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PCL6046 User's Manual - Nippon Pulse Motor Taiwan

1. M H 61 9 9 96 SIS T TOGISIOE icono ia ai das vate co dU bui crt onda do sade ec degvint ae iaa 62 oo 6 RPES TOO SiO tao REN MR 62 oo Gro ROP D reg A NCMEUN 63 nous ad BG POOISICN RENTEN 63 9 340 PROL SGDEOGISIGI nia lo int eei a ened ua deut ave D ebd uoto Urat dut 63 e M Sedi c r Sia 63 9 912 IRIPS TOGISIOE A A A rM S ELLP P gU LUE MIL 64 E ode stesse scitote tat E ties ML Mm T A temm A 65 9 1 Continuous operation mode using command control oocccconcnnccnoccnnccnncnncnnncnnnnonnnnnnnaronconanennnnanennnonannnoss 65 9 2 Positioning operation mode ccccccccesecenesecccesecceeseecseeceseeeceuececeueeesseeesaseeseueeseueceteueceesueeesssesenseesenees 65 9 2 1 Positioning operation specify a target position using an incremental value PRMD MOD 41h 65 9 2 2 Positioning operation specify the absolute position in COUNTER1 PRMD MOD 42h 65 9 2 3 Positioning operation specify the absolute position in COUNTER2 PRMD MOD 43h 66 9 2 4 Command position O return operation PRMD MOD 44h occcooccncccccccnccnoconononcnncnnoconcononcnnononcnnnnnos 66 9 2 5 Mechanical position O return operation PRMD MOD 45hD o cooccncccccccnconoccncconcnncnnoconcnnnncnnononcnnnnnos 66 9 2 6 One pulse operation PRMD MOD 46h 4ED ooccccccocccncccoccnnococcnnoconononnoncnnononcnnonnanoncnnnncnnonnrononnnns 66 9 2 7 Timer operation PRMB MOD 4 7E ise blade idolos 66 9 3 Pu
2. 8 SPCS e Becomes 1 when the PCS input signal is turned ON o o o 9 SERC___ Becomes 1 when the ERC input signal is turned ON Z 10 SEZ_____ Becomes 1 when the EZ input signal is turned ON o Z 11 SDRP___ Becomes 1 when the DR input signal is turned ON 12 SDRM____ Becomes 1 when the DR input signal is turned ON 13 SCLR Becomes 1 when the CLR input signal is turned ON _ gt 14 SLTC Becomes 1 when the LTC inputsignalistumed ON 15 PSDI Becomes 1 when the SD input signal is turned ON Status of SD input PS 16 SINP Becomes 1 when the INP input signal is turned ON _______ 17 MSDI O Becomes 1 when the SD input signal is turned ON Status of SD input terminal 18t0 19 PFCOto1 Usedto monitor the condition of the RCMP5 pre register _______ 20 to 21 ieee to monitor the condition of the operation pre registers for other than RCMP5 22 PSDL_ Becomes 1 when the SD latch signal is turned ON 23 MSDL Becomes 1 when the SD latch signal is turned ON o 24to 31 Notdefined Always set to 0 1 1 0 0 0 0 60 8 3 35 REST register Used to check the error interrupt cause Read only The corresponding bit will be 1 when an error interrupt occurs This register is reset by the following procedure However When RENV5 ISMR bit 24 1 this register
3. 32 Register 2nd pre register INo Detail Rie eere Are couman Read command Write command Na m Read command Write command COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol eee nis RLTC2 EEh RRLTC2 MEME emm mero D f MEAE emm I EJE Extension status RSTS Fih RRSTS AE AA LL EL E vo sie a se MN counter 38 EZ counter RSPD F5h RRSPD speed monitor E PSDC RPSDC 9 point Circular 40 interpolation RRCI WRCI PRCI stepping number stepping counter Interpolation status 33 7 5 General purpose output port control command By writing an output control command to the output port OTPB Address 2 when using a Z80 interface the PCL will control the output of the PO to P7 terminals When the l O setting for PO to P7 is set to output the PCL will output signals from terminals PO to P7 to issue the command When writing words to the port the upper 8 bits are discarded However they should be set to zero to maintain future compatibility The output status of terminals PO to P7 is latched even after the I O setting is changed to input The output status for each terminal can be set individually using the bit control command 7 5 1 Command writing procedures Write control data to output port OTPB Address 2 when a Z80 I F is used To continue with the next command the LSI must wait for four reference clock cycles approx 0 2 usec
4. cceccccseeeeeceeeeeeeeaeeeeeeneeeeeeseueeeeaeeeeeeseeeeeeseaueeesseeeeeseseeeeesaaes 32 7 5 General purpose output port control command ooccccoccncccccnccncncccncncnnnnnnonnnnonnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnninnnnnns 34 7 5 1 Command writing procedures cccccoooccnnccncccnconoccnnononcnnnnnnrononnncnnonnnnnnnnnnrnnnrnnnrnnnnnnrnnrnnnrnnrnnnnrnnrrnrnnnnnns 34 7 5 2 Command bit alloGallOrn o ooi denda eot ls 34 oM REJI SIEIS CT A A HE 35 9 1 Table Of register Suet sie a iuto elastetokt idest iaces tota ddan ou ic ties a a cee tate totustts 35 8 2 JP Tes Legis OE S ria aia 36 8 2 1 Writing to the operation pre registers ssssssssssssseeseeeennnnem nemen nnn nnns 36 8 2 2 Cancel the operation pre Tegister oooncccconncoccncoconncononncononnnonnnnonnnnonnnnonnnnnnnnnnnnnnrnnnnnnnnnnnnnnnannnonos 37 8 2 3 Writing to the comparator pre regisSterS ooooonccconnccconcccoocnnooncnononcncnnnnncnnnnnnnnnnnnnnnnnnnnrnnrnnrnnrnanncnnnnnnnas 37 8 2 3 Cancel the comparator pre register data occccocnccccccnccconnnoconnconnnononnnononononannnnnnnnnonnnnononnncnnaninnos 37 8 3 Description of the registers cetera iust ean unctus tex ut a 38 Ss rp ESI TOGISIOE PA OOO o A E 38 AN ee LA o pl O A E 0 E de o RE ODE SEES 38 Sasso BS EP POO o o po A O 38 SIA PRUR RUR register ect ced entr bliss a 38 9 30 PRODR RDR IES C 39 8 3 6 PRMG RMG TOO Sis iii di A od 39 8 327 gt P
5. lt When set to automatic PRMD MSDP 0 gt This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelerating When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the axis will feed at FL constant speed after decelerating is complete PRUS S curve acceleration range register 15 bit Specify the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 TFFFh The S curve acceleration range Ssy will be calculated from the value placed in PRMG Ss PRUS x e A ee CGU TTOquen MIR PRMG 1 x 65536 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssu and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS S curve deceleration range setting register 15 bit
6. COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol IEEE pipe 3 Operation speed 5 Deceleration rate RDR D4h RRDR Speed RMG D5h RRMG 95h WRMG PRMG C5h RPRMG 85h WPRMG magnification rate Ramping down 7 point RDP D6h RRDP 96h WRDP PRDP C6h RPRDP 86h WPRDP D h RRMD 97h WRMD PRMD C7h RPRMD 87h WPRMD 8 Operation mode RMD 7 S curve range S curve range 12 Feed amount RFA DBh RRFA 9Bh WRFA correction speed 13 Environment RENV1 DCh RRENV1 9Ch WRENV1 setting 1 14 Environment RENV2 DDh RRENV2 9Dh WRENV2 setting 2 15 Environment RENV3 DEh RRENV3 9Eh WRENV3 setting 3 16 Environment RENV4 DFh RRENV4 9Fh WRENV4 setting 4 47 Environment RENV5 EOh RRENV5 AO0h WRENVS5 setting 5 18 Environment RENV6 Eth RRENV6 Ath WRENV6 setting 6 4g Environment RENV7 E2h RRENV7 A2h WRENV7 setting COUNTER1 20 command RCUN1 E3h RRCUN1 A3h WRCUN1 position COUNTER2 21 mechanical RCUN2 E4h RRCUN2 A4h WRCUN2 position COUNTER3 22 deflection RCUN3 E5h RRCUN3 A5h WRCUN3 counter 23 COUNTER4 RCUN4 E6h RRCUN4 A6h WRCUN4 general purpose 24 Pata for RCMP4 E7h RRCMP4 azh RCMP comparator 1 1 25 Data for RCMP2 E8h RRCMP2 ash ROMP comparator 2 2 2g Pata for RCMP3 E9h RRCMP3 agh ROMP comparator 3 3 97 Data for RCMP4 EAh RRCMP4 aah WRCMP comparator 4 4 2g Pata for RCMP5 EBh RRCMP5 ash
7. E Setting the EL input filter Set RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a filter to the EL input 31 24 Apply a filter and any signals shorter than 4 usec pulse width are ignored Note 1 Operation after turning ON the EL signal may be different from the above for the origin return operation 9 5 1 the origin search operation 9 5 3 and the EL or SL operation mode 9 6 See the description of each operation mode 112 11 5 2 SD signal SD signal If the SD signal input is disabled by setting MSDE in the PRMD register operation mode to 0 the SD signal will be ignored Ifthe SD signal is enabled and the SD signal is turned ON while in operation the axis will 1 decelerate 2 latch and decelerate 3 decelerate and stop or 4 latch and perform a deceleration stop according to the setting of SDM and SDLT in the RENV1 register environment setting 1 1 Deceleration lt RENV1 SDM bit 4 0 RENV1 SDLT bit 5 0 gt While feeding at constant speed the SD signal is ignored While in high speed operation the axis decelerates to the FL speed when the SD signal is turned ON After decelerating or while decelerating if the SD signal turns OFF the axis will accelerate to the FH speed If the SD signal is turned ON when the high speed command is written the axis will operate at FL speed When the SD signal is turned OFF the axis will accelerate to FH speed FL constant speed operation FH constant s
8. EZ EL Operation 1 Operation 2 Operation 3 Note Positions marked with Q reflect ERC signal output timing when Automatically output an ERC signal is selected for stopping at the origin return 78 9 5 1 4 Origin return operation 3 RENV3 ORM 0011 O Constant speed operation lt Sensor EL ORG EZ RENV3 EZD 0001 gt ORG OFF EZ EL Operation 1 m High speed operation Sensor EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 Operation 2 Operation 3 9 5 1 5 Origin return operation 4 ORM 0100 O Constant speed operation Sensor EL ORG EZ RENV3 EZD 0001 ORG EZ EL Operation 1 ORG EZ EL Operation 1 FA speed Operation 2 Operation 3 Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for stopping at the origin return 79 9 5 1 6 Origin return operation 5 ORM 0101 O Constant speed operation lt Sensor EL ORG EZ RENV3 EZD 0001 gt ORG EZ EL Operation 1 Operation 2 Operation 3 ORG EZ EL Operation 1 Operation 2 Operation 3 9 5 1 7 Origin return operation 6 RENV3 ORM 0110 O Constant speed operation lt Sensor EL gt EL Operation 1 m FA speed Stop when EL off m High speed operation Sensor EL EL Operation 1 l gt lt Stop when BL off FA speed Stop when EL off Note Positio
9. PRMD WRITE 0 At the end of a cycle of a particular output frequency 15 8 1 When the output pulse turns OFF Setting the output pulse width Set RENV1 PDTC bit 31 gt RENV1 WRITE 0 Automatically change between a constant output pulse and a constant duty 31 24 cycle approx 5096 in accord with variations in speed 1 Keep the output pulse width at a constant duty cycle approx 50 In HE LH 110 11 4 Idling control When starting acceleration or deceleration operation it can be started after the output of a few pulses at FL speed idling output Set the number of pulses for idling in RENV5 IDL If you will not be using this function enter a value n of 0 or 1 The LSI will start acceleration at the same time it begins outputting pulses Therefore the start soeed obtained from an initial 2 pulse cycle will be faster than the FL speed To use this function enter a value n of 2 to 7 The LSI will start the acceleration by beginning its output on the n th pulse Therefore the start speed will be the FL speed and the FL speed can be set to near the maximum starting pulse rate If this function is used with the positioning mode the total feed amount will not change Setting idling pulses and acceleration start timing HBSY When n 0 OUT 1 2 3 FUP A Start acceleration on the Oth pulse When n 1 OUT 1 2 3 FUP A Start acceleration on the Oth pulse Cycle at the FL speed st gt
10. The X Y and Z axes Start command Previous i X and Z axes perform linear interpolation 1 PRMV Lea value no The X and Y axes wait for the Z axis to stop and PRMD ls Previous 0000 dudes wg starts again just like in continuous 0061h value 0061h p The X and Z axes Start command X Z axes SPRF 1 Start command Write 0551h FH constant start Using the settings above the PCL will perform steps 1 to 5 continuously 1 Start a CW circular interpolation of 90 with a radius 10000 on the X and Y axes 2 After the X and Y axes stop the Z axis positioning operation is complete because the feed amount is 0 3 Linear interpolation is performed on the X and Y axes 10000 5000 4 After the X and Y axes stop the Z axis positioning operation is complete because the feed amount is 0 5 Linear interpolation is performed on the X and Z axes 10000 5000 Note In STEP3 above the value for the Y axis is left the same as in the previous step STEP2 in order not to start the Y axis 143 Example 4 PCL6045B mode How to perform continuous interpolation while changing the interpolated axes moving from circular interpolation on the X and Y axes to Linear interpolation on the X and Y axes to Linear interpolation on the X and Z axes STEP A 10000 10000 he X and Y axes perform a 90 circular interpolation with a radius of 10000 10000 ae ae 0 The Z axis is given a positioning operation LEE 0000
11. This mode is used to operate an axis only when the DR switch is ON After writing a start command turn the DR signal ON to feed the axis in the positive direction turn the DR signal ON to feed the axis in the negative direction using a specified speed pattern By turning ON an EL signal for the feed direction movement on the axis will stop However the axis can be fed in the reverse direction An error interrupt FINT output will not occur To end this operation mode write an immediate stop command 49h If the axis is being fed with high speed commands 52h 53h movement on the axis will decelerate and stop when the DR input turns OFF If the DR input for reverse direction turns ON while decelerating movement on the axis will decelerate and stop Then it will resume in the opposite direction Setting example 1 Bring the PE input LOW 2 Specify PRFL PRFH PRUR PRDR and PRMG speed setting 3 Enter 0000010 for MOD bits 0 to 6 in the PRMD operation mode register 4 Write a start command 50h to 53h CND bits 0 to 3 of the RSTS extension status register will wait for 0001 DR input In this condition turn ON the DR or DR input terminal The axis will move in the specified direction using the specified speed pattern as long as the terminal is kept ON 242 9 4 2 Positioning operation using an external switch PRMD MOD 56h This mode is used for positioning based on the timing when the DR input tu
12. 8 1 The ERC signal is ON FOLE s e SR 118 Emergency stop command lt CMEMG Operation command gt Operation command Output an ERC signal 05h ERC signal output command lt ERCOUT Control command gt Control command Turn ON an ERC signal ERC signal output reset command lt ERCRST Control command gt Control command Turn OFF an ERC signal 25h 11 6 3 ALM signals Input alarm ALM signal When the ALM signal turns ON while in operation the axis will stop immediately or decelerate and stop When the axis is started at constant speed the signal on the ALM terminal will cause an immediate stop However the axis only decelerates and stops on an ALM signal if it was started with a high speed start To stop using deceleration keep the ALM input ON until the axis stops operation If the ALM signal is ON when a start command is written the LSI will not output any pulses The minimum pulse width of the ALM signal is 80 reference clock cycles 4 usec if the input filter is ON If the input filter is OFF the minimum pulse width is 2 reference clock cycles 0 1 usec When CLK 19 6608 HMz The input logic of the ALM signal can be changed The signal status of the ALM signal can be monitored by reading SSTSW sub status Stop method when the ALM signal is ON SetnRENV1 ALMM bit 8 gt RENV1 WRITE 0 Stop immediately when the ALM signal is turned ON 15 8 1 Deceleration stop high speed start only when
13. V 1S1 Y axis output pulse X axis output pulse d 1S1 1 2 3 4 5 6 7 8 9 10 Y axis output pulse lt gt 1000pps Note If you start linear interpolation 2 while PRIP 0 an operation data error REST ESDT 1 will occur 90 9 8 8 Circular interpolation This function provides CW circular interpolation PRMD MOD 64h and CCW circular interpolation PRMD MOD 65h between any two axes If only one axis or 3 to 4 axis is specified for circular interpolation and a start command is written a data setting error will occur Circular interpolation takes the current position as the starting point coordinate 0 0 regardless of the values in the counters COUNTER to 4 After specifying the speed for each interpolated axis specify whether or not to apply synthesized speed constant control PRMD MIPF for each axis the end points the PRMV register value and the center point the PRIP register value If the end point is O the starting point both axes will draw a simple circle The synthesized speed used in the circular interpolation will be the speed FH FL set for the interpolated axes if the synthesized speed constant control is ON PRMD MIPF 1 for both axes Write a start command after setting SELx to SELu in COMB1 to 1 Either axis can be used to write a start command Setting example As shown in the table below specify the MOD MIPF PRMV PRIP and operation speed for each axis being inte
14. 1 S curve accel decel m Stop COUNTER1 command position This is used to move a mechanical part without changing the PCL control position Specify the operation completion timing 0 End of cycle 1 End of pulse When using the vibration reduction function select End of pulse 13 MSDP Specify the ramping down point for high speed feed 0 Automatic setting 1 Manual setting Effective for positioning operations and linear interpolation feeding Ed mem 1 1 While in automatic operation control the number of pulses after the PCS input is turned ON Override 2 for the target position Luis Make synthetic speed constant while performing interpolation feeding 16 to 17 MSNO to 1 oe you want to control an operation block specify a Sequence number using 2 bits By reading the main status MSTSW a sequence number currently being executed SSCO to 1 can be checked Setting the sequence number does not affect the operation 18 to 19 MSYO to 1 After writing a start command the LSI will start an axis synchronization operation based on other timing 00 Starts immediately 01 Starts on a ZCSTA input or command 06h 2Ah 10 Starts with an internal synchronous start signal 11 Starts when a specified axis stops moving 20 to 23 O to Specify an axis to check for an operation stop when the value of MSY 0 to 1 is 11 Setting examples 0001 Starts when the X axis stops 0010 Starts when the Y axis stops 0100
15. EL inputs Specify the input logic of the ORG input signal in RENV1 ORGL This register s terminal status can be monitored with an SSTSW sub status command Specify the input logic of the EZ input signal in RENV2 EZL Specify the number for EZ to count for an origin return complete condition in the RENV3 EZDO to 3 This register s terminal status can be monitored by reading RSTS SEZ Specify the logic for the EL input signal using the ELL input terminals Specify the operation to execute when the signal turns ON immediate stop deceleration stop in RENV1 ELM This register s terminal status can be monitored with an SSTSW SPEL and SSTS SMEL An input filter can be applied to the ORG input signal and EL input signal by setting the RENV1 register ORG input is sampled in synchronization with output pulses Keep ORG input ON more than 1 pulse interval Set the ORG signal input logic Set RENV1 ORGL bit 7 RENV1 WRITE 0 Negative logic 7 0 1 Positive logic ae ste ele Read the ORG signal lt SSTSW SORG bit14 gt SSTSW READ 0 Turn OFF the ORG signal 15 8 1 Turn ON the ORG signal pepe pe eer Set the EZ signal input logic Set RENV2 EZL bit 23 RENV2 WRITE 0 Falling edge 23 16 1 Rising edge EUER ERES Set the EZ count Set RENV3 EZDO to 3 bits 4 to 7 RENV3 WRITE opecify the number for EZ to count that will indicate a zero return completion 7 0 Enter the value the count minus 1 in EZDO to 3 Se
16. PA PB input Continuous operation controlled by external signal DR DR input Positive rotation origin return operation Negative rotation origin return operation Positive feed leaving from the origin position Negative feed leaving from the origin position Origin search in the positive direction Origin search in the negative direction Feed to EL or SL position Move away from the EL or SL position Move away from the EL or SL position Feed in the negative direction for a specified number of EZ counts Positioning operation specify the incremental target position Positioning operation specify the absolute position in COUNTER 1 Positioning operation specify the absolute position in COUNTER2 Zero return of command position COUNTER1 Zero return of mechanical position COUNTER2 Single pulse operation in the positive direction Single pulse operation in the negative direction Timer operation Positioning operation controlled by pulsar PA PB input Positioning operation is synchronized with PA PB specify the absolute position of COUNTER 1 Positioning operation is synchronized with PA PB specify the absolute position of COUNTER2 Zero return to the command position controlled by pulsar PA PB input Zero return to a mechanical position controlled by pulsar PA PB input Positioning operation controlled by external signal DR DR input Continuous linear interpolation 1 continuous operation wi
17. Specified bit of specified register is referred to as register name bit name ex RMD MSDE le OUTING and FEAS inia 1 A O O eee 1 T2 AMES E A 1 E a aient james da nU cL uut mtu nhe Iuuen dean te a De M SEI 5 ox Temnal Assignment Diagrama suo Pa mou adul Cows dd 6 is AAA I E T EE 7 S plIoce Dadas att ae au E oO a end c UP 12 SUE D A o ER 12 6 1 Setting p connections toa GPL das etate mi qe udo sm ut que acm unu mue cus uota eee Sean eee 13 6 2 Precautions for designing hardware oonccccccnnonccconnococonnnnononononnannnnononnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnaness 13 6 3 CPU interface circuit block diagratm diuinus aint eo entro epo an uti eoe urea lasses teu mtu cen ve adu ed 14 6 4 Address Ma CC 18 64 1 AxIS arrangerrient WAP sss deett eng a eM a desse cU Sm Ups em LES 18 64 2 Internal map of each A 18 6 5 Description of the map detalilS oocccoooccccccnnncccnnnconnnocanonononononnnnnnnnnnnnonnnonnnnonannnonnrnnnnnnnnnannnenananenas 22 6 5 1 Write a command code and axis selection COMW COMB 0ooccccccoccnnccnnccncnnonononnnconconancnnononcnnnnnos 22 6 5 2 Write to an odtput port OTPW OT PB dod eoa ofi AA vu daas c dades eausa due 22 6 5 3 Write read the input output buffer BUFW BUEB oocccccocccccccccnnococconcnnoconcononcnnonnnconconanonnonanononnnos 22 6 5 4 Reading the main status MSTSW MSTSB orninn a a a a a 23 6 5 5 Reading
18. Specify the S curve deceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 TFFFh The S curve acceleration range Ssp will be calculated from the value placed in PRMG Sape PROS y eene e oer requeney ina PRMG 1 x 65536 In other words speeds between the FH speed and FH speed Ssp and between FL speed Ssp and the FL speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve deceleration without a linear component 165 Handling Precautions 1 Design precautions 1 Never exceed the absolute maximum ratings even for a very short time 2 Take precautions against the influence of heat in the environment and keep the temperature around the LSI as cool as possible 3 Please note that ignoring the following may result in latching up and may cause overheating and smoke Be careful not to introduce external noise into the LSI Hold the unused input terminals to 3 3V or GND level Do not short circuit the outputs Protect the LSI from inductive pulses caused by electrical sources that generate large voltage surges and take appropriate precautions against static electricity 4 Provide external circuit protection components so that overvoltages caused by noise voltage surges or static electricity are not fed to t
19. Starts when the Z axis stops 1000 Starts when the U axis stops 0101 Starts when both the X and Z axes stop 1111 Starts when all axes stop Boig 1 Deceleration stop or immediate stop by CSTP input This is used for a simultaneous stop with another axis when this other axis stops with an error N Outputs a CSTP simultaneous stop signal when stopping due to an error 26 MADJ BUR an FH correction function 0 ON 1 OFF When S shaped deceleration is selected MSMD 1 and the operation is set to use linear interpolation 1 MOD 61h with a synthesized speed constant control MIPF 1 make sure to turn this bit ON 2 MPIE 1 After the circular interpolation operation is complete the PCL will draw to the end point automatically 41 28 MIPM 0 Make conditions for circular interpolation completion same as PCL6045B s 1 Define a new condition for circular interpolation completion 29 MSDC O Uses count method only when interpolation operation is performed with constant synthesized speed control like PCL6045B Otherwise calculation method is used 1 Fix the method to set ramp down point automatically to count method 30 to 31 Not Always set to 0 defined 8 3 9 PRIP RIP register This pre register is used to set the center position for circular interpolation or a master axis feed amount for linear interpolation 2 RIP is the register for PRIP 31 30 29 28 27 26 25 24 23 22 21 20 19 18 1
20. Write __ Invalid QOH is output when reading amp Z 04 06 Read Write _ Invalid 00H is output when reading When used with the H8 and 8086 I F Indirect access Read out main status bit 0 to 15 Kira ci Read out sub status and a general purpose I O port 10 Write OTPW Change status of a general purpose output port only bits specified to output are available Read Write BUFWO Read from Write into I O buffer bit 0 to 15 00 Read Write BUFW1 Read from Write into I O buffer bit 16 to 31 221 6 5 Description of the map details 6 5 1 Write a command code and axis selection COMW COMB Write commands for reading and writing to registers and the start and stop control commands for each axis COMBO Seta command code For details see 7 Commands Operation and Control commands SELx to u Select an axis for executing the command If all of the bits are 0 only the own axis selected by A8 A9 is selected To write the same command to more than one axis set the bits of the selected axes to 1 When you write to a register the details of the input output buffer are written into the register for each axis When you read from a register the details in the register are written into the input output buffer for each axis COMW E E E 2 lt A 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 6 5 2 Write to an output port OTPW OTPB Specify output terminal status from the general
21. alelov Q Q zz Sao lalo lelelelel 121 3 O0 O O0 O O0 oO O o5 0 oi2 2 2 2 2 olg alglglo 22 2 22 S S gt OD ea a ee Sala 9 9 o o o as QO10 0 53 5 5 5 D D olo 2v o o o E Zee a S w M O o 9 2 2 I o o lon ln lo mI DIY D gt olge EEES AO ZU 0o o o o o OD OLES z O 5 0 o o oio a O 5H y yp Djejeje lala TIN c 2 C e 5 ao c SIS S c O Ol El a S O 149 12 Electrical Characteristics 12 1 Absolute maximum ratings Symbol Power supply voltage 0 3 to 4 0 Input voltage 0 3to 7 0 V Output current 30 to 30 Storage temperature 65 to 150 12 2 Recommended operating conditions ltem Symbol Rating Unit 12 3 DC characteristics Symbol Condition Current consumption as 19 6608 MHz before e CLK 19 6608 MHz highest 5 axes operation CLK 30 0000 MHz before reset CLK 30 0000MHz after reset stop CLK 30 0000MHz highest 4 axes 184 operation Output leakage curent loz 3 1 O 1 Input capacitance NK d E A TA LOW input current Terminals have internal pull up Rm E E LOW input voltage input LOW input voltage o3 08 8 ww em 0 6 mA LOW output voltage output LOW output voltage LOW output current Vor 0 4 V E ES DN ANT HIGH output current Von Vpp 0 4 V Internal pull up R resistance vs Note No load for all conditions Even though this LSI has a circuit to r
22. j NEN Counter n n 1 n 2 n 1 n 126 11 10 2 Counter reset All the counters can be reset using any of the following three methods 1 When the CLR input signal turns ON set in RENV3 2 When an origin return is executed set in RENV3 3 When a command is written The PCL can also be specified to reset automatically soon after latching the counter value The CLR input timing can be set in RENV1 environment setting 1 An INT signal can be output as an event interrupt cause when a CLR signal is input Action when the CLR signal turns ON RENV3 WRITE lt Set RENV3 CU1C to 4C bit 16 to 19 gt 92 16 CU1C bit 16 1 Reset COUNTER1 command position CU2C bit 17 21 Reset COUNTER2 mechanical position I n n n n CU3C bit 18 21 Reset COUNTER3 deflection CUAC bit 19 21 Reset COUNTER4 general purpose Action when an origin return is complete Set RENV3 CUTR to 4R bit 20 to 23 RENV3 WRITE CUR bit 20 21 Reset COUNTER1 command position 23 16 CU2R bit 21 21 Reset COUNTER2 mechanical position CU3R bit 22 21 Reset COUNTER3 deflection n n n n CUAR bit 23 21 Reset COUNTER4 general purpose Setting when latched Set RENV5 CU1L to 4L bits 24 to 27 RENV5 WRITE CU1L bit 24 1 Reset COUNTER1 command position 31 24 CUAL bit 25 1 Reset COUNTER2 machine position CU3L bit 26 1 Reset COUNTER3 deflection 0 0 0jO njninin CUAL bit 27 1 Re
23. specify a value larger than PREL The speed will be calculated from the value placed in PRMG EMispesd pps PREM ene CIGC regun nz PRMG 1 x 65536 96 PRUR Acceleration rate setting register 16 bit Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration PRMD MSMD 0 Acceleration time s PRFH PRFL x PRUR 1 x4 Reference clock frequency Hz 2 S curve acceleration without a linear range PRMD MSMD 1 and PRUS register 0 Acceleration time s PRFH PRFL x PRUR 1 x8 Reference clock frequency Hz 3 S curve acceleration with a linear range PRMD MSMD and PRUS register gt 0 T _ PRFH PRFL 2x PRUS x PRUR 4 1 x4 Acceleration time s Reference clock frequency Hz PRDR Deceleration rate setting register 16 bit Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic PRMD MSDP 0 the value placed in the PRDR register will be used as the deceleration rate However when PRDR 0 the deceleration rate will be the value placed in the PRUR When the ramping down point is set to autom
24. 1 RENV4 bits 21 to 22 CADO to 1 RENVA bits 30 to 31 C5DO to 1 RENV5 bits 6 to 7 131 How to set the INT output external output of comparison results and internal synchronous starting Set an event interrupt cause Set RIRQ IRC1 to 5 bit 8 to 12 RIRQ WRITE IRC1 bit 8 1 15 8 Output ZINT signal when the Comparator 1 conditions are satisfied IRC2 bit 9 1 n n n n n Output ZINT signal when the Comparator 2 conditions are satisfied IRC3 bit 10 1 Output ZINT signal when the Comparator 3 conditions are satisfied IRCA bit 11 1 Output INT signal when the Comparator 4 conditions are satisfied IRC5 bit 12 1 Output ZINT signal when the Comparator 5 conditions are satisfied Read the event interrupt cause lt RIST ISC1 to 5 bit 8 to 12 gt RIST READ IRC1 bit 8 1 When the Comparator 1 conditions are satisfied 15 8 IRC2 bit 9 1 When the Comparator 2 conditions are satisfied IRC3 bit 10 1 When the Comparator 3 conditions are satisfied n n n n n IRC4 bit 11 1 When the Comparator 4 conditions are satisfied IRC5 bit 12 1 When the Comparator 5 conditions are satisfied Read the comparator condition status lt MSTSW SCP1 to 5 bits 8 to 12 MSTSW READ SCP1 bit 8 1 When the Comparator 1 conditions are satisfied 15 8 SCP2 bit 9 1 When the Comparator 2 conditions are satisfied SCP3 bit 10 1 When the Comparator 3 conditions are satis
25. 4 cycles of CLK signal and confirm that IFB signal is high level before access 549 2 6 3 CPU interface circuit block diagram 1 Z80 interface memory map full address Z80 CPU PCL6046 MREQ A10 A15 AO A9 RD HWR HWAIT FAINT DO D7 RESET System reset 2 Z80 interface I O map reduced address Z80 CPU PCL6046 dd Decode mOSDE TIT IFO A4 A9 ME Pee A PA SO e pil INN a Mi i dude iod is e D w pease ES on ERR et nn HERR System reset 14 3 8086 interface Memory map full address 8086 CPU PCL6046 Decode 3 3V circuit A19 A10 ALE A19 A16 4 AD15 ADO K amp INTR Decode INTA circuit RD HWR READY RESET MN ZMX Latch circuit GND System reset System reset 4 8086 interface I O map reduced address Decode circuit A15 A10 T T circuit A2 A1 AD15 ADO INTR Interrupt HWR READY RESET MN ZMX oV System reset System reset Notes With 8086 interface only word 16 bit access is available Byte 8 bit access cannot be used 15 3 H8 interface full address H8 330 CPU PCL6046 A10 A15 System reset 3 H8 interface reduced address H8 CPU PCL6046 33y System reset 16 7 68000 interface full address 68000 CPU PCL6046 HAS Decode A10 A23 IFO IF 1 SS YD A1 A9 A0 Interrupt control circuit RESET System reset 7 68000 interface reduced
26. 5 Command position zero return operation using a pulsar input PRMD MOD 54h This mode is used to feed the axis using a pulsar input until the value in COUNTER1 command position becomes zero The number of pulses output and the feed direction are set automatically by internal calculation using the COUNTER1 value at the start When setting the COUNTER1 value to zero and start the positioning operation the LSI will stop movement on the axis immediately without outputting any command pulses 9 3 6 Mechanical position zero return operation using pulsar input PRMD MOD 55h Except for using COUNTER2 instead of COUNTER1 the operation details are the same as for PRMD MOD 54h 9 3 7 Continuous linear interpolation 1 using pulsar input PRMD MOD 68h Performs continuous linear interpolation 1 synchronized with the pulsar input For continuous linear interpolation 1 operation details see section 9 8 Interpolation operations 9 3 8 Linear interpolation 1 using pulsar input PRMD MOD 69h Performs linear interpolation 1 synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For linear interpolation 1 operation details see section 9 8 Interpolation operations 9 3 9 Continuous linear interpolation 2 using pulsar input PRMD MOD 6Ah Performs continuous linear interpolation 2 synchronized with the pulsar input For continuous linear interpolation 2 operation details see section 9 8 Interpolation
27. 5 has executed it returns to zero operates until COUNTER2 0 1100 Origin return operation 12 After the process in origin return operation 8 has executed it returns to zero operates until COUNTER2 0 indi to7 EZDOto3 Specify the EZ count value that is used for origin return operations 0000 1st count to 1111 16th count iud to9 CI20to 21 Select input count source for COUNTER2 mechanical position 00 EA EB input 01 Output pulse 10 PA PB input 10 to 11 CI30 to 31 Select the input count source for COUNTERS deflection counter 00 Output pulse and EA EB input deflection counter 01 Output pulse and PA PB input deflection counter 10 EA EB input and PA PB input deflection counter 12 to 13 Cl40 to 41 Select the input count source for COUNTER4 general purpose 00 Output pulse 01 EA EB input 10 PA PB input 11 Divide the CLK count by 2 1 Reset COUNTER3 deflection counter when the origin return is complete 49 25 CU2B 1 Operate COUNTER2 mechanical position while in backlash slip correction mode 26 CU3B 1 Operate COUNTER3 deflection counter while in backlash slip correction mode 27 CU4B 1 Operate COUNTER4 general purpose while in backlash slip correction mode 28 Notdefined Always set to 0 29 CU2H 1 Stop the counting operation on COUNTER2 mechanical position Note 1 30 CU3H 1 Stop the counting operation on COUNTER3 deflection counter CU
28. A servomotor delays the stop until the deflection counter in the driver reaches zero even after command pulses have stopped being delivered In order to stop the servomotor immediately the deflection counter in the servo driver must be cleared This LSI can output a signal to clear the deflection counter in the servo driver This signal is referred to as an ERC signal The ERC signal is output as one shot signal or a logic level signal The output type can be selected by setting the RENV1 register environment setting 1 If an interval is required for the servo driver to recover after turning OFF the ERC signal HIGH before it can receive new command pulses the ERC signal OFF timer can be selected by setting the RENV1 register Writing a start command Motor Operating Stopping Next operation starts BSY Operating Sopig Ll me G n ERC pulse width 3 ERC signal OFF timer Setting EPW 0 to 2 Setting ETW 0 to 1 OUT In order to output an ERC signal at the completion of an origin return operation set RENV1 EROR bit 11 1 to make the ERC signal an automatic output For details about ERC signal output timing see the timing waveform in section 9 5 1 Origin return operation In order to output an ERC signal for an immediate stop based on the EL signal ALM signal or FCEMG signal input or on the emergency stop command 05h set RENV1 EROE bit 10 1 and set automatic output for the ERC signal In the case of a deceleration
29. Address 2 when a Z80 I F is used you can set 8 bits as a group See section 7 5 General purpose output port control command Make P7 HIGH The PO and P1 terminals can be set for one shot output T approx 26 msec using the RENV2 Environment setting 2 register and the output logic can be selected To use them as one shot outputs set the PO terminal to POM bits O and 1 11 or set the P1 terminal to P1M bits 2 and 3 11 To change the output logic set POL bit 16 on the PO terminal and P1L bit 17 on the P1 terminal In order to perform a one shot output from the PO and P1 terminals a bit control command should be written However the command you need to write will vary depending on the output logic selected See the table below for the details cosas man odes commana Negative logic POL 0 PORST 10h Negative logic P1L 0 P1RST 11h P1 j Positive logic POL 1 POSET 18h Negative logic P1L 1 P1SET 19h When writing control commands to output ports OTPB address 2 for the Z80 interface the PO and P1 terminals will not change 28 7 3 Control command Set various controls such as the reset counter The procedures for writing are the same as the operation commands 7 3 1 Software reset command Used to reset this LSI COMBO Symbol SRST Software reset Same function as making the RST terminal LOW 7 3 2 Counter reset command Reset counters to zero CO
30. CS setup time for RD Ter 35353 CS setup time for WR CS setup time for HWR CS hold time for RD BWR I 9 3 x ANRO ON delay tne for PRO WRT Teen GL ME 18 ns WRO signal LOW time twm Tne ns WR signal width Twm Noe 6 X ns Data setup time for WRt Tow 8 i ns Data hold time for WR 1 o po ns Note 1 When a WRQ signal is output the duration will be the interval between WRQ H and WR H lt Read cycle gt A1 to A4 4 y Tar Trwa ics NL y p WRQ TRww RD TrRbxD 00 01 TroLo T WTHD Write cycle A1 to A4 y CS FWRQ WR Twnp DO to D18 g AAA 153 12 5 3 CPU I F 3 IF1 L IFO L H8 cy IMM RE MIS A a O Across setup time fo WR I T J 8 3 Ds Address hold time for RD WRt Tewa 0 n AAA CS setup time for RD HicSseup meRr RD CS setup time for HWR GS hold time for RD EHE LO CS hold time for RD WR 1 WRO signal LOW time Tem Data output delay time for RD Trop C1 40pF 27 ns Data output delay ime for WRQ E ME A A ns 1 28 jns WR signal width 6 n Data setup tine f amp RWRT a e Data hold time for WR 1 oo 1 Note 1 When a WRQ signal is output the TES will be the interval between WRQ H and ZWR H lt Read cycle gt A1 to A9 TRwA CS lt gt Taw
31. FP lt speed input I F phase value PMG setting value 1 PD setting value O lt Examples of the relationship between the FH FL speed pps and the pulsar input frequency FP pps settingmethod mee dH Two pulse input L 264 0 FPsFHIFDI3 E E 29 FHI 0 FP FH F 4 90 phase difference 4x FP lt FH FL 6 Frequency of FP pa B_ Jl gt bb Note When the PA PB input frequency fluctuates take the shortest frequency not average frequency as Frequency of FP above 68 lt Setting relationship of PA PB input gt Specify the PA PB input Set to RENV2 PIMO to 1 bit 24 to 25 gt RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 31 24 01 90 phase difference 2x 11 2 sets of up or down input pulses la EU EU opecify the PA PB input count direction Set to RENV2 PDIR bit 26 RENV2 WRITE 0 Count up count forward when the PA phase is leading Or count up count 34 24 forward on the rising edge of PA 1 Count up count forward when the PB phase is leading Or count up count l l l l ln l forward on the rising edge of PB Enable disable PA PB input Set RENV2 POFF bit 31 gt RENV2 WRITE 0 Enable PA PB input 31 24 1 Disable PA PB input fee sees tapetes Set the DR PE input filter Set RENV1 DRF bit 27 gt RENV1 WRITE 1 Insert a filter on DR input and PE input 31
32. ON Turns ON when the SD signal width is short When the SD input is OFF while starting the latch signal is reset The latch signal is also reset when SDLT is O SDL Specify the SD signal input logic 0 Negative logic 1 Positive logic 2 Bes Specify the ORG signal input logic 0 Negative logic 1 Positive logic p omm Specify the process to occur when the ALM input is turned ON 0 Immediate stop 1 Deceleration stop dius Specify the ALM signal input logic 0 Negative logic 1 Positive logic 10 EROE 1 Automatically outputs an ERC signal when the axis is stopped immediately by a EL EL ALM or CEMG input signal However the ERC signal is not output when a deceleration stop occurs on the axis Even if the EL signal is specified for a normal stop by setting MOD 010X000 feed to the EL position in the RMD register the Bane signal is output if an immediate stop occurs El to PWO to 2 Suec the pulse width of the ERC output signal 14 000 12 usec 001 102 usec 010 409 usec 011 1 6 msec 100 13 msec 101 52 msec 110 104 msec 111 Level output Specify the ERC signal output logic 0 Negative logic 1 Positive logic 44 16 to ETWO to 1 Specify the ERC signal OFF timer time 17 00 O usec 10 1 6 msec 01 12 usec 11 104 msec 18 ISTAM Specify the CSTA signal input type 0 Level trigger 1 Edge trigger 19 STPM Specify a stop method using CSTP input 0 Immediate stop 1 Dece
33. PRMV 0 specify the absolute position in COUNTER1 Negative direction when PRMV lt COUNTER1 Positive direction when PRMV gt COUNTER2 specify the absolute position A COUNTER2 Negative direction when PRMV lt COUNTER2 Negative direction when COUNTER1 gt 0 Negative direction when COUNTER2 20 46h One pulse operation fPosiivedirection o mers 47h Timer operation 9 2 1 Positioning operation specify a target position using an incremental value PRMD MOD 41h This is a positioning mode used by placing a value in the PRMV target position register The feed direction is determined by the sign set in the PRMV register When starting the RMV register setting is loaded into the positioning counter RPLS The PCL instructs to feed respective axes to zero direction When the value of the positioning counter drops to 0 movement on the axes stops When you set the PRMV register value to zero to start a positioning operation the LSI will stop outputting pulses immediately 9 2 2 Positioning operation specify the absolute position in COUNTER1 PRMD MOD 42h This mode only uses the difference between the PRMV target position register value and COUNTER1 Since the COUNTER1 value is stored when starting to move the target position cannot be overridden by changing the COUNTER 1 value although it can be overridden by changing the RMV value The direction of movement can be set
34. Reading MSTS Reading MSTS Reading MSTS 2 When RENV2 IEND 1 and PRMD MENI 1 BSY output INT output qp o MSTS 2 _ IL Reading MSTS Note Even if IEND 1 and MENI 1 if no pre register has been specified a Start command has been written interrupt signal is output 148 Error interrupt causes Detail of REST The cause of an interrupt makes the corresponding bit 1 gt Cause REST it Error interrupt cause UJ topped by Comparator 1 conditions being satisfied SL topped by Comparator 2 conditions being satisfied SL Stopped by Comparator 3 conditions being satisfied Stopped by Comparator 4 conditions being satisfied Stopped by Comparator 5 conditions being satisfied Stopped by turning ON the EL input Stopped by turning ON the EL input Stopped by turning ON the ALM input Stopped by turning ON the CSTP input Stopped by turning ON the CEMG input Deceleration stopped by turning ON the SD input Always 0 Stopped by an operation data error Simultaneously stopped with another axis due to an error stop on the other axis during ESIP an interpolation operation topped by an overflow of PA PB input buffer counter occurrence ESPO Stopped by an over range count occurrence while positioning in an interpolation ESAO An EA EB input error occurs does not stop ESEE A PA PB input error occurs does not stop ESPE Oo CO 00 o on amp o N o Stopped by Comparator 3 condit
35. Reverse the counting direction of the EA EB inputs EX eas EZ signal input logic 0 Falling edge 1 Rising edge m E 25 P to 1 Specify the PA PB input operation 00 Multiply a 90 phase difference by 1 Count up count forward when the PA input phase is ahead 01 Multiply a 90 phase difference by 2 Count up count forward when the PA input phase is ahead 10 Multiply a 90 phase difference by 4 Count up count forward when PA input phase is ahead 11 Count up count forward when the PA signal rises count down when the PB signal rises JE A Reverse the counting direction of the PA PB inputs Bd wi 1 Outputs an INT signal when stopping regardless of whether the stop is normal or E to an error 31 POFF 1 Disable PA PB input Note 1 For details about outputting a general purpose one shot signal see 7 2 General purpose output bit control commands 47 8 3 15 RENV3 register This is a register for the Environment 3 settings Origin return methods and counter operation specifications are the main function of this register 0 BSYC Cl41 CI40 CI31 CI30 CI24 CI20 EZD3 EZD2 EZD1 EZDO ORM3 ORM2 ORM1 ORMO CU4H CU3H CU2H CU4B CU3B CU2B CU1B CU4R CU3R CU2R CU1R CU4C CU3C CU2C CU1C Bit Bitnam 1 Descriptim_____________________ Oto3 ORMO to 3 Specify an origin method 00000 Origin return operation O The axis will stop immediately or make a deceleration s
36. Set the correction method RENV6 ADJO to 1 bits 12 to13 gt RENV6 00 Turn the correction function OFF 15 01 Backlash correction 10 Slip correction nini a Action for backlash slip correction RENV3 CUTB to 4B bit 24 to 27 gt RENV3 CU1B bit 24 1 Enable COUNTER1 command position 31 CU2B bit 25 1 Enable COUNTER2 mechanical position CU4B bit 27 1 Enable COUNTER4 general purpose 138 CU3B bit 26 1 Enable COUNTER3 deflection O ni n ni n 11 13 Vibration restriction function This LSI has a function to restrict vibration when stopping by adding one pulse of reverse operation and one pulse of forward operation shortly after completing a command pulse operation Specify the output timing for additional pulses in the RENV7 environment setting 7 register When both the reverse timing RT and the forward timing FT are non zero the vibration restriction function is enabled The dotted lines below are pulses added by the vibration restriction function An example in the positive direction Gatot a PSS eee eee es ee 3 E Ld Last pulse pulse opecify the reverse operation timing Set RENV7 RTO to 15 bits O to 15 RENV7 WRITE RT range 0 to 65 535 The units are 32x of the reference clock cycle approx 1 6 usec when CLK 19 6608 MHz Settable range 0 to approx 0 1 sec opecify the forward operation timing FT range 0 to 65 535 The
37. The PRCI register value is used to trigger the start of the deceleration timing When a smaller value is entered the PCL will start deceleration sooner and will apply the FL constant time When a larger value is entered the PCL will delay the beginning of deceleration and then will have to stop suddenly from faster than the FL speed However the interpolation trajectory is the same as the constant speed circular interpolation Note 2 To specify a ramp down point manually think of the PRCI setting as a number of output pulses so that the PRDP calculation formula for the positioning operation can be used However this formula cannot be used when the synthesized constant speed operation is ON In this case there is no other way to obtain a ramp down point except by conducting a test to get a value from the change of the RICI value 9 8 9 Circular interpolation synchronized with the U axis By synchronizing with the U axis any two axes can be used for CW circular interpolation PRMD MOD 66h or CCW circular interpolation PRMD MOD 67h If you specify circular interpolation for one axis or for 3 to 4 axes and try to start the operation the PCL will declare a data setting error When the U axis positioning counter RPLS reaches 0 while starting or during a circular interpolation the PCL will also declare a data setting error By simultaneously using with linear interpolation the PCL can synchronize one axis while performing a circular
38. WRMG PRMG C5h RPRMG 85h WPRMG magnification rate 7 C6h Ramping down point D6h RRDP 96h WRDP PRDP RPRDP 86h WPRDP 8 Operation mode RMD D7h RRMD Circular interpolation D8h 98h C8h 88h WPRIP center C9h 89h RRUS 9 WPRUS 10 Acceleration RUS S curve range D9h 9h S curve range 12 Feed amount RFA DBh RRFA 9Bh WRFA correction speed 13 Environment RENV1 DCh RRENV1 9Ch WRENV1 setting 1 o ena vex pews NN R RPRUS 14 Environment setting 2 15 Environment ENV3 DEh RRENV3 9Eh WRENV3 setting 3 16 Environment RENV4 DFh RRENV4 9Fh WRENV4 setting 4 47 Environment RENV5 EOh RRENV5 AOh WRENVS5 setting 5 18 Environment RENV6 Eth RRENV6 Ath WRENV6 setting 6 4g Environment RENV7 E2h RRENV7 A2h WRENV7 setting COUNTER1 20 command RCUN1 E3h RRCUN1 A3h WRCUN1 position COUNTER2 21 mechanical RCUN2 E4h RRCUN2 A4h WRCUN2 position COUNTER3 22 deflection RCUN3 E5h RRCUN3 A5h WRCUN3 counter 23 COUNTER4 RCUN4 E6h RRCUN4 A6h WRCUNA general purpose 24 Pata for RCMP4 E7h RRCMP4 azh RCMP comparator 1 1 25 Data for RCMP2 E8h RRCMP2 ash RCMP comparator 2 2 2e Pata for RCMP3 E9h RRCMP3 agh WRCMP comparator 3 3 97 Data for RCMP4 EAh RRCMP4 aah WROMP comparator 4 4 2g Data for RCMP5 EBh RRCMPsS agh RCMP bRCPS cBh RPRCP5 8Bh WPRCP5 comparator 5 5 29 Event INT setting RIRQ ECh RRIRQ ACh WRIRQ
39. WROMP pRcps cBh RPRCP5 8Bh WPRCP5 comparator 5 5 29 Event INT setting RIRQ ECh RRIRQ ACh WRIRO 160 Register 2nd pre register INo Detail Nar e Esso command Arte comand Read command Write command Na m Read command Write command COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol no ie RLTC2 EEh RRLTC2 MEME ural om mero D MESE emm A 2E Extension status RSTS Fih RRSTS f EE AA LL LL qo dq pl 2 M mo D counter 38 EZ counter RSPD F5h RRSPD speed monitor Mem PSDC RPSDC 9 Ipoint Circular 40 interpolation RRCI WRCI PRCI stepping number stepping counter Interpolation status 161 Appendix 2 Setting speed pattern setting range y 147 483 E to 147 483 E PRFL Initial speed 1 to 65 gt o PRFH Operation speed 1 to 65 535 OFFFFh PRDR_ Deceleration rate Note 1 16 0to65 535 0FFFFh RDR PRDP Ramping downpoint_____ X 24 Oto 16 777 215 0FFFFFFh RDP RDS Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleration factors FH speed Set in PRFH PRMG S curve Acceleration range Set in PRUS gt AER FL speed Set in PRFL PRMG gt f 7 Acceleration rate Set in PRUR Deceleration rate Set in PRDR S curve deceleration bises anota fo range Set in P
40. Y Slave axis interpolation executes an interpolation from the current coordinates to the end coordinates The positional precision of a specified line during linear interpolation will be 0 5 LSB throughout the interpolation range LSB refers to the minimum feed unit for the PRMV register setting It corresponds to the resolution of the mechanical system Size of the cells in the figure on the right End coordinates 10 4 X Master axis 89 9 8 6 Continuous linear interpolation 2 PRMD MOD 62h Same as Linear Interpolation 2 the PCL controls each axis using speeds that correspond to the ratios of the values set in PRIP and PRMV However in continuous mode the PCL will continue to output pulses until it receives a stop command 9 8 7 Linear interpolation 2 PRMD MOD 63h Linear interpolation 2 is used for linear interpolations between 5 or more axes and uses more than one LSI for control In this mode the PCL cannot synchronize the acceleration deceleration timing between interpolated axes so this mode cannot be used with acceleration deceleration In order to execute a linear interpolation using multiple LSIs you must use a simultaneous start signal CSTA signal For details about the CSTA signal see section 11 7 External start simultaneous start The axis with the maximum amount to be fed is referred to as the master axis during the interpolation and the other axes are slave axes Enter the PRMV
41. a one shot pulse of 8 reference clock cycles in length from the CSTP terminal The CSTP terminal is bi directional It can input the output signal again 11 9 Emergency stop This LSI has a CEMG input terminal for use as an emergency stop signal While in operation if the CEMG input goes LOW or if you write an emergency stop command all the axes will stop immediately While the CEMG input remains LOW no axis can be operated The logical input of the CEMG terminal cannot be changed When the axes are stopped because the CEMG input is turned ON the LSI will output an INT signal By reading the REST register the cause of the error interruption can be determined The status of the CEMG terminal can be monitored by reading the REST register extension status Read the CEMG signal RSTS SEMG bit 7 gt RSTS READ 0 The CEMG signal is OFF 7 0 1 The CEMG signal is ON Meal aaa Read the cause of an error interrupt lt REST ESEM bit 9 gt REST READ 1 Stopped when the CEMG signal is turned ON 15 8 RRB annie Emergency stop command lt CMEMG Operation command gt Operation command The operation is the same as when a CEMG signal is input Note In a normal stop operation the final pulse width is normal However in an emergency stop operation the final pulse width may not be normal It can be glitch Motor drivers do not recognize glitch pulses and therefore only the PCL internal counter may count this puls
42. address 68000 CPU PCL6046 A4 A3 A1 A2 LDS D TACK IPLO 2 DO 15 RESET System reset Note For the 8086 H8 and 68000 interfaces only word 16 bit access is available Byte 8 bit access is not available a 6 4 Address map 6 4 1 Axis arrangement map In this LSI the control address range for each axis is independent It is selected by using address input terminal A8 and A9 as shown below 0 1 IY axis control address range 1 0 IZ axis control address range 1 1 IU axis control address range 6 4 2 Internal map of each axis The following shows address signal and processing of write readout cycle Please refer to 6 5 Description of the map details and 8 3 Description of the registers in detail There are two connection schemes of address input terminals full address scheme and reduced address scheme These access schemes to internal register are different In a full address scheme direct access to internal register and access through I O buffer can be available In a reduced address scheme only indirect access is available The internal map of each axis is defined by address input AO to 7 Notes When you access registers by direct access scheme make sure to access from lower address to upper address in order by register unit 4 bites Access for Z80 and 8086 should be from lower data to upper data Access for H8 and 68000 I F should be from upper data to lower data 0090
43. an external pull up resistor 5 k to 10 K ohms is required As a noise prevention measure pull up unused terminals to VDD using an external resistor 5 k to 10 K ohms If an output terminal is not being used leave it open Positive refers to positive logic Negative refers to negative logic means that the logic can be changed using software means that the logic can be changed by the setting on another terminal The logic shown refers only to the initial status of the terminal The DIR terminal is initially in a Two pulse mode Use the RENV2 register to select an output signal When PO to P7 are set up as output terminals they can be controlled simultaneously as 8 bits or one bit at a time using output bit control commands depending on what is written to the output port OTPB When PO and P1 are set up as one shot pulse output terminals they will output a one shot signal T Approx 26 msec using the output bit control command ORG input is synchronized with output pulses sampled and controlled by a change of sampling result Therefore keep ORG sensor ON for longer than feed amount for one pulse 11 5 Block Diagram HCS R D FWR HRST Circular Interpolation circuit CPU 1 F I I I I I I Pulse width control I I I I I Vibration eee OUTx DIRx curcuit restriction circuit I I I I I I I I I I I I I I I I Acceleration Linear Inter Selec deceleration polation circu
44. and between FL speed Ssp and the FL speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve deceleration without a linear component 99 10 3 Manual FH correction When the FH correction function is turned ON PRMD MADJ 0 and when the feed amount is too small for a normal acceleration and deceleration operation the LSI will automatically lower the FH speed to eliminate triangle driving However if values in the PRUR and PRDR registers are set so that the deceleration time gt acceleration time x 2 do not use the FH correction function In order to eliminate triangle driving without using the FH correction function PRMD MADJ 1 lower the FH speed before starting the acceleration deceleration operation When using idling control enter a value for PRMV in the equation below after deducting the number of idling pulses The number of idling pulses will be 1 to 6 whenRENV5 IDL 2 to 7 Automatic correction of the maximum speed for changing the feed amount pps FH correction function sec Automatic correction of the maximum speed for changing the feed amount 100 lt To execute FH correction manually gt 1 Linear acceleration deceleration speed PRMD MSMD 0 When prmv lt PREH PRFL x PRUR PRDR 2 g PRMG 1 x 32768 PRFH
45. at the origin position However COUNTER2 mechanical position provides a reliable value ORG EL Operation 1 Operation 2 Operation 3 RMV setting value cc 84 9 6 EL or SL operation mode The following four modes of EL or SL software limit operation are available PRMD MOD Operation mode Direction of movement h Operate until reaching the EL or SL position Positive direction 20 28 h Operate until reaching the EL or SL position Negative direction 22 h Leave from the EL or SL positions Positive direction 2A h Leave from the EL or SL positions Negative direction To specify the EL input signal set the input logic using the ELL input terminal Select the operation type immediate stop deceleration stop to be executed when the input from that terminal is ON using RENV1 ELM The status of the terminal can be monitored using SSTSW sub status For details about setting the SL software limit see section 11 11 2 Software limit function Select the EL signal input logic lt ELL input terminal gt L Positive logic input H Negative logic input Select the stop method to use when the EL signal is turned ON RENV1 WRITE lt RENV1 ELM bit 3 gt 7 0 0 Stop immediately when the EL signal turns ON 1 Decelerates and stops when the EL signal turns ON pate mate la Reading the EL signal lt SSTSW SPEL bit 12 SSTSW SMEL bit 13 gt SSTSW READ SPEL 0 Turn OFF EL signal SPEL
46. automatically by evaluating the relative relationship between the PRMV register setting and the value in COUNTERt1 At the start the difference between the RMV setting and the value stored in COUNTER1 is loaded into the positioning counter RPLS The PCL outputs pulses so that the difference becomes 0 When the positioning counter value reaches zero the PCL stops outputting pulses If the PRMV register value is made equal to the COUNTER1 value and the positioning operation is started the PCL will immediately stop operation without outputting any command pulses 65 9 2 3 Positioning operation specify the absolute position in COUNTER2 PRMD MOD 43h This mode only uses the difference between the PRMV target position register setting and the value in COUNTER2 Since the COUNTER2 value is stored when starting a positioning operation the target position cannot be overridden by changing the value in COUNTER2 although it can override the target position by changing the value in RMV The direction of movement can be set automatically by evaluating the relationship between the PRMV register setting and the value in COUNTERA At the start the difference between the RMV setting and the value stored in COUNTER2 is loaded into the positioning counter RPLS The PCL outputs pulses so that the difference becomes 0 When the positioning counter value reaches zero the PCL stops outputting pulses If the PRMV register value is made equal to th
47. can be stopped at the same time by a command by an external signal or by an error stop on any axis Vibration restriction function opecify a control constant in advance and add one pulse each for reverse and forward feed just before stopping Using this function vibration can be decreased while stopping Manual pulsar input function By applying manual pulse signals PA PB you can rotate a motor directly The input signals can be 90 phase difference signals 1x 2x or 4x or up and down signals In addition to the magnification rates above the PCL6046 contains an integral pulse number magnification circuit which multiplies by 1x to 32x and a pulse quantity division circuit of 1 to 2048 2048 Software limit settings can be used and the PCL stops outputting pulses It can also feed in the opposite direction x Direct input of operation switch Positive and negative direction terminals DR are provided to drive a motor with an external operation switch These switches turn the motor forward and backward Out of step detection function This LSI has a deflection counter which can be used to compare command pulses and encoder signals EA EB It can be used to detect out of step operation and to confirm a position by using a comparator dling pulse output function This function outputs a preset number of pulses at the initial speed FL before a high speed start acceleration operation Even if a value near to the ma
48. cause and turn the H4INT output OFF Note 1 When reading a register from the interrupt routine the details of the input output buffer will change If the ZINT signal is output while the main routine is reading or writing registers and the interrupt routine starts the main routine may produce an error Therefore the interrupt routine should execute a PUSH POP on input output buffer In the case of using full address method an error does not occur if you separate direct access for main routine and indirect access for interrupt routine Note 2 While processing all axes in steps 1 to 4 above it is possible that another interrupt may occur on an axis whose process has completed In this case if the CPU interrupts reception mode is set for edge triggering the PCL will latch the ZINT output ON and it will not allow a new interrupt to interfere Therefore make sure that the CPU reads main status of all the axes again after you return CPU to the interrupt reception status and make sure there is no ZINT signal output from the PCL Then end the interrupt routine Note 3 When not using the INT terminal leave it open When using more than one PCL the FINT terminals cannot be wired ORed The FINT signal output can be masked by setting the RENV1 environment setting 1 register If the INT output is masked RENV1 INTM 1 and when the interrupt conditions are satisfied the status will change However the ZINT signal will not go LOW but w
49. cause of an event interrupt can be checked The operation status waiting for ZCSTA input and status of the ZCSTA terminal can be monitored by reading the RSTS register extension status How to make a simultaneous start Set PRMD MSYO to 1 bits 18 to 19 for the axes you want to start Write a start command and put the LSI in the waiting for ZCSTA input status Then start the axes simultaneously by either of the methods described below 1 By writing a simultaneous start command the LSI will output a one shot signal of 8 reference clock cycles approx 0 4 usec when CLK 19 6608 MHz from the CSTA terminal 2 Input hardware signal from outside Supply a hardware signal by driving the terminal with open collector output 74LS06 or equivalent FCSTA signals can be supplied as level trigger or edge trigger inputs However when level trigger input is selected if ZCSTA L or a start command is written the axis will start immediately After connecting the CSTA terminals on each LSI each axis can still be started independently using start commands To release the waiting for CSTA input condition write an immediate stop command 49h 1 To start axes controlled by different LSIs simultaneously connect the LSls as follows PCL6046 PCL6046 PCL6046 PCL6046 3 3V 5k to 10kohm 2 To start simultaneously from an external circuit connect the LSIs as follows PCL6046 PCL6046 PCL6046 PCL6046 3 3V 5k to 10kohm 7
50. curve range The S curve range can specify each acceleration and deceleration independently Therefore you can create an acceleration deceleration profile that consists of linear acceleration and S curve deceleration or vice versa Interpolation operation Feeding with linear interpolation of any two to four axes and circular interpolation of any two axes are both possible Speed override The feed speed can be changed in the middle of any feed operation However the feed speed cannot be changed during operation when the synthesized speed constant control for linear interpolation is ON while using S curve deceleration Overriding target position 1 and 2 1 The target position feed amount can be changed while feeding in the positioning mode If the current position exceeds the newly entered position the motor will decelerate stop immediate stop when already feeding at a constant speed and then feed in the reverse direction 2 Starts operation like in the continuous mode and when it receives an external signal it will stop after outputting the specified number of pulses Triangle drive elimination FH correction function In the positioning mode when there are a small number of output pulses this function automatically lowers the maximum speed and eliminates triangle driving Pre register function The next two sets of data feed amount initial speed feed speed acceleration rate deceleration rate speed magnification r
51. gt 34 24 CU2H bit 29 1 Stop COUNTER2 counting mechanical position CU3H bit 30 1 Stop COUNTER3 counting deflection nin nj of CU4H bit 31 1 Stop COUNTER4 counting general purpose Setting the counters for backlash or slip correction RENV3 WRITE Set RENV3 CUTB to 4B bits 24 to 27 gt 34 24 CU1B bit 24 1 Enable COUNTER1 command position CU2B bit 25 1 Enable COUNTER2 mechanical position O n n n n CU3B bit 26 1 Enable COUNTERS deflection CUAB bit 27 1 Enable COUNTER4 general purpose Specify the counting conditions for COUNTERA Set RENV3 BSYC bit 14 RENV3 WRITE 1 Enable COUNTER4 general purpose only while operating BSY L 15 8 OMA 129 11 11 Comparator 11 11 1 Comparator types and functions This LSI has 5 circuits of 28 bit comparators per axis It compares the values set in the RCMP1 to 5 registers with the counter values Comparators 1 to 4 can be used as comparison counters and can be assigned as COUNTERS 1 to 4 Comparator 5 can be assigned as COUNTER 1 to 4 a positioning counter or to track the current speed There are many comparison methods and four processing methods that can be used when the conditions are met Specify the comparator conditions in the RENV4 environment 4 and RENV5 environment 5 registers By using these comparators you can perform the following Use comparators for INT outputs external output o
52. interpolation 1 and circular interpolation operations Automatic setting of ramp down point is available However set the MSDP and MADJ in the PRMD register the same for all of the interpolated axes To control the ramp down point while using linear interpolation1 the PCL executes a comparison of RPLS and RSDC for the longest axis The RSDC setting for any shorter axes will be invalid However if more than one axis has the same length and they are the longest axes to specify a ramp down point manually you must enter the same value for all of the interpolated axes To control the ramp down point while using circular interpolation the PCL executes a comparison of RCIC and RSDC on the control axis Therefore to specify a ramp down point manually write to RSD on the control axis Error stop If any of the axes being interpolated stops with an error all of the axes being interpolated will stop SSTSW SERR 1 By reading the REST error stop cause register you can determine which axis actually stopped with an error SD input When SD input is enabled PRMD MSDE is set to 1 and if the SD input turns ON on any axis interpolated all axes will decelerate or decelerate and stop Idling control If any axis is in idling range none of the interpolated axes will accelerate Correction function When a direction is changed by switching of quadrants during circular interpolation backlash correction and slip correction control cannot be u
53. interpolation by setting SELx SELy SELz and SELu in COMB1 Interpolation operations that can be combined with this LSI 1 Linear interpolation 1 of two axes 2 Linear interpolation 1 of three axes 3 Linear interpolation 1 of four axes 4 Circular interpolation of two axes 5 Linear interpolation 1 of two axes and circular interpolation of two axes Axes that are not involved in one of the interpolation operations 1 to 5 above can be operated independently or can be used to execute a linear interpolation 2 9 8 2 Interpolation control axis In Circular interpolation and Linear interpolation 1 specify the speed for one axis only This axis is referred to as the interpolation control axis Interpolation control axes can only be in the order X Y Z and U for the axes that are interpolated When you want to execute both a circular interpolation and a linear interpolation 1 simultaneously there will be two interpolation control axes When linear interpolation 2 is selected each axis will be used to control the interpolation Relationship between an interpolation operation and the axes used for interpolation control Linear interpolation 1 of the Y and U axis Circular interpolation of the X and U axis 6 Circular interpolation of the X and Z axes and linear Circular interpolation X axis interpolation 1 of the Y and U axes Linear interpolation 1 Y axis 87 9 8 3 Synthesized speed constant control This fun
54. into PRCI register bit O to 31 R Read from write into RMV register bit O to 31 bi B4 B6 Read Write RFH Read from write into RFH register bit O to 31 BO B2 Read Write Read from write into RUR register bit O to 31 Read from write into RDR register bit O to 31 R R R R AC AE Read Write R l R R R Read from write into RMD register bit O to 31 9C 9E ead Write Read from write into RIP register bit O to 31 R A0 A2 Read Write R 98 9A Read Write RUS Read from write into RUS register bit O to 31 A8 AA ead Write RMG A4 AG ead Write RDP Read from write into RDP register bit O to 31 94 96 Read Write RDS Read from write into RDS register DOT 31 90 92 Read Write RFA Read from write into RFA register t0 t03 Read from write into RMG register bit O to 31 7C 7E ead Write Read from write into RENV5 register bit O to 31 78 7A ead Write RENV Read from write into RENV6 register bit O to 31 RMV RFL RMG RMD RDS RFA R 2 3 4 5 6 T R R 80 82 Read Write RENV Read from write into RENV4 register bit O to 31 R R R R Read from write into RCUN1 register bit 0 to 31 290 AT A0 Read Write nein Processing detail Hex signal Read from write into RCMP4 register bit O to 31 L4C4E Read I Write RIRG Read from fue nto RIRO register Bt lo 31 3C 3E 38 3A 34 36 30 32 2C 2E 28 2A 2426 101022 Read
55. is not reset It is reset by writing data to REST 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 ESPE ESEE 0 ESC1 Stopped when Comparator conditions are satisfied SL 6 ESML_ Stopped by the EL input being turned ON 8 ESSP Stoppedbythe CSTP input being turned ON Z y 9 ESEM Stopped by the CEMG input being turned ON 1 13 ESIP Simultaneously stopped with another axis due to an error stop on the other axis during interpolation Note 1 In any of the following cases ESDT will be 1 1 Write a Start command using linear interpolation 1 mode MOD 60h 61h 68h and 69h on only one axis 2 Write a Start command using circular interpolation mode MOD 64h 65h 66h 67h 6Ch and 6Dh on only one axis 3 Write a Start command after setting PRIP circular center coordinates to 0 0 using the circular interpolation mode 4 Write a Start command using circular interpolation mode on 3 or 4 axes 5 Write a Start command using linear interpolation 2 mode MOD 62h 63h 6Ah and 6Bh while RIP is 0 6 Tried to write a Start command using circular interpolation mode MOD 66h 67h while synchronized with the U axis But the U axis does not respond Or the U axis completes operation while in circular interpolation mode 61 8 3 36 RIST register This register is used to check event interrupt cause Read only When an event interrupt occurs th
56. operation with a feed amount of O 3 The X and Z axes perform a linear interpolation operation 10000 5000 The Y axis performs a positioning operation with a feed amount of 0 144 11 14 2 Starting from an internal synchronous signal There are 9 types of internal synchronous signal output timing They can be selected by setting the RENV5 register The monitor signal for the internal synchronous signal can be output externally Example 1 below shows how to use the end of acceleration for the internal synchronous signal f Y axis Example 1 After completing steps 1 to 3 below write a start command to the X and Y axes the X axis will start when the Y axis completes its acceleration El 7 1 Set PRMD MSYO to 1 bits 18 to19 of the X axis to 10 Acceleration complete Start with an internal synchronous signal 3 2 Set RENV5 SYIO to 1 bits 20 to 21 of the X axis to 01 Use an internal synchronous signal from the Y axis 3 Set RENV5 SYOO to 3 bits 16 to 19 of the Y axis to 1001 Output an internal synchronous signal when the acceleration is complete FH X axis FH Example 2 shows how to start another axis using the de satisfaction of the comparator conditions to generate an internal synchronous signal Be careful since comparator conditions satisfied by timing and the timing of the start of another axis may be different according to the comparison method used by the comparators Exampl
57. operations 9 3 10 Linear interpolation 2 using pulsar input PRMD MOD 6Bh Performs linear interpolation 2 synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For linear interpolation 2 operation details see section 9 8 Interpolation operations 9 3 11 CW circular interpolation using pulsar input PRMD MOD 6Ch Performs CW circular interpolation synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For CW circular interpolation operation details see section 9 8 Interpolation operations 9 3 12 CCW circular interpolation using pulsar input PRMD MOD 6Dh Performs CCW circular interpolation synchronized with the pulsar input Any pulsar inputs after operation is complete will be ignored For CCW circular interpolation operation details see section 9 8 Interpolation operations TR 9 4 External switch DR operation mode This mode allows operations with inputs from an external switch To enable inputs from an external switch bring the PE terminal LOW After writing a start command when a DR DR signal is input the LSI will output pulses to the OUT terminal Set the RENV1 DRL to specify the output logic of the DR input signal The FINT signal can be set to send an output when DR input is changed The RSTS extension status register can be used to check the operating status and monitor the DR input It is also possible t
58. output DiRoutput n nin Low Setting the direction change timer 0 2 msec functi RENV1 WRITE Set RENV1 DTMF bit 28 gt 54 24 1 OFF m 0 ON 109 11 3 2 Control the output pulse width and operation complete timing In order to put forward the timing of stopping this LSI controls the output pulse width When the output pulse speed is slower than 1 8192 of reference clock approx 2 4 Kpps when CLK 19 6608 MHz the pulse width is constant and is 4096 cycles of the reference clock approx 200 usec when CLK 19 6608 MHz For faster pulse speeds than this the duty cycle is kept constant approx 50 By setting RENV1 PDTC bit 31 the output pulse width can be fixed to make a constant duty cycle 50 Also when setting PRMD METM operation completion timing setting the operation complete timing can be changed 1 When PRMD METM 0 the point at which the output frequency cycle is complete lt Output pulse cycle 10x Ta OUT Last pulse 1st pulse of the next operation HBSY 2 When PRMD METM 1 when the output pulse is OFF Output pulse width Tun 5 gt gt OUT Last pulse Next start pulse BSY When set to when the output pulse is OFF the time interval Min from the last pulse until the next starting pulse output will be Tmn 15 x Tork Teck Reference clock cycle Setting the operation complete timing lt Set PRMD METM bit 12 gt
59. position Specify the comparison method for Comparator 1 RENV4 WRITE Set RENV4 C1S0 to C132 bits 2 to 4 gt 7 0 110 Use as a positive direction software limit i EEC Ta Specify the process to use when the Comparator 1 conditions are satisfied RENV4 WRITE lt Set RENV4 C1D0 to C1D1 bits 5 to 6 gt 7 0 01 Immediate stop 10 Deceleration stop mpmp P Specify the comparison method for Comparator 2 RENV4 WRITE Set RENV4 C2S0 to C252 bits 10 to 12 gt 45 8 110 Use as a negative direction software limit eel in o n E s Specify the process to use when the Comparator 2 conditions are satisfied RENV4 WRITE Set RENV4 C2D0 to C2D1 bits 13 to 14 gt 45 8 01 Immediate stop 10 Deceleration stop mp mp Be 134 11 11 3 Out of step stepper motor detection function If the deflection counter value controlled by the motor command pulses and the feedback pulses from an encoder on a stepper motor exceed the maximum deflection value the LSI will declare that the stepper motor is out of step The LSI monitors stepper motor operation using COUNTERS the deflection counter and a comparator The process which takes place after an out of step condition is detected can be selected from the table Processing method to use when the comparator conditions are satisfied For this function use an encoder with the same resolution as the stepper motor COUNTERS deflection can be cleared by writ
60. pulses The axis will stop instantly when the LSI finishes counting EZ pulses After the ORG signal turns ON when feeding at high speed the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will decelerate and stop When feeding at constant speed movement on the axis stops immediately by counting the EZ signal after the ORG input is turned ON When feeding at high speed the axis will decelerate and stop by counting the EZ signal after the ORG input is turned ON COUNTER reset timing When finishing counting the EZ pulses 0100 Origin return operation 4 After the ORG input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction at RFA constant speed After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting the EZ pulses 0101 Origin return operation 5 After the ORG input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly or make a deceleration stop when feeding a
61. speed gt Deceleration stop Note 1 53h STAUD High speed start 2 Acceleration FH constant speed Deceleration stop Note 1 Note 1 For details see section 10 1 Speed patterns 2 Residual pulses start command Write this command after the motor is stopped on the way to a positioning the motor will continue movement for the number of pulses left in the positioning counter COMBO Symbol 54h CNTFL Residual pulses FL constant speed start 55h CNTFH Residual pulses FH constant speed start 56h CNTD Residual pulses high speed start 1 FH constant speed start without acceleration with deceleration 57h CNTUD Residual pulses high speed start 2 With acceleration and deceleration 3 Simultaneous start command By setting the RMD register the LSI will start an axis which is waiting for CSTA signal COMBO Symbol 06h CMSTA CMSTA Output one shot of the start pulse from the CSTA terminal one shot Output one shot of the start pulse from the HCSTA termina the start pulse from the CSTA terminal Can sn Only own axis will process the command the same as when the CSTA signal is input 7 1 3 Speed change command Write this command while the motor is operating the motor on that axis will change its feed speed If this command is written while stopped it will be ignored COMBO Symbol FCHGL Change to the FL speed immediately 41h FCHGH Change to the FH speed immediately F
62. the ALM signal is turned ON a APR TUR Input logic setting of the ALM signal Set RENV1 ALML bit 9 RENV1 WRITE 0 Negative logic 15 8 1 Positive logic eles hele ene Read the ALM signal lt SSTSW SALM bit 11 gt SSTSW READ 0 The ALM signal is OFF 15 8 1 The ALM signal is ON eee pe po eS Reading the cause of a stop when the ALM signal is turned ON REST READ lt REST ESAL bit 7 gt 7 0 set the ALM input filter lt Set RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a filter to the ALM input 34 24 When a filter is applied pulses less than 4 usec pulse in width will be ignored l l l l ln l l 1 Stop due to the ALM signal being turned ON 119 11 7 External start simultaneous start 11 7 1 CSTA signal This LSI can start when triggered by an external signal on the ZCSTA terminals Set PRMD MSY bits 18 to 19 to 01 and the LSI will start feeding when the CSTA goes LOW When you want to control multiple axes using more than one LSI connect the CSTA terminal on each LSI and input the same signals All of the axes set to waiting for CSTA input will all start at the same time In this example a start signal can be output through the ZCSTA terminal The input logic on the ZCSTA terminals cannot be changed By setting the RIRQ event interrupt cause register the INT signal can be output together with a simultaneous start when the ZCSTA input is ON By reading the RIST register the
63. the Comparator 5 conditions are satisfied 11 14 1 Start triggered by another axis stopping If the start condition is specified as a Stop of two or more axes when any of the specified axes stops after operating and the other axes never start remain stopped the axis which is supposed to start when the conditions are satisfied will start operation Example 1 below shows how to specify a stop of two or more axes In the example while the X axis or Y axis is working and even if the Y or X axis remains stopped the U axis starts operation Example 1 After setting steps 1 to 3 start the X axis and Y axis When both of these axes stop the U axis starts 1 Set PRMD MSYO to 1 bits 18 to 19 for the U axis to 11 Start triggered by another axis stopping 2 Set PRMD MAXO to 3 bits 20 to 23 for the U axis to 0011 When both X axis and Y axis stop 3 Write a start command for the U axis The start when another axis stops function has two operation modes one is PCL6045 compatible and the other is the PCL6045B mode Select the operation mode using RENV2 SMAX When SMAX 0 the PCL6045 compatible mode is selected PCL6045 compatible mode In order to use Other axis stops as a start condition the status of another axis has to change from operating to stopping after the axis specifying this condition is ready to start its process and then it can wait for the other axis stop For example if the X and Y axes ar
64. the constant speed for backlash correction or slip correction This is also used as a reverse constant speed for an origin return operation 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 76 5 4 3 2 1 0 Although the setting range is 1 to 65 535 the actual speed pps varies with the speed magnification rate setting in the RMG register Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 43 8 3 13 RENV1 register This register is used for Environment setting 1 This is mainly used to set the specifications for input output terminals 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 31 30 29 28 217 26 25 24 23 22 21 20 19 18 17 16 PDTC PCSM INTM DTMF DRF FLTR DRL PCSL LTCL INPL CLR1 CLRO STPM STAM ETW1 ETWO Bits Bitname Description Z U O 0 to 2 PMDO to 2 pom output pulse details Operation in iu direction Operation in direction m OUT output DIR output OUT output DIR output ol l r e ee e nmm EN Sur uw UL ETE OUT OUT DIR DIR OUT OUT DIR t DIR EM SSS O Immediate stop 1 Deceleration stop Note 1 BM 15 o NNNM 0 Deceleration only 1 Deceleration stop SDLT E the latch function of the SD input 0 OFF 1
65. the sub status and input output port SSTSW SSTSB IOPB ooccoocccccncccnccnoccncononcnnnnnos 24 7 Commands Operation and Control COMMANads cccoocccnccncccnnononcnnccnnconcnnncnnononcnnnnnnrononnnnrnnonnnrnnnnnrnnnnnnnrnnnnnanens 25 FAOPeraton Command 2 na OTT TEE E 25 7 1 1 Procedure for writing an operation command the axis assignment is omitted 25 A eomthalteia25iidseoac e oar asd Ute combat a A M cu o umePoh ai rs Cet Su su t des 26 17123 SPCC change command usce conoci sede os centile a e Micra ue aput a abeo india tian 26 ETA Stop coiaridsss i ada 27 795 NOP dO NOMINI CO MM drid 27 7 2 General purpose output bit control COMMANOS ooccccoccnccccnnccnnnncnnnnnnnnnnnnnnnnonnnnnononnnonnnnnnnnnnnnnnnononnnnnnnnnns 28 E SC ONTORCOMMaN uaea a e URSUS US 29 TES SONAS ES a a utoE 29 173 2 C OUNErTE Set COMMANA aiga o casos 29 1 370 ERG Outpit contolcotiirarid cs sye a eo ao 29 oA Pre register control COMMANA usada 29 Sa 29 7 3 6 LTCH input counter latch command occcccocnnccccccnncccncnnnononnnoconcnnnonanonnnnannnnononnnnonnnnnnnnannnnnnanananinnns 29 TS Command O TESSA dl 29 1 4 REGISICN CONUOl COMM aN Usada 30 7 4 1 Procedure for writing data to a register by indirect access the axis assignment is omitted 31 7 4 2 Procedure for reading data from a register by indirect access the axis assignment is omitted 31 7 4 3 Table of register control COMMANAS
66. timing for a counter COUNTER to 4 00 When the LTC input turns ON 01 On an ORG input 10 When the Comparator 4 conditions are satisfied 11 When the Comparator 5 conditions are satisfied 14 J LTFD 1 Latch the current speed in place of COUNTER3 15 LTOF 1 Stop the latch by timing of a hardware operation Only used by software 16to 19 SYOO to 3 Select the output timing of the internal synchronous signal 0001 When the Comparator 1 conditions are satisfied 0010 When the Comparator 2 conditions are satisfied 0011 When the Comparator 3 conditions are satisfied 0100 When the Comparator 4 conditions are satisfied 0101 When the Comparator 5 conditions are satisfied 1000 When starting acceleration 1001 When ending acceleration 1010 When starting deceleration 1011 When ending deceleration Others Internal synchronous signal output is OFF 20t021 SYIOto1 Select an input source when starting with an internal synchronous signal 00 Internal synchronous signal output from the X axis 01 Internal synchronous signal output from the Y axis 10 Internal synchronous signal output from the Z axis 11 Internal synchronous signal output from the U axis 22 MSMR 1 Stop auto function to reset SENI and SEDR when main status is read out To reset use command SENIR and SEORR DS 23 1 Stop auto function to be reset when RIST register and REST register are read out To reset this bit write to RIST and R
67. using positioning operations is executed in the opposite direction to the one specified 3 An Origin return operation is executed in the specified direction Operation 1 If the ORG input is turned ON after starting movement on the axis will stop normally Operation 2 If the ORG input is already turned ON when starting the axis will leave the origin position using positioning operations and then begin an origin return operation Operation 3 If movement on the axis is stopped by an EL signal while operating in the specified direction the axis will execute an origin return operation ORM 0000 and a leaving the origin position by positioning in the opposite direction Then it will execute an origin return operation in the specified direction When leaving the origin position by positioning the axis will repeat the positioning operation for the number of pulses specified in the RMV target position register until the origin position has been left Enter a positive number 1 to 134 217 727 in the RMV register PRMD MOD 15h Origin search operation in the positive direction 1Dh Origin search operation in the negative direction 83 9 5 3 1 Origin return operation 0 RENV3 ORM 0000 O Constant speed operation lt Sensor EL ORG gt ORG EL Operation 1 Operation 2 Operation 3 RMV setting value mHigh speed operation Sensor EL ORG Even if the axis stops normally it may not be
68. value 1 written into the RENVS3 register PRMD MOD 24 h Feed until the EZ count is completed in positive direction 2C h Feed until the EZ count is completed in negative direction After a start command is written the axis stops immediately or decelerates and stops when feeding at high speed after the EZ count equals the number stored in the register The EZ count can be set from 1 to 16 Use the constant speed start command 50 h 51 h for this operation When the high speed start command is used the axis will start decelerating and stop when the EZ signal turns ON so that the motion of the axis overruns the EZ position Specify logical input for the EZ signal in RENV2 EZL and the EZ number to count to in RENV3 EZD The terminal status can be monitored by reading the RSTS extension status register Setting the input logic of the EZ signal Set RENV2 EZL bit 12 gt RENV2 0 Falling edge 23 1 Rising edge En aaa El Setting the EZ count number lt Set RENV3 EZDO to 3 bits 4 to 7 gt RENV3 WRITE Specify the EZ count number after an origin return complete condition 7 0 Enter a value the number to count to minus 1 in EZD O to 3 Setting range O to 15 inininini Reading the EZ signal lt RSTS SEZ bit 16 RSTS READ 0 Turn OFF the EZ signal 15 8 1 Turn ON the EZ signal apra a 86 9 8 Interpolation operations 9 8 1 Interpolation operations In addition to each independent ope
69. value specified in the PRDP varies according to the ramping down point setting method MSDP in the PRMD register lt When set to manual PRMD MSDP 1 gt The number of pulses at which to start deceleration set in the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in the equation below 1 Linear deceleration PRMD MSMD 0 2 2 Optimum value Number of pulses PRFH PRFL x PRDR 1 PRMG 1 x 32768 However the optimum value for a triangle start without changing the value in the PRFH register while turning OFF the FH correction function MADJ 1 in the PRMD register will be calculated as shown the equation below When using idling control assign the value subtracts the number of idling pulses from the value place in the PRMV register to PRMV in the equation below The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV5 PRMV x PRDR 1 Optimum value Number of pulses PRUR PRDR 2 164 2 S curve deceleration without a linear range PRMD MSMD 1 and the PRDS register 0 2 2 Optimum value Number of pulses CS E RA PRMG 1 x 32768 3 S curve deceleration with a linear range PRMD MSMD 1 and the PRDS register gt 0 PRFH PRFL x PRFH PRFL 2x PRDS x PRDR 1 Optimum value Number of pulses PRMG 1 x 32768 1 x Start deceleration at the point when the positioning counter value lt PRDP set value
70. when CLK 19 6608 MHz The WRQ terminal outputs a wait request signal 01049 on gt CS HWR DO to D7 gt More than 4 cycles of reference clock 7 5 2 Command bit allocation 7 6 5 4 3 2 1 0 OTP7 OTP6 OTP5 OTP4 OTP3 OTP2 OTP1 OTPO Output PO Output P1 Output P2 Output P3 Output P4 Output P5 Output P6 Output P7 0 Low level 1 High level 34 8 Registers 8 1 Table of registers The following registers are available for each axis Register Bit ena No R W Details pre register name length name 9 32 Circular interpolation center position master axis feed amount with linear interpolation and with multiple chips 10 RUS 15 R W S curve acceleration range PRUS 11 RDS 15 R W S curve deceleration range PRDS 12 RFA 16 R W Speed at amount correction 13 RENV1 32 R W Environment setting 1 specify I O terminal details 14 RENV2 32 R W Environment setting 2 specify general purpose port details 15 RENV3 32 R W Environment setting 3 specify origin return and counter details 16 RENV4 32 R W Environment setting 4 specify details for comparators 1 to 4 17 RENV5 28 R W Environment setting 5 specify details for comparator 5 18 RENV6 32 R W Environment setting 6 specify details for feed amount correction 19 RENV 7 32 R W Environment setting 7 specify vibration reduction control details 20 RCUN1 32 RAW COUNTER command position 21 RCUN2 32 R W COUNTER2 mecha
71. zero the vibration reduction function is turned ON 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 FT15 FT14 FT13 FT12 FT11 FT10 FT9 FT8 FT7 FT6 FT5 FT4 FT3 FT2 FT1 FTO Oto 15 IRTO to 15 Enter the RT time shown in the figure below The units are 32 ticks of the reference clock approx 1 6 usec 0 to 65 535 16 to 31 FTO to 15 Enter the FT time shown in the figure below The units are 32 ticks of the reference clock approx 1 6 usec 0 to 65 535 The dotted lines in the figure below are pulses added by the vibration reduction function A UA IDEE AS pulse 55 8 3 20 RCUN 1 register This is a register used for COUNTER1 command position counter This is a counter used exclusively for command pulses Setting rage 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 8 3 21 RCUNZ2 register This is a register used for COUNTER2 mechanical position counter It can count three types of pulses Command pulses encoder signals EA EB input pulsar signals PA PB input Setting range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 76 5 4 3 2 0 8 3 22 RCUNS register This is a register used for COUNTERS deflection counter It can count three types of deflections Between command pulses and encoder signals between command pulses and pulsar signals and between en
72. 0 to 2 130 Comparison method Each comparator can be assigned a comparison method from the table below Comparator 1 Comparator 2 Compa Compa Comparison method rator3 rator4 Comparator Comparison counter O 001 O 0001 O regardless of count direction Comparator Comparison counter o i 010 O 0010 O count up count forward only Comparator Comparison counter 011 0 lo 011 lo 004141 O 011 count down only Comparator gt Comparison counter O 100 0 100 O O 100 O 0100 O 100 Comparator lt Comparison counter O 101 O 0 O 101 O 0101 O 101 Use as software limits O 110 O L3 IDX synchronous signal output regardless of counting direction 001 i 01 o O 1000 IDX synchronous signal output count up count forward only i IDX synchronous signal output O 1010 count down only Use COUNTER1 as a ring counter O 001 1 O 10100 5 Use COUNTER2asaringcounter X Oj 001 Of 1010 O Comparison possible Blank Comparison impossible When used as software limits value of Comparator 1 is a positive direction limit value and the comparison method is comparator comparison counter Value of Comparator 2 a negative limit value and the comparison method is comparator gt comparison counter Select COUNTER1 command position for the comparison count
73. 0000 with a feed amount of O PRMD 0064h 0064h 0041h The X Y and Z axes start immediately Start command Write 0751h FH constant The X Y and Z axes Start command speed start The X and Y axes perform linear interpolation FRIN oe EMEN KN The Z axis is given a positioning operation with a feed amount of 0 PRMD 009 een OO The X Y and Z axes wait for the X Y and Z axes to stop Start command Write 0751h FH constant start The X Y and Z axes Start command Since a plane containing interpolated axes is PRMV changed all of the axes are given a dummy operation PRMD 007C 007C 007C The X Y and Z axes wait for the X Y and Z _0041h _ 0041h _0041h axes to stop Start command Write 0751h FH constant start The X Y and Z axes Start command PRMV 10000 EM 5000 The X and Z axes perform linear interpolation The Y axis is given a positioning operation with a feed amount of O PRMD om E ASIE The X Y and Z axes wait for the X Y and Z axes to stop Start command Write 0751h FH constant start X Y and Z axis start command Using the settings above the PCL will perform steps 1 to 3 continuously Specify STEP4 after STEP1 is complete 1 Starta CW circular interpolation of 90 with a radius of 10000 on the X and Y axes The Z axis performs a positioning operation with a feed amount of 0 2 The X and Y axes perform a linear interpolation operation 10000 5000 The Z axis performs a positioning
74. 1 2to3 P1MO to 1 Specify the operation of the P1 FDW terminals 00 General purpose input 01 General purpose output 10 Output the FDW deceleration signal 11 General purpose one shot signal output T 26 msec Note 1 4to5 P2MO to 1 Specify the operation of the P2 MVC terminal 00 General purpose input 01 General purpose output 10 Output the MVC constant speed feeding signal with negative logic 11 Output the MVC constant speed feeding signal with positive logic 6 to 7 P3MO to 1 Specify the operation of the P3 CP1 SL terminals 00 General purpose input 01 General purpose output 10 Output the CP1 satisfied the Comparator 1 conditions signal with negative logic 11 Output the CP1 satisfied the Comparator 1 conditions signal with positive logic 8to9 P4MO to 1 Specify the operation of the P4 CP2 SL terminals 00 General purpose input 01 General purpose output 10 Output the CP2 satisfied the Comparator 2 conditions signal with negative logic 11 Output the CP2 satisfied the Comparator 2 conditions signal with positive logic 10 to 11 P5MO to 1 Specify the operation of the P5 CP3 terminals 00 General purpose input 01 General purpose output 10 Output the CP3 satisfied the Comparator 3 conditions signal with negative logic 11 Output the CP3 satisfied the Comparator 3 conditions signal with positive logic 12 to 13 P6MO to 1 Specify the operation of the P6 CP4 terminals 00 Ge
75. 1 RENV3 ORM 1011 m High speed operation lt Sensor EL ORG EZ RENV3 EZD 0001 gt ORG OFF ON ON EZ EL NE ON Operation 1 AN Operation 2 Emergency stop Operation 3 Y Emergency stop 9 5 1 13 Origin return operation 12 RENV3 ORM 1100 m High speed operation Sensor EL EZ RENV3 EZD 0001 EZ EL Operation 1 bit 3 0 the LSI will output an ERC signal at positions marked with an asterisk 82 9 5 2 Leaving the origin position operations After writing a start command the axis will leave the origin position when the ORG input turns ON Make sure to use the Constant speed start command 50h 51h when leaving the origin position When you write a start command while the ORG input is OFF the LSI will stop the movement on the axis as a normal stop without outputting pulses Since the ORG input status is sampled when outputting pulses if the PCL starts at constant speed while the ORG signal is ON it will stop operation after outputting one pulse since the ORG input is turned OFF Normal stop PRMD MOD 12h Leave the origin position in the positive direction 1Ah Leave the origin position in the negative direction 9 5 3 Origin search operation This mode is used to add functions to an origin return operation It consists of the following possibilities 1 An Origin return operation is made in the opposite direction to the one specified 2 A Leaving the origin position
76. 1 Turn ON EL signal 15 8 MOB Setting the EL input filter RENVA FLTR bit 26 gt RENV1 WRITE 1 Apply a filter to the EL input 31 24 After applying a filter signals shorter than 4 usec will be ignored aaa E 9 6 1 Feed until reaching an EL or SL position This mode is used to continue feeding until the EL or SL software limit signal is turned ON and then the operation stops normally When a start command is written on the position where the EL or SL signal is turned ON the LSI will not output pulses and it will stop the axis normally When a start command is written while the EL and SL signals are OFF the axis will stop when the EL or SL signal is turned ON Normal stop PRMD MOD 20 h Feed until reaching the EL or SL position 28 h Feed until reaching the EL or SL position 9 6 2 Leaving an EL or SL position This mode is used to continue feeding until the EL or SL software limit signal is turned OFF When a start command is written on the position where the EL and SL signals are turned OFF the LSI will not output pulses and it will stop the axis normally When starting an operation while the EL input or SL signal is ON the G9103 will stop operation normally when both the EL input and SL signal are OFF PRMD MOD 22 h Leave from a EL or SL position 2A h Leave from a EL or SL position 85 9 7 EZ count operation mode This mode is to operate until EZ signal counts reaches the number EZD setting
77. 1 is Data 3 is Data 2 is Data 1 is Comparison result for Data 1 Data 3 is Data 3 is Data 2 is 10 changes from true to false undetermined determined determined Also by setting an event interrupt cause in the RIRQ register IRND the PCL can be set to output an ZINT signal as the 2nd pre register changes from determined to undetermined status when the operation is complete 8 2 4 Cancel the comparator pre register data The pre register cancel command 27h will cancel the pre register data and its status becomes undetermined However please note that the register will not change to the undetermined status 237 8 3 Description of the registers The initial value of all the registers and pre registers is 0 Please note that with some registers a value of 0 is outside the allowable setting range 8 3 1 PRMV RMV register This register is used to specify the target position for positioning operations The set details may vary with each operation mode PMV is the register for PRMV 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 amp amp amp amp CLLLLLLLLILLILIILLILLLLLLILLIIILILE Setting range 2 147 483 648 to 2 147 483 647 By changing the RMV register while in operation the feed length can be overridden 8 3 2 PRFL RFL register This pre register is used to set the initial speed stop seed for high speed with acceleration deceleration operations RFL is the re
78. 24 By setting the filter the PCL ignores signals shorter than 32 msec repasa Reading operation status lt RSTS CND bit 0 to 3 gt RSTS READ 1000 wait for PA PB input 7 0 1 1 nin nin Reading PA PB input error REST ESPE bit 17 REST READ ESPE bit 17 1 A PA PB input error occurs 23 16 0 0 0 0 0 O nj Reading PA PB input buffer counter status lt REST ESPO bit 14 REST READ ESPO bit 14 1 An overflow occurs 15 8 Enter In the descriptions in the right hand column n refers to the bit position 0 refers to bit positions where it is prohibited to write any value except zero and the bit will always be zero when read The pulsar input mode has the following 12 operation types The direction of movement for continuous operation can be changed by setting the RENV2 register without changing the wiring connections for the PA PB inputs Operation mode Direction of movement Continuous operation using pulsar input Determined by the PA PB input 51h Positioning operation using pulsar input Determined by the sign of the PRMV value absolute position 52h Positioning operation using pulsar input Determined by the relationship of the RMV and COUNTER1 absolute position COUNTER 1 values 53h Positioning operation using pulsar input Determined by the relationship of the RMV and COUNTER2 absolute position COUNTER2 values Specified position COUNTER1 zero point Determined by the s
79. 26 to 29 gt 34 24 1000 IDX output regardless of count direction 1001 IDX output only while counting up counting forward 1njninin j 1010 IDX output only while counting down select the IDX output mode Set RENV4 IDXM bit 23 RENV4 WRITE 0 Outputs an IDX signal while COUNTER4 RCMP4 23 16 1 Outputs an IDX signal for two CLK cycles when COUNTERA reaches 0 by counting n 217 2E s an Note While RENV4 IDXM 1 writing a 0 to COUNTER4 or resetting COUNTER4 will not output an IDX signal The setting in IDXM is effective only when RENV4 C4S0 to C4S3 are set to 1000 1001 or 1010 synchronous signal output Output example 1 IDXM 0 Level output Note When IDXM synchronous signal output is set to 0 and C4S0 to C4S3 are set to 1001 or 1010 use a count range of RCMP4 2 2 Regardless of the feed direction the PCL will output the IDX signal using negative logic for the output pulses Counting range 0 to 4 Settings RENV2 00002000h RENV3 00000000h RENV4 23000000h RCMP4 4 DIR A A OUT Pin CMn ff COUNTER4 Output example 2 IDXM 1 Count output Regardless of the feed direction the PCL will output the IDX signal using negative logic for the output pulses Counting range 0 to 4 Settings RENV2 00002000h RENV3 00000000h RENV4 23800000h RCMP4 4 DIR OUT UU UUUUUUEU UL HU UUUU UU UU Uz P n CPAn p p o COUNTERS _0 A 1X 2X 3X 4A OX 1X 2A 3X 4K OX 1 A
80. 38 0316 Web http www npm co jp E mail int lfOnpm co p Nippon Pulse America Inc 4 Corporate Drive Radford VA 24141 U S A Phone 1 540 633 1677 Fax 1 540 633 1674 Web http www nipponpulse com E mail info nipponpulse com Nippon Pulse Shanghai Co Ltd Room 1072 No 555 Pudongdadao Road Shanghai 200120 China Phone 86 21 6859 2622 2623 Fax 86 21 6859 2628 Web http www npmchina com E mail yi npmshanghai sina net MNAL No PCL 6045BL 1 1B 5205 0 5 5205 ims 168
81. 4 to 25 gt RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 34 24 01 90 phase difference 2x 11 Input count forward pulses or i RA pulses aope input l l l l l n n Specify the PA PB input count direction lt Set RENV2 PDIR bit 26 gt RENV2 WRITE 0 Count up count forward when the PA phase is leading Or count up counti 34 24 forward on the rising edge of PA 1 iei up count SOROR when the PB phase is leading Or count up count l l l l nl ES forward on the rising edge of PB Enable disable PA PB input Set RENV2 POFF bit 31 RENV2 WRITE 0 Enable PA PB input 31 24 1 Disable PA PB input aaa tele Reading EA EB PA PB input error lt REST ESEE bit 16 REST ESPE bit 17 gt REST READ ESEE bit 16 1 An EA EB input error occurred 23 16 ESPE bit 17 1 A PA PB input error occurred o o oj 0j Oj O nin 125 When EDIR is 0 the EA EB input and count timing will be as follows For details about the PA PB input see section 9 3 Pulsar input mode 1 When using 90 phase difference signals and 1x input EA EB Counter n n 1 n 2 When using 90 phase difference signals and 2x input EA II dal BB Counter n n 1 n 2 n 1 n 3 When using 90 phase difference signals and 4x input EA fe fo o Lo EB LJ b oo o Counter n n1 n 2 n 3 n 4 n 3 n 2 n 1 n 4 When using Two pulse input counted on the rising edge EA EB
82. 4LS06 or equivalent open collector output lt For start signal supply a one shot input signal with a pulse width of at least 4 reference clock cycles approx 0 2 usec when CLK 19 6608 MHz Start signal 120 FCSTA input PRMD MSYO to 1 bits 18 to 19 gt PRMD WRITE 01 Start by inputting a CSTA signal 23 16 Specify the input specification for the CSTA signal Set RENV1 STAM bit 18 RENV 1 WRITE 0 Level trigger input for the ZCSTA signal 23 16 1 Edge trigger input for the ZCSTA signal Ee espero pn pedes Read the ZCSTA signal lt RSTS SSTA bit 5 RSTS 0 The ZCSTA signal is OFF 1 The ZCSTA signal is ON Read the operation status RSTS CND bits 0 to 3 gt RSTS READ 0010 Waiting for FCSTA input 7 0 FEE Aa Set an event interrupt cause lt Set RIRQ IRSA bit 18 gt RIRQ WRITE 1 Output an INT signal when the CSTA input is ON 23 16 0 O O Of O n Reading the event interrupt cause RIST ISSA bit 19 gt RIST READ 1 When the CSTA signal is ON 23 16 Simultaneous start command CMSTA Operation command Operation command Output a one shot pulse of 8 reference clock cycles long from the CSTA terminal The ZCSTA terminal is bi directional and inputs the output signal again Simultaneous start command for only own axis lt SPSTA Operation command Operation command Used the same way as when a CSTA signal is supplied for own axis only 11 7 2 PCS sign
83. 5 535 16 to 19 ECZO to 3 Read a count value of EZ input that is used for an origin return O to 15 20 to 22 IDCO to 2 Read an idling count value 0 to 7 23 to 31 Not defined Always set to 0 8 3 39 RSDC register This register is used to check the automatically calculated ramping down point value for the positioning operation Read only Read data range 0 to 16 777 215 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 7 6 5 4 3 2 1 0 8 3 40 PRCI RCI register This is a pre register used to set circular interpolation stepping number RCI is the register for the PRCI These registers only exist for the X Y and Z axes They do not exist for the U axis because the U axis is not available for circular interpolation control To decelerate during a circular interpolation enter the number of steps number of pulses calculated by the formula required for the circular interpolation Entering a number other than O can decelerate the speed by using an automatic ramping down point Setting range 0 to 4 294 967 295 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 7 6 5 4 3 2 1 0 8 3 41 RCIC register This register is used to read the count of the number of circular interpolation steps that have been completed Read only The RCI register value is loaded when a circular interpolation is started This value is decreased by one for each circular interpolation step However if the c
84. 7 16 15 14 13 12 111098 76 5 4 3 2 When MOD bits O to 6 of the PRMD register is set as shown below the register is enabled 110 0010 62h Continuous linear interpolation 2 continuous operation with the linear interpolation 2 110 0011 63h Linear interpolation 2 110 0100 64h Circular interpolation in a CW direction 110 0101 65h Circular interpolation in a CCW direction With Continuous linear interpolation 2 and Linear interpolation 2 specify the feed amount on the master axis using an incremental value With circular interpolation enter a circular center position using an incremental value Setting range 2 147 483 648 to 2 147 483 647 8 3 10 PRUS RUS register This pre register is used to specify the S curve range of the S curve acceleration RUS is the register for PRUS 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 43 2 1 0 The normal setting range is 1 to 32 767 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied 8 3 11 PRDS RDS register This pre register is used to specify the S curve range of the S curve deceleration RDS is the register for PRDS 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 4 3 2 The normal setting range is 1 to 32 767 When 0 is entered the value of PRFH PRFL 2 will be calculated internally and applied AD ic 8 3 12 RFA register This register is used to specify
85. 8 76 5 4 3 2 8 3 27 RCMP4 register Specify the comparison data for Comparator 4 Setting range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 ANAND AAN EA ENE NN 8 3 28 RCMP5 PRCP5 register Specify the comparison data for Comparator 5 PRCP5 is the 2nd pre register for RCMP5 Normally use RCMP5 To use the comparator pre register function use PRCP5 Setting range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 For details about the comparators see section 11 11 Comparator Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension a 8 3 29 RIRQ register Enables event interruption cause Bits set to 1 that will enable an event interrupt for that event 15 14 13 12 11 10 9 8 T 6 o 4 3 2 1 0 O REN When stopping normally 6 RDS Whenstatingdeceleraton 8 RC1 X WMhenComparatoricondiionsaresatsfied O O o Z 9 RC2 WMhenComparator2condiionsaresatsfied O O Z o 17 IRDR_ MhenthesDRinputchanges 0 0 0 0 8 3 30 RLTC1 register Latched data fo
86. 9 4 External switch DR operation mode sssssssssssesssseseeene nennen nennen nnne nnn nnns nna nnn 72 9 4 1 Continuous operation using an external switch PRMD MOD 02D ooccccocccncccoccnncconcnccnoconcononcnnnnnos 72 9 4 2 Positioning operation using an external switch PRMD MOD 56h esee 73 9 5 Origin position operation MOE cccceecccceecccceeeeeseeceseeececeeeeceeeeseecesseecesauecesseeeeseeeseeessesueessneeesaeeetsnes 14 9 5 1 Origin return operation cccccseeccccssseccccesseeccseneeccseeccseuseeeceuueeecseeeecseageeessageeessegeeeessuseeesseaeeesseges 15 9 5 2 Leaving the origin position OPeratiONS coooncccconcnconcnccnncnconcnononcnconncncnnnnnnnnnnnnnnrnnnnrnnnnnrnnonanrnrnnannnnns 83 9 5 3 Origin search operation a E A A erase 83 9 5 ELO SLvOPeFallon TOU A A o eo UU ets ad 85 9 6 1 Feed until reaching an EL or SL position ccococccncccocnnnccnnnnnnononcnnonanonnonanonnnnnnnnnnnonnnnconncnonnnnnnnnnnns 85 9 6 2 Leaving an EE or SE POSO A A A 85 9 6 EZ countobperauon IM A e da 86 9 0 Interpolati n OPE AMAS o ee cone aci a 87 9 8 1 Interpolation OPENS A A A A A RE 87 9 8 2 Intetpolation Control AXIS a A AAA DE 87 9 8 3 Synthesized speed constant CONtTOl occccooocnccccononcccncnnnocononcncnncnnnnnnnnnnonannnnononrnnnnnnnnnnnnannnnonnns 88 9 8 4 Continuous linear interpolation 1 PRMD MOD 60h occccooccncccoccnncccnccnconoconononcnnc
87. 900000090000092900009090990000990900000990000099000009090000090900000900000099000000900000090900000009900000990000809000009909000009099000000900000990000009090000090909000009090990000090000090900000909000009099000000909000009900000990000909099000909099900009 Hex signal MSTSBO Read out main status bit O to 7 IC Read out main status bit 8 to 15 COMB1 Specify axes Specify axes to execute control command IOPB Read out general purpose l O ports Change status of a general purpose output port only bits specified to output are available SSTSB Read out sub status 04 to 07 Read Write BUFB3 Read from Write into I O buffer bit O to 31 Read from Write into PRMV register bit O to 31 08 908 Read Write PRMV address o oa o Bitnumber 24to31 16to23 8to 15 0to7 Read from write into PRFH register bit O to 31 Read from write into PRDR register bit O to 31 Read from write into PRMG register bit O to 31 281028 Read Write PRIP Read from write into PRIP register bitO to 31 18 AT A0 Read Write A GSS Processing detail Hex signal 38 to 3B 3Cto 3F Read Write _ Invalid 00H is output when reading 801053 Read Write RDR Read from write into RDR register bitO t03 581058 Read Write RDP Read from write into RDP register bitO to 31 601063 Read Write RIP Read from write into RIP register bit0 t03 Read from write into RCU
88. AH 1 Stop the counting operation on COUNTER4 general purpose Note 1 To stop the counting on COUNTER1 command position change MCCE bit 11 in the RMD register 50 8 3 16 RENV4 register This register is used for Environment 4 settings Set up comparators 1 to 4 10 9 8 T 6 5 4 C4D1 C4D0 C4S3 CAS2 CAS1 C4S0 C4C1 C4C0 IDXM C3D1 C3D0 C3S2 C3S1 C3S0 C3C1 C3C0 Oto 1 C1CO to 1 Select a comparison counter for comparator 1 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTERS deflection counter 11 COUNTER4 general purpose 2 to 4 C1S0 to 2 Select a comparison method for comparator 1 Note 2 001 RCMP1 data Comparison counter regardless of counting direction 010 RCMP1 data Comparison counter while counting up count forward 011 RCMP1 data Comparison counter while counting down 100 RCMP1 data gt Comparison counter data 101 RCMP1 data lt Comparison counter data 110 Use as positive end software limit RCMP1 lt COUNTER1 Others Treats that the comparison conditions are not satisfied Note 4 5 to 6 C1DO to 1 Select a process to execute when the Comparator 1 conditions are met 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed BB V RM 1 Use COUNTER for ring counter operation by using Comparator 1 rnm ae 11 11 5 Ring count f
89. CL has ignored the override command the SEOR will be 1 Please note if an override command is written into the RMV register 90h while the axis is stopping the PCL changes SEOR to 1 Therefore if you write an override command before the axis has started moving the SEOR will also be changed to1 If the PCL ignores the override the SEOR will become 1 when the axis stops And after MSTSW is read SEOR will go back to O within 3 reference clock cycles Note 4 A Position Override 1 cannot be executed while performing an interpolation operation 11 2 2 Target position override 2 PCS signal By making PRMD MPCS 1 the PCL will perform positioning operations for the amount specified in the PRMV register based on the timing of this command after the operation start after it starts outputting command pulses or on the ON timing of the PCS input signal A PCS input logic can be changed The PCS terminal status can be monitored using the RSTS register extension status Setting pulse control using the PCS input Set PRMD MPCS bit 14 PRMD WRITE 1 Positioning for the number of pulses stored in the PRMV starting from the 15 8 time at which the PCS input signal is turned ON ia a Rea ee een Setting the PCS input logic Set RENV1 PCSL bit 24 RENV1 WRITE 0 Negative logic 31 24 1 Positive logic Reading the PCS signal lt RSTS SPCS bit 8 gt RSTS READ 0 Turn OFF PCS signal 15 1 Turn ON PCS signal COn PC
90. DR 2 2 x PRUS x PRUR 1 2x PRDR 1 j PRMG 1 x 32768 and PRDS PRFL x IPRDS x PRUR 2xPRDR 3 PRUS x PRUR 1 x 4 PRMV gt PRMG 1 x 32768 A 4AA FB PRFH s AAA PRUR PRDR 2 However A PRUS x PRUR 1 PRDS x PRDR 1 and B PRMG 1 x 32768 x PRMV 2 x Ax PRFL PRUR PRDR 2 x PRFL x PRUR PRDR 2 ii Eliminate the linear acceleration deceleration range and make a linear acceleration range smaller When PRMV lt PRDS PRFL x IPRDS x PRUR 2xPRDR 3 PRUS x PRUR 1 x4 PRMG 1 x 32768 ppv gt PRUS PRFL xPRUS x PRUR PRDR 2 x8 PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS gt 0 PRDS 0 A JA B PRFH lt PA A PRUR 2xPRDR 3 However A PRUS x PRUR 1 and B PRMG 1 x32768 x PRMV 2 xAx PRFL PRUR 2 x PRDR 3 x PRFL x PRUR 2x PRDR 3 iii Eliminate the linear acceleration deceleration range When pg lt PRUS PRFL xPRUS x PRUR PRDR 2 x8 PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 PRMG 1 x 32768 x PRMV PRUR PRDR 2 x 2 PRFH lt PRFL PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Speed acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 102 3 3 W
91. DX Synchronous signal output function Using Comparator 4 and COUNTER4 the PCL can output signals to the P6n CP4n terminals at specified intervals Setting RENV4 C4C0 and C4C1 to 11 in the general purpose counter and setting RENV4 C4S0 thru C4S3 to 1000 1001 or 1010 the IDX output the PCL can be used for IDX index operation The counter range of COUNTER4 will be O to the value set in RCMP4 If counting down from O the next counter value will be the value set in RCMP4 and if counting up counting forward from the value set in RCMP3 the next counter value will be 0 RCMP4 setting range 1 to 2 147 483 647 The input for COUNTERA can be set with RENV3 CI40 or C141 By setting RENV4 IDXM you can select either level output or count output Select the specification for the P6 CP4 terminals RENV2 WRITE Set RENV2 P6MO to 1 bits 12 to 13 gt 45 8 10 Output an IDX signal using negative logic 11 Output an IDX signal using positive logic gt n n an Be Select the count input for COUNTER4 general purpose RENV3 WRITE Set to RENV3 CIAO to C141 bits 12 to 13 gt 45 8 00 Output pulses 10 PA PB input 01 EA EB input 11 1 2 division of clock of the CLK n n H L2 Select the comparison counter for Comparator 4 RENV4 WRITE Set RENV4 C4C0 to 1 bits 24 to 25 gt 34 24 11 COUNTERA general purpose Select the comparison method for COUNTER4 RENV4 WRITE Set RENV4 C4S0 to 3 bits
92. EST registers 54 8 3 18 RENV6 register This is a register for the Environment 6 settings It is primarily used to set feed amount correction data 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 PSTP 0 ADJ1 ADJO BR11 BR10 BRO BRB BR7 BR BR5 BR4 BR3 BR2 BR1 BRO PMG4 PMG3 PMG2 PMG1 PMGO PD10 PD9 PD8 PD7 PD6 PD5 PD4 PD3 PD2 PD1 PDO 12to 13 ADJO to 1 Select a feed amount correction method 00 Turn OFF the correction function 01 Backlash correction 10 Slip correction 14 Not defined Always set to 0 15 PSTP 1 Even if a stop command is written the PCL will operate for the number of pulses that are already input on PA PB Note 1 16 to 26 PDO to 10 Specifies the division ratio for pulses on the PA PB input Number of pulses set value 2048 When 0 is entered the division circuit will be OFF 2048 2048 2 to 31 PMGOto4 Specifies the magnification rate for pulses on the PA PB input Number of pulses number of pulses input from PA PB x set value 1 Note 1 When PSTP is 1 the Stop command will be ignored when BSYn H OFF regardless of the operation mode Before writing a Stop command check the main status register When SRUN O change PSTP to 0 and then write a Stop command 8 3 19 RENV 7 register This is a register for the Environment 7 settings It is primarily used to enter the time for the vibration reduction function If both RT and FT data are other than
93. FA constant speed When the EL signal turns OFF the axis will stop instantly when the LSI finishes counting the EZ pulses COUNTER reset timing When the EL input is OFF 0111 Origin return operation 7 After the EL signal turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFA constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When stopped by finishing counting the EL pulses 1000 Origin return operation 8 After the EL signal turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFL constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly CONTER reset timing When finishing counting the EZ signal 1001 Origin return operation 9 After the process in origin return operation O has executed it returns to zero operates until COUNTER2 0 1010 Origin return operation 10 After the process in origin return operation 3 has executed it returns to zero operates until COUNTER2 0 1011 Origin return operation 11 After the process in origin return operation
94. I before beginning to use it To reset the LSI hold the RST terminal LOW while supplying at least 8 cycles of a reference clock signal After a reset the various portions of the LSI will be configured as follows intemal registers preregister SSC Control command buffer 0 Axis assignment buffer 0 input output buffer 0 106 11 2 Position override This LSI can override change the target position freely during operation There are two methods for overriding the target position 11 2 1 Target position override 1 By rewriting the target position data RMV register value the target position can be changed The starting position is used as a reference to change target position 1 If the new target position is further away from the original target position during acceleration or constant speed operation the axis will maintain the operation using the same speed pattern and it will complete the positioning operation at the position specified in the new data new RMV value 2 If the new target position is further away from the original target position during deceleration the axis will accelerate from the current position to FH speed and complete the positioning operation at the position specified in the new data new RMV value Assume that the current speed is Fu and when RFL a curve of next acceleration w
95. MBO Symbol CUN1R Reset COUNTER1 command position CUN2R Reset COUNTER2 mechanical position CUN3R Reset COUNTER3 deflection counter CUN4R Reset COUNTER4 general purpose counter 7 3 3 ERC output control command Control the ERC signal using commands COMBO Symbol Description ERCOUT Outputs the ERC signal ERCRST Resets the output when the ERC signal output is specified to a level type output 3 4 Pre register control command Make pre register settings undetermined and transfer pre register data to a register See section 8 2 Pre registers in this manual for details about the pre register COMBO Symbol 2Bh Shi 2Ch PCPSHF Shift the RCMP5 operation pre register data 4Fh PRSET Make data in a pre register determined as speed pattern change data by a comparator 7 3 5 PCS input command Entering this command has the same results as inputting a signal on the PCS terminal COMBO Symbol 28h SIAON Substitute a PCS terminal input 7 3 6 LTCH input counter latch command Entering this command has the same result as inputting a signal on the LTC terminal COMBO Symbol LTCH Substitute an LTC latch counter terminal input 7 3 7 Command to reset status Resets specified bit of main status COMBO Symbol SENIR Reset MSTSW SENI SEORR Reset MSTSW SEOR 29 7 4 Register control command There are two access methods Direct access method and indirect access metho
96. N2 register bit O to 31 lt When used with the 8086 I F Indirect access Read out main status bit 0 to 15 ae ae Read out sub status and a general purpose I O port Write OTPW Change status of a general purpose output port only bits specified to output are available Read Write BUFWO Read from Write into I O buffer bit O to 15 Read Write BUFW1_ Read from Write into I O buffer bit 16 to 31 19 lt When used with the H8 and 8086 I F Direct access gt A7 AO Read Write AOS Processing detail Hex signal FE Change status of a general purpose output port only bits FC Lr specified to output are available 2 MSTSW Read out main status bit O to 15 COMW Write axis command and control command Read out sub status and general purpose l O ports F8 FA Read Write penes i Read from Write into I O buffer bit O to 31 Read from Write into PRMV register bit O to 31 F4 F6 Read Write PRMV 161031 Oto 15 Read from write into PRDR register bit O to 31 Read from write into PRMG register bit O to 31 D4 D6 Read Write PRIP Read from write into PRIP register bitOto 31 ister C0 C2 ead Write Invalid 00H is output when reading BC BE ead Write B8 BA ead Write RFL Read from write into RFL register bit 0 to 31 R C8 CA Read Write PRCP5 Read from write into PRCP5 register bit O to 31 C4 C6 Read Write PRCI Read from write
97. NECTOE ET example L L 68000 3 3V R W LDS DTACK L H H8 RD HWR_ GND WAIT H L 8086 RD WR_ GND READY VDD LH H 280 RO WR AO WAT _ RD HWR terminals will be valid EWR E3 are valid when CS terminal is LOW Input Positive Address control signals If only AO to A2 A8 and A9 are connected address area can be made small ZINT Output Negative Outputs an interrupt request signal IRQ to an external CPU After this terminal is turned ON the signal will return to OFF when a REST error interrupt cause or RIST event interrupt cause signal is received The output status can be checked with an MSTSW main status command signal The INT output signal can be masked When more than one 6046 LSI is used a wired OR connection between INT terminals is not allowed Signal Um Input name output FWRQ J4 Output Negative Outputs a wait request signal to cause a CPU to wait Please make sure to connect it with CPU when direct access to internal register can be used The LSI needs 4 reference clock cycles to process each command If the ZWRQ signal is not used make sure that an external CPU does not access this LSI during this interval IFB J3 Output Negative Signal used to indicate that the LSI is processing commands Use this signal to make connections with a CPU that does not have a wait control input terminal When the LSI receives a write command fr
98. OS c HC E c A 106 Ale 2 POSO OVER ca 107 1152 1 Target positon Override T ideae dio 107 11 2 2 Target position override 2 PCS SIgNAl ccooooncnccconcnncoconcnnononcnonnnnonconanonnononcnnnnnnrnnnonrononnancnnnnnos 108 dde OOUEDUEDUISOu ORTOS doen eiut cote esu asume ce ae dS DUUM see elon E LE PLE ELE MED D DS eo 109 113 OPUS MO ticos 109 11 3 2 Control the output pulse width and operation complete timing c cooccccoccnconnnnccnnncconononononos 110 e lo A A A A cmmnancemniNe 111 11 5 Mechanical external input CONTTOl oocccconncocnnccnncnocnconcncnnnnonncononnnnnnnnnnnnonnnonnnnnnanonnnnnonnnnnnannnnnnnnnnnns 112 MS e 112 E MS BE oq MB SINA MN RE a 113 uc oM CM EZ e rM 116 o ES 117 1455 T A esd se ees yaeaiee etc Sacre de actos orn tusce tine buses ette a du ee sucesiany eee oarseet 117 1455 2 Es Ee e A e ete e eat 118 NTP ge ULSI QU Vel na e e es dabant UE E E O Da daga aS DUE 119 11 7 External starb simultaneous Station 120 T PIPERIS 120 TRAPE S SIghidlsu aas ode a aee canteens aseua e sean A bud ocupa sisi E Loos ecu esaet aspe uet ien 121 11 8 External stop simultaneous stop cccooccccccnncccnnccccnncconnnonanonononnnononnnnonnnnnnnnnnnnnnnnnnnnnnnrnnonannnnnannnenanenos 122 TO Emergente y cione T 123 uL OAS me CT 124 11 10 1 Counter type and input method oocccccccnccccncccccncccnnncnonnnonnnnnnnnnnnnnnnnononononnnnnonnnnnonnnnnnnnnnn
99. OX 4A 3K 2X 1A OK 4X 3A 2K TX OK 4A 3 136 11 11 5 Ring count function COUNTER1 and 2 have a ring count function for use in controlling a rotating table Set RENV4 C1PM 1 RENV4 C1S0 to 2 000 and RENV4 C1C0 to 1 00 and COUNTER1 will be in the ring count mode Then the PCL can perform the following operations Count value If counting up counting forward from the value set in RCMP1 the next counter value will be O Count value If counting down from 0 the next counter value will be the value set in RCMP1 Set RENV4 C2PM 1 RENV4 C2S0 to 2 000 and RENV4 C2C0 to 1 01 and COUNTER2 will be in the ring count mode Then the PCL can perform the following operations Count value If counting up counting forward from the value set in RCMP2 the next counter value will be O Count value If counting down from 0 the next counter value will be the value set in RCMP2 Set COUNTER1 to ring counter operation RENV2 WRITE Set RENV4 C1RM C1D0 to 1 C180 to 2 and C1C0 to 1 gt 7 0 10000000 Operate COUNTER 1 as a ring counter Set COUNTER2e to ring count operation RENV2 WRITE Set RENV4 C2RM C2DO to 1 C2CO0 to 1 15 8 10000001 Operate COUNTER2 as a ring counter i COSA Even if the value for PRMV outside the range of 0 to the value in RCMPn the PCL will continue to perform positioning operations When driving a rotating table with 3600 pulses per revolution and when RCMP1 3599 MOD 41h a
100. PREIS Set the EZ count number Set RENV3 EZDO to 3 bits 4 to 7 RENV3 WRITE Set the origin return completion condition and the EZ count number for 7 0 counting opecify the value the number to count 1 in EZDO to 3 The setting range is O In nininj j to 15 opecify the input logic of the EZ signal Set RENV2 EZL gt RENV2 WRITE 0 Falling edge 23 16 1 Rising edge sese oeste e Read the EZ signal lt RSTS SEZ bit 10 RSTS READ 0 The EZ signal is OFF 15 8 1 The EZ signal is ON aaa me ES Apply an input filter to EZ Set RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a filter to the EZ input 31 24 By applying a filter signals with a pulse width of 4 usec or less will be ignored SOSA 116 11 6 Servomotor I F 11 6 1 INP signal The pulse strings input accepting servo driver systems have a deflection counter to count the difference between command pulse inputs and feedback pulse inputs The driver controls to adjust the difference to zero In other words a servomotor moves behind a command pulse and even after the command pulses stop the servomotor systems keep feeding until the count in the deflection counter reaches zero This LSI can receive a positioning complete signal INP signal from a servo driver in place of the pulse output complete timing to determine when an operation is complete When the INP signal input is used to indicate the completion status of an operation the BSY
101. Positioning amount 32 RMV PRUR Acceleration rate t6 1t065595 FFFFh RUR PRDR Deceleration rate Note 1 16 0to65 535 0FFFFh RDR_ PRDP jRamping downpoint 24 0to16 777 245 0FFFFFFh RDP RDS Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleration factors Acceleration rate Set in PRUR Deceleration rate Set in PRDR FH speed Set in PRFH PRMG S curve deceleration Preset fo range Set in PRDS A positioning operation S curve Acceleration range Set in PRMV Set in PRUS lir scans FL speed Set in PRFL PRMG Di ooo Ramp down point for positioning operation Set in PRDP or set automatically PRFL FL speed setting register 16 bit Specify the speed for FL constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh The speed will be calculated from the value in PRMG FL speed pps PRFL x P e erence clock frequency Hz PRMG 1 x 65536 PRFH FH speed setting register 16 bit Specify the speed for FH constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh When used for high speed operations acceleration deceleration operations
102. R 8 3 6 PRMG RMG register This pre register is used to set the speed magnification rate RMG is the register for PRMG 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 1 0 The setting range is 2 to 4 095 Sets the relationship between the speed register PRFL RFL PRFH RFH RFA values and the operation speeds The actual operation speed pps is a product of the speed magnification rate and the speed register setting Setting example when the reference clock is 19 6608 MHz magnification rate setting range pps magnification rate range pps 8 3 7 PRDP RDP register This pre register is used to set a ramping down point deceleration start point for positioning operations RDP is the 2nd register for PRDP 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 1 0 Bits marked with a symbol are ignored when written and change their setting when read according to the setting of MSDP bit 13 in the PRMD register Offset for automatically set values Same as bit 23 When a positive value is entered an axis will start deceleration earlier and the FL speed range will be used 8 388 608 to 8 388 607 longer When a negative value is entered an axis will start deceleration later and will not reach the FL speed 1 When number of pulses left drops to less than a set 0 to 16 777 215 value an axis starts to decelerate Mx Note 1 Bits marked
103. RDP RDP ISO rp 39 8 3 8 PRMD RMD register cio Ai 40 6 3 9 PRIPA RIPI TEISE MET T dl iio 42 38 910 PRUS RUSI Ted su pic 42 38 911 PROS RDSI TOgISter sarita po 42 9 9 T2 RFC O e ee 43 8 0 191 RENV IT FTOgISI T sti AS E E 44 98 314 ISENVZTOGISI T asia O ES 46 8 9 15 RENVS TOOISTON aria e Meca A O bete e adu o sua ULM RUE 48 537 1 0 ISEINVA TOGISIOT asta A ta eo Medicae A x cable dato av Tuba dE QU Dod ads 51 8 0 1 Lc REINO TOQIST N tia O A AA O al o3 SO REN VO TJISSE as ne ep MURIS LR NIMMT Etui mI A E LI ME 55 So IO REN AC UIS io dote eee ae Rn ie enn MI MI E ee ee ne REL E 55 OS SM CIN FEGI Er pona a m T T m 56 xo 2A PR SAO I PA TICO Ste at a ert cae E E LEES 56 022 ROUN TEJI SIEN att a ere cae E E E Seana eee RT 56 AN A E E E E eee E eee eee 56 823 24 RCMP T register sanua E ee ceca E Led va TM bte 56 8230220 ROCMP2 TOSISII i case ils E A dare Des ua CEA DU 56 9 9 26 REMESAS OS 57 820 27 IRCIMPA Ti TOS 57 9 3 20 ROCMP5 PRGP5 register inne eee eee ee ee eee E Lud 57 39229 IRC 58 9 30 RETO registo T 58 O 3S M LP GZ TOS a iS 58 O I S2 MESSI HI 59 O73 60s MSc eic M 59 omo rocMilePaeourrellrgeem e iaeateaus 60 do REST TEJI caressa c
104. RDS A positioning operation Set in PRMV oo om om Se ooo Ramp down point for positioning operation Set in PRDP or set automatically PRFL FL speed setting register 16 bit opecify the speed for FL constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh The speed will be calculated from the value in PRMG FL speed pps PRFL x Peference clock frequency Hz PRMG 1 x 65536 PRFH FH speed setting register 16 bit Specify the speed for FH constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh When used for high speed operations acceleration deceleration operations specify a value larger than PREL The speed will be calculated from the value placed in PRMG EH becd oos e PREM x ee Cork TISQUEDOY Ka PRMG 1 x 65536 162 PRUR Acceleration rate setting register 16 bit Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration PRMD MSMD 0 PRFH PRFL x PRUR 1 x4 Acceleration time s Reference clock frequency Hz 2 S curve acceleration without a linear range PRMD MSMD 1 and PRUS regi
105. Reference User s Manual For PCL6046 Pulse Control LSI Preliminary NPM Nippon Pulse Motor Co Ltd Preface Thank you for considering our pulse control LSI the PCL6046 To learn how to use the PCL6046 read this manual to become familiar with the product The handling precautions for installing this LSI are described at the end of this manual Make sure to read them before installing the LSI Cautions 1 Copying all or any part of this manual without written approval is prohibited 2 The specifications of this LSI may be changed to improve performance or quality without prior notice 3 Although this manual was produced with the utmost care if you find any points that are unclear wrong or have inadequate descriptions please let us know 4 We are not responsible for any results that occur from using this LSI regardless of item 3 above B Explanation of the descriptions in this manual 1 The x y Z and u of terminal names and bit names refer to the X axis Y axis Z axis and U axis respectively Terminals with a ex RST are negative logic Their logic cannot be changed Terminals without a are positive logic Their output logic can be changed When describing the bits in registers n refers to the bit position A 0 means that the bit is in position O and that it is prohibited to write to any bit other than 0 Finally this bit will always return a 0 when read out
106. S substitution input lt Control command STAON gt Control command Perform processes that are identical to those performed by supplying a PCS 28h signal Note A Position Override 2 cannot be executed while performing an interpolation operation 108 11 3 Output pulse control 11 3 1 Output pulse mode There are four types of common pulse output modes two types of Two pulse modes and two types of 90 phase difference modes as the modes to output command pulses Common pulse mode Outputs operation pulses from the OUT terminal and outputs the direction signal from the DIR terminal Two pulse mode Outputs positive direction operation pulses from the OUT terminal and outputs negative direction operation pulses from the DIR terminal 90 phase difference modes Outputs 90 phase difference pulses through the OUT and DIR terminals The output mode for command pulses is set in RENV1 PMDO to 2 bits O to 2 If motor drivers using the common pulse mode need a lag time since the direction signal changes until receiving a command pulse use a direction change timer When RENV1 DTMP bit 28 is set to O the operation can be delayed for one direction change timer unit 0 2 msec after changing the direction identification signal Setting the pulse output mode Set RENV1 PMDO to 2 bitO to 2 gt RENV1 WRITE When feeding in the When feeding in the 7 0 PMDO to 2 pen direction laca direction OUT output DiRoutput OUT
107. SCHL Decelerate and change to the FL speed 43h FSCHH Accelerate and change to the FH speed 396 7 1 4 Stop command 1 Stop command Write this command to stop feeding while operating COMBO Symbol 49h STOP Write this command while in operation to stop immediately 4Ah SDSTP Write this command while feeding at FH constant speed or high speed the motor on that axis will decelerate to the FL constant speed and stop If this command is written while the axis is being fed at FL constant speed the motor on that axis will stop immediately 2 Simultaneous stop command Stop the motor on any axis whose CSTP input stop function has been enabled by setting the RMD register COMBO Symbol CMSTP Outputs one shot of pulses from the CSTP terminal to stop movement on that axes 3 Emergency stop command otops an axis in an emergency COMBO Symbol CMEMG Emergency stop same as a CEMG signal input 1 5 NOP do nothing command COMBO Symbol This command does not affect the operation S TA 7 2 General purpose output bit control commands These commands control the individual bits of output terminals PO to P7 When the terminals are designated as outputs the LSI will output signals from terminals PO to P7 Commands that have not been designated as outputs are ignored The write procedures are the same as for the Operation commands In addition to this command by writing to a general purpose output port OTPB
108. STSW RD ese 07 0 0 LLL SRUN LLL SENI LLL SEND oO HBSY AO e crunk AAA 2 When the PA PB continuous mode MOD 01h is selected Start command Stop command WR Read MSTSW RD 3 When the DR continuous mode MOD 02h is selected Start command Stop command WR Read MSTSW RD EE AA SSCM SRUN E AAA 4 When the auto stop mode is selected such as positioning operation mode MOD 41h Start command HWR _ Read MSTSW BER TT 07 LLL SRUN fe LLL 6 5 5 Reading the sub status and input output port SSTSW SSTSB IOPB SSTSW SSTSB IOPB eo ee ee CIA La ccs 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 SSD SORG SMEL SPEL SALM SFC SFD SFU lOP7 IOP6 IOP5 IOP4 IOP3 lOP2 lOP 1 IOPO 8 SFU Setto1whileaccelerating 9 SFD Setto1whiledecelerating 15 oet to 1 when the SD input is ON Latches the SD signal Note When the backlash or slip correction function is used SFU SFD and SFC will all be 0 The main Status SRUN will be 1 even if this correction is used 24 7 Commands Operation and Control Commands 7 1 Operation commands By writing the command to COMBO address 0 when a Z80 I F is used after writing the axis assignment data to COMB1 address 1 when a Z80 I F is used the LSI will start and stop as well as change the speed of the output pulses When an 8086 H8 or 68000 I F is used wr
109. When n 3 OUT 1 2 3 FUP Start acceleration on the 3th pulse A Set the number of idling pulses Set RENV5 IDLO to 2 bits 8 to 10 gt RENV5 WRITE Specify the number of idling pulses from 0 to 7 15 8 Start accelerating at FL speed after outputting the specified number of pulses PERERA Read the idling control counter value lt RSPD IDCO to 2 bits 20 to 22 gt RSPD Read the idling control counter 23 Note While setting the number of idling pulses when you write a High Speed Start 1 command 52h or 56h motion of an axis will accelerate to FH speed after outputting the specified number of idling pulses at FL speed Then the operation will be the same as the High Speed Start 2 command 111 11 5 Mechanical external input control 11 5 1 EL EL signal When an end limit signal a EL signal when feeding in the direction in the feed direction turns ON while operating motion of a machine will stop immediately or decelerate and stop After it stops even if the EL signal is turned OFF a machine will remain stopped For safety please design a structure of the machine so that the EL signal keeps ON until a machine reaches the end of the stroke even if the machine moves If the EL signal is ON when writing a start command the axis cannot start moving in the direction of the particular EL signal that is ON By setting RENV1 ELM the stopping pattern for use when the EL signal is turned ON can be set to immediate
110. al 3 When the conditions for Comparator 4 are satisfied 4 When the conditions for Comparator 5 are satisfied 5 When a command is written The current speed can also be latched instead of COUNTERS deflection Latch at the timing to use hardware above items 1 to 4 can also stopped The LTC input timing can be set by in RENV1 environment setting 1 An INT signal can be output when a counter value is latched by turning ON the LTC signal or the ORG signal This allows you to identify the cause of an event interrupt Specify the latch method for a counter 1 to 4 RENV5 WRITE Set RENV5 LTMO to 1 bit 12 to 13 gt 45 8 00 Turn ON the LTC signal 01 Turn ON the ORG signal In n L 71 7 10 When the conditions for Comparator 4 are satisfied 11 When the conditions for Comparator 5 are satisfied opecify the latch method for the current speed Set REMV5 LTFD bit 14 RENV5 WRITE 1 Latch the current speed instead of COUNTER 3 deflection 15 Specify latching using hardware Set RENV5 LTOF bit 15 RENV5 WRITE 1 Stop latching at the timing to use hardware above 1 to 4 15 8 ED ES PRR opecify the LTC signal mode Set RENV1 LTCL bit 23 RENV 1 WRITE 0 Latch on the falling edge 23 16 1 Latch on the rising edge neaces E Set an event interrupt cause Set RIRQ IRLT bit 14 and RIRQ IROT bit 15 RIRQ WRITE IRLT 1 Output an INT signal when the counter value is latched
111. al 1001 Origin return operation 9 After the process in origin return operation O has executed it returns to zero operates until COUNTER2 0 1010 Origin return operation 10 After the process in origin return operation 3 has executed it returns to zero operates until COUNTER2 0 1011 Origin return operation 11 After the process in origin return operation 5 has executed it returns to zero operates until COUNTER2 0 1100 Origin return operation 12 After the process in origin return operation 8 has executed it returns to zero operates until COUNTER2 0 Settings after an origin return complete RENV3 WRITE Set RENV3 CU1R to 4R bits 20 to 23 gt 23 16 CU1R bit 20 21 Reset COUNTER1 command position CU2R nt 1 Reset COUNTER2 a pate inininin CU3R bit 22 21 Reset COUNTERS deflection counter CUAR bit 23 21 Reset COUNTER4 general purpose Setting the ERC signal for automatic output Set RENV1 EROR bit 11 RENV 1 WRITE 0 Does not output an ERC signal when an origin return is complete 15 8 1 Automatically outputs an ERC signal when an origin return is complete a eles peo 276 9 5 1 1 Origin return operation 0 ORM 0000 O Constant speed operation lt Sensor EL ELM 0 ORG gt Starting from here O indicates constant speed operation and m indicates high speed operation ORG EL Operation 1 Operation 2 Emergency stap Operation 3 Emergency stap m H
112. al The PCS input is a terminal originally used for the target position override 2 However by setting the RENV1 PCSM bit 30 to 1 and PRMD MSY bits 18 to 19 to 1 the PCS input signal can enable the CSTA signal for only its own axis The input logic of the PCS input signal can be changed The terminal status can be monitored by reading the RSTS register extension status opecify the function of the PCS signal Set RENV1 PCSM bit 30 RENV1 WRITE 1 Make the PCS input a CSTA signal that is available only for its own axis 44 24 Set the Waiting for ZCSTA input Set RMD MSYO to 1 bits 18 and 19 RMD WRITE 01 Start on a ZCSTA input 23 16 Set the input logic of the PCS signal Set RENV1 PCSL bit 24 RENV1 WRITE 0 Negative logic 31 24 1 Positive logic EESBBEBSBE Read the PCS signal RSTS SPCS bit 8 gt RSTS READ 0 The PCS signal is OFF 15 8 1 The PCS signal is ON ERE Senn 121 11 8 External stop simultaneous stop This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the CSTP terminal Set PRMD MSPE bit 24 1 to enable a stop from a CSTP input The axis will stop immediately or decelerate and stop when the CSTP terminal is LOW However a deceleration stop is only used for a high speed start When the axis is started at constant speed the signal on the CSTP terminal will cause an immediate stop The input logic of the CSTP t
113. al for general purpose l O and FDW See Note 5 As an FDW terminal it outputs a LOW signal while decelerating As a general purpose l O terminal three possibilities can be specified input terminal output terminal and one shot pulse output terminal The usage output logic of the FDW and one shot pulse parameters can be changed using software Common terminal for general purpose l O and MVC See Note 5 When used as an MVC terminal it outputs a signal while performing a constant speed feed The usage and output logic of the MVC can be changed using software Input Positive Common terminal for general purpose I O and CP1 SL See Output Note 5 i When used as a CP1 SL terminal it outputs a signal while satisfying the conditions within SL of comparator 1 The output logic of CP1 SL as well as the selection of input or output functions can be changed using software P3u CP1u SLu 10 Signal P4x CP2x SLx P4y CP2y P7u CP5u Note 1 Note 2 Note 3 Note 4 Note 5 Note 6 uis Input output Logic Description Input Positive Common terminal for general purpose l O and CP2 SL Output When used as a CP2 SL terminal it outputs a signal while satisfying the conditions within SL of comparator 2 The output logic of CP2 SL as well as the selection of input or output functions can be changed using software See Note 5 Input Positive Common terminal for g
114. alculation result Always output Output according to the interpolation calculation result 7 Output according to the Always output interpolation calculation result The table above shows the PCL output pulses for either of the axes in each area Therefore the number of pulses required for circular interpolation the number of circular interpolation steps is equal to the number of pulses to move around the trajectory of a square that is surrounded by the circle used for the circular interpolation For example to draw a 90 arc with radius a the number of pulses required for circular interpolation will be ar 2 x 2 Enter this value in the PRCI register To obtain the number of steps for any start and end points follow the procedure below 1 First determine the area that the start point belongs to area 0 to 7 Then draw a horizontal vertical line to find the contact point with the square inside the circle 2 Next determine the area that the end point belongs to area O to 7 Then draw a vertical horizontal line to find the contact point with the square inside the circle 3 Find the distance between the two contact points on the square from 1 and 2 above and enter this value in the PRIC register End point 92 To continue the end point draw function while setting PRMD MPIE to 1 enter the value in the PRCI register after adding number of pulses required for the end point draw function Note 1
115. and Set to 0 when the operation is stopped 1 2 Set to 1 by the start pulse output Set to 0 when the operation is stopped SENI otop interrupt flag When RENV2 IEND is 1 the PCL turns ON the INT output when the status changes from operating to stop and the SENI bit becomes 1 After the main status is read it returns to 0 However when RENV5 MSMR bit 23 is 1 it does not return to O but remains 1 When RENV2 IEND is O this flag will always be O Set to 0 by writing start command Set to 1 when the operation is stopped oe Set to 1 when an error interrupt occurs Set to O by reading the REST in the case of that all REST are 0 Eds Set to 1 when an event or interrupt occurs Set to O by reading the RIST in the case of that all RIST are 0 8 SCP1 Setto1when the COMPARATOR 1 comparison conditions are met 9 SCP2 Setto1when the COMPARATOR 2 comparison conditions are met 13 SEOR When a positioning override cannot be executed writing the RMV register while stopped this signal changes to 1 After the main status is read it changes to O However when RENV5 MSMR bit 23 is 1 it does not return to 0 but remains 1 14 SPRF Set to 1 when the pre register for the subsequent operation data is full 15 SPDF Set to 1 when the pre register for comparator 5 is full Status change timing chart 1 When the continuous mode MOD 00h 08h is selected Start command Stop command WR Read M
116. aneous stop among different LSls PCL6046 PCL6046 PCL6046 PCL6046 3 3V 5k to 10kohm 2 To stop simultaneously using an external circuit connect as follows PCL6046 PCL6046 PCL6046 PCL6046 3 3V 5k to 10kohm 74LS06 or equivalent open collector output o h EJ al Stop signal As a stop signal supply a one shot signal of 4 reference clock cycles or more in length approx 0 2 usec when CLK 19 6608 MHz 122 Setting to enable CSTP input lt Set PRMD MSPE bit 24 gt PRMD WRITE 1 Enable a stop from the CSTP input Immediate stop deceleration stop 31 24 0 0 0 0 n Auto output setting for the CSTP signal Set to PRMD MSPO bit 25 PRMD WRITE 1 When an axis stops because of an error the PCL will output the ZCSTP 34 24 signal automatically Output signal width 8 reference clock cycles Donna n Specify the stop method to use when the CSTP signal is turned ON RENV1 WRITE lt Set RENV1 STPM bit 19 gt 23 16 0 Immediate stop when the CSTP signal is turned ON 1 Deceleration stop when the CSTP signal is turned ON la Sato eese Read the CSTP signal lt RSTS SSTP bit 6 gt RSTS READ 0 The CSTP signal is OFF 7 0 1 The CSTP signal is ON Breese ej Read the cause of an error input lt REST ESSP bit 8 gt REST READ 1 When stopped because the CSTP signal turned ON 15 8 Simultaneous stop command lt CMSTP Operation command gt Operation command Outputs
117. ase difference mode EA x Teas Teas Teas Teas EB 3 When the PA PB inputs are in the Two pulse mode Trab Trab Trab N y T T T T _ teas PAB I EE EB i A 7 4 When the PA PB inputs are in the 90 phase difference mode Tras Tras Tramo Trab 5 Timing for the command start when I M H and B W H A start command is written Tennesy BSY Tcmppts Initial output pulse 6 Simultaneous start timing HCSTA a Z Tstapsy gt BSY Tstapis KU 9 OUT Initial output pulse 157 13 External Dimensions Top View Unit mm 12 0 A1 Corner A A 12 0 x O c ON CX E e l 5 Bottom View e M Q oO a a e U O OO e T O OO c R O oo S9 H O O oL N O OO M O OO L O Oo K O OO I P H OO G OO F OO E el OO un C oo ls B OO A OO eo A1 Corner O 12345356 B 9 1011121314151617 158 Appendix 1 List of commands lt Operation commands gt COMBO Symbol COMBO Symbol ee oe Emergency stop STAFL FL constant speed start CMSTA AOSTA Opu 51h STAFH FH constant speed start simultaneous start CMSTP CSTP output STAD High speed start 1 FH constant speed gt simultaneous stop Deceleration stop FCHGL change to FL STAUD H
118. ate ramping down point operation mode center of circular interpolation S curve range on an acceleration S curve range on a deceleration number of steps for circular interpolation can be written while executing the current data The next set of data and sets of data after next can be written in advance of their execution for checking by the comparator When the current operation is complete the system will immediately execute the next operation 1 A variety of counter circuits The following four counters are available separately for each axis COUNTER 2 32 bit counter for mechanical position control EA EB input Can be used as a general purpose counter Output pulses PA PB input COUNTER 3 16 bit counter for controlling the deflection between Output pulses and EA EB input the command position and the machine s current Output pulses and PA PB input position EA EB input and PA PB input COUNTER 4 32 bit counter used to output synchronous signals Output pulses Can be used as a general purpose counter EA EB input PA PB input 1 2 of reference clock All counters can be reset by writing a command or by providing a CLR signal They can also be latched by writing a command or by providing an LTC or ORG signal The PCL6046 can also be set to reset automatically soon after latching these signals The COUNTER 1 COUNTER 2 and COUNTER 4 counters have a ring count function that repeats counting through a specified counting range Co
119. ately by counting the EZ signal after the ORG input is turned ON When feeding at high speed the axis will decelerate and stop by counting the EZ signal after the ORG input is turned ON 0100 Origin return operation 4 After the ORG input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction at RFA constant speed After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting the EZ pulses 0101 Origin return operation 5 After the ORG input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration stop when feeding at high speed Then the axis will start feeding in the opposite direction After the ORG input turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly or make a deceleration stop when feeding at high speed COUNTER reset timing When finishing counting the EZ pulses 48 Bit Bitname Description 0110 Origin return operation 6 After the EL input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at R
120. atic there are the following restrictions While in linear interpolation 1 or circular interpolation operation and when constant synthesized speed operation PRMD MIPF 1 is selected make deceleration time same as acceleration time For other operations arrange time so that deceleration time lt acceleration time x 2 If setting otherwise the axis may not decrease the speed to the specified FL speed when stopping In this case use a manual ramping down point PRMD MSDP 1 lt When deceleration time lt acceleration time x 2 using an automatic ramping down point gt Speed Deceleration 4 E lt When deceleration time gt acceleration time x 2 using an automatic ramping down point gt The relationship between the value entered and the deceleration time is as follows Speed Stop without decelerating to FL speed a FH is Acceleration Deceleration nme rs lt i 97 Relationship between the value entered and the deceleration time will be as follows 1 Linear deceleration PRMD MSMD 0 Deceleration time s PRFH PRFL x PRDR 1 x4 Reference clock frequency Hz 2 S curve deceleration without a linear range PRMD MSMD 1 and PRDS register 0 Deceleration time s PRFH PRFL x PRDR 1 x8 Reference clock frequency Hz 3 S curve deceleration with a linear range PRMD MSMD 1 and PRDS register gt 0 PRFH PRFL 2xPRDS x PRDR 1 x 4 Deceleration time s is Reference clo
121. by the LTC 45 8 signal being turned ON IROL 1 Output an ZINT signal when the counter value is latched by the ORG In n signal being turned ON Read the event interrupt cause RIST ISLT bit 14 RIST ISOL bit 15 RIST READ ISLT 1 Latch the counter value when the LTC signal turns ON 15 ISOL 1 Latch the counter value when the ORG signal turns ON Ei Sese pel Read the LTC signal RSTS SLTC bit 14 RSTS READ 0 The LTC signal is OFF 15 1 The LTC signal is ON EXE ES eds a Counter latch command LTCH Control command Control command Latch the contents of the counters COUNTER1 to 4 128 11 10 4 Stop the counter COUNTER1 command position stops when the PRMD MCCE is set to stop the counter and while in timer mode operation COUNTER2 mechanical position COUNTER3 deflection and COUNTER4 general purpose stop when the RENV3 CU2H to 4H is set to stop By setting the RENV3 register you can stop counting pulses while performing a backlash or slip correction COUNTER4 general purpose can be set to count only during operation BSY low using the RENV3 register By specifying 1 2 of the CLK reference clock signal the time after the start can be controlled Stopping COUNTER1 command lt Set RMD MCCE bit 11 gt RMD WRITE 1 Stop COUNTER1 command position 15 8 Specify the counting operation for COUNTERS 2 to 4 RENV3 WRITE Set RENV3 CU2H to 4H bits 29 to 31
122. cheme All address terminals of AO to A9 are connected to CPU address bus A1 to A9 and 1024 byte address area is occupied It is available to read from or write to internal register directly without using commands However to access to each register make sure to access to 4 byte from the lower address Additionally make sure that CPU wait by ZWRQ output signal It is available to access indirectly using I O buffer 2 Reduced address scheme If only A1 A2 A8 and A9 address terminal are connected to CPU address buses A1 to A4 32 byte address area is occupied To write into internal register write Register write command after writing data into I O buffer 4 byte To read from internal register read from l O buffer after writing Register readout commands 6 2 Precautions for designing hardware To reset the LSI hold the RST signal LOW and input the CLK signal for at least 8 clock cycles Connect unused PO to P7 terminals to VDD through a pull up resistor 5k to 10k ohms When connecting a CPU with an 8 bit bus pull up terminals D8 to D15 to VDD using an external resistor 5k to 10k ohms Shared use of one resister for the 8 lines is available Use the ELL terminal to change the EL signal input logic When access to internal register directly on full address circuit make sure that WRQ output signal make CPU in a wait status In the case to use a CPU that cannot output WRG signal make RD signal width more than
123. ck frequency Hz PRMG Magnification rate register 12 bit opecify the relationship between the PRFL and PRFH settings and the speed in the range of 2 to 4 095 OFFFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows Magnification rate Re ferenceclockfrequency Hz PRMG 1 x 65536 Magnification rate setting example when the reference clock 219 6608 MHz Output speed unit pps Setting Magnification Output speed Setting Magnification Output speed range NR NEN range IRC AO 2999 OBB7h 0 1 0 1t06 5535 59 3Bh 5 5to 327 675 1499 5DBh LIM 29 1Dh 10 to 655 350 599 257h 0 5 to 32 767 5 14 OEh 20 to 1 310 700 299 12Bh 1 to 65 535 5 5h 50 to 3 276 750 149 95h 2 to 131 070 100 to 6 553 500 PRDP Ramping down point register 24 bits Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the value specified in the PRDP varies according to the ramping down point setting method MSDP in the PRMD register lt When set to manual PRMD MSDP 1 gt The number of pulses at which to start deceleration set in the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in t
124. coder signals and pulsar signals Setting range 32 768 to 32 767 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 7 6 5 43 2 1 0 8 3 23 RCUNA4 register This is a register used for COUNTER4 general purpose counter It can count four types of signals Command pulses encoder signals EA EB input pulsar signals PA PB input and 1 2 ticks of the reference clock Setting range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 For details about the counters see section 11 10 Counter 8 3 24 RCMP1 register Specify the comparison data for Comparator 1 Setting range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 1 0 8 3 25 RCMP2 register Specify the comparison data for Comparator 2 Setting range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 56 8 3 26 RCMP3 register Specify the comparison data for Comparator 3 Setting range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109
125. cs WRQ TroHD pores TroLD ne Write cycle A1 to A9 4 CS WRQ WR Twro DO to DS q AS 154 12 5 4 CPU I F 4 IF1 L IFO L 68000 e a E 1 Address hold time for LS t Tsa CS setup time for LS4 Toss CS hold time for Sf Tss RW hold timefor LSt Tsw ACK ON delay time fords 4 AR LES 154 EIE ns HACK OFF delay time for HLS 1 Tema CL 40pF 5 3i 24 ons Data output advance time for HACK Data fioat delay tme torals Tag CLe40pF 1 31 ns SOTA yaaa Mcr T o 4 0 1 1 m Read cycle A1 to A9 4 y HCS NI T gt Tscs HLS AO e Pee ES lt gt sRw R W WR k Toa Jef DO to D15 AA Tsup Write cycle A1 to A9 4 CS V gt Tscs m Tess LS A0 E Tews iss RW HWR E PEST Tos ha Do to D15 E AA TakpH 155 12 6 Operation timing Common to all axes RST input sgnatwah PNT Hk E CLR input signal width Te ns EA EB input signal width Tus Noe2 Ma Bad ns EZ input signal width Note2 Ma Teun ns PA PB input signal width Tus Note3 Tex GTa ns CALM input signal width Note4 2 Is INP input signal width Note4 Pa n ERC output signal width RENV1 bit 12 to 14 000 294 Tcik ns RENV1 bit 12 to 14 001 254 x8Tcax 255x8Tax RENV1 bit 12 to 14 010 254x32Tg 255 x 32Tc k RENV1 bit 12 to 14 011 254 x 128Tc k 255 x 128Tck pa a
126. ction is used to create a constant synthesized speed for linear interpolation 1 and circular interpolation operations When linear interpolation 2 is selected this function cannot be used To enable this function set the PRMD MIPF bit 15 to 1 for the axes that you want to have a constant synthesized speed When the same interpolation mode is selected the axes whose PRMD MIPF is set to 1 will have a longer pulse output interval multiplied by the square root of two 2 for two axis simultaneous output and by the square root of three 3 for three axis simultaneous output For example when applying linear interpolation 1 to the X Y and Z axes and PRMD MIPF 1 for only the Y and Z axes the interval before a pulse output on another axis after simultaneous pulse output on the Y and Z axes will be multiplied by 2 When X and Y or X and Z output pulses at the same time the interval until the next pulse output will not change The synthesized speed constant control can only be used for 2 or 3 axes When applying linear interpolation 1 to four axes if PRND MIPE 1 for all four axes and if all four axes output pulses at the same time the interval will also be multiplied by 3 When the synthesized speed constant control bit is turned ON MIPF 1 the synthesized speed while performing interpolation will be the operation speed PRFH or the initial speed PRFL of the interpolated axes SRUN SEND and SERR in MSTSW main status byte f
127. curve deceleration range 103 10 4 Example of setting up an acceleration deceleration speed pattern Ex Reference clock 19 6608 MHz When the start speed 10 pps the operation speed 100 kpps and the accel decel time 300 msec 1 Select the 2x mode for multiplier rate in order to get 100 kpps output PRMG 149 95h 2 Since the 2x mode is selected to get an operation speed 100 kpps PRFH 50000 C350h 3 In order to set a start speed of 10 pps the rate magnification is set to the 2x mode PRFL 5 0005h 4 In order to make the acceleration deceleration time 300 msec set PRUR 28 494 from the equation for the acceleration time and the PRUR value PREH PRFL x PRUR 1 x4 Acceleration time s Reference clock frequency Hz 50000 5 x PRUR 1 x 4 0 3 19 6608 x10 PRUR 28 494 However since only integers can be entered for PRUR use 28 or 29 The actual acceleration deceleration time will be 295 msec if PRUR 28 or 305 msec if PRUR 29 An example of the speed pattern when PRUR 29 Speed 100kpps Operation speed 10pps Startspeed 305ms 305ms _ Time 104 10 5 Changing speed patterns while in operation By changing the RFH RUR RDR RUS or RDS registers during operation the speed and acceleration can be changed on the fly However if the ramping down point is set to automatic MSDP 0 in the PRDM register for the positioning mode do not change the value
128. d However in the case that CPU is connected by reduced address scheme direct access method cannot be used Direct access method It accesses the address corresponding to register directly In order to sample or change all bits of register simultaneously 32 bit latch for direct access is integrated In read cycle of the lowest address of each register for reading out all bit of register will be copied to a latch and in read cycle of other address than the lowest address latched data is read out For this process to latch CPU is made in a wait status by outputting WRQ signal during the read cycle of the lowest address it is needed to connect ZWRQ output with CPU When WRQ is not used make RD signal width more than 4 cycles of CLK When writing data written data is stored in 32 bit latch Just after write cycle of the upper address of each register completes it copies 32 bits of registers at once Therefore even though writing into registers whose bit width are short it is necessary to write as 4 byte data For the process please access from lower address to upper address in order in 4 byte data basis for both reading out process and writing process when using direct access When reading out registers Z80 I F e A0 fC ee NS en ee UA UA A AR muro l Nf DO to D7 Data Data Data Data Data Data When writing registers Z80 I F s ATA SA IATA PAPAS D NN O a pen O A en FWRQ DO to D7 Data Data Data Data Data Da
129. d the following process can be executed 1 Stop pulse output immediately 2 Decelerate and then stop pulse output While using the software limit function if a deceleration stop is selected as the process to use when the comparator conditions are satisfied RENV4 C1D RENV4 C2D when a machine reaches the software limit while in a high speed start 52h 53h that axis will stop using deceleration When some other process is specified for use when the conditions are satisfied or while in a constant speed start that axis will stop immediately If a software limit is ON while writing a start command the axis will not start to move in the direction in which the software limit is enabled However it can start in the opposite direction Setting example RENV4 00003838h Use Comparator 1 as positive direction software limit Use Comparator 2 as negative direction software limit Set to stop immediately when the software limit is reached RCMP1 100 000 Positive direction limit value RCMP2 100 000 Negative direction limit value Negative direction limit position Positive direction limit position RCMP2 100 000 RCMP1 100 000 SSS Normal operation zone 77 CK Unable to feed Abletofeedinthe Able to feed in the lt gt Unable to feed in the negative Positive direction Negative direction in the positive direction direction Operation from the negative direction limit position Operation from the positive direction limit
130. e Deviation from the command position control Therefore after an emergency stop you must perform an origin return to match the command position with the mechanical position 123 11 10 Counter 11 10 1 Counter type and input method In addition to the positioning counter this LSI contains four other counters These counters offer the following functions Control command position and mechanical position Detect a stepper motor that is out of step using COUNTER 3 deflection counter and a comparator Output a synchronous signal using COUNTER 4 general purpose and a comparator The positioning counter is loaded with an absolute value for the RMV register target position at the start regardless of the operation mode selected It decreases the value with each pulse that is output However if PRMD MPCS bit 14 is set to 1 and while a position override 2 is executed the counter does will not decrease until the PCS input is turned ON Input to COUNTER 1 is exclusively for output pulses However COUNTERS 2 to 4 can be selected as follows by setting the RENV3 register environment setting 3 COUNTER COUNTER2 COUNTER3 COUNTER4 Counter name Command position Mechanical position Deflection General purpose Counter type Up down counter Up down counter Deflection counter Up down counter 32 16 Number of bits 32 Possible Not possible Not possible Not possible Note When using pulsar input use the internal sig
131. e 2 Use COUNTER1 command position and Comparator 1 to start the X axis when the Y axis 1000 1 Set PRMD MSYO to 1 bits 18 to 19 of the Y axis to 10 Start from an internal synchronous signal 2 Set RENV5 SYIO to 1 bits 20 to 21 of the X axis to 01 Use an internal synchronous signal from the Y axis 3 Set RENV5 SYOO to 3 bits 16 to 19 of the Y axis to 0001 Output an internal synchronous signal when the Comparator 1 conditions are satisfied 4 Set RENVA C1CO to 1 bits O to 1 of the Y axis to 00 Comparator 1 comparison counter is COUNTER 1 5 Set RENV4 C1S0 to 2 bits 2 to 4 of the Y axis to 001 Comparison method Comparator 1 Comparison counter 6 Set RENV4 C1D0 to 1 bits 5 to 6 of the Y axis to 00 Do nothing when the Comparator 1 condition are satisfied 7 Set the RCMP1 value of the Y axis to 1000 Comparison counter value of Comparator 1 is 1000 8 Write start commands for the X and Y axes The timing chart below shows the period after the Comparator 1 conditions are satisfied and the X axis starts ee CLIE LEGO tay Ls Y axis command N 997 X 998 X 999 X 1000 X 1001 X 1002 X 1003 position counter value CP1y NENNEN OUTx X axis command position counter value Note In the example above even if the Y feed amount is set to 2000 and the X feed amount is set to 1000 the X axis will be 1 when the Y axis position equals 1000 Therefore the operation complete position will be one pulse off fo
132. e COUNTER2 value and the positioning operation is started the PCL will immediately stop operation without outputting any command pulses 9 2 4 Command position O return operation PRMD MOD 44h This mode is used to continue operation until the COUNTER1 command position value becomes zero The direction of movement is set automatically by the sign for the value in COUNTER1 when starting This operation is the same as when positioning specify the absolute position in COUNTER1 by entering zero in the PRMV register however there is no need to specify the PRMV register 9 2 5 Mechanical position O return operation PRMD MOD 45h This mode is used to continue operations until the value in COUNTER2 mechanical position becomes zero The number of output pulses and feed direction are set automatically by internal calculations based on the COUNTER2 value when starting This operation is the same as when positioning specify the absolute position in COUNTER2 by entering zero in the PRMV register However there is no need to specify the PRMV register 9 2 6 One pulse operation PRMD MOD 46h 4Eh In this mode a single pulse is output This operation is identical to a positioning operation incremental target positioning that writes a 1 or 1 to the PRMV register However with this operation you do need not to write a 1 or 1 to the PRMV register 9 2 7 Timer operation PRMD MOD 47h This mode allows the internal operati
133. e PRMV register is loaded to the positioning counter When PA PB signals are input the PCL outputs pulses and decrements the positioning counter When the value in the positioning counter reaches zero movement on the axis will stop and the PCL any further ignores PA PB input If you set the PRMV register value to zero and start the positioning operation the PCL will stop movement on the axis immediately without outputting any command pulses 9 3 3 Positioning operation using pulsar input specify absolute position to COUNTER1 PRMD MOD 52h The PCL positioning is synchronized with the pulsar input by using the PRMV setting as the absolute value for COUNTER The direction of movement is determined by the magnitude relationship between the value in PRMV and the value in COUNTER1 At the start the difference between the values in RMV and COUNTER is loaded into the positioning counter When PA PB signals are input the PCL outputs pulses and decrements the positioning counter When the value in the positioning counter reaches 0 movement on the axis will stop and PCL any further ignores PA PB input If you try to start with PRMV COUNTERt1 the PCL will not output any pulses and it will stop immediately 9 3 4 Positioning operation using pulsar input specify the absolute position in COUNTER2 PRMD MOD 53h The operation procedures are the same as MOD 52h except that this function uses COUNTER2 instead of COUNTER1 70 9 3
134. e bit corresponding to the cause will be set to 1 This register is reset by the following procedure However When RENV5 ISMR bit 24 1 this register is not reset It is reset by writing data to REST 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 ISSA SMD ISPD ISSD Bit_ Bitnme______ Descriptim____________________ O ISEN When stopping automatically 6 SDS Whenstartingdeceleration gt Z gt S O 8 SCi ____ When the comparator 1 conditions are satisfied 9 SC2 jWhenthecomparator2conditionsaresatistied amp 8 3 37 RPLS register This register is used to check the value of the positioning counter number of pulses left for feeding Read only At the start this value will be the absolute value in the RMV register A value in a register decreases for each pulse output Read data range 0 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 62 8 3 38 RSPD register This register is used to check an EZ count value current speed and an idling count value Read only 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 AS15 AS14 AS13 AS12 AS11 AS10 AS9 AS8 AS7 AS6 AS5 ASA AS3 AS2 AST ASO 0 DC2 IDC1 IDCO ECZ3 ECZ2 ECZ1 ECZO Bit Bitname Description 0 to 15 JASO to 15 Read current speed as a step value same units as for RFL and RFH When stopped the value is O 0 to 6
135. e changed using software The terminal status can be checked using an RSTS command signal extension status Input U Negative Input the position complete signal from servo driver in position signal Input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status Input U Negative Reset a specified counter more than one is available from COUNTER1 to 4 The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status Input U Negative Latch counter value of specified counters more than one is available from COUNTER1 to 4 The input logic can be changed using software The terminal status can be checked using an RSTS command signal Output Negative Outputs a deflection counter clear signal to a servo driver as a pulse The output logic and pulse width can be changed using software A LEVEL signal output is also available The terminal status can be checked using an RSTS command signal Output mi a LOW signal while feeding Input Positive Common terminal for general purpose l O and FUP See Note 5 As an FUP terminal it outputs a LOW signal while accelerating As a general purpose l O terminal three possibilities can be specified input terminal output terminal and one shot pulse output terminal The usage output logic of the FUP and one shot parameters can be changed using software Common termin
136. e clock cycles 4 0 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycles 0 1 usec When CLK 19 6608 MHz The latch signal of the SD signal can be monitored by reading SSTSW sub status The SD signal terminal status can be monitored by reading RSTS extension status By reading the REST register you can check for an error interrupt caused by the SD signal turning ON Enable disable SD signal input Set PRMD MSDE bit 8 gt PRMD WRITE 0 Disable SD signal input 15 1 Enable SD signal input SE E Input logic of the SD signal Set RENV1 SDL bit 6 gt RENV1 WRITE 0 Negative logic 7 1 Positive logic eps aloe Set the operation pattern when the SD signal is turned ON RENV1 WRITE lt Set REMV1 SDM bit 4 gt 7 0 0 Decelerates on receiving the SD signal and feeds at FL constant speed 1 Decelerates and stops on receiving the SD signal m E a Select the SD signal input type Set REMV1 SDLT bit 5 gt RENV1 WRITE 0 Level input 7 0 1 Latch input To release the latch turn OFF the SD input when next start command is written n E or select Level input Reading the latch status of the SD signal lt SSTSW SSD bit 15 gt SSTSW READ 0 The SD latch signal in operation direction is OFF 15 8 1 The SD latch signal in operation direction is ON nese m Reading the SD signal lt RSTS PSDI bit 15 RSTS MSDI bi
137. e copied when triggered by the LTC an ORG input or an LTCH command Data range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 1 0 For details about the counter data latch see section 11 10 Counter Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 59 8 3 34 RSTS register The extension status can be checked Read only 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Bitname Descriptim____________________ Oto3 CNDOto3 Reports the operation status 0000 Under stopped condition Waiting for PA PB input 0001 Waiting for DR input Feeding at FA constant DOT Waiting for SCSTA input speed Feeding at FL constant 01 00 Waiting for another axis to stop speed UD Waiting for a completion of ERC timer Accelerating Feeding at FH constant change timer speed 0111 Correcting backlash Decelerating Waiting for INP input 1111 Others controlling start 4 SDIR Operation direction 0 Positive direction 1 Negative direction a JSSTA_ Becomes 1 when the CSTA input signalis tuned ON 6 SSTP__ Becomes 1 when the CSTP input signal is turned ON 7 SEMG__ Becomes 1 when the CEMG input signal is turned ON ___
138. e motor on this axis will decelerate to the FL speed If this signal is ON and movement on the axis is started the motor on this axis will run at the FL constant speed When this signal is used as a deceleration stop signal and when this signal is turned ON during a high speed feed operation the motor on this axis will decelerate to the FL speed and then stop 4 SD Functions the same as the SD signal except that it works in the negative direction 5 ORG Input signal for an origin return operation For safety make sure the EL and EL signals stay on from the EL position until the end of each stroke The input logic for these signals can be changed using the ELL terminal The input logic of the SD SD and ORG signals can be changed using software Servomotor I F The following three signals can be used as an interface for each axis 1 INP Input positioning complete signal that is output by a servomotor driver 2 ERC Output deflection counter clear signal to a servomotor driver 3 ALM Regardless of the direction of operation when this signal is ON movement on this axis stops immediately deceleration stop When this signal is ON no movement can occur on this axis The input output logic of the INP ERC and ALM signals can be changed using software The ERC signal is a pulsed output The pulse length can be set 12 usec to 104 msec A level output is also available Output pulse specifications Output pulses can be set to a co
139. e performing circular interpolation and All axes stop is set as a start condition for the next operation in the pre register of the X and Y axes and other axes Z and U axes are already stopped after circular interpolation the X and Y axes will never start the linear interpolation because the X and Y axes already stops before the X and Y axes start the process and wait for other axis s stopping that means the change from operating to stopping does not occurs The MAX setting cannot include the own axis itself PCL6045B mode When start when another axis stops is specified as the start condition for the next operation in a specific pre register the working axis itself can be included in the MAX setting Example Settings Operation mode for the X axis in initial operation PRMD MSYO to 1 00 PRMD MAXO to 3 0000 Operation mode calling for the X axis in the next operation PRMD MSYO to 1 11 PRMD MAXO to 3 0011 Operation mode for the Y axis in initial operation PRMD MSYO to 1 00 PRMD MAXO to 3 0000 Operation mode calling for the Y axis in the next operation PRMD MSYO to 1 11 PRMD MAXO to 3 0011 X axis positioning operation time Y axis positioning operation time 141 1 When the PCL6045 compatible mode SMAX 0 is selected Operating nitial operation Next operation Stopping Operating nitial operatio Next operatio 2 When the PCL6045B mode RENV1 SMAX 1 is selected Y axis Stopping X axis O
140. educe consumption current the consumption current increases because the function does not operate before reset The sign of current value is to flow into and to flow out 150 12 4 AC characteristics 1 reference clock Symbol Reference clock frequency fek 31 25 AAA Reference clock cycle Tak Reference clock HIGH width ea 19 1 m Reference clock LOW width Tau 413 CLK 151 12 5 AC characteristics 2 CPU I F 12 5 1 CPU I F 1 IF1 H IFO H 280 FAd resssetup meforsRD Te Da o Ths Aadress setup time tr WR Tu Mw fr Address hold time for RD WRIT Te 0 in A ns EWRO ON delay time for RD BWR Tema C a0pF O i e ne PWR signal LOW time Twa Lex ms AE tims tor RD Tm Crespo er ned Data output delay time for fWRQ3 Twmo C 40pF 13 ns WR signal width Tw Noe 6 ns Data setup time for WR 1 Tow 8 j y ns Data hold time for WR 1 E O_o Note 1 When a WRQ signal is output the duration will be the interval between ZWRQ H and ZWR H Read cycle AO to A9 4 D CS WRQ RD o0 te D7 ERA ESA lt Write cycle gt AO to A9 CS WRQ WR Tes po PTI 152 12 5 2 CPU I F 2 IF1 H IFO L 8086 Address setup time for RD Ta n n Address setup time for WR Tw ns Address hold time for RD WRt Taw 0 3
141. ee curve interpolation using multiple linear interpolation operations event interrupts will be generated at the end of each linear interpolation When using the stop interrupt set PRMD MENI 1 You can set it not to output a FINT signal if there is data for the next operation in pre register The INT signal is output continuously until all the causes on all the axes that produced interrupts have been cleared In default error interrupt causes are cleared when writing REST error cause register read out command and event interrupt causes are cleared when writing RIST register read out command and stop interrupt causes are cleared when main status is read out However when RENV5 MSMR bit 22 or RENV5 ISMR bit23 1 INT output may not turns OFF because each register or main status are not cleared by Please refer to 6 5 4 Reading the mains status 8 3 35 REST register and 8 3 36 RIST register To determine which type of interrupt occurred on which axis and the cause of the interrupt follow the procedures below 1 Read the main status of the X axis and check whether any one of bits 2 4 or 5 is 1 2 If bit 2 SENI is 1 a Stop interrupt occurs 3 If bit 4 SERR is 1 read the REST register to identify the interrupt cause 4 If bit 5 SINT is 1 read the RIST register to identify the interrupt cause 5 Repeat steps 1 to 4 above for the Y Z and U axes The steps above will allow you to determine the interrupt
142. en the ORG signal is turned ON Feeds at high speed decelerates when the ORG signal is turned ON and stops when an EZ signal is received 8 Feeds at high speed decelerates and stops after the ORG signal is turned ON Then reverses to feed and stops when an EZ signal is received 9 Feeds at high speed decelerates and stops by memorizing the position when the ORG signal is turned ON and stops at the memorized position 10 Feeds at high speed decelerates to the position stored in memory when an EZ signal is received after the ORG signal is turned ON Then returns to the memorized position if an overrun occurs 11 Feeds at high speed reverses after a deceleration stop triggered by the EL signal and stops when an EZ signal is received Mechanical input signals The following five signals can be input for each axis 1 EL When this signal is turned ON while feeding in the positive direction movement on this axis stops immediately with deceleration When this signal is ON no further movement occurs on the axis in the positive direction The motor can be rotated in the negative direction 2 EL Functions the same as the EL signal except that it works in the negative direction 3 SD This signal can be used as a deceleration signal or a deceleration stop signal according to the software setting When this is used as a deceleration signal and when this signal is turned ON during a high speed feed operation th
143. en the last pulse and next operation start pulse will be as little as 15x Teck Tek Reference clock cycle For details see 11 3 2 Control the output pulse width and operation completion timing 36 8 2 2 Cancel the operation pre register Use a pre register Cancel command 26h and a Stop command 49h 4Ah to cancel all the data in the pre registers and their status then becomes undetermined The pre register data are also cancelled if the PCL stops with an error 8 2 3 Writing to the comparator pre registers Comparator 5 has pre registers To overwrite the current data write directly to RCMP5 To write to the pre register write to PRCP5 The comparator data will be determined only by writing to PRCP5 The status of the comparator pre register can be checked by reading PFC in the RSTS register When the PFC value is 11 SPDF in the main status register MSTSW will be 1 Writing data to the pre register when it is full is not allowed After the conditions have been established the comparator data in the pre register will be shifted when the condition changes from false to true Comparator data can be written regardless of axis motion stopped operating The relationship between the pre register writing status and the PFC values are as follows 2nd pre register 1st pre register Working register SPDF 0 0 0 Mel status Undetermined Undetermined Undetermined E Data 1 is Data 1 is Data 1 is Data 2 is Data 2 is Data
144. en the origin return is complete Specify whether or not to output the ERC signal in RENV1 EROR For details about the ERC signal see 11 6 2 ERC signal Set the origin return method lt Set RENV3 ORMO to 3 bits O to 3 gt 0000 Origin return operation O The axis will stop immediately or make a deceleration stop when feeding at high speed when the ORG input turns ON COUNTER reset timing When the ORG input turns ON 0001 Origin return operation 1 The axis will stop immediately or make a deceleration stop when feeding at high speed when the ORG input turns ON Then it will feed in the opposite direction at RFA constant speed until the ORG input turns OFF Then the axis will move back in the original direction at RFA speed and stop instantly when ORG input turns ON again COUNTER reset timing When the ORG input signal turns ON 0010 Origin return operation 2 After the ORG input turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop immediately when the LSI finishes counting EZ pulses After the ORG input turns ON when feeding at high speed the axis will start decelerating At the same time the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting EZ pulses 0011 Origin return operation 3 After the ORG signal turns ON when feeding at constant speed the LSI will start counting EZ
145. eneral purpose I O and CP3 See Note 5 Output When used as a CP3 terminal it outputs a signal while satisfying the conditions of comparator 3 The output logic of CP3 as well as the selection of input or output functions can be changed using software conditions of comparator 4 The output logic of CP4 as well as the selection of input or output functions can be changed using software Input Positive Common terminal for general purpose I O and CP5 See Note 5 Output When used as a CP5 terminal it outputs a signal while establishing the conditions of comparator 5 Input Positive Common terminal for general purpose l O and CP4 See Note 5 Output When used as a CP4 terminal it outputs a signal while satisfying the The output logic of CP5 as well as the selection of input or output functions can be changed using software Input U refers to an input with a pull up resistor The internal pull up resistance 40 K to 240 K ohms is only used to keep a terminal from floating If you want to use the LSI with an open collector system an external pull up resistor 5k to 10 K ohms is required As a noise prevention measure pull up unused terminals to VDD using an external resistor 5 k to 10 K ohms or connect them directly to VDD Input Output refers to a terminal with a pull up resistor The internal pull up resistor 40 K to 240 K ohms is only used to keep a terminal from floating If it is connected in a wired OR circuit
146. er Comparator 3 must not have C3S0 to 2 set to a value of 110 Setting any of the values always result in failing to satisfy the comparison conditions When C4S0 to 3 1000 to 1010 for Comparator 4 lt IDX synchronous signal output select COUNTER4 general purpose for use as the comparison counter Other counters cannot be used for this function Enter a positive value for the comparator setting The bit assignments for various comparison methods are as follows C1S0 to 2 RENV4 bits 2 to 4 C280 to 2 RENVA bits 10 to 12 C3S0 to 2 RENVA bits 18 to 20 CASO to 3 RENVA bits 26 to 29 C580 to 2 RENV5 bits 3 to 5 Processing method when comparator conditions are satisfied The processing method that is used when the conditions are satisfied can be selected from the table below the conditions are satisfied oor 0 0 or O0 mmediate stop operation Deceleration stop operation Rewrite operation data with 44 44 44 44 44 pre register data Does nothing is mainly used for INT output external output of comparison result or internal synchronous starts To change the speed pattern while in operation use rewrite operation data with pre register data The PRMV setting will also be transferred to the RMV However this does not affect operation The bit assignments to select a processing method are as follows C1D0 to 1 RENV4 bits 5 to 6 C2DO to 1 RENVA bits 13 to 14 C3DO to
147. erence signals and 4x input RENV2 PIM 10 PA PB UP1 DOWN1 AUR UU ECT 4 When using two pulse input PA PB UP1 DOWN1 ll LL JL dE LLL O II FE 67 When the 1x to 32x multiplication circuit is set to 3x RENV6 PMG 2 operation timing will be as follows UP1 a ji DOWN1 p DOWN2 EREEE NENA When the n 2048 division circuit is set to 512 2048 RENV6 PD 512 operation timing will be as follows UP3 DOWN3 The pulsar input mode is triggered by an FL constant speed start command 50h or by an FH constant speed start command 51h Pulsar input causes the PCL to output pulses with some pulses from the FL speed or FH speed pulse outputs being omitted Therefore there may be a difference in the timing between the pulsar input and output pulses up to the maximum internal pulse frequency The maximum input frequency for pulsar signals is restricted by the FL speed when an FL constant speed start is used and by the FH speed when an FH constant speed start is used The LSI outputs INT signals as errors when both the PA and PB inputs change simultaneously or when the input frequency is exceeded and the input output buffer counter deflection adjustment 16 bit counter for pulsar input and output pulse overflows This can be monitored by the REST error interrupt factor register FP lt speed input I F phase value PMG setting value 1 PD setting value 2048 PD setting value O
148. erminal cannot be changed When multiple LSIs are used to control multiple axes connect the CSTP terminals on each LSI with another CSTP terminal and input the same signal so that the axes which are set to stop on a CSTP input can be stopped simultaneously In this case a stop signal can also be output from the CSTP terminal When an axis stops because the CSTP signal is turned ON an INT signal can be output By reading the REST register you can determine the cause of an error interrupt You can monitor CSTP terminal status by reading the RSTS register extension status lt How to make a simultaneous stop gt Set PRMD MSPE bit 24 1 for each of the axes that you want to stop simultaneously Then start these axes Stop these axes using any of the following three methods 1 By writing a simultaneous stop command the CSTP terminal will output a one shot signal of 8 reference clock cycles in length approx 0 4 usec when CLK 19 6608 MHz 2 Supply an external hardware signal Supply a hardware signal using an open collector output 74LS06 or equivalent 3 The CSTP terminal will output a one shot signal of 8 reference clock cycles approximately 0 4 usec when CLK 19 6608 MHz when a stop caused by an error occurs on an axis that has PRMD MSPO 1 Even when the CSTP terminals on LSIs are connected together each axis can still be stopped independently by using the stop command 1 Connect the terminals as follows for a simult
149. f comparison data and for internal synchronous starts Immediate stop and deceleration stop operations Rewrite operation data with pre register data used to change speed while operating Software limit function using Comparators 1 and 2 Ring count function using COUNTER1 command position and Comparator 1 Ring count function using COUNTER2 mechanical position and Comparator 2 Detect out of step stepper motors using COUNTERS deflection and a comparator Output a synchronous signal IDX using COUNTER4 general purpose and a Comparator 4 Comparator 5 is equipped with a pre register It can also output an INT signal as event interrupt cause when the comparator s conditions are satisfied Comparison data Each comparator can select the data for comparison from the items in the following table COUNTER2 mechanical position COUNTER3 deflection Major application COUNTER2 as aring a ring counter counter O Comparison possible Blank Comparison not possible SL and SL are used for software limits If COUNTERS deflection is selected as the comparison counter the LSI will compare the absolute value of the counter with the comparator data Absolute value range O to 32 767 The bit assignments of the comparison data settings are as follows C1CO to 1 RENV4 bits 0 to 1 C2CO to 1 RENV4 bits 8 to 9 C3CO to 1 RENVA bits 16 to 17 C4CO to 1 RENVA bits 24 to 25 C5CO to 2 RENV5 bits
150. fied ni nin n n SCPA bit 11 1 When the Comparator 4 conditions are satisfied SCP5 bit 12 1 When the Comparator 5 conditions are satisfied Specify the P3 CP1 SL terminal specifications RENV 1 P3MO to 1 bits 6 to 7 RENV2 WRITE 00 General purpose input 7 0 01 General purpose output 10 Output a CP1 Comparator 1 conditions satisfied signal using negative in n a ea logic 11 Output a CP1 Comparator 1 conditions satisfied signal using positive logic Specify the P4 CP2 SL terminal specifications lt RENV2 P4M0 to 1 bits 8 to 9 gt RENV2 WRITE 00 General purpose input 15 8 01 General purpose output 10 Output CP2 Comparator 2 conditions satisfied signal using negative logic 1 171 1 1nin 11 Output CP2 Comparator 2 conditions satisfied signal using positive logic Specify the P5 CP3 terminal specifications lt Set REMV2 P5MO to 1 bits 10 to 11 RENV2 WRITE 00 General purpose input 15 8 01 General purpose output 10 Output CP3 Comparator 3 conditions satisfied signal using negative logic E n n i 11 Output CP3 Comparator 3 conditions satisfied signal using positive logic Specify the P6 CP4 terminal specifications lt Set RENV2 P6MO to 1 bits 12 to 13 gt RENV2 WRITE 00 General purpose input 15 8 01 General purpose output 10 Output CP4 Comparator 4 conditions satisfied signal using negative logic 1ninj 11 Output CP4 Comparator 4 conditi
151. g a start command when a pulsar signal is input the LSI will output pulses to the OUT terminal Use an FL constant speed start STAFL 50h or an FH constant speed start STAFH 51h Four methods are available for inputting pulsar signals through the PA PB input terminal by setting the RENV2 environmental setting 2 register Supply a 90 phase difference signal 1x 2x or 4x Supply either count up count forward or count down pulses Two pulse input Note The backlash correction function is available with the pulsar input mode However reversing pulsar input while in the backlash correction is unavailable Besides the above 1x to 4x multiplication the PCL has a multiplication circuit of 1x to 32x and division circuit of 1 to 2048 2048 For setting the multiplication from 1x to 32x specify RENV6 PMGO to 4 and for setting the division of n 2048 specify RENV6 PDO to 10 PA gt The timing of the UP1 and DOWN signals will be as follows by setting of the PIMO to PIM1 in the RENV2 UP1 UP2 UP3 mue umm umm PB circuit 2 circuit 1x to 32x of n 2048 gt control circuit DOWN DOWN2 DOWN3 P1MO to PIM1 PMGO to PMG4 PD10 to PDO 1 When using 90 phase difference signals and 1x input RENV2 PIM 00 PA PB UP1 DOWN 2 When using 90 phase difference signals and 2x input RENV2 PIM 01 PA PB UP1 DOWN1 ed l pa eee E ME AO AA OO 3 When using 90 phase diff
152. gister for PRFL 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 7 6 5 4 3 2 1 0 The setting range is 1 to 65 535 However the actual speed pps may vary with the speed magnification rate setting in the PRMG register 8 3 3 PRFH RFH register This pre register is used to specify the operation speed RFH is the working register for PRFH Write to this register to override the current speed The setting range is 1 to 65 535 However the actual speed pps may vary with the speed magnification rate set in the PRMG register 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 7 65 4 3 2 1 0 8 3 4 PRUR RUR register This pre register is used to specify the acceleration rate RUR is the register for PRUR 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 1 0 Setting range is 1 to 65 535 Note 1 Bits marked with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 38 8 3 5 PRDR RDR register This pre register is used to specify the deceleration rate RDR is the register for PRDR 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 The normal setting range is 1 to 65 535 When PRDR 0 the deceleration rate will be the value set by PRU
153. hase difference mode is selected Outputs DIR signals and 90 phase difference signals The output logic can be changed using software Use of the EZ signal improves origin return precision Input U Negative Setting these terminals LOW enables PA PB and DR DR input By inputting an axis change switch signal one manual pulsar can be used alternately for four axes Input U Input this signal when you want to control the mechanical position using the encoder signal Input a 90 phase difference signal 1x 2x 4x or input positive pulses on EA and negative pulses on EB When inputting 90 phase difference signals if the EA signal phase is ahead of the EB signal the LSI will count up count forward pulses The counting direction can be changed using software E input logic can be changed using software The terminal status DRx DRx Es E16 Input U S You can start operation of the PCL with these signals manually using DRy DRy C13 B13 external switches DRz DRz A12 D11 Specifying the feed length constant speed continuous feed and Signal Terminal Input Logic Description No output high speed continuous feed are possible The input logic can be changed using software The terminal status can be checked using an RSTS command signal extension status Input U Negative The PCL starts its positioning operation according to this input signal Override 2 of the target position The input logic can b
154. he LSI 2 Precautions for transporting and storing LSIs 1 Always handle LSIs carefully and keep them in their packages Throwing or dropping LSIs may damage them 2 Do not store LSIs in a location exposed to water droplets or direct sunlight 3 Do not store the LSI in a location where corrosive gases are present or in excessively dusty environments 4 Store the LSIs in an anti static storage container and make sure that no physical load is placed on the LSlIs 3 Precautions for installation 1 In order to prevent damage caused by static electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus with an appropriate resistance factor However do not allow work on a metal surface which can cause a rapid change in the electrical charge on the LSI if the charged LSI touches the surface directly due to extremely low resistance When picking up an LSI using a vacuum device provide anti static protection using a conductive rubber pick up tip Anything which contacts the leads should have as high a resistance as possible When using a pincer that may make contact with the LSI terminals use an anti static model Do not use a metal pincer if possible Store unused LSls in a PC board storage box that is protected against static electricity and make sure there is adequate clearance between
155. he axis will output an INT signal FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL FH FH p wesoccccccccce Accelerate to FH again when SD signal is turned off while decelerating t FL FL t t ien SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 4 Latch and deceleration stop lt RENV1 SDM bit 4 1 REMV1 SDLT bit 5 1 If the SD signal is turned ON while in constant speed operation the axis will stop If the SD signal is turned ON while in high speed operation the axis will decelerate to FL speed and then stop Even if the SD signal is turned OFF during deceleration the axis will not accelerate If the SD signal is turned ON while writing a start command the axis will not start moving and the operation will be completed While stopped the LSI outputs an INT signal FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL FH FH aa SD signal is FL FL turned OFF while decelerating t t SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 114 The input logic of the SD signal can be changed If the latched input is set to accept input from the SD signal and if the SD signal is OFF at the next start the latch will be reset The latch is also reset when the latch input RENV1 SDLT is set to zero The minimum pulse width of the SD signal is 80 referenc
156. he equation below 1 Linear deceleration PRMD MSMD 0 2 2 Optimum value Number of pulses PRFH PRFL x PRDR 1 PRMG 1 x 32768 However the optimum value for a triangle start without changing the value in the PRFH register while turning OFF the FH correction function MADJ 1 in the PRMD register will be calculated as shown the equation below When using idling control assign the value subtracts the number of idling pulses from the value place in the PRMV register to PRMV in the equation below The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV5 PRMV x PRDR 1 Optimum value Number of pulses PRUR PRDR 2 98 4 2 S curve deceleration without a linear range PRMD MSMD 1 and the PRDS register 0 2 2 Optimum value Number of pulses BEE EESTI PRMG 1 x 32768 3 S curve deceleration with a linear range PRMD MSMD 1 and the PRDS register gt 0 PRFH PRFL x PRFH PRFL 2x PRDS x PRDR 1 Optimum value Number of pulses PRMG 1 x 432768 1 x Start deceleration at the point when the positioning counter value lt PRDP set value lt When set to automatic PRMD MSDP 0 gt This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelerat
157. he operation status lt RSTS CNDO to 3 bits O to 3 gt RSTS READ 0011 Wait for an internal synchronous signal 7 0 0100 Wait for another axis to stop ES e pen e alan Select the event interrupt HINT output cause Set bit 4 to 12 of RIRQ gt RIRQ WRITE IRUS bit 4 1 When the acceleration is started 7 IRUE bit 5 1 When the acceleration is complete IRDS bit 6 1 When the acceleration is started n n n n ES 0 IRDE bit 7 1 When the deceleration is complete 15 8 IRC1 bit 8 1 When the Comparator 1 conditions are satisfied IRC2 bit 9 1 When the Comparator 2 conditions are satisfied n n n n Ed IRC3 bit 10 1 When the Comparator 3 conditions are satisfied IRC4 bit 11 1 When the Comparator 4 conditions are satisfied IRC5 bit 12 1 When the Comparator 5 conditions are satisfied 140 Read the event interrupt INT output cause Bit 4 to 12 of RIST RIST ISUS bit 4 1 When the acceleration is started ISUE bit 5 1 When the acceleration is complete ISDS bit 6 1 When the deceleration is started ISDE bit 7 1 When the deceleration is complete ISC1 bit 8 1 When the Comparator 1 conditions are satisfied ISC2 bit 9 1 When the Comparator 2 conditions are satisfied 1 When the Comparator 3 conditions are satisfied ISC4 bit 11 1 When the Comparator 4 conditions are satisfied njnjn n n 1 ISC5 bit 12 When
158. he speed change data data used with commands to determine are left in Pre registers 1 and 2 when the current operation completes Example 1 or if the speed change data is left in Pre register 1 and some next operation data exists in Pre register 2 Example 2 the PCL will ignore the speed change data and shift the data from the pre registers Then in Example 2 the PCL will start the next operation after shifting the data from the pre registers Example 1 PFM 11 PFM 00 determined undetermined Pre register 1 Complete Pre register 1 determined current operation undetermined Register Current operation data Register Speed change data 1 determined undetermined Example 2 PFM 11 PFM 01 determined undetermined Pre register 1 Complete Pre register 1 determined current operation undetermined Register Current operation data Register determined determined Determine a pre register lt PRESET Control command gt Control command Determine the pre register details as speed change data 133 11 11 2 Software limit function A software limit function can be set up using Comparators 1 and 2 Select COUNTER1 command position as a comparison counter for Comparators 1 and 2 Use Comparator 1 for a positive direction limit and Comparator 2 for a negative direction limit to stop an axis based on the results of the comparator and the operation direction When the software limit function is use
159. hen PRUS gt PRDS 1 Make a linear acceleration deceleration range smaller When PRMV lt PRFH PREL x PRFH PRFL x PRUR PRDR 2 2x PRUS x PRUR 1 2xPRDSx PRDR fj PRMG 1 x 32768 and PRMV gt PRUS PRFL x PRUS x 2 x PRUR PRDR 3 PRDS x PRDR 1 x 4j PRMG 1 x 32768 PRRs A VAT B PRUR PRDR 2 However A PRUS x PRUR 1 PRDS x PRDR 1 B PRMG 1 x 32768 x PRMV 2x Ax PRFL PRUR PRDR 2 x PRFL x PRUR PRDR 2 11 Eliminate the linear acceleration section and make a linear deceleration range smaller When PRMV lt nd PRMG 1 x 32768 ARPA O IAS PRMG 1 x 32768 PRMV gt Change to S curve acceleration deceleration without any linear acceleration PRUS 0 PRDS gt 0 A XA B PRFH lt __ 2xPRUR PRDR 3 However A PRDS x PRDR 1 B PRMG 1 x 32768 x PRMV 2 x Ax PRFL 2 x PRUR PRDR 3 x PRFL x 2 x PRUR PRDR 3 iii Eliminate the linear acceleration deceleration range When PRIN So ee er FRDO FRER FEROR TAKE PRMG 1 x 32768 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 PRMG 1 x 32768 x PRMV PRFLS PRUR PRDR 2 x 2 PRFH lt PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Operation speed acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S
160. hen both the EA and EB input or both the PA and PB inputs change simultaneously and this error can be detected using the REST error interrupt cause register Set the input signal filter for EA EB EZ Set RENV2 EINF bit 18 gt RENV2 WRITE 0 Turn OFF the filter function 23 16 1 Turn ON the filter function Input signals shorter than 3 reference clock cycles are ignored l l l l n Setting the EA EB input Set RENV2 EIMO to 1 bit 20 to 21 gt RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 23 16 01 90 phase difference 2x 11 Input count up count forward pulses or count down pulses Two pulse input 1njnj i Specify the EA EB input count direction lt Set RENV2 EDIR bit 22 gt RENV2 WRITE 0 Count up count forward when the EA phase is leading Or count up count 23 16 forward on the rising edge of EA 1 Count up count forward when the EB phase is leading Or count up count n 1 i a forward on the rising edge of EB Enable disable EA EB input Set RENV2 EOFF bit 30 gt RENV2 WRITE O Enable EA EB input 31 24 1 Disable EA EB input EZ input is valid ni 71 17 Set the input signal filter for PA PB Set RENV2 PINF bit 19 REN V2 WRITE 0 Turn OFF the filter function 23 16 1 Turn ON the filter function Input signals shorter than 3 reference clock cycles are ignored iiie EEE Ia Specify the PA PB input Set RENV2 PIMO to 1 bit 2
161. iately 59 8 3 17 RENV5 register This is a register for the Environment 5 settings Settings for Comparator 5 are its main use 10 9 8 7 6 5 4 3 2 LTOF LTFD LTM1 LTMO IDL2 IDL1 IDLO C5D1 C5DO C5S2 C5S1 C5S0 C5C2 C5C1 C5CO 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 0 o O 0 CUAL CUSL cual CU1L ISMR MSMR SYI1_ SYIO SYO3 SYO2 SYO1 SYOO 0 to 2 C5CO0 to2 Select a comparison counter for comparator 5 000 COUNTER1 command position 1011 COUNTERA general purpose 001 COUNTER2 mechanical position 100 Positioning counter 010 COUNTERS deflection counter 1101 Current speed data 3 to 5 C5S0 to2 Select a comparison method for comparator 5 001 RCMP5 data Comparison counter regardless of counting direction 010 RCMP5 data Comparison counter while counting up count forward 011 RCMP5 data Comparison counter while counting down 100 RCMP5 data Comparison counter 101 RCMP5 data Comparison counter Others Treats that the comparison conditions are not met 6 to 7 C5DO to 1 Select a process to execute when the Comparator 5 conditions are satisfied 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed 8 to 10 IDLO to2 Enter the number of idling pulses 0 to 7 pulses Not defined Always set to 0 12to 13 LTMO to 1 Specify the latch
162. igh speed operation lt Sensor EL ELM 0 ORG gt Even if the axis stops normally it may not be at the origin position However COUNTER 2 mechanical position provides a reliable value ORG EL Operation 1 Operation 2 Emergency stop Operation 3 Emergency stop m High speed operation Sensor EL ELM 1 ORG Even if the axis stops normally it may not be at the origin position However COUNTER 2 mechanical position provides a reliable value ORG EL Operation 1 Operation 2 Operation 3 m High speed operation Sensor EL ELM 1 SD SDM 0 SDLT 0 ORG ORG SD EL Operation 1 Operation 2 Operation 3 Y Emergency stop Operation 4 Y Emergency stop reflect the ERC signal output timing when Automatically output an ERC Note Positions marked with signal is selected for stopping at the origin return d 9 5 1 2 Origin return operation 1 RENV3 ORM 0001 O Constant speed operation lt Sensor EL RENV1 ELM 0 ORG gt ORG EL Operation 1 Operation 2 Emergency stap Operation 3 Emergency ORG EL Operation 1 FA speed Operation 2 Y Emergency Operation 3 v Emergency 9 5 1 3 Origin return operation 2 ORM 0010 O Constant speed operation Sensor EL RENV3 ELM 0 ORG EZ RENV3 EZD 0001 ORG EZ EL Operation 1 Operation 2 Emergency Operation 3 Emergency m High speed operation Sensor EL ORG EZ RENV3 EZD 0001 ORG
163. igh speed start 2 acceleration gt FH constant speed constant speed gt E stop FCHGH Immediate change to FH CNTFL FL constant speed start for remaining constant speed number of pulses FSCHL Decelerate to FL speed CNTFH FH constant speed start for remaining number of pulses FSCHH Accelerate to FH speed CNTD High speed start 1 for remaining number of pulses STOP Immediate stop CNTUD High speed start 2 for remaining number of _ 4Ah SDSTP Deceleration stop lt General purpose port control commands gt Set the P7 terminal HIGH lt Control commands gt COMBO pes COMBO Symbol Invalid command PRECAN Make the operation pre register undetermined Make the RCMP5 operation ME bes d ES bun pre register PRCP5 undetermined 20h CUN1R perc COUNTE RI STAON Substitute a PCS terminal input command position 24h CUN2R Reset COUNTER2 29h LTCH Substitute a LTC terminal input mechanical position Reset COUNTER3 Uses the same process as the Machst deflection counter iS FCSTA input but for own axis EN CUN4R las ES PRESHF Shift the operation pre register data general purpose 24h ERCOUT Output an ERC signal 2Ch PCPSHF Shift the RCMP5 pre register data a pre register 25h ERCRST Reset the ERC signal 4Fh PRSET determined as speed pattern change 159 lt Register control commands gt Register 2nd pre register INo Detail Mas Read command Write command Name Read command Write command
164. ign of the value in COUNTERt1 54h p p p y g return operation using pulsar input Specified position COUNTER2 zero point Determined by the sign of the value in COUNTER2 55h p p p y g return operation using pulsar input 68h Continuous linear interpolation 1 using Determined by the sign of the value in PRMV pulsar input Linear interpolation 1 using pulsar input Determined by the sign of the value in PRMV Continuous linear interpolation 2 using Determined by the sign of the value in PRMV pulsar input Linear interpolation 2 using pulsar input Determined by the sign of the value in PRMV CW circular interpolation using pulsar input Determined by the circular interpolation operation CCW circular interpolation using pulsar input Determined by the circular interpolation operation 69 9 3 1 Continuous operation usina a pulsar input PRMD MOD 01h This mode allows continuous operation using a pulsar input When PA PB signals are input after writing a start command the LSI will output pulses to the OUT terminal The feed direction depends on PA PB signal input method and the value set in PDIR oes direction When the PA phase leads the PB phase 90 phase difference signal ese a direction When the PB phase leads the PA phase 1x 2x and 4x E XN the PB phase leads the PA phase Wee epe em direction When the PA phase leads the PB phase T seimur i Positive direction PA input rising edge EE UND Negative direct
165. ill be equal to a normal acceleration curve 3 If the axis has already passed over the new target position or the target position is changed to a position that is closer than the original position during deceleration movement on the axis will decelerate and stop Then the movement will reverse and complete the positioning operation at the position specified in the new data new RMV value The axis accelerates decelerates only when starting in t t Change to a target further away lt p SS x Fu 3 1 t Change to a target further away FP AA Me t E n Change to a talget SN LS position already passed high speed The target position data RMV register value can be rewritten any number of times until the positioning operation is complete Note1 If the ramping down point is set to automatic and the deceleration time gt acceleration time x 2 it may be the case that the axis cannot reduce the speed to the FL level as shown below In this case if the target position is set closer than original position and the axis is decelerating the axis will decelerate along the deceleration curve from the new override position and then slow to the FL speed and finally stop Then it will start moving to the new position Therefore the axis will overrun the original target position during deceleration shaded area Target position change Speed FH FL Acceleration Y 7 into ae dece
166. ill remain HIGH While the interrupt conditions are satisfied and if the output mask is turned OFF renv1 INTM 0 the ZINT output terminal will go LOW 147 Read the interrupt status lt MSTSW SENI bit2 SERR bit 4 SINT bit 5 gt MSTSW READ SENI 1 Becomes 1 when IEND 1 and a stop interrupt occurs 7 0 Becomes 0 by reading MSTSW SERR 1 Becomes 1 when an error interrupt occurs n n n E Es Becomes 0 by reading REST SINT 1 Becomes 1 when an event interrupt occurs Becomes 0 by reading RIST Set the interrupt mask lt RENV1 INTM bit 29 RENV1 WRITE 1 Mask INT output 34 24 Setting a stop interrupt RENV2 IEND bit 27 RENV2 WRITE 1 Enable a stop interrupt 31 24 Select the stop interrupt mode PRMD MENI bit 7 PRMD WRITE 1 When there is data for the next operation in the pre register the PCL will not 7 0 output a stop interrupt EXPE E ine Ser er coed Copy the data in the RESET register error interrupt cause to BUF Copy the data in the RIST register event interrupt cause to BUF Wie the BUF ala ote RIRO register event intenupt cause ACH Write the BUF data to the RIRQ register event interrupt cause Operation example with setting PRMD MENI This is operation is used in the case of writing setting for next operation and the operation after that at the start 1 When RENV2 IEND 1 and PRMD MENI 0 BSY a ES INT output T Uh S MSTS 2 ee e
167. ing When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the axis will feed at FL constant speed after decelerating is complete PRUS S curve acceleration range register 15 bit Specify the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 TFFFh The S curve acceleration range Ssu will be calculated from the value placed in PRMG Suisse PRUS y e e CIUS NEU ere el PRMG 1 x 65536 In other words speeds between the FL speed and FL speed Ssy and between FH speed Ssy and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS S curve deceleration range setting register 15 bit Specify the S curve deceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 TFFFh The S curve acceleration range Ssp will be calculated from the value placed in PRMG S pss PROS y nes C a ey ic PRMG 1 x 65536 In other words speeds between the FH speed and FH speed Ssp
168. ing a set command to the deflection counter There are two methods for inputting a feedback signal Input 90 phase difference signals 1x 2x 4x on the EA EB terminals and input count up count forward and count down pulses Two pulse mode If both EA and EB signals change at the same time the LSI will treat this as an error and output an INT signal Setting example RENV4 00360000h Satisfy the conditions of Comparator 3 lt COUNTERS deflection Stop immediately when the conditions are satisfied RCMP3 32 The maximum deflection value is 32 pulses RIRQ 00000400h Output an ZINT signal when the conditions for Comparator 3 are satisfied Specify the EA EB input Set RENV2 EIMO to 1 bits 20 to 21 RENV2 WRITE 00 90 phase difference 1x 23 16 01 90 phase difference 2x 10 90 phase difference 4x n n 0 0 E A 11 Two pulse mode count up count forward pulses and count down pulses Specify the EA EB input count direction lt Set RENV2 EDIR bit 22 gt RENV2 WRITE 0 Count up count forward when the EA phase is leading or on the EA rising 93 16 edge 1 Count up count forward when the EB phase is leading or on the EB rising n 0 0 I B edge Read the EA EB input error lt REST ESEE bit 16 gt REST READ 1 An EA EB input error has occurred E 16 Counter reset command lt CUNS3R Control command IDEEECCBE command Clear COUNTERS deflection to zero 22h 135 11 11 4 I
169. interpolation on two other axes This function can be used for things like a circular interpolation between the X and Y axes and to adjust the angle of a jig toward an arc tangent point with the Z axis Also in this operation the U axis operation will be a dummy motion and it cannot be used for any other purpose Linear interpolation circuit Circular interpolation calculation pulse lt Conceptual figure gt Oscillation of the linear interpolation control axis Dummy operation Circular interpolation circuit Using the operation above set the operation mode RMD for the X and Y axes to 66H 67h and set the Z and U axes to 61h Enter the number of circular interpolation steps in the PRMV register for the U axis For details about how to obtain the number of circular interpolation steps see the discussion of circular interpolation with acceleration deceleration in the previous section To write a start or stop command make all the bits in SELx to SELu of the COMB1 register equal to 1 Any axis can be used to write 1 9 8 10 Interpolation operation synchronized with PA PB This function uses the PA PB input signal after magnification or division instead of the internal clock Any PA PB input after the interpolation operation is complete will be ignored 93 9 8 11 Operation during interpolation Acceleration deceleration operations Acceleration and deceleration linear and S curve can be used with Linear
170. ion PB input rising edge count forward or count T Positive direction PB input rising edge down pulses 1 Negative direction PA input rising edge The PCL stops operation when the EL signal in the current feed direction is turned ON But the PCL can be operated in the opposite direction without writing a start command again When stopped by the EL input no error interrupt INT output will occur To release the operation mode write an immediate stop command 49h Note When the immediate stop command 49h is written while the PCL is performing a multiplication operation caused by setting RENV2 PIM O to 1 and RENV6 PMG 0 to 4 the PCL will stop operation immediately and the total number of pulses that are output will not always be an integral multiple of the magnification When RENV6 PSTP is set to 1 the PCL delays the stop timing until an integral multiple of pulses has been output However after a stop command is sent by setting PSTP to 1 check the MSTSW If SRUN is 0 set PSTP to 0 When SRUN is 0 while RENV6 PSTP is 1 the PCL will latch the stop command 9 3 2 Positioning operations using a pulsar input specify incremental position PRMD MOD 51h The PCL positioning is synchronized with the pulsar input by using the PRMV setting as incremental position data This mode allows positioning using a pulsar input The feed direction is determined by the sign in the PPMV register At the start the content in th
171. ions being satisfied amp Stopped by Comparator 4 conditions being satisfied amp Stopped by Comparator 5 conditions being satisfied o o Stopped by turning ON the ELinput 1 0 0 Stopped by turning ON the EL input 10 0 Stopped by turning ON the ALM input 1 1 Stopped by turning ON the amp CSTP input O 0 Stopped by turningONthe CEMGinput Z 1 Deceleration stopped by turning ON the SD input Stopped by an operation data error An EA EB input error occurs does not stop A PA PB input error occurs does not stop Event interrupt causes lt The corresponding interrupt bit is set to 1 and then an interrupt occurred Set cause RIRQ Cause RIST it Bit name IREN O ISEN he next operation starts continuously IRDS 6 ISDS IRC 8 ISC1 IRC2 9 ISC2 When the DR input changes DR o When the DR input changes 18 Event interrupt cause 2 I 22l222222usmzz2 mxr I Bsxs5is5IsessssIsasssia amp olololojoljolololololololololo O SIS O SS SS SO SOS 3 SERIES ERES eletti m O 00 0O O0 D O 1D CO 5 lololo 0 o o t 9 O O OJOJOIOJO DID D 5 fo o o 92g8gjsjejjejjeo o oo e5 O35 1515138 8B BB 9 iv o VD VDIVIVIVDIO O O O LIQ O S S3 SI SI IS5 5 i5lo0l0 Cl lt le l lt iv o V V iS iSlololo 2 2101 13 09
172. it ror oscillator circuit FH correction COUNTER 1 Comparator 1 Command position counter Encoder I F circuit HINT HIFB FWRQ HCEMG CSTA CSTP CLK RCMP1 RCUN1 x A Idling control EAx EBx PAx PBx EZx Sensor input Switch input General purp ELLx COUNTER 4 General purpose 1 2 ALMx counter 4j 5 CLK PCSX 1 Current speed ERCx Positioning countrol counter RSDC I INPx i Current speed Slowdown point CLRx calculation l circuit LTOx ELx ELx SDx ORGx DRx DRx PEx HBSYx i POx P7x I I i X axis circuit AAA A a E E A A iaa a A a A a aaa A a ea ia V mes se ne E a A A S A A e EE E EES l Y axis circuit Same as the X axis circuit PAET EIEEE ARE A o ER EE Sei i ELTE eee Z axis circuit Same as the X axis circuit LORE A A Mn do HL ULMI SEM CUN mtu Dd EU Mcd ae ps asta pastas DAE edo Eee EE I U axis circuit Same as the X axis circuit I epp A a a a a a a it ch cr a a ee ee a ee 6 CPU Interface 6 1 Setting up connections to a CPU This LSI can be connected to four types of CPUs by changing the hardware settings Use the IFO and IF1 terminals to change the settings and connect the CPU signal lines as follows Setting status CPU signal to connect to the 6045BL terminals CPU type H8 4 RD HWR GND FHWAIT There are two access schemes of address signals as follows As for AO please refer to the above 1 Full address s
173. ite 16 bit data which combines the axis assignment and operation command data 7 1 1 Procedure for writing an operation command the axis assignment is omitted Write a command to COMBO address 0 when a Z80 I F is used A waiting time of 4 register reference clock cycles approximately 0 2 usec when CLK 19 6608 MHz is required for the interval between writing a command and writing the next command writing a register and rewriting the I O buffer and between reading a register and reading the I O buffer When the WRQ output signal is used by connecting it to the CPU the CPU automatically ensures this waiting time If you want to use a CPU that does not have this waiting function arrange the program sequence so that access is only allowed after confirming that the IFB output signal is HIGH or the time of 4 reference clock cycles is ensured by software 1 When not using IFB A9 A0 Next address CS i as AAA WR E A O D15 D0 D ara y Oy 2 When using WRQ A9 A0 Next address ss O a A NS ZWR D15 D0 Command WRQ 4 cycles of reference clock is secured automatically 25 7 1 2 Start command 1 Start command If this command is written while the motor is stopped the motor will start rotating If this command is written while the motor is operating it is taken as the next start command COMBO Symbol FL constant speed start FH constant speed start High speed start 1 FH constant
174. l deviation from the specified curve is 0 5 LSB The figure on the right is an example of how to draw a simple circle with a radius of 11 units The LSB refers the minimum feeding unit of the PRMV register setting value It corresponds to the resolution of mechanical system size of the cells in the figure right e Interporation track 01 5 Solid line A circle of radius 11 Dotted line A circle of radius 11 0 5 Circular interpolation with acceleration deceleration To use circular interpolation with acceleration deceleration you have to enter the number of pulses required for circular interpolation circular interpolation step numbers in the PRCI register for the control axis To calculate the number of pulses required for circular interpolation break the area covered by the X and Y axes into 8 0 to 7 sections using the center coordinate of the circular interpolation as the center point See the figure below The output pulse status of each axis in each area is as follows X axis output pulse Y axis output pulse Output according to the Always output interpolation calculation Output according to the interpolation calculation result 2 Always output Output according to the interpolation calculation result Output according to the Always output interpolation calculation 4 Output according to the Always output interpolation calculation result o Always output Output according to the interpolation c
175. lerate to FL Deceleration Normally movement stops without decelerating to FL speed When an override is specified Time l 4 To avoid creating an overrun condition make sure that the deceleration time is less than two times of the acceleration time or if the deceleration time is more than double the acceleration time make the ramping down point a manual setting 107 Note 2 If the LSI starts decelerating by changing the target to a close position the LSI will not re accelerate even if you perform a position override to a position further away again during this deceleration It will feed to the more distant target after decelerating to FL speed Also if you override the target position to lower than the initial RMV setting value during decelerating using the automatic ramp down point setting the LSI will not accelerate using the target position override again If you change the target position to a further position with the position override function while decelerating with the auto ramp down function the LSI will accelerate again Note 3 The position override is only valid while feeding If you perform a position override operation just before stopping the PCL may not accept the position override command To see if the position override command is accepted check the SEOR bit in the main status after issuing the override command If the P
176. leration stop Note 2 20 to CLRO to 1 Specify a CLR input 21 00 Clear on the falling edge 10 Clear on a LOW 01 Clear on the rising edge 11 Clear on a HIGH Specify the INP signal input logic 0 Negative logic 1 Positive logic Specify the PCS signal input logic 0 Negative logic 1 Positive logic Specify the DR DR signal input logic 0 Negative logic 1 Positive logic 26 FLIR 1 Apply a filter to the EL EL SD ORG ALM or INP inputs When a filter is applied signal pulses shorter than 4 usec are ignored 2 DRF 1 Apply a filter to the DR DR or PE inputs When a filter is applied signals pulses shorter than 32 msec are ignored Note1 When a deceleration stop ELM 1 has been specified to occur when the EL input turns ON the axis will start the deceleration when the EL input is turned ON Therefore the axis will stop by passing over the EL position In this case be careful to avoid collisions of mechanical systems 45 8 3 14 RENV2 register This is a register for the Environment 2 settings Specify the function of the general purpose port EA EB input and PA PB input POFF EOFF SMAX PMSK IEND PDIR PIM1 PIMO EZL EDIR EIM1 EIMO PINF EINF P1L POL Oto 1 POMO to 1 Specify the operation of the PO FUP terminals 00 General purpose input 01 General purpose output 10 Output the FUP acceleration signal 11 General purpose one shot signal output T 26 msec Note
177. lsar PA PBNU fnodG co oot emot Ue tappa ibo saa tese datis eese ata deta 67 9 3 1 Continuous operation using a pulsar input PRMD MOD 01h o oooccccnccnnccccnccccnnccccncnoconcconcncnocnnnos 70 9 3 2 Positioning operations using a pulsar input specify incremental position PRMD MOD 51h 70 9 3 3 Positioning operation using pulsar input specify absolute position to COUNTER1 PRMD MOD E 70 9 3 4 Positioning operation using pulsar input specify the absolute position in COUNTER2 PRMD MOD S61 METTRE NEST 70 9 3 5 Command position zero return operation using a pulsar input PRMD MOD 54h 71 9 3 6 Mechanical position zero return operation using pulsar input PRMD MOD 55h 71 9 3 7 Continuous linear interpolation 1 using pulsar input PRMD MOD 68h eeeeeeeeeees 71 9 3 8 Linear interpolation 1 using pulsar input PRMD MOD 69h coooccncccnccnncconccnconoconoconcnnconanoncnnoncnnnnos 71 9 3 9 Continuous linear interpolation 2 using pulsar input PRMD MOD GAN oocccooccncccncccnccnoccnccnoncnnnnnos 71 9 3 10 Linear interpolation 2 using pulsar input PRMD MOD 6Bh ooccccocccnccncccnnccoccnnncnccnconononcononcnnnnnos 71 111 9 3 11 CW circular interpolation using pulsar input PRMD MOD 6CH occccccocccncccoccnccnocccnconanoncononcnnnnnos 71 9 3 12 CCW circular interpolation using pulsar input PRMD MOD 6Dh eese 71
178. lt PRMG 1 x32768 lt PRMV__ pp 2 PRUR PRDR 2 2 S curve acceleration without linear acceleration PRMD MSMD 1 the PRUS register 0 and the PRDS register 0 When PRMy lt PREH PRELS x PRUR PRDR 2 x2 7 PRMG 1 x 32768 PRFH lt _ PRMG 1 x32768xPRMV ppp Y PRUR PRDR 2 x2 3 S curve acceleration deceleration with linear acceleration deceleration PRMD MSMD 1 and the PRUS register gt 0 PRDS register gt 0 3 1 When PRUS PRDS 1 Make a linear acceleration range smaller When PRFH PRFL x PRFH PRFL 2x PRUS x PRUR PRDR 2 PARMA ee APO and PRMG 1 x 32768 PRUS PRFL x PRUS x PRUR PRDR 2 x8 PRMG 1 x 32768 PRMV gt PRFH lt PRUS _ PRUS PRFL IPRMG 1 x 32768 x PRMV PRUR PRDR 2 ii Eliminate the linear acceleration deceleration range When pay lt PRUS PREL x PRUS x PRUR PRDR 2 x 8 p PRMG 1 x 32768 Change to S curve acceleration deceleration without a linear acceleration deceleration range PRUS 0 PRDS 0 PRMG 1 x 32768 x PRMV PRFL PRUR PRDR 2 x2 PRFH lt PRMV Positioning amount PRFL Initial speed PRFH Operation speed PRUR Acceleration rate PRDR Deceleration rate PRMG Speed magnification rate PRUS S curve acceleration range PRDS S curve deceleration range 101 3 2 When PRUS lt PRDS 1 Make a linear acceleration deceleration range smaller When PRMV lt PRFH PREL PRFH PREL x PRUR PR
179. mmon pulse Two pulse mode or 90 phase difference mode The output logic can also be selected Emergency stop signal HCEMG input When this signal is turned ON movement on both axes stops immediately While this signal is ON no movement is allowed on any axes Interrupt signal output An IN Tsignal interrupt request can be output for many reasons The INT terminal output signal can use ORed logic for lots of conditions on each axis When more than one 6045BL LSI is used wired OR connections are not possible 2 Specifications Positioning control range 2 147 483 648 to 2 147 483 647 32 bit Ramping down point setting 0 to 16 777 215 24 bit range a Maik for each axis FL FH and FA speed correction setting speeds Speed magnification range Multiply by 0 1 to 100 Multiply by 0 1 0 1 to 6 553 5 pps Multiply by 1 1 to 65 535 pps Multiply by 100 100 to 6 553 500 pps When the reference clock is 19 6608 MHz Multiply by 152 5 152 5 to 9 999 847 pps When the reference clock is 30 0MHz oe ee acceleration deceleration pattern for both increasing and decreasing characteristics speed separately using Linear and S curve acceleration deceleration range range oe m setting within the range of deceleration time lt acceleration time x 2 automatic setting correction function Manual operation input Manual pulsar input pushbutton switch input COUNTER 1 Command position counter 32 bi
180. motors and servomotors pulse string input types using various commands It can offer various types of control over the pulse strings and therefore the motor performance These include continuous feeding positioning and origin return etc at a constant speed linear acceleration deceleration and S curve acceleration deceleration The PCL6046 controls four axes lt can control the linear interpolation of two to four axes circular interpolations between any two axes confirm PCL operation status and output an interrupt with various conditions lt also integrates an interface for servo motor drivers These functions can be used with simple commands The intelligent design philosophy reduces the burden on the CPU units to control motors 1 2 Features CPU I F The PCL6046 contains the following CPU interface circuits 1 8 bit interface for Z80 CPU 2 16 bit interface for 8086 CPU 3 16 bit interface for H8 CPU 4 16 bit interface for 68000 CPU Direct access to internal registers If address buses AO to A9 are connected it is available to write into read from register directly without any commands If only AO to A2 A8 and A9 are connected it is available to use 32 bite occupied area Acceleration Deceleration speed control Linear acceleration deceleration and S curve acceleration deceleration are available Linear acceleration deceleration can be inserted in the middle of an S curve acceleration deceleration curve Specify the S
181. mparator There are five comparator circuits for each axis They can be used to compare target values and internal counter values The counter to compare can be selected from COUNTER 1 command position counter COUNTER 2 mechanical position counter COUNTER 3 deflection counter and COUNTER 4 a general purpose counter Comparators 1 and 2 can also be used as software limits SL SL Software limit function You can set software limits using two of the comparator s circuits When the mechanical position approaches the software limit range the LSI will instruct the motors to stop immediately or to stop by deceleration After that these axes can only be moved in the direction opposite to their previous travel Backlash correction function Slip correction function Both the backlash and slip corrections are available Backlash correction corrects the feed amount each time the feed direction is changed Slip correction corrects the feed amount regardless of the feed direction However the backlash correction cannot be applied while performing a circular interpolation Synchronous signal output function The LSI can output pulse signals for each specified rate interval Simultaneous start function Multiple axes controlled by the same LSI or multiple sets of this LSI can be started at the same time by a command or an external signal Simultaneous stop function Multiple axes controlled by the same LSI or multiple sets of this LSI
182. n inter pbsiglgl s eam intret De honte Du belium be UEM eene I ub eMe teda bebo ee tetuta 147 T2 Electrical CharacteriSle S t piter Dn ue Deae eben OS A 150 12 1 ADSOlte maximum FINOS eise A A Rte ob A do Odo aa 150 12 2 Recommended operating conditions cccooncnconcnccocnncnncnnnnncnnonncnnnnncnnonnnonnnnnnnnnnnnnnrnrrnnrnrrnnrnrrnnrnnenannss 150 12 9 DC characters ieS s aieo totes toc os O it 150 12 4 AC characteristics 1 reference clock 12 eese nenne nennen nnn nnne nnn nn nnn 151 12 0 AC characierisiues Z C PB NA dide 152 12 51 CPU TETTE IE ZO a mit mmu I uenti enc EU inque assu ti quen uoce dpa 152 2293 OPUF S IFTS NIU IN e 154 12 544 CPUEVP ANF T LFO S L3 99000 ia A Ai 155 12 6 Operation timing Common to all axesS oooccccocccncococcnnononnnnconcnnnononennononcnnnnnnrnnnonnncnnnnnrnnnnnnnnnnnonaninos 156 13 External DIMENSIONS e E 158 Appendix 1 List of COMMAaANGS sd is 159 Appendix 2 Setting speed pattern cocccccocnncconnnoconnnoconononcncnonnnonnnnononnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnenannnenanenes 162 Handling Precautons ne a ibi 166 1 Design Precaulions an 166 2 Precautions Tor transporting and Storing LOSIS i id 166 3 Procautons 1OF INStallatlOn bso 166 A OMEr DICCAULIONS sisicecniat zante T I mem 167 1 Outline and Features 1 1 Outline The PCL6046 is a CMOS LSI designed to provide the oscillating high speed pulses needed to drive stepper
183. nal result after multiplying or dividing Specify COUNTER 2 mechanical position input lt RENV3 CI20 to 21 bit 8 to 9 gt RENV3 WRITE 00 EA EB input 15 8 01 Output pulses 10 PA PB input l l l l l In n Set COUNTER 3 deflection input lt RENV3 CI30 to 31 bit 10 to 11 RENV3 WRITE 00 Measure the deflection between output pulses and EA EB input 15 8 01 Measure the deflection between output pulses and PA PB input 10 Measure the deflection between EA EB input and PA PB input 1 I n n E lel Set COUNTER 4 general purpose input RENV3 CIAO to 41 bit 12 to 13 RENV3 WRITE 00 Output pulses 15 8 01 EA EB input 10 PA PB input nini 1 1 11 1 2 of reference clock CLK 124 The EA EB and PA PB input terminal that are used as inputs for the counter can be set for one of two signal input types by setting the RENV2 environment setting 2 register 1 Signal input method Input 90 phase difference signals 1x 2x 4x Counter direction Count up count forward when the EA input phase is leading Count down when the EB input phase is leading 2 Signal input method Input count up count forward pulses or count down pulses Two pulse input Counter direction Count up count forward on the rising edge of the EA input Count down on the falling edge of the EB input The counter direction or EA EB and PA PB input signals can be reversed The LSI can be set to sense an error w
184. ncircularinterpolation mode gt S 9 IPSy X Jt Y axis is in circular interpolation mode gt 4 20 to 21 SDMO to 1 Current quadrant of a circular interpolation 00 1st quadrant 01 2nd quadrant 10 3rd quadrant 11 4th quadrant 22 to 23 SEDO to 1 Final phase in a circular interpolation 00 1st quadrant 01 2nd quadrant 10 3rd quadrant 11 4th quadrant 24 to 31 Not defined Always set to O 64 9 Operation Mode Specify the basic operation mode using the MOD area bits O to 6 in the RMD operation mode register 9 1 Continuous operation mode using command control 9 This is a mode of continuous operation A start command is written and operation continues until a stop command is written Operation method Direction of movement 00h Continuous operation from a command Positive direction 08h Continuous operation from a command Negative direction Stop by turning ON the EL signal corresponding to the direction of operation When operation direction is positive EL can be used When operation direction is negative EL can be used In order to start operation in the reverse direction after stopping the motion by turning ON the EL signal a new start command must be written 2 Positioning operation mode The following seven operation types are available for positioning operations Positive direction when PRMV 2 0 specify target increment position Negative direction when
185. nd RMV 7200 the table will rotate twice and the value in COUNTER1 when stopped will be the same as the value before starting Note To use the ring counter function set the count value between 0 and the value in RCMPn If the value is outside the range above the PCL will not operate normally Set the comparator conditions C1S0 to 2 C2S0 to 2 when using a counter as a ring counter to 000 Setting example RENV4 XXXXXX80h COUNTER is in ring counter mode C1RM 1 C1S0 to 2 000 C1C0 to 1 00 RCMP1 4 Count range 0 to 4 DIR ee OUT COUNTER 0 A 1X 2X 3X 4X OX TA 2A SK 4K OX 1 OX 4A 3K 2X 1A OK 4X 3A 2K IX OK 4K 3 sure 11 12 Backlash correction and slip correction This LSI has backlash and slip correction functions These functions output the number of command pulses specified for the correction value in the speed setting in the RFA correction speed register before command operation The backlash correction is performed each time the direction of operation changes The slip correction function is performed before a command regardless of the feed direction The correction amount and method is specified in the RENV6 environment setting 6 register The operation of the counter COUNTER 1 to 4 can be set using the RENV3 CU1B to CU4B Enter the correction value RENV6 BRO to 11 bits O to 11 gt RENV6 15 8 eta m on ono 7 0 oo on nin nin Backlash or slip correction amount value 0 to 4095
186. nd limit signal in the positive direction When this signal is ON while feeding in the positive direction motion of an axis will stop immediately or will decelerate and stop Specify the input logic using the ELL terminal The terminal status can be checked using an SSTSW command signal sub status Input U Negative Input end limit signal in the negative direction When this signal is ON while feeding in negative direction motion of an axis will stop immediately or will decelerate and stop Specify the input logic using the ELL terminal The terminal status can be checked using an SSTSW command Signal sub status Input U Negative Input direction deceleration deceleration stop signal Selects the input method LEVEL or LATCHED inputs The input logic can be selected using software The terminal status O3 O3 Cc C O O S C m m can be checked using an SSTSW command signal sub status Input Negative Input direction deceleration deceleration stop signal Selects the input method o or LATCHED inputs The input logic can be selected using software The terminal status can be checked using an SSTSW command signal sub status Input U Negative Input origin position signal Used for origin position operations Edge detection The input logic can be selected using software The terminal status can be checked using an SSTSW command signal sub status put U ae Input alarm signal When
187. neral purpose input 01 General purpose output 10 Output the CP4 satisfied the Comparator 4 conditions signal with negative logic 11 Output the CP4 satisfied the Comparator 4 conditions signal with positive logic 14 to 15 P7MO to 1 Specify the operation of the P7 CP5 terminals 00 General purpose input 01 General purpose output 10 Output the CP5 satisfied the Comparator 5 conditions signal with negative logic 11 Output the CP5 satisfied the Comparator 5 conditions signal with positive logic Specify the output logic when the PO terminal is used for FUP or as a one shot 0 Negative logic 1 Positive logic 17 P1L opecify the output logic when the P1 terminal is used for FDW or as a one shot 0 Negative logic 1 Positive logic EINF 1 Apply a noise filter to EA EB EZ input 46 Ignores pulse inputs less than 3 CLK signal cycles long Kd ou 1 Apply a noise filter to PA PB input Ignore pulse inputs less than 3 CLK signal cycles long Ed to 21 EIMO to 1 Specify the EA EB input operation 00 Multiply a 90 phase difference by 1 Count up count forward when the EA input phase is ahead 01 Multiply a 90 phase difference by 2 Count up count forward when the EA input phase is ahead 10 Multiply a 90 phase difference by 4 Count up count forward when EA input phase is ahead 11 Count up count forward when the EA signal rises count down when the EB signal rises
188. nical position 26 RCMP3 32 R W Comparison data for comparator 3 29 RIRQ 19 R W Specify event interruption cause 35 REST 18 R W Error INT status 42 RIPS 24 R Interpolation status 35 8 2 Pre registers The following registers and start commands have pre registers RMV REL RFH RUR RDR RMG RDP RMD RIP RUS RDS RCI and RCMP5 The term pre register refers to a register which contains the next set of operation data while the current step is executing This LSI has the following 2 layer structure and executes FIFO operation The pre registers consist of two groups the operation pre registers PRMV PRFL PRFH PRUR PRDR PRMG PRDP PRMD PRIP PRUS PRDS PRCI and the comparator pre register PRCP5 Change 5 1st Register Operation Setting pre register current data control circuit PRMV etc RMV etc 8 2 1 Writing to the operation pre registers The pre registers have a two layer structure and each register can contain up to two pieces of operation data Write the data to a pre register P register name Registers that don t need to be changed do not need to be rewritten When the PCL stops its current operation the data you wrote to the pre registers is shifted into the working registers and used as the current data When the PCL is operating the data remains stored as pre register data The data will be transferred into the pre registers when a start command is issued When the current
189. nnanonconancnnononcnnnnnos 89 9 8 5 Linear interpolation 1 PRMD MOD 61h oooccccccnccnnccnnccnconoconcononononnnnoncononcnnonnnrnnonnnrnnnonancnnonancanonnns 89 9 8 6 Continuous linear interpolation 2 PRMD MOD 62h occccooccncccoccnccccoccnconoconononcnnonnnconconancnnonancnnnnnos 90 9 8 7 Linear interpolation 2 PRMD MOD 63h ooooccccccoccnncccncnnconoconcononononnnnoncononcnnononrnnnnnaronnnnnnrnnonannnnnnnns 90 9 6 6 Circular interpolation mec 91 9 8 9 Circular interpolation synchronized with the U 2xiS cocoocccccooncnnccconcnconononnononcnncnnanonconancnonancnnnnnnos 93 9 8 10 Interpolation operation synchronized with PA PB oocccccccncccccncccccncconcnnononononononnnnnonnnnononnnononcnonos 93 9 8 11 Operation during interpolation cooocccccccnccocnccconncconononononononnnnnnnnnnnnnnnnnnnonnnnonnrnnonnnnononnnenananonos 94 TOS SPCC DAUGIAS eer RT 95 TOPS Speed patos Tt M uae teen 95 10 2 gt Speed pate SCMINGS inshore ia 96 10 32Mantal FA COME CON al cates ee cea hee ad ital bina ce ee labora uate 100 10 4 Example of setting up an acceleration deceleration speed patterN ooocccccccccccccncccncncononononononononos 104 10 5 Changing speed patterns while in OperatioON cccoocccocccncoconnconcnnncncnnonanononanononannnonnnnononnnonannnnanons 105 Tie DESCAPUON Ote FUNCIONS assine mE 106 Tete R
190. nnnnnnnns 124 11510 2 COUMTCE re Sellos Mutant Um Me aiino Me Tate dui oe Medent esa ieu iso CUM Tc dM LET ei 127 11 10 3 Latch the counter and count condition coocccocnccocccocnccncncnncncnnnononnnononnnncnonnrononnnnnnnonaninnnnnss 128 T1s10 4 SlO ME COlITIIBE e bM adest a A a a efe ide Mero A 129 MASON Pa RE E 130 11 11 1 Comparator types and TUNC IONS occcccccccccccnnconnnononnnononnnonnnnnnonnnononnnonnnnnnnnnnnnnnnnnnonnnnnnnnnononons 130 T T1122 SOI UNA HOP ctcias viedo te aces at e cae e Murator esee 134 11 11 3 Out of step stepper motor detection TUNC ION cccooccccccccnccconcnccncnononenononnnonnnnnnnnnnnnonnnononenonannnos 135 11 11 4 IDX synchronous signal output FUNCTION cccccocnnncccoccnnonononnnoncnnnonanonnononnnnonnnrnnnonancnnnnnrnnnnnnos 136 11 115 RING COUNETUNCU ON aa 137 11 12 Backlash correction and slip correction oocccoccccocnccccncconccocnonnnncnnnnnnnnnnnnnnonnnonnnnnnnnnonnnnnnrnnonnnnnanenos 138 11 13 Vibration restriction TUNC ON ooocccccocncncononcnnononcnnnnnnccnonnennononrnnnonnrnnnonnrnnrnnnrnnnnnnrnnnnnnnrnnnnnarinnnnaninns 139 TIsT4 Synchronous Sta MING src ti 140 11 14 1 Start triggered by another axis StOppiNQ c oooccccccocccncococcnnononcnnonononcnnnncnnononcnnnnnnrnnnonanennnnnrinnnnnas 141 11 14 2 Starting from an internal synchronous signal oooccccocccncccoccnccnononconononcononcnnnnnnrnnnnnnrononancnnonnnos 145 MAIS Output a
191. ns are satisfied using negative logic 15 8 11 Output CP3 Comparator 3 conditions are satisfied using positive logic EET zi Specify the use of the P6 CP4 terminal Set RENV2 P6MO to 1 bits 12 to 13 RENV2 WRITE 10 Output CP4 Comparator 4 conditions are satisfied using negative logic 15 8 11 Output CP4 Comparator 4 conditions are satisfied using positive logic Em UE B Specify the use of the P7 CP5 terminal Set RENV2 P7MO to 1 bits 14 to 15 RENV2 WRITE 10 Output CP5 Comparator 5 conditions are satisfied using negative logic 15 8 11 Output CP5 Comparator 5 conditions are satisfied using positive logic m ELSE ical 146 11 15 Output an interrupt signal This LSI can output an interrupt signal INT signal There are 17 types of errors 19 types of events and change from operating to stopping that can cause an INT signal to be output All of the error interrupt causes will always output an FINT signal Each of the event causes can be set in the RIRQ register to output an INT signal or not A stop interrupt is a simple interrupt function which produces an interrupt separate from a normal stop or error stop For a normal stop interrupt to be issued the confirmation process to read the RIST register is necessary as described in the Cause of an Event section If your system needs to provide a stop interrupt only when a stop occurs it is easy to use the stop interrupt function To approximate a fr
192. ns marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for stopping at the origin return Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is O the LSI will output an ERC signal at positions marked with an asterisk X 80 9 5 1 8 Origin return operation 7 RENV3 ORM 0111 O Constant speed operation lt Sensor EL EZ RENV3 EZD 0001 gt EZ EL Operation 1 FA m High speed operation Sensor EL EZ RENV3 EZD 0001 EZ EL Operation 1 LED 9 5 1 9 Origin return operation 8 RENV3 ORM 1000 FA speed O Constant speed operation Sensor EL EZ RENV3 EZD 0001 EZ EL Operation 1 EZ EL Operation 1 9 5 1 10 Origin return operation 9 RENV3 ORM 1001 m High speed operation Sensor EL ORG EL Operation 1 Operation 2 Operation 3 Note Positions marked with reflect the ERC si nal output timing when Automatically output an ERC signal is selected for stopping at the origin return 1 and RENV1 ELM bit 3 0 is 0 the LSI will output an ERC signal Also when REMV1 EROE bit 10 at positions marked with an asterisk 81 9 5 1 11 Origin return operation 10 RENV3 ORM 1010 m High speed operation Sensor EL ORG EZ RENV3 EZD 0001 ORG EL Operation 1 Operation 2 Emergency stop Operation 3 Emergency stop 9 5 1 12 Origin return operation 1
193. o apply a filter to the DR or PE inputs Set the input logic of the DR DR signals lt Set RENV1 DRL bit 25 gt RENV1 WRITE 0 Negative logic 31 24 1 Positive logic BREBERhE Applying a DR or PE input filter Set RENV1 DRF bit 27 RENV1 WRITE 1 Apply a filter to DR input or ZPE inputs 31 24 When a filter is applied pulses shorter than 32 msec will be ignored Ett jajaja Setting an event interrupt cause Set RIRQ IRDR bit 17 gt RIRQ WRITE 1 Output the INT signal when DR signal input changes 23 16 0 0 0j 0j 0 n Reading the event interrupt cause lt RIST ISPD bit 17 and RIST ISMD bit 18 gt RIST READ ISPD bit 17 1 When the DR signal input changes 23 16 ISMD bit 18 1 When the DR signal input changes 0 Of 0 O nj n Read operation status RSTS CND bits O to 3 gt RSTS READ 0001 Waiting for a DR input 7 0 se Rf Reading the DR signal RSTS SDRP bit 11 and RSTS SDRM bit 12 RSTS READ SDRP 0 DR signal is OFF SDRP 1 DR signal is ON 15 8 SDRM 0 DR signal is OFF SDRM 1 DR signal is ON leida ies pe The external switch operation mode has the following two forms Operation mode Direction of movement Continuous operation using an external switch Determined by DR DR input Positioning operation using an external switch Determined by DR DR input 9 4 1 Continuous operation using an external switch PRMD MOD 02h
194. om a CPU this signal will go LOW When the LSI finishes processing this signal will go HIGH The LSI makes sure that this terminal is HIGH and then proceeds to the next step Input Positive Bi directional data bus When connecting a 16 bit data bus connect the lower 8 signal lines here Input Positive Bi directional data bus When connecting a 16 bit data bus connect the upper 8 signal lines here When a Z80 1 F IF 1 H IFO H is used provide a pull up resistor 5k to 10 K ohms on VDD One resistor can be used for all 8 lines Input Negative Input Output terminal for simultaneous start Output When more than one LSI is used and you want to start them simultaneously connect this terminal on each LSI Logic Description The terminal status can be checked using an RSTS command signal extension status Input Negative Input Output terminal for a simultaneous stop Output When more than one LSI is used and you want to stop them simultaneously connect this terminal on each LSI The terminal status can be checked using an RSTS command signal extension status Input U Negative Input for an emergency stop While this signal is LOW motion cannot start If this signal changes to LOW while in operation all the motors will stop operation immediately Input U Specify the input logic for the EL signal LOW The input logic on EL is positive HIGH The input logic on EL is negative Input U Negative Input e
195. on stopi FL command 49h is written to the register an axis immediately stops When positioning with a high speed start command 1 52h the ramping down point is fixed to the manual setting regardless of the setting for MSDP bit 13 in the PRMD If the ramping down point setting PRDP is zero the axis will stop immediately When idling pulses are added by setting IDL in RENV5 to a non zero value after outputting idling pulses at FL speed motion of an axis will accelerate to FH speed High speed operation 2 1 Write high speed command 2 1 Write high speed start command 2 53h 93h f 2 Start deceleration when a ramping down 2 Start deceleration by writing ajpoint is reached or by writing a deceleration FH deceleration stop command 4Ah _ stop command 4Ah f the ramping down point is set to manual FL When the deceleration stop MSDP 1 in the PRMD and the command 49h is written to the ramping down value PRDP is zero the axis register motion of an axis starts Will stop immediately deceleration 95 10 2 Speed pattern settings Specify the speed pattern using the registers pre registers shown in the table below If the next register setting is the same as the current value there is no need to write to the register again Bit length 2 147 483 648 to 2 147 483 647 80000000h 7FFFFFFFh Initial speed 1 to 65 535 OFFFFh PRFH Operation speed 3 o to 65 535 pur PRMV
196. on time to be used as a timer The internal effect of this operation is identical to the positioning operation However the LSI does not output any pulses Therefore the internal operation time using the constant speed start command will be a product of the frequency of the output pulses and the RMV register setting Ex When the frequency is 1000 pps and the RMV register is set to 120 pulses the internal operation time will be 120 msec Write a positive number 1 to 2 147 483 647 into the PRMV register The EL input signal SD input signal and software limits are ignored These are always treated as OFF The ALM input signal CSTP input signal and CEMG input signals are effective The backlash slip correction vibration restriction function and when changing direction this timer function is disabled The LSI stops counting from COUNTER1 command position Regardless of the PRMD MINP bit 9 setting an operation complete delay controlled by the INP signal will not occur In order to eliminate deviations in the internal operation time set the PRMD METM bit 12 to zero and use the cycle completion timing of the output pulse as the operation complete timing 66 9 3 Pulsar PA PB input mode This mode is used to allow operations from a pulsar input In order to enable pulsar input bring the PE terminal LOW Set POFF in the RENV2 register to zero It is also possible to apply a filter on the PE input After writin
197. ons satisfied signal using positive logic Specify the P7 CP5 terminal specifications lt Set RENV2 P7MO to 1 bits 14 to 15 RENV2 WRITE 00 General purpose input 15 8 01 General purpose output 10 Output CP5 Comparator 5 conditions satisfied signal using negative logic In n 11 Output CP5 Comparator 5 conditions satisfied signal using positive logic 132 Specify the output timing for an internal synchronous signal RENV5 WRITE Set RENV5 SYO1 to 3 bits 16 to 19 gt 23 16 0001 When the Comparator 1 conditions are satisfied 0010 When the Comparator 2 conditions are satisfied 1 1 nin n 0011 When the Comparator 3 conditions are satisfied 0100 When the Comparator 4 conditions are satisfied 0101 When the Comparator 5 conditions are satisfied 1000 When the acceleration starts 1001 When the acceleration is complete 1010 When the deceleration starts 1011 When the deceleration is complete Others Turn OFF internal synchronous output signal Speed change using the comparator When the comparator conditions are satisfied you can use the function Rewrite operation data with pre register data This function is used to change the speed at a specified position Also Comparator 5 has a pre register function and can be specified for use in changing the speed several time In this case use the command to determine pre register 4Fh to specify several sets of speed data If t
198. operation completes the data will be shifted into the working registers and the PCL starts the new operation automatically The status of the pre registers can be checked by reading PFM in the RSTS register When the PFM is value is 11 SPRF in the main status register MSTSW changes to 1 Writing data while the pre register is full is not allowed To change the current operating status before the operation is complete such as when you want to change the speed write the new data directly to the working register The relationship between the write status of the pre registers and the possible PFC values are as follows 2nd pre register 1st pre register Working register SPRF 0 0 0 mallas Undetermined Undetermined Undetermined ofo Data 1 is Data 1 is Data 1 is Data 1 is Data 1 is Data 1 is Enim cro A Start command while in operation undetermined determined determined command while in operation determined determined determined Data 1 is complete undetermined determined determined Also by setting an event interrupt cause in the RIRQ register IRNM the PCL can be set to output an ZINT signal as the 2nd pre register changes from determined to undetermined status when the operation is complete Note When you want the next operation to start automatically using the pre registers set the operation completion timing to cycle completion METM 0 on PRMD When pulse completion METM 1 on PRMD is set the time betwe
199. or the interpolated axis will change using the same pattern The RSPD speed monitor feature is only available for the interpolation control axes However when linear interpolation 2 is used the value read out will be the main axis speed lt Precautions for using the synthesized speed constant control bit MIPF 1 gt 1 Positioning is possible only at the unit s resolution position for machine operation Therefore even if an interpolation operation is selected the machine will use the following points to approximate to an ideal or arc and the actual feed pattern will be point to point zigzag feeding With this feed pattern the actual feed amount will be longer than the ideal linear line or an ideal arc The function of the synthesized constant speed control in this LSI is to make constant synthesized speeds for multiple axes in simultaneous operation which does not mean that the speed through the ideal locus trajectory is constant For example with linear interpolation in the Y Slave axis End coordinates figure on the right using the constant 10 4 synthesized speed feature the PCL will make a constant synthesized speed in order 3 to feed at a 45 angle by decreasing each 2 LES E inen 1 speed is 1 pos will be 6 44271165 gL 1 TTL TTT px aester axs seconds 0 5 10 The length of the ideal line dotted line is 492 42 10 77 If the machine can be fed by just following the ideal line the feed inte
200. ounter value is 0 the PCL will not decrease it further The counter value at the completion of a circular interpolation is held in the PCL memory until the start of the next circular interpolation operation The range for this value is O to 4 294 967 295 This register is shared by all axes and the value is same when read from any axis 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 4 3 2 63 8 3 42 RIPS register This register is used to check the interpolation setting status and the operation status Read only This register is shared by all axes and the value is same when read from any axis 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 IPFu IPFz IPFy IPFx IPSu IPUz IPSy IPSx IPEu IPEz IPEy IPEx IPLz IPLy IPLy IPLx e 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 o o O o jo o 0 0 JSED SEDO SDM SDMO IPCC IPCW IPE IPL O0 JPLix f Xaxisisinlinearinterpolationt mode 1 01 1 JPLy X 1 Yaxisisinlinearinterpolation mode C 2 IPLz fi Zaxis is in linear interpolation 1mode 1 3 IPLu Jf U axis is in linear interpolation 1 mode L0 4 PEx Jf X axis is in linear interpolation 2 mode 1 1 1 5 PEy Jf Y axis is in linear interpolation 2 mode 6 PEz J ftZaxiisinlinearinterpoation 2 mode 1 8 IPSx 1 Xaxisisi
201. peed operation High speed operation f f f Decelerate to FL FH 1 e d Accelerate to FH t FL FL t t SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 2 Latch and decelerate lt RENV1 SDM bit 4 0 RENV1 SDLT bit 5 1 gt While feeding at constant speed the SD signal is ignored While in high speed operation decelerate to FL speed by turning the SD signal ON Even if the SD signal is turned OFF after decelerating or while decelerating the axis will continue moving at FL speed and will not accelerate to FH speed If the SD signal is turned ON while writing a high speed command the axis will feed at FL speed Even if the SD signal is turned OFF the axis will not accelerate to FH speed FL constant speed operation FH constant speed operation High speed operation f f f Decelerate to FL FH c FL FL t t SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 113 3 Deceleration stop lt RENV1 SDM bit 4 1 RENV1 SDLT bit 5 0 If the SD signal is turned ON while in constant speed operation the axis will stop While in high speed operation the axis will decelerate to FL speed when the SD signal is turned ON and then stop If the SD signal is turned OFF during deceleration the axis will accelerate to FH speed If the SD signal is turned ON after writing a start command the axis will complete its operation without another start When stopped t
202. perating Initial operation Next operation Stoppin Y axis pp ng Initial operatio Next operation Operating When using continuous interpolation without changing the interpolation axes you may set the next operation in the pre register you don t need to specify any stop conditions rather using the start when another axis stops function The settings are shown in Example 2 below The example below describes only the items related to the operations The settings for speed and acceleration are omitted Example 2 How to set up a continuous interpolation X Y axis circular interpolation followed by an X Y axis linear interpolation without changing the interpolation axes PRMV 1000 X 31000 X and Y axes perform an circular PRIP 1000 O interpolation operation of a 90 curve with a PRMD 0000_0064h 0000_0064h radius of 10000 Start command Write 0351h FH constant speed start X and Y axes start command PRMV 10000 9000 X and Y axes perform a linear interpolation 1 PRMD 0000_0061h 0000_0061h with an end point 1000 5000 Start command Write 0351h FH constant speed start X and Y axes start command After the settings above are complete the LSI will execute a continuous operation in the order shown below 1 The X and Y axes perform a CW circular interpolation operation of a 90 curve with a radius of 10000 2 The X and Y axes perform a linear interpolation 10000 5000 Precautions are needed for continuou
203. peration data error will occur After setting the operation speed for the interpolation control axes specify whether to use or not the synthesized speed constant control in the PRMD registers or specify an end point position in the PRMV register for all of the interpolated axes The direction of operation is determined by the sign of the value in the PRMV register Automatically the axis with the maximum feed amount maximum absolute value in the PRMV register will be considered as the master axis The other axes will be the slave axes When a start command is written the LSI will output pulses to the master axis and the slave axes will be supplied a smaller number of pulses than the master axis Write a start command by setting either the SELx to SELu bits corresponding to the interpolation axes in COMB1 to 1 Either axis can be used to write a start command Setting example Use the settings below and write a start command 0751h The PCL will output pulses with the timing shown in the figure below Entering values in the blank items will not affect operation Setting X axis Y axis Z axis 61h MIPF 0 OFF PRMV value Operation speed 1000 pps Interpolation control axis Master axis slave axis Slave axis X axis output pulse l d1F Lf 4F 1F 1 2 3 4 5 6 7 8 9 10 Y axis output pulse lt gt 1000pps Z axis output pulse Precision of linear interpolation As shown in the figure on the right linear
204. purpose l O terminals PO to P7 Bits corresponding to terminals not set as outputs are ignored When writing a word the upper 8 bits are ignored However they should be set to O for future compatibility OTPO to 7 Specify the status of output terminals POn to P7n n x y Z u A HIGH is output when the bit is set to 1 OTPW OTPB FB IATA IZ 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 6 5 3 Write read the input output buffer BUFW BUFB When you want to write data into a register after placing the data in the input output buffer write a register write command into COMBO The data in the input output buffer will be copied into the register When you want to read data from a register write a register read command into COMBO The data in the register will be copied to the input output buffer Then you can read the data from the input output buffer The order for writing and reading buffers BUFWO to 1 BUFBO to 3 is not specified The data written in the input output buffer can be read at any time BUFW1 BUFWO BUFB3 BUFB2 BUFB1 BUFBO i M d AM 37 c r4 ol 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 131211109 8 7 65 43 2 100 222 6 5 4 Reading the main status MSTSW MSTSB MSTSW MSTSB1 MSTSBO EA A ee a e da TO Cet tC tee 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 Bit Bit name Details 0 SSCM Set to 1 by writing a start comm
205. r COUNTER1 command position Read only The contents of COUNTER1 are copied when triggered by the LTC an ORG input or an LTCH command Data range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 54 3 2 1 0 8 3 31 RLTC2 register Latched data for COUNTER2 mechanical position Read only The contents of COUNTER2 are copied when triggered by the LTC an ORG input or an LTCH command Data range 2 147 483 648 to 2 147 483 647 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 4 3 2 1 0 58 8 3 32 RLTC3 register Latched data for COUNTER3 deflection counter or current speed Read only The contents of COUNTER3 or the current speed are copied when triggered by the LTC an ORG input or an LTCH command When the RENV5 LTFD is O the register latches the COUNTER3 data When the LTFD is 1 the register latches the current speed When the LTFD is 1 and movement on the axis is stopped the latched data will be 0 Data range when LTFD is 0 32 768 to 32 767 Data range when LTFD is 1 O to 65 535 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211109 8 76 5 43 2 1 0 Bits marked with a will be the same as bit 15 when LTFD bit 14 in the RENV5 register is O sign extension and they will be O when the LTFD is 1 8 3 33 RLTC4 register Latched data for COUNTER4 general purpose Read only The contents of COUNTER4 ar
206. r both the X and Y axes In order to make the operation complete timing the same set the RCMP1 value to 1001 or set the comparison conditions to Comparator 1 lt comparison counter 145 Specify the use of the PO FUP terminal Set RENV2 POMO to 1 bits O to 1 gt RENV2 WRITE 10 Output an FUP accelerating signal 7 0 ACRE Specify the use of the P1 FDW terminal lt Set RENV2 P1MO to 1 bits 2 to 3 gt RENV2 WRITE 10 Output an FDW decelerating signal 7 Select the output logic for PO one shot FUP Set RENV2 POL bit 16 gt RENV2 WRITE 0 Negative logic 93 16 1 Positive logic PASERI E Select the output logic for P1 one shot FDW Set RENV2 P1L bit 17 RENV2 WRITE 0 Negative logic 23 16 1 Positive logic 120 one opecify the use of the P3 CP1 SL terminal RENV2 WRITE Set RENV2 P3MO to 1 bits 6 to 7 gt 7 0 10 Output CP1 Comparator 1 conditions are satisfied using negative logic 11 Output CP1 Comparator 1 conditions are satisfied using positive logic ininj j E Specify the use of the P4 CP2 SL terminal RENV2 WRITE lt Set RENV2 P4M0 to 1 bits 8 to 9 gt 45 8 10 Output CP2 Comparator 2 conditions are satisfied using negative logic 11 Output CP2 Comparator 2 conditions are satisfied using positive logic 1 171 1 1 nin Specify the use of the P5 CP3 terminal Set RENV2 P5MO to 1 bits 10 to 11 RENV2 WRITE 10 Output CP3 Comparator 3 conditio
207. ration this LSI can execute the following interpolation operations PRMD MOD v Operation mode PRMD MOD Operation mode Continuous linear interpolation 1 for 67h CCW circular X interpolation 2 to4 axes synchronized with the U axis E A E A synchronized with PA PB nput 1 to 4 axes synchronized with PA PB WA Linear interpolation 2 for 1 to 4 axes Continuous linear interpolation 2 synchronized with PA PB input 64h Circular interpolation CW 6Bh Linear interpolation 2 na with PA PB input Circular interpolation CCW circular interpolation sn PIE with PA PB input circular interpolation CCW circular X interpolation RIP with the U axis synchronized with PA PB input Continuous linear interpolation is the same as the linear interpolation used to feed multiple axes at specified rates and to start and stop feeding using commands such as the continuous mode commands Interpolation 1 executes an interpolation operation between any two to four axes in the LSI Interpolation 2 is used to control five axes or more using more than one LSI and to control feeding using linear interpolation Independent operation of the un interpolated axes is also possible The interpolation settings and operation status can be monitored by reading the RIPS interpolation status register The RIPS register is shared by all axes Reading from any axis will return the identical information Write start and stop commands to all axes to execute
208. re writing the next set of data In both case1 and case 2 when the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically Next address Data or command Data Data Data Data Command we E H More than 2 cycles More than 4 cycles of reference clock of reference clock 7 4 2 Procedure for reading data from a register by indirect access the axis assignment is omitted 1 First write a register reading out command to COMBO address 0 when a Z80 I F is used 2 Wait at least four reference clock cycles approx 0 2 usec when CLK 19 6608 MHz for the data to be copied to the l O buffer 3 Read the data from the I O buffer addresses 4 to 7 when a Z80 I F is used The order for reading data from the I O buffer does not matter There is no minimum time between read operations When the WRQ output is connected to the CPU the CPU wait control function will provide the waiting time between write operations automatically ia i 3 CS ZAPATA ZWR M y ag E TAE APA E DO to DZ j Commandi Data Data Data Data Data or command More than 4 cycles of reference clock 31 T 4 3 Table of register control commands Register 2nd pre register No Detail T TE Symbol Symbol Symbol Symbol mmm Exp 3 Operation speed 5 Deceleration rate RDR D4h RRDR Speed RMG D5h RRMG
209. register setting for the master axis in the PRIP registers of each axis including the master axis In the PRMV registers of the slave axes enter end point of each axis Specify the speed data PRFL PRFH PRUR PRDR PRMG PRDP PRUS and PRDS for the slave axes to be the same as for the master axis The feed direction is determined by the sign of the value in the PRMV register After writing 01 into PRMD MSY bits 18 and 19 of the interpolated axes write a start command and set the axes to wait for the CSTA signal input By entering a CSTA Signal all of the axes that set to waiting for CSTA input on all of the LSIs will start at the same time The master axis provides pulses constantly The slave axes provide some of the pulses fed to the master axis but some are omitted Setting example 1 Connect the CSTA signals between LSI A and LSI B 2 Set up the LSIs as shown below Set the PRMD to start with inputting a CSTA signal 3 Write start commands LSI A 0951h LSI B 0651h 4 Write a CSTA signal input command 06h to the X axis on LSI A After completing steps 1 to 4 above the LSIs will output pulses using the timing shown in the figure below LSI A LSI B 3 PRMD 0004 0004 0004 0004 0063h 0063h 0063h 0063h B8 10 PRMV value PRIP value 10 Operation 1000 1000 1000 1000 pps speed pps pp pp Master axis Slave Slave l Master axis slave axis axis axis axis X axis output pulse
210. rns ON At the start the data in the RMV register is loaded into the positioning counter When the DR input is ON the LSI will output pulses and the positioning counter will start counting down pulses When the positioning counter value reaches zero the PCL stops operation Even if the DR input is turned OFF or ON again during the operation it will have no effect on the operation If you make the RMV register value 0 and start a positioning operation the PCL will stop operation immediately without outputting any command pulses Turn ON the DR signal to feed in the positive direction Turn ON the DR signal to feed in the negative direction By turning ON the EL signal corresponding to the feed direction the axis will stop operation and issue an error interrupt INT output 273 9 5 Origin position operation mode The following six origin position operation modes are available Operation mode Direction of movement Origin return operation Positive direction Origin return operation Negative direction 12h Leaving the origin position operation Positivedirection 1Ah Leaving the origin position operation Negative direction o o 15h Origin position search operation Posiivedirecion 1Dh Origin position search operation Negative direction Depending on the operation method the origin position operation uses the ORG EZ or
211. rpolated and write a start command ex 0351h that will be used by both axes The axes will move as shown on the right OS EEE RE XIY IX Y XxX Y Xx Y TI ie ee speed control PRMV value 0 0 100 100 200 0 100 100 PRIP value 100 O 100 0 100 0 100 0 Operation Simple o o o i AAA A AAA oer D 100100 This LSI terminates a circular interpolation operation when either of the axes reaches the end point in the last quadrant and the end point can be specified as the whole number coordinates nearest to the end position For this reason even though the circular interpolation operation is complete the PCL will not be at the end coordinate specified To move to the coordinates of the specified end point when the circular interpolation operation is complete set the PRMD MPIE 1 and turn ON the end point draw function After circular interpolation operation the axis move at the same speed as circular interpolation until it reaches specified end point Please note that the axes will not stop moving if the end point of the circular interpolation is set within the shaded areas perpetual circular motion When PRMD MIPM 1 end point in the last quadrant is controlled on 45 basis changed from 90 basis Therefore determination to complete makes an arc longer y Circular interpolation precision The circular interpolation function draws a circular from the current position to the end coordinate moving CW or CCW The positiona
212. rval will be 10 77 seconds Please take note of the above when using synthesized speed constant control 2 Acceleration deceleration operations when the synthesized speed constant control bitis ON PRMD MIPF 1 Basically please use a constant speed when MIPF 1 The synthesized speed will vary with the acceleration deceleration When MIPF 1 and you select linear interpolation 1 or circular interpolation with acceleration deceleration the following limitations apply Make the acceleration rate PRUP and deceleration rate PRDR for the control axes equal Do not change the speed during S curve acceleration deceleration Failure to follow these guidelines may cause the PCL to decelerate abnormally 88 9 8 4 Continuous linear interpolation 1 PRMD MOD 60h This is the same as linear interpolation 1 and each axis operates at a speed corresponding to the PRMV setting However the PCL will continue to output pulses until a stop command is received This mode only uses the rate from the PRMV setting for all of the interpolated axes Therefore if the PRMV setting for the all of the interpolated axes is zero the PCL will output pulses to all the interpolated axes at the same speed 9 8 5 Linear interpolation 1 PRMD MOD 61h Linear interpolation 1 is used to allow a single LSI to provide interpolation operations between any 2 to 4 axes If only one axis is specified and operation is started an error ESDT Stop due to o
213. s a a Sa S a a Ss a a a IS a a A A A EAS d r1 ee bL a es E E A m d RENV1 bit 12 to 14 100 254 x 1024Ta 255 x 1024Ta RENV1 bit 12 to 14 101 254 x 4096Tcix 255 x 4096Tc k 254 x 8192Tc k 255 x 8192Tcix RENV1 bit 12 to 14 110 RENV1 bit 12 to 14 111 LEVEL output width width ORG input signal width Note 4 as DR DR input signal Note 5 a tee E PE input signal width Note5____________ Tax ms PCS input signal width lo o Te n LTC input signal width lo o Te ds Output signal 8Tcik ns HCSTA wilt Input width Output signal 8T ck HCSTP we Input width ada dur HBSY signal ON delay LII 5Tcik time TsTABSY Eo zb rhe A AAA Start delay t Bee ER ns Note 1 Longer than 10 cycles of CLK signal is necessary to be input while the RST terminal is LOW Note 2 If the input filter is ON lt EINF bit 18 1 in RENV2 gt the minimum time will be 3T crix Note 3 If the input filter is ON lt PINF bit 19 1 in RENV2 gt the minimum time will be 3T cx Note 4 If the input filter is ON lt FLTR bit 26 1 in RENV1 gt the minimum time will be 80T cx Note 5 If the input filter is ON lt DRF bit 27 1 in RENV1 gt the minimum time will be 655 360T cx 156 1 When the EA EB inputs are in the Two pulse mode PLN Ini o PIN PIN EA V Tos gt PENEN em Mm o 2 When the EA EB inputs are in the 90 ph
214. s for RFL RUR RDR RUS or RDS Otherwise the automatic ramping down point function will not work correctly An example of changing the speed pattern by changing the speed during a linear acceleration deceleration operation Speed Time 1 Make RFH smaller while accelerating the axis accelerate or decelerate until it reaches the correct speed 2 3 Change RFH after the acceleration deceleration is complete The axis will continue accelerating or decelerating until it reaches the new speed An example of changing the speed pattern by changing the speed during S curve acceleration deceleration operation Speed Time 1 Make RFH smaller and if change speed lt speed before change and the axis will decelerate using an S curve until it reaches the correct speed 5 Make RFH smaller and if change speed 2 speed before change and the axis will accelerate without changing the S curve s characteristic until it reaches the correct speed 4 Make RFH larger while accelerating and the axis will accelerate to the original speed entered without changing the S curve s characteristic Then it will accelerate again until it reaches the newly set speed 2 3 If RFH is changed after the acceleration deceleration is complete the axis will accelerate decelerate using an S curve until it reaches the correct speed 105 11 Description of the Functions 11 1 Reset After turning ON the power make sure to reset the LS
215. s interpolation operations that change a plane containing interpolated axes using the pre register function Basically to change a plane containing interpolated axes enter dummy operation data for all the axes positioning operations with the feed amount set to 0 and then write the interpolation data for a new plane Note When changing the interpolated axis failure to enter dummy operation data for all the axes may cause a continuous operation to stop or the interpolation operation may not stop when desired 119 Example 3 PCL6045 compatible mode How to perform continuous interpolation while changing the interpolated axes moving from circular interpolation on the X and Y axes to Linear interpolation on the X and Y axes to Linear interpolation on the X and Z axes STEP The X and Y axes make a 90 circular interpolation with a radius of 10000 The Z axis is given a positioning operation with 10000 feed amount of O The X and Y axes start immediately The Z axis PRMD UTE 4h ane Ah pur h Me iE to do and waits for the X and Y axes Start command Write 0751h FH constant The X Y and Z axes Start command speed start The X and Y axes perform linear interpolation 1 PRMV pone uM MON and the Z axis is given a positioning operation with a feed amount of 0 PRMD ae h eee h i h The X and Y axes wait for the Z axis to stop and a the Z axis waits for the X and Y axes to stop Start command Write 0751h FH constant start
216. sed Continuous interpolation The PCL can use the pre register to make a continuous linear interpolation or circular interpolation However when the interpolated axes change during a continuous interpolation special care is required An example of the settings for continuous interpolation using the pre register is shown in section 11 14 1 Start triggered by another axis stopping 94 10 Speed patterns 10 1 Speed patterns Speed pattern Positioning operation mode FL constant speed operation f 2 Stop feeding by writing an 2 Stop feeding when the positioning counter immediate stop 49h or deceleration reaches zero or by writing an immediate stop 4Ah command stop 49h or deceleration stop 4Ah command FH constant speed 1 Write an FH constant speed start 1 Write an FH constant speed start operation command 51h command 51h f 2 Stop feeding by writing an 2 Stop feeding when the positioning counter immediate stop command 49h reaches zero or by writing an immediate stop 49h command When the deceleration stop command 4Ah is written to the register motion of an axis starts deceleration High speed operation 1 1 Write high speed start command 1 1 Write high speed start command 1 52h f 52h 2 Start deceleration when a ramping down FH 2 Start deceleration by writing ajpoint is reached or by writing a deceleration deceleration stop command 4Ah stop command 4Ah When the decelerati
217. ses or excessive amounts of dust we recommend applying a moisture prevention coating 2 The package resin is made of fire retardant material however it can burn When baked or burned it may generate gases or fire Do not use it near ignition sources or flammable objects 3 This LSI is designed for use in commercial apparatus office machines communication equipment measuring equipment and household appliances If you use it in any device that may require high quality and reliability or where faults or malfunctions may directly affect human survival or injure humans such as in nuclear power control devices aviation devices or spacecraft traffic signals fire control or various types of safety devices we will not be liable for any problem that occurs even if it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances August 3 2009 No DA70122 1E 167 The specifications may be changed without notice for improvement NPM Nippon Pulse Motor Co Ltd Tokyo Office London Office USA China Nippon Pulse Motor Co Ltd Tachihi Bldg No 3 1 Sakae cho 6 Chome Tachikawa City Tokyo 190 0003 Japan Phone 81 42 534 7701 Fax 81 42 534 0026 Web http www npm co jp E mail int l npm co jp Nippon Pulse Motor Co Ltd Vista Business Centre 50 Salisbury Road Hounslow Middlesex TW4 6JQ UK Phone 44 20 8538 0315 Fax 44 20 85
218. set COUNTER4 general purpose Action for the CLR signal Set RENV1 CLR 0 to 1 bit 20 to 21 RENV 1 WRITE 00 Clear on the falling edge 10 Clear on a LOW level 23 16 01 Clear on the rising edge 11 Clears on a HIGH level Reading the CLR signal lt RSTS SCLR bit 13 RSTS READ 0 The CLR signal is OFF 15 8 1 The CLR signal is ON Set event interrupt cause Set RIRQ IRCL bit 13 RIRQ WRITE 1 Output an ZINT signal when resetting the counter value by turning the CLRI 45 8 signal ON pte e Saja Read the event interrupt cause lt RIST ISCL bit 13 RIST READ 1 When you want to reset the counter value by turning ON the CLR signal 15 Counter reset command lt CUN1R to CUN4R Control command Control command 20h Set COUNTER1 command position to zero 21h Set COUNTER2 mechanical position to zero 22h Set COUNTERS deflection to zero 23h Set COUNTERA general purpose to zero Note In order to prevent incorrect counts when the count timing and reset timing match the counter will be 1 or 1 never O Please note this operation detail when detecting O with the comparator function 127 11 10 3 Latch the counter and count condition All the counters can latch their counts using any of the following methods The setting is made in RENV5 environment setting 5 register The latched values can be output from the RLTC1 to 4 registers 1 Turn ON the LTC signal 2 Turn ON the ORG sign
219. signal when an operation is complete the main status bits O to 5 of the MSTSW stop condition and the extension status CNDO to 3 operation status will also change when the INP signal is input The input logic of the INP signal can be changed The minimum pulse width of the INP signal is 80 reference clock cycles 4 usec when the input filter is ON If the input filter is OFF the minimum pulse width will be 2 reference clock cycles 0 1 usec When CLK 19 6608 MHz If the INP signal is already ON when the PCL is finished outputting pulses it treats the operation as complete without any delay The INP signal can be monitored by reading the RSTS register extension status Set the operation complete delay using the INP signal PRMD WRITE Set PRMD MINP bit 9 45 8 0 No operation complete delay waiting for the INP signal 1 Operation complete status BSY delay until the INP signal turns ON l l l l l n Input logic of the INP signal lt Set RENV1 INPL bit 22 gt RENV1 WRITE 0 Negative logic 23 8 1 Positive logic paraba tapa Reading the INP signal lt RSTS SINP bit 16 gt RSTS READ 0 The INP signal is OFF 23 16 1 The INP signal is ON 0 ojojoj oj O O n Set the INP input filter lt RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a filter to the INP input 31 24 By applying a filter pulses less than 4 usec in width are ignored Ee pepe pere mas 117 11 6 2 ERC signal
220. sing the RENV1 register environment setting 1 The ORG terminal status can be monitored by reading SSTSW sub status The EZ terminal status can be monitored by reading the RSTS register extension status For details about the origin return operation modes see 9 5 Origin position operation mode ORG signal and EZ signal timing ORG i When t2 2 x Terk counts ii When Tex t 2x Terk EZ counting is undetermined to iii When t Tc does not count Ses Torx Reference clock frequency Enabling the ORG and EZ signals Set RMD MOD bits O to 6 PRMD WRITE 001 0000 Origin return in the positive direction 7 0 001 0010 Leave origin position in the positive direction 001 0101 Origin position search in the positive direction O0 n nin nin n n 010 0100 EZ counting in the positive direction 001 1000 Origin return in the negative direction 001 1010 Leave origin position in the negative direction 001 1101 Origin position search in the negative direction 010 1100 EZ count operation in the negative direction Set the origin return method Set RENV3 ORMO to 3 bits O to 3 gt RENV3 WRITE See the RENV3 register description 7 0 nini nin Set the input logic for the ORG signal Set ORGL bit 7 in RENV1 RENV 1 WRITE 0 Negative logic 7 0 1 Positive logic ata e ee Read the ORG signal SORG bit 14 in SSTSW gt SSTSW READ 0 The ORG signal is OFF 15 8 1 The ORG signal is ON
221. ster 0 PRFH PRFL x PRUR 1 x8 Acceleration time s Reference clock frequency Hz 3 S curve acceleration with a linear range PRMD MSMD and PRUS register gt 0 PRFH PRFL 2xPRUS x PRUR 1 x4 Acceleration time s is Reference clock frequency Hz PRDR Deceleration rate setting register 16 bit Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic PRMD MSDP 0 the value placed in the PRDR register will be used as the deceleration rate However when PRDR 0 the deceleration rate will be the value placed in the PRUR When the ramping down point is set to automatic there are the following restrictions While in linear interpolation 1 or circular interpolation operation and when constant synthesized speed operation PRMD MIPF 1 is selected make deceleration time same as acceleration time For other operations arrange time so that deceleration time lt acceleration time x 2 If setting otherwise the axis may not decrease the speed to the specified FL speed when stopping In this case use a manual ramping down point PRMD MSDP 1 Relationship between the value entered and the deceleration time will be as follows 1 Linear deceleration PRMD MSMD 0 PRFH PRFL x PRDR 1 x4 Deceleration time s Reference clock frequency Hz 2 S curve deceleration wi
222. stop the ERC signal cannot be output even when set for automatic output The ERC signal can be output by writing an ERC output command 24h The output logic of the ERC signal can be changed by setting the RENV1 register Read the RSTS extension status register to monitor the ERC signal Set automatic output for the ERC signal Set RENV1 EROE bit 10 RENV 1 WRITE 0 Does not output an ERC signal when stopped by EL ALM or ZCEMG 45 8 input 1 Automatically outputs an ERC signal when stopped by EL ALM or ZCEMG a l l n EE input Set automatic output for the ERC signal lt Set RENV1 EROR bit 11 gt RENV1 WRITE 0 Does not output an ERC signal at the completion of an origin return 15 8 EEE 1 Automatically outputs an ERC signal at the completion of an origin return ES ESSET Een operation Set the ERC signal output width Set RENV1 EPWO to 2 bits 12 to 14 RENV1 WRITE 000 12 usec 100 13 msec 8 15 001 102 usec 101 52 msec atole aller 010 408 usec 110 104 msec 011 1 6 msec 111 Logic level output Select output logic for the ERC signal Set RENV1 ERCL bit 15 gt RENV1 WRITE 0 Negative logic 45 8 1 Positive logic E RER E Specify the ERC signal OFF timer time Set RENV1 ETWO to 1 bits 16 to 17 gt RENV1 WRITE 00 O usec 10 1 6 msec 23 16 01 12 usec 11 104 msec ale pepe pes aa Read the ERC signal lt RSTS SERC bit 9 gt RSTS READ 0 The ERC signal is OFF 15
223. stop or deceleration stop high speed start only If deceleration stop is selected hold the EL input ON until stopping The minimum pulse width of the EL signal is 80 reference clock cycles 4 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycles 0 1 usec The EL signal can be monitored by reading SSTSW sub status By reading the REST register you can check for an error interrupt caused by the EL signal turning ON When in the timer mode this signal is ignored Even in this case the EL signal can be monitored by reading SSTSW sub status The input logic of the EL signal can be set for each axis using the ELL input terminal Set the input logic of the EL signal lt ELL input terminal gt L Positive logic input H Negative logic input Stop method used when the EL signal turns ON Set REMV1 ELM bit 3 gt RENV1 WRITE 0 Immediate stop by turning ON the EL signal 7 0 1 Deceleration stop by turning ON the EL signal ACERCA Reading the EL signal lt SSTSW SPEL bit 12 SSTSW SMEL bit 13 gt SSTSW READ SPEL 0 Turn OFF the EL signal SPEL 7 1 Turn ON the EL signal 15 8 SMEL 0 Turn OFF the EL signal SMEL 1 Turn ON the EL signal Reading the stop cause when the EL signal turns on REST READ lt REST ESPL bit 5 ESML bit 6 gt 7 0 ESPL 1 Stop by turning ON the EL signal ESML 1 Stop by turning ON the EL signal nj nj
224. stops 0011 Start when both the X and Y axes stop 0101 Start when both the X and Z axes stop 1011 Start when the X Y and U axes all stop 1111 Start when all of the axes stop Select the synchronous starting mode Set RENV2 SMAX bit 29 gt RENV2 WRITE 0 Automatic assignment for Start operation by stopping a specified axis is 34 24 invalid 1 Automatic assignment for Start operation by stopping a specified axis is ni E valid Specify the internal synchronous signal output timing RENV5 WRITE Set RENV5 SYO1 to 3 bits 16 to 19 gt 23 16 0001 When the Comparator 1 conditions are satisfied 0010 When the Comparator 2 conditions are satisfied l l l n n n n 0011 When the Comparator 3 conditions are satisfied 0100 When the Comparator 4 conditions are satisfied 0101 When the Comparator 5 conditions are satisfied 1000 When the acceleration is started 1001 When the acceleration is complete 1010 When the deceleration is started 1011 When the deceleration is complete Others Internal synchronous output signal is OFF opecify the input for the internal synchronous signal RENV5 WRITE Set RENV5 SYIO to 1 bits 20 to 21 gt 93 16 00 Use an internal synchronous signal output by the X axis 01 Use an internal synchronous signal output by the Y axis 1ninj a 10 Use an internal synchronous signal output by the Z axis 11 Use an internal synchronous signal output by the U axis Read t
225. t COUNTER 2 Mechanical position counter 32 bit COUNTER 3 Deflection counter 16 bit COUNTER 4 General purpose counter 32 bit Package 208 pin BEA Package 208 pin BGA 3 Terminal Assiqnment Diagram TOP VIEW 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Fe Pegi e mn D n ee e ei m im e im n m Dm o m ee ee Rs in m mini n m m ee m m i t i E AO VSS WR RD VDD DRx DRx PCSx als e pong ie E os e a e a a i ve se an fo EE ra e ole le sy on o efe eE sy o p12 voo D11 ALMx INPx VSS ORGy mmm EM nm pem B m IS eim m m mm n B n nm ee COCOS Sao 15 1 12 17 4 Functions of Terminals name No mame No ouput bogie Deseripton Power Supply a negative power source Make sure to connect all of these terminals Power Supply 3 3 VDC power source The allowable power supply range is 3 3 VDC 10 Make sure to connect all of these terminals RST E Input Negative Input reset signal Make sure to set this signal LOW after turning ON the power and before starting operation Input at least 8 cycles of the reference clock while holding RST low For details about the chip s status after a reset see section 11 1 Reset in this manual yp Input a reference clock signal The reference clock frequency is 19 6608 MHz The LSI creates output pulses based on the clock input on this terminal ME u Enter the CPU I F mode F1 pa PIPEKC
226. t 17 RSTS READ RSTS PSDL bit22 RSTS MSDL bit 23 gt 45 8 PSDI 0 SD signal is OFF MSDI 0 SD signal is OFF PSDI 1 SD signal is ON MSDI 1 SD signal is ON In 1 7 PSDL 0 SD latch signal is OFF MSDL 0 SD latch signal is OFF 23 16 PSDL 1 SD latch signal is ON MSDL 1 SD latch signal is ON Mate pes pe ree Reading the cause of an INT when stopped by the SD signal REST READ REST ESSD bit 10 gt 45 8 1 Deceleration stop caused by the SD signal turning ON miele rom Apply an input filter to SD Set RENV1 FLTR bit 26 gt RENV 1 WRITE 1 Apply a filter to the SD input 37 24 By applying a filter signals with a pulse width of 4 usec or less will be ignored ERES SE IPS 115 11 5 3 ORG EZ signals These signals are enabled in the origin return modes origin return leave origin position and origin position search and in the EZ count operation modes Specify the operation mode and the operation direction using the PRMD register operation mode Since the ORG signal input is latched internally there is no need to keep the external signal ON The ORG latch signal is reset when stopped The minimum pulse width of the ORG signal is 80 reference clock cycles 4 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is two reference clock cycle 0 1 usec When CLK 19 6608 MHz The input logic of the ORG signal and EZ signal can be changed u
227. t high speed COUNTER reset timing When finishing counting the EZ pulses 0110 Origin return operation 6 75 RENV3 WRITE 7 0 salsas a 0 After the EL input turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis RENV3 WRITE will start feeding in the opposite direction at RFA constant speed When the EL signal turns OFF the axis will stop instantly when the LSI finishes 7 0 counting the EZ pulses COUNTER reset timing When the EL input is OFF sl Ese a 0111 Origin return operation 7 After the EL signal turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFA constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When stopped by finishing counting the EL pulses 1000 Origin return operation 8 After the EL signal turns ON when feeding at constant speed the axis will stop immediately or make a deceleration when ELM is 1 Then the axis will start feeding in the opposite direction at RFL constant speed After the EL signal turns OFF the LSI will start counting EZ pulses After the LSI finishes counting EZ pulses the axis will stop instantly CONTER reset timing When finishing counting the EZ sign
228. ta 0 to 7 8 to 15 16 to 23 24 to 31 0 to 7 8 to 15 Writing into PRMV Writing into PRFL SUL a A A AAA After writing into address OOBh copy process into register starts If writing into address OOCh is started while copy process WRQ is output Indirect access method By writing a Register Control command to COMBO Address 0 when a Z80 I F is used the LSI can copy data between a register and the I O buffer When reading out contents of specified register are copied into I O buffer by writing Register reading out command Then data is output from I O buffer When writing Register writing command is written after writing data into I O buffer contents of I O buffer is copied into I O buffer When the I O buffer is used in the program for responding to an interrupt note to read the I O buffer contents before using it perform PUSH operation it and return it to its original value after use 30 7 4 1 Procedure for writing data to a register by indirect access the axis assignment is omitted 1 Write the data that will be written to a register into the I O buffer addresses 4 to 7 when a Z80 I F is used The order in which the data is written does not matter However secure two reference clock cycles between these writings 2 Then write a register writing command to COMBO address 0 when a Z80 I F is used After writing one set of data wait at least 4 cycles approx 0 2 usec when CLK 19 6608 MHz befo
229. th linear interpolation 1 Linear interpolation 1 Continuous linear interpolation 2 continuous operation with linear interpolation 2 Linear interpolation 2 CW circular interpolation operation CCW circular interpolation operation 40 110 0110 110 0110 66h Clockwise circular interpolation synchronized with the U axis circular Clockwise circular interpolation synchronized with the U axis circular linear interpolation 110 0111 67h Counter clockwise circular interpolation synchronized with the U axis circular linear interpolation Continuous linear interpolation 1 synchronized with PA PB Linear interpolation 1 synchronized with PA PB Continuous linear interpolation 2 synchronized with PA PB Linear interpolation 2 synchronized with PA PB Clockwise circular interpolation synchronized with PA PB Counter clockwise circular interpolation synchronized with PA PB Dummy circular interpolation prom 1 When E pre register is set the PCL will not output an INT signal even if IEND becomes 1 Ba eal 0 SD input will be invalid Checking can be done with sub status SSTSW or extended status RSTS 1 Decelerates deceleration stop by turning ON the input MINP O Delay using an INP input will be disabled Checking can be done with extended status RSTS 1 Completes operation by turning ON the INP input 10 MSMD Specify an acceleration deceleration type for high speed feed 0 Linear accel decel
230. the LSIs Never directly stack them on each other as it may cause friction that can develop an electrical charge 2 Operators must wear wrist straps which are grounded through approximately 1M ohm of resistance 3 Use low voltage soldering devices and make sure the tips are grounded 4 Do not store or use LSls or a container filled with LSls near high voltage electrical fields such those produced by a CRT 5 This LSI should be mounted by reflow method of infrared hot air or combination of infrared and hot air 6 If LSIs are purchased in less than one unit of packaging box please dry a package before flow IT should be dried at 125 5 C for 20 to 36 hours The LSI must not be exposed to completely dry environment more than 2 times 166 7 The maximum temperature of plastic surface is 260 degrees A peak temperature of the surface of a package body should not exceed 260 degrees and do not keep the temperature at 250 degrees or higher for more than 10 seconds Temperature C 260 E The maximum temperature is 260 degrees 250 220 Zz lt gt Do not keep the temperature at 250 degrees or higher for more than 10 seconds 14010200 Time 60 to 120 seconds Within 60 seconds 8 In reflows change of temperature when cooling should be less than 3 degrees per second 9 Up to 2 reflows is allowed 4 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive ga
231. this signal is ON motion of an axis stops immediately or will decelerate and stop The input logic can be selected using software The terminal status can be checked using an SSTSW command Signal sub status In Output a Output command pulses for controlling a motor When Common Pulse mode is selected Output pulses and the feed direction is determined by DIR signals When Two pulse output mode is selected Outputs pulses in the positive direction When 90 phase difference mode is selected Outputs DIR signals and 90 phase difference signals The output logic can be changed using software Ou Input U ES Input a marker signal this signal is output once for each turn of the encoder when using the marker signal in origin return mode can be checked using an RSTS command signal extension status Input U Input for receiving external drive pulses such as manual pulsar You can input 90 phase difference signals 1x 2x 4x or positive pulses on PA and negative pulses on PB When 90 phase difference signals are used if the signal phase of PA is ahead of the PB signal the LSI will count up count forward pulses The counting direction can be changed using software tput Output command pulses for controlling a motor or outputs direction signal When Common Pulse mode is selected Outputs a direction signal When Two pulse output mode is selected Output pulses in the negative direction When 90 p
232. thout a linear range PRMD MSMD 1 and PRDS register 0 PRFH PRFL x PRDR 1 x8 Deceleration time s __ _ _ gt gt Reference clock frequency Hz 3 S curve deceleration with a linear range PRMD MSMD 1 and PRDS register gt 0 PRFH PRFL 2xPRDS x PRDR 1 x 4 Deceleration time s is Reference clock frequency Hz 163 PRMG Magnification rate register 12 bit Specify the relationship between the PRFL and PRFH settings and the speed in the range of 2 to 4 095 OFFFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows Re ferenceclockfrequency Hz Magnification rate PRMG 1 x 65536 Magnification rate setting example when the reference clock 19 6608 MHz Output speed unit pps Setting a Output speed range Setting S Output speed range 2999 0BB7h 0 1 to 6 553 5 59 3Bh 5 to 327 675 1499 5DBh 0 2 to 13 107 0 29 1Dh 10 to 655 350 599 257h 0 5 to 32 767 5 14 OEh 20 to 1 310 700 299 12Bh 1 1 to 65 535 o 5h 90 90 to 3 276 750 149 95h 2 to 131 070 2 2h 100 to 6 553 500 PRDP Ramping down point register 24 bits Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the
233. top when feeding at high speed when the ORG input turns ON COUNTER reset timing When the ORG input turns ON 0001 Origin return operation 1 The axis will stop immediately or make a deceleration stop when feeding at high speed when the ORG input turns ON Then it will feed in the opposite direction at RFA constant speed until the ORG input turns OFF Then the axis will move back in the original direction at RFA speed and stop instantly when ORG input turns ON again COUNTER reset timing When the ORG input signal turns ON 0010 Origin return operation 2 After the ORG input turns ON when feeding at constant speed the LSI will start counting EZ pulses The axis will stop immediately when the LSI finishes counting EZ pulses After the ORG input turns ON when feeding at high speed the axis will start decelerating At the same time the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will stop instantly COUNTER reset timing When finishing counting EZ pulses After the ORG signal turns ON when feeding at constant speed the LSI will 0014 Origin return operation 3 start counting EZ pulses The axis will stop instantly when the LSI finishes counting EZ pulses After the ORG signal turns ON when feeding at high speed the LSI will start counting EZ pulses When the LSI finishes counting EZ pulses the axis will decelerate and stop When feeding at constant speed movement on the axis stops immedi
234. tting range O to 15 pid se aes elses Read the EZ signal lt RSTS SEZ bit 10 RSTS READ 0 Turn OFF the EZ signal 15 8 1 Turn ON the EZ signal BRR EER Set the EL signal input logic lt ELL input terminal gt L Positive logic input H Negative logic input Specify a method for stopping when the EL signal turns ON RENV1 WRITE lt Set RENV1 ELM bit 3 gt 7 0 0 Immediate stop when the EL signal turns ON 1 Deceleration stop when the EL signal turns ON AP mp Read the EL signal lt SSTSW SPEL bit 12 SSTS SMEL bit 13 SSTSW READ SPEL 0 Turn OFF EL signal SPEL 1 Turn ON EL signal 15 8 SMEL 0 Turn OFF EL signal SMEL 1 Turn ON EL signal na ajes Applying an input filter to the EL and ORG inputs lt Set RENV1 FLTR bit 26 gt RENV1 WRITE 1 Apply a filter to the EL and ORG inputs 31 24 By applying a filter pulses shorter than 4 usec will be ignored BREESE nas TU 9 5 1 Origin return operation After writing a start command the axis will continue feeding until the conditions for an origin return complete are satisfied PRMD MOD 10h Positive direction origin return operation 18h Negative direction origin return operation When a zero return is complete the LSI will reset the counter and output an ERC deflection counter clear signal The RENVS3 register is used to set the basic origin return method That is whether or not to reset the counter wh
235. unction BN to 9 C2CO0 to 1 Select a comparison counter for Comparator 2 Note 1 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general purpose 10 to C2S0 to 2 Select a comparison method for Comparator 2 Note 2 12 001 RCMP2 data Comparison counter regardless of counting direction 010 RCMP2 data Comparison counter while counting up count forward 011 RCMP2 data Comparison counter while counting down 100 RCMP2 data Comparison counter data 101 RCMP2 data Comparison counter data 110 Use as negative end software limit RCMP2 gt COUNTER1 Others Treats that the comparison conditions do not meet Note 4 13 to C2DO to 1 Select a process to execute when the Comparator 2 conditions are met 14 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed mw 1 1 Use COUNTER2 for ring counter operation by using Comparator 2 m 11 11 5 Ring count function id to C3CO to 1 Select a comparison counter for Comparator 3 Note 1 17 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general purpose 51 Bit Bit name Description 18 to C3S0 to 2 Select a comparison method for comparator 3 Note 2 20 001 RCMP3 data Comparison counter regardless of co
236. units are 32x of the reference clock cycle approx 1 6 usec when CLK 19 6608 MHz oo o o o nl njn Settable range 0 to approx 0 1 sec 23 o ojo o ninia no Note The optimum values for RT and FT will vary with each piece of machinery and load Therefore it is best to obtain these values by experiment 139 11 14 Synchronous starting This LSI can perform the following operation by setting the PRMD operation mode register in advance Start triggered by another axis stopping Start triggered by an internal synchronous signal The internal synchronous signal output is available with 9 types of timing They can be selected by setting the RENV5 environment setting 5 register By setting the RIRQ event interrupt cause register an INT signal can be output at the same time the internal synchronous signal is output You can determine the cause of event interrupt by reading the RIST register The operation status can be checked by reading the RSTS extension status register Specify the synchronous starting method Set PRMD MSYO to 1 bits 18 to 19 gt PRMD WRITE 10 Start with an internal synchronous signal 23 16 11 Start triggered by specified axis stopping eee Select an axis for confirming a stop setting example lt Set PRMD MAXO to 3 bits 20 to 23 gt 0001 Start when the X axis stops 0010 Start when the Y axis stops n n n n E A 0100 Start when the Z axis stops 1000 Start when the U axis
237. unting direction 010 RCMP3 data Comparison counter while counting up count forward 011 RCMP3 data Comparison counter while counting down 100 RCMP3 data gt Comparison counter data 101 RCMP3 data lt Comparison counter data 110 Prohibited setting Others Treats that the comparison conditions do not meet 21 to C3DO to 1 Select a process to execute when the Comparator 3 conditions are met 22 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed 0 Outputs an IDX signal while COUNTER4 RCMP2 1 When COUNTER4 reaches 0 by counting the PCL outputs an IDX signal of two CLK cycles width This is only possible when the values in CASO to C4S3 are 1000 to 1010 24 to CACO to 1 Select a comparison counter for Comparator 4 Note 1 25 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTERA general purpose 26 to C4S0 to 3 Select a comparison method for Comparator 4 Note 3 29 0001 RCMP4 data Comparison counter regardless of counting direction 0010 RCMP4 data Comparison counter while counting up count forward 0011 RCMP4 data Comparison counter while counting down 0100 RCMP4 data gt Comparison counter data 0101 RCMP4 data lt Comparison counter data 0111 Treats that the comparison conditions are not satisfied 1000 Use as IDX s
238. with an asterisk will be ignored when written and are 0 when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 39 8 3 8 PRMD RMD register This pre register is used to set the operation mode RMD is the register for PRMD 15 14 13 12 11 10 9 8 T MPIE MADJ MSPO MSPE MAX3 MAX2 MAX1 MAX0 MSY1 MSYO MSN1 MSNO Setting basic operation mode Set operation mode 0to6 MOD 000 0000 00h 000 1000 08h 000 0001 01h 000 0010 02h 001 0000 10h 001 1000 18h 12h 001 1010 1Ah 001 0010 001 0101 15h 001 1101 1Dh 010 0000 010 1000 010 0010 010 1011 010 0100 010 1100 N RDN a UM N N DI 00 mg mg SNr A 100 0001 100 0010 100 0010 100 0100 100 0101 100 0110 100 1110 100 0111 AY Y Pe Lum dew 47h 101 0001 51h 101 0010 52h 101 0011 53h 101 0100 54h 101 0101 55h 101 0110 56h 110 0000 60h 110 0001 61h 110 0010 62h 110 0011 63h 110 0100 64h 110 0101 65h 20h Feed to EL or SL position 22h 2Ah Feed in the positive direction for a specified number of EZ counts 2Ch 41h 42h 43h 44h 45h 46h 4Eh Continuous positive rotation controlled by command control Continuous negative rotation controlled by command control Continuous operation controlled by pulsar
239. ximum starting pulse rate is set during acceleration this function is effective in preventing out of step operation for stepper motors Operation mode The basic operations of this LSI are continuous operation positioning origin return linear interpolation and circular interpolation By setting the optional operation mode bits you can use a variety of operations Examples of the operation modes 1 Start stop by command 2 Continuous operation and positioning operation using PA PB inputs manual pulsar 3 Operate for specified distances or in continuous operation using DR DR signals drive switch 4 Origin return operation 5 Positioning operation using commands 6 Hardware start of the positioning operation using CSTA input 7 Change the target position after turning ON the PCS Delay control Variety of origin return sequences Homing The following patterns can be used 1 Feeds at constant speed and stops when the ORG signal is turned ON 2 Feeds at constant speed and stops when an EZ signal is received after the ORG signal is turned ON 3 Feeds at constant speed reverses when the ORG signal is turned ON and stops when an EZ signal is received 4 Feeds at constant speed and stops when the EL signal is turned ON Normal stop 5 Feeds at constant speed reverses when the EL signal is turned ON and stops when an EZ signal is received 6 Feeds at high speed decelerates when the SD signal is turned ON and stops wh
240. ynchronous signal output regardless of counting direction 1001 Use as IDX synchronous signal output while counting up count forward 1010 Use as IDX synchronous signal output while counting down Others Treats that the comparison conditions are not satisfied 30 to CADO to 1 Select a process to execute when the Comparator 4 conditions are satisfied 31 00 None use as an ZINT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Rewrite operation data with pre register data change speed Note 1 When COUNTER3 deflection counter is selected as the comparison counter the L SI compares the counted absolute value and the comparator data Absolute value range 0 to 32 767 Note 2 When you specify C1S0 to 2 110 positive software limit or C2S0 to 2 110 negative software limit select COUNTER1 command position as the comparison counter Note3 When C4S0 to 3 is set to 1000 to 1010 synchronous signal output select COUNTER4 genera purpose for the comparison counter The other counters cannot be selected To set the comparator select a positive value Note 4 When this bit is used as software limit the PCL stops operation regardless of the settings for selecting a process when the conditions are satisfied However when the PCL is operating and 10 Deceleration stop is selected it only uses a deceleration stop when operating at high speed In all other cases it stops immed

PCL6046 User's Manual - Nippon Pulse Motor Taiwan

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