 1388h write WR7 lt 0000h write WRO lt 0106h write WR6 lt EC78h write WR7 lt FFFFh write WRO lt 0206h write WRO lt 0032h write define ax1 X axis ax2 Y axis and with constant linear speed range 4 000 000 Multiple 2 range of constant vector speed for 2 axes 4 000 000 x 1 414 5 656 000 initial speed 500 x 2 1000PPS drive speed 500 x 2 1000PPS center point of X 5 000 center point of Y 0 finish point of X 5 000 finish point of Y 5 000 CW circular interpolation enabling 22 MCX314As M22 n Center point 200 500 7 gt ax1 Finish point 702 299 Interpolation will be finished when ax2 299 in the 4th quadrant Fig 2 31 Example of The Finish Point Checking of Circular Interpolation Start point 0 0 Center point 5000
197. t 3500h WR7 lt 000Ch X Y Z Axes Range 800 000 Multiple 10 WRO lt 0700h WR6 lt 0190h WR7 0000h X Y Z Axes Acceleration Rate WRO lt 0702h 400x125x10 500KPPS SEC WR6 lt 0032h WR7 lt 0000h X Y Z Axes Initial Speed 50x10 500PPS WRO 0704h WRG OBB8h WR7 0000h X Y Z Axes Drive Speed 300010 30KPPS WRO lt 0705h WRG o WR7 lt 0 Clear Z Y Z Axes Logical Counter LP WRO lt 0709h WR6 lt 6040h WR7 lt 8040h WRO lt 0164h WR6E 0000h WR7 lt 0040h Action of Own Axis Saving LP Set Y Z Axes Synchronous Action Mode WRO lt 0664h Provocative XIN3y Activation of Other Axes Y Z Action of Own Axis Saving LP or Occurrence of Interrupt Set X Axis Synchronous Action Mode WRO 0722h Start of Z Y Z Axes Direction Continuous Drive The XIN3 input signal fell interrupt occurred Check the interrupt by the synchronous action Read the XRR3 register and check D9 SYNC 1 M WRO lt 0114h RR6 Read X Axis Buffer Read RR7 gt Read WRO 0214h RR6 gt Read Y Axis Buffer Read RR7 Read WRO lt 0414h RR6 Read Z Axis Buffer Read RR7 Read 50 NOVA electronics Inc MCX314As M51 E Example 4 Continuous actions of fixed pulse driving By using the synchronous action function fixed pulse driving can be performed continuously by starting the next driving immediately following termination of driving In
198. t 8 0x61 expmode axis assignment data Expansion Mode EM setting void expmode int axis int em6data int em7data outpw adr wr6 em6data outpw adr wr7 em7data outpw adr wr0 axis lt lt 8 0x60 syncmode axis assignment data Synchronous Mode SM setting void syncmode int axis int sm6data int sm7data outpw adr wr6 sm data outpw adr wr7 sm7data outpw adr wr0 axis lt lt 8 0x64 readlp axis assignment For logical position counter LP reading long readlp int axis long a long d6 long d7 outpw adr wr0 axis lt lt 8 0x10 d6 inpw adr rr6 d7 inpw adr rr7 a d6 d7 lt lt 16 return a readep axis assignment For real position counter EP reading long readep int axis long a long d6 long d7 outpw adr wr0 axis lt lt 8 0x11 d6 inpw adr rr6 d7 inpw adr rr7 a d6 d7 lt lt 16 return a wait axis assignment For waiting for drive stop void wait int axis wietnpw adre amp axis next_wait Next data setting of waiting for continuous interpolation void next_wait void wile mpw adr amp 0x0200 0x0 107 MCX314As M107 NOVA electronics Inc MCX314As M108 bp_wait Next data setting of waiting for BP interpolation void bp_wait void while inpw adr rr0 amp 0x6000 0x6000 home search
199. t C P C l j l j Activation of Other Axes Provocative The active factor and other axis activation bits can be enabled by setting them to 1 and disabled by setting them to 0 DO P2C The logical real position counter value exceeded the value of COMP register value Use the WR2 D5 CMPSL bit for selection of a logical position real real position counter D1 P lt C The logical real position counter value became less than the COMP register value D2 P lt C The logical real position counter value became less than the COMP register value D3 P2C The logical real position counter exceeded the COMP register value D4 D STA Driving started D5 D END Driving terminated D6 IN3t The nIN3 signal rose from the Low to the High level D7 IN3 The nIN3 signal fell from the High to Low level 45 NOVA electronics Inc D8 D9 LPRD CMD A logical position counter read command 10h was written Simultaneous read processing is enabled by setting LP save or EP save in the action of the own another axis A synchronous action activation command 65h was written D15 13 AXIS3 1 Specify another axis to be driven by the activation factor of the own axis 1 Enable WR7 DO D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D14 MCX314As M46 Own axis D15 AXIS3 D14 AXIS2
200. tension mode registers EM6 and EM7 in the IC 89 NOVA electronics Inc MCX314As M90 6 17 Home Search Speed Setting Command Data range Data length Home search speed setting 2 bytes Set a low speed home search speed of Steps 2 and 3 The home search speed can be calculated as follows where the home search speed setting value is HV 8 000 000 R Ld Multiple Home Detection Speed PPS HV x Set a value lower than the initial speed SV to stop driving immediately when the search signal becomes active See Section 2 5 for details of automatic home search 6 18 Synchronous Action Mode Setting Command Data range Data length Synchronous action mode setting 4 bytes For synchronous action mode setting set an appropriate value in each bit of the WR6 and WR7 registers that are shown below and write a command code 64h as well as specification of the axis in the WRO register As a result the contents of the WR6 and WR7 registers are set in the synchronous action mode registers SM6 and SM7 in the IC At resetting all the bits of the synchronous action mode registers SM6 and SM7 in the IC are cleared to 0 H L D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO WR6 AXIS3 AXIS2 AXIS1 o o o CMD LPRD IN3 IN3 D END D STA P C P lt C P lt C P C L J L J Activation of Other Axes Provocative
201. ter setting expression that is 100 AOK 0 9975 Mpps sec shown in the previous example find a jerk and a deceleration sec increasing rate 4 40000 100 Jerk k 5 3 99 Mpps sec 0 2 Deceleration _ 4 40000 100 _ 2 Increase Rate 042 0 9975 Mpps sec The parameter values that are set in the IC are as follows 6 6 62 5 x10 62 5 10 Jerk K x Multiple W 10 157 k g 3 99 x10 Deceleration _ _ 62 5 x10 n 62 5 x10 Increase Rate L7 Multiple 0 9975 10 10 627 Since automatic deceleration of non symmetric S curve acceleration deceleration is not supported set a deceleration point DP manually Since a value produced by subtracting the number of pulses that were utilized Pd at deceleration from the number of output pulses P is set as the manual deceleration point initially find the number of pulses that were utilized Pd at deceleration Pulses Utilized at Deceleration Pd v sv Y SY 40000 100 40000 100 __ _ 8020 l 0 9975 x 10 If the number of output pulses is 20000 the manual deceleration point DP will be as follows Manual deceleration point DP P Pd 20000 8020 11980 Therefore the parameter settings for this IC will be as follows WR3 lt 0007h Mode setting of the WR3 register Range R 800000 Multiple 10 Jerk K 157 62 5x10 k x Multiple 62 5x10 3 99x10 x10 Deceleration increa
202. ternal encoder or linear scale NOVA electronics Inc MCX314As M3 E Compare Register and Software Limit Each axis has two 32 bit compare registers for logical position counter and real position counter The comparison result can be read from the status registers The comparison result can be notified by an interrupt signal These registers can be also functioned as software limits E Automatic home search This IC is equipped with a function that automatically executes a home search sequence without CPU intervention The sequence comprises high speed near home search low speed home search encoder Z phase search offset drive This function reduces the CPU load E Synchronous action The synchronous action is a function that performs a specified action such as starting or stopping of driving when an activation factor provocative occurs within each axis between two axes or with a device outside of IC by linking with a provocative Ten types of provocatives are available including the passing of the specified position the starting stopping of driving and rising falling of an input signal Four types of actions are available including starting stopping of driving saving a position counter value writing of a drive speed and so on Action cL Starting of Z Axis Driving Provocative r Y axis is passing through the position 15 000 E a E Input signal filter The
203. the deceleration In such non symmetrical linear acceleration also the deceleration start point is calculated within the IC based on the number of output pulses P and each rate parameter Speed pps Drive speed V 30k en Acceleration Rate A V 30k Deceleration Rate D 36kpps sec Deceleration Rate D 145kpps sec Acceleration Rate A 145kpps sec Initial Speed SV 1k Sv 1k i i gt 0 8 1 2 1 4 time SEC 0 2 0 6 1 4 time SEC Fig 2 11 Non Symmetrical Linear Acceleration Driving Fig 2 12 Non Symmetrical Linear Acceleration Driving acceleration lt deceleration acceleration gt deceleration NOVA electronics Inc MCX314As M10 To perform automatic deceleration for fixed pulse driving of non symmetrical linear acceleration bits D1 to 0 of the WR3 register must be set as follows Mode setting bit Symbol Setting value Comment WR3 D0O MANLD 0 Automatic deceleration WR3 D1 DSNDE 1 The deceleration setting value is applied at deceleration WR3 D2 SACC 0 Linear acceleration The following parameters must be set Parameter name Symbol Comment Range R Acceleration A Deceleration D Initial speed SV Drive speed V Number of output pulses P Not required at continuous pulse driving Note e In the case of acceleration gt deceleration Fig 2 12 the following condition is applied to the ratio of the acceleration and the deceleration v D Deceler
204. the last driving pulse 1 IN3t Form of the nIN3 signal when the built in filter is disabled 0 1 IN3 From of the nIN3 signal with the built in filter is disabled 0 1 LPRD From of the WRN signal at writing of the LP read command 10h 0 1 CMD From of the WRN signal at the writing of the synchronous action 0 4 activation command 65h E Delay up to an action 1SCLK 125nsec CLK 16MHz Action Definition of the end of delay Delay time SCLk FDRV Up to of the 1st driving pulse FDRV 4 CDRV CDRV SSTOP Up to the start of deceleration 4 ISTOP Up to the stopping of driving sd LPSAV Up to the saving of the LP and EP values in the BR buffer 1 EPSAV LPSET Up to the saving of the values of WR6 and WR7 in LP EP P and V EPSET OPSET 1 VLSET OUT Up to of the nDCC output signal positive logic 1 INT Up to of the INTN signal 1 1 Time spent up to termination of one driving pulse that is currently output For instance the delay time from of the IN3 input signal to the saving of the logical position counter value LP in the synchronous buffer register BR is a total of the IN3 f delay time 0 to 1SCLK and the LPSAV delay time 1SCLK The range is from 1SCLK to 2SCLK When CLK 16MHz the range is from 125nsec to 250nsec 2 6 3 Notes on Synchronous Action 1 After a required synchronous action is activated by specifying an interrupt in the action concurrently release the synchronous action s
205. this setting point is related to the master axis executing the deceleration in the last segment The user should disable the deceleration then start the interpolation driving Before writing the interpolation command to the final segment which will execute the deceleration the user should enable the deceleration at first The deceleration will start if the output pulses are larger than the master axis based pulses in the final segment 234 NOVA electronics Inc MCX314As M32 For instance there are 5 interpolation segments in the process of continuous interpolation In case the manual deceleration has to be executed in the last segment segment 5 the procedure is shown as follows Setting mode acceleration deceleration for master axis y Writing manual deceleration point y Deceleration disabling command 3Ch y Writing segment 1 data interpolation segment Starting continuous y Error checking waiting for the allowance to write the next data interpolation driving y Writing segment 2 data interpolation segment Error checking waiting for the allowance to write in the next data v Deceleration enabling command 3Bh Y Writing segment 5 data interpolation segment The manual deceleration point is related to the master axis driving pulses which comes from segment 5 For instance assumed that it needs 2000 pulses for decele
206. til Speed stop command or external stop signal is happened The main Drive Speed ee a application of continuous pulse driving is home searching teaching or speed control The drive speed can be changed freely during continuous pulse driving Stop Command or External Stop Signal Initial Speed time Two stop commands are for stopping the continuous driving Fig 2 7 Continuous Pulse Driving One is decelerating stop and the other is sudden stop Four input pins IN3 INO of each axis can be connected for external decelerating and sudden stop signals Enable disable active levels and mode setting are possible WStop Condition for External Input IN2 to INO in Continuous Pulse Driving Assign an encoder Z phase signal a home signal and a near home signal in nIN2 to nINO Assign an encoder Z phase signal in nIN2 Enable disable and logical levels can be set at WR1 of each axis For the application of high speed searching the user can set MCX314 lt As in the acceleration deceleration continuous pulse driving mode and enable IN2 1 0 in WRI And then MCX314As will perform the decelerating stop when the external signal IN2 1 0 is active NOVA electronics Inc MCX314As M8 For the application of low speed searching the user can set MCX314As in the constant speed continuous driving and enable IN2 1 0 Then MCX314As will perform the sudden stop when IN1 is active When the automatic home search function of this I
207. tinuous interpolation There is only one interrupt signal INTN 33 to the host CPU So the signal will be OR calculated then output as shown in Fig 2 42 Control Unit INT INT INT INT Control Unit INT INTN 33 Every interrupt can be enabled or disabled individually When resetting all interrupt signals are disabled Fig 2 42 Interrupt Signal Path in IC E Interrupt of X Y Z and U Axes The following table shows the interrupt factors generated by X Y Z and U axes Enable Disable Status nRR3 The Factors of Interrupt Happening nWR1 Register Register when one pulse outputs The interrupt will be generated at the rising edge of D8 PULSE DO PULSE ee a pulse output for direction driving once the value of logical real position counter is larger than or equal to the D9 P2C D1 P2C value of COMP register CM once the value of logical real position counter is smaller than the value of D10 P lt C D2 P lt C COMP register CM once the value of logical real position counter is larger than the value of D11 P lt C D3 P lt C COMP register CM once the value of logical real position counter is smaller than or equal to the D12 P2C D4 P2C value of COMP register CM in the acceleration deceleration driving when the driving changes from the D13 C END D5 C END Nee constant speed region into the decelerating region in the acceleration
208. tinuous pulse drive drive decelerating stop drive instant stop saving position counter values setting position counter values setting an output pulse number setting a drive speed external signal output DCC and interrupt Any action of other axes can be activated from the factor of the own axis E Interrupt Interpolations Excluded The factors of occurring interrupt the drive pulse outputting the start finish of a constant speed drive during the acceleration deceleration driving the end of the driving the volume of position counter 2 the volume of COMP the volume of position counter lt the volume of COMP the volume of position counter 2 the volume of COMP the volume of position counter lt the volume of COMP terminating of automatic home search synchronous action Enable disable for these factors selectable E External Signal for Driving EXPP and EXPM signals for fixed pulse continuous drive Driving in manual pulsar mode encoder input E External Deceleration Sudden Stop Signal INO 3 4 points for each axis Enable disable and logical levels selectable E Servo Motor Input Signal ALARM Alarm INPOS In Position Check DCC Pin shared between deviation counter clear output and DRIVE Enable disable and logical levels selectable E General Output Signal OUT0 7 8 points for each axis wherein 4 points use with drive status output signal pin E Driving Status Signal Output ASND
209. ttern interpolation are BP1P 3P and BP1M 3M After the resetting the data writing cannot be performed until the enable command 36h is engaged by BP register After the command 36h is enabled the data writing cannot be performed in nWR1 3 So the disable command 37h should be engaged after the bit pattern interpolation data is written Please be noted that registers WR6 and BP3P WR7 and BP3M share the same register hardware The bits of nWR1 nWR2 nWR3 nWR4 and nWRS will be cleared to 0 after the resetting It will be unknown for other registers 267 NOVA electronics Inc E Read Register in 16 bit Data Bus MCX314As M68 All registers are 16 bit length Address Symbol Register Name Contents A2 A1 AO anoa RRO Main status register error status driving status ready for interpolation quadrant for circle interpolation and the stack of BP XRR1 X axis status register 1 comparison result acceleration deceleration state and YRR1 Y axis status register 1 acceleration deceleration speed increase decrease state E ZRR1 Z axis status register 1 finishing status URR1 U axis status register 1 XRR2 X axis status register 2 error message YRR2 Y axis status register 2 automatic home search execution state ee ZRR2 Z axis status register 2 URR2 U axis status register 2 XRR3 X axis status register 3 interrupt message 011 YRR3 Y axis status register 3 ZRR3 Z axis status register 3 URR3 U axis status r
210. unter Setting 86 6 11 Real position Counter Setting 86 6 12 COMP Register Setting 87 6 13 COMP Register Setting 87 6 14 Acceleration Counter Offsetting 87 6 15 Deceleration Increase Rate Setting 87 6 16 Extension Mode Setting 88 6 17 Home Search Speed Setting 90 6 18 Synchronous Action Mode Setting 90 7 Commands for Reading Data 91 7 1 Logical Position Counter Reading 91 7 2 Real position Counter Reading 91 7 3 Current Drive Speed Reading 91 7 4 Current Acceleration Deceler
211. used for the selection of pulse output type 59 NOVA electronics Inc MCX314As M60 Additionally bits D7 PLS L and D8 DIR L of register WR2 can be used for pulse outputting direction and logical level setting Note Please refer to Chapter 14 2 and 14 3 for the pulse signal nPLS and direction signal nDIR in 1 pulse 1 direction pulse outputting 2 9 3 Pulse Input Type Selection For real position counter A B quadrature pulse type and Up Down pulse type can be selected for pulse input E A B quadrature pulse input mode A A B quadrature pulse input mode can be set by setting the D9 PINMD bit of the WR2 register to 0 In this mode when A phase is advancing with positive logical pulses the count is incremented and when the B phase is advancing the count is decremented The count is incremented and decremented at the rising edge and falling edge of both signals When the real position counter up down reverse bit WR6 D1 is set to 1 in extension mode setting the up down operation of the real counter is reversed See Section 6 16 In A B quadrature pulse input mode the input pulses can be divided into 1 2 or 1 4 nECAVPPIN Eoi a Fei nECB PMIN i Extention Mode Setting WR6 D1 EPINV O Count up at the both signals 4 Count down at the both signals at reset Extention Mode Setting WR6 D1 EPINV 1 Count down at the both signals 4 Count up at the both signals 4
212. utput the 1 0 data of YOUT7 DSND 77 Output A D11 8 in WR3 register to Hi Low They become Low when the IC is reset ZOUT7 DSND 105 When the drive status output mode is engaged this signal can be used for UOUT7 DSND 123 reflecting the status of deceleration While the driving command is executed and during the deceleration it becomes Hi General Output 6 Ascend general purpose output signals XOUT6 ASND 58 ee the operation is as same as nOUT7 YOUT6 ASND 78 sat Output A When the drive status output mode is engaged this signal can be used for ZOUT6 ASND 106 Heati f ton While the drivi i PAT UOUT6 ASND 124 reflecting the status of acceleration ile the driving command is executed an during the acceleration it becomes Hi General Output 5 Compare general purpose output signals XOUT5 CMPM 59 P F PER p J the operation is as same as nOUT7 YOUT5 CMPM 79 a Output A When the drive status output mode is engaged it becomes Hi if the value of ZOUT MEM 107 logical real iti i ller than that of COMP it b Low if UOUT5 CMPM 125 ogical real position counter is smaller than that o it becomes Low i the value of logical real position counter is larger than that of COMP General Output 4 Compare general purpose output signals XOUT4 CMPP 60 i j i i s RR E 9 the operation is as same as nOUT7 YOUT4 CMPP 80 i i a Output A When the drive status output mode is engaged it becomes Hi if the value of ZOUTACMPE 102 logical re
213. vation position to the mechanical limit position b The automatic home search position is not beyond the limit signal active section in the search direction In this example a limit signal in one direction is used as an alternative home signal e Connect XLMTM input to the XINO and XIN1 input pins as shown in the diagram on the left hand side Note This IC pin signal must be connected If an external signal is connected from the photo coupler of each signal an operation error may occur due to the photo coupler delay time difference e Since high speed search of Step 1 is performed set the limit stop mode to a decelerating stop mode Section 4 5 WR2 D2 bit e Set the same logical level for the XLMTM XINO and XIN1 signals Section 4 5 WR2 D4 bit and Section 4 4 WR1 D0 and D2 bits e Set WR7 D10 using limit signals bit of extension mode setting to 1 MCX314As Over Run Limit in the Search Direction INO IN1 LMTM Operation Active Section X direction Search 2 Step 1 a m Over Run Limit ep Direction JUL Step 2 gel A E e As shown in the diagram on the right hand side the function moves the axis to the limit at high speed in the direction in Step 2 When the limit signal becomes active the function stops operation by decelerating and advances to Step 2 The function exits control from the limit in the opposite direction by irregular operation of Step 2 and st
214. ve status holding command is registered The drive start holding release command 25h can be written to start the driving In driving even this command is written the driving will not be stopped The next command will be held 8 6 Drive Status Holding Release Finishing Status Clear Command Drive status holding release finishing status clearing This command is to release the drive status holding 24h and start the driving Also this command can clear the finishing status bits D15 8 of register RR1 This command clears an automatic home search IN2 signal error bit D7 HOME of the RR2 register 8 7 Decelerating Stop Command Decelerating stop in driving This command performs the decelerating stop when the drive pulses are outputting If the drive speed is lower than the initial speed the driving will be suddenly stopped when this command is engaged In interpolation driving for main axis the decelerating stop and sudden stop commands can be written to stop the driving Once the driving stops this command will not work 8 8 Sudden Stop Command Sudden stop in driving This command performs the sudden stop when the drive pulses are output Also the sudden stop can be performed in acceleration deceleration driving Once the driving stops this command will not work 95 NOVA electronics Inc MCX314As M96 9 Interpolation Commands Interpolation commands consist of the comm
215. write the next interpolation segment into MCX314As before the previous interpolation segment is finished E Continuous Interpolation in Using D9 of RRO If D9 CNEXT of register RRO is 1 MCX314As is ready to accept the next interpolation segment If D9 is 0 the host CPU is not able to write the next interpolation segment into MCX314As The D9 will become 1 only when the present command is executed MCX314As will not accept the next command and the D9 is 0 if the present command has not been executed So the standard procedure of continuous interpolation is first to write and enable the interpolation data and command then check if D9 of RRO is 1 or 0 And then repeat writing commands and checking D9 The flow chart is shown at the right side E Interrupt D14 of register WRS is used for enable or disable the interrupt during the continuous interpolation After setting D14 of register WRS to 1 the interrupt occurs Pin INTN of MCX314As will be on the Low level to interrupt the host CPU when D9 of register RRO become 1 The INTN will be on the Hi level if the host CPU writes the next interpolation segment to MCX314As If the interrupt clear command 3Dh is written to command register the INTN signal will return to high Z level from the Low level During the ending of the interpolation it is forced to be interrupt disable and the INTN signal will return to the high Z level E Errors Occurring in the Process of Continuous Interp
216. xes output pulses simultaneously MCX314As will use the f i Fig 2 34 Example of 2 Axis Interpolation range parameter of slave axis to implement the pulse period to 1 414 times E Setting Constant Vector Speed for 3 Axes As same as the setting process of 3 axes the user should first set the values of D9 and D8 of register WR5 to 0 and 1 Then set the range R of ax2 to 1 414 times of the value of the master axis ax1 then set the range R of ax3 to 1 732 times of the value of the master axis After setting the range of constant vector speed for 3 axes MCX314As will use the range parameter of ax1 if only 1 axis outputs pulses However when 2 or 3 axes output pulses simultaneously MCX314As will use the range parameter of ax2 or ax3 to implement the pulse period See Fig 2 36 User may set the values of D9 and D8 of register WRS to 0 and 1 for 2 axis constant vector speed driving even in the 3 axis interpolation E The Example of Constant Vector Speed Interpolation for 2 Axes As shown below the master axis axl X axis the slave axis ax2 Y axis and the interpolation is at a constant vector speed 1000PPS The result of driving pulse output is shown in Fig 2 35 WR5 lt 0104h write define ax1 X axis ax2 Y axis WR6 lt O03E8h write finish point of X constant vector speed WR7 lt 0000h write WRO lt 0106h write WR6 lt 0900h write setting parameter of the master axis WR7 003Dh write range 4 000 000 multiple

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