Home

PCL6045B_Application Manual 050713

1. output Pulse ON circular interpolation operation is considered pulse v SAS aS AE A AE A AE complete Therefore the trajectory will not reach X843 the actual end point coordinates unless you are pulse Move the axis drawing a simple circle In figure 3 the last CW circular interpolation 90 ode coordinates of the circular interpolation will be 7 Figure 3 10 In order to reach to the actual end point coordinates 10 10 an end point drawing operation is needed Set MPIE bit 27 in the PRMD on the circular interpolated axis to 1 the PCL will automatically move the axis to the end point coordinates after the circular interpolation is complete End point auto draw function In circular interpolation both constant speed and high speed linear and S curve acceleration deceleration are available However to select high speed the number of steps the number of arrows in the interpolated trajectory in figure 3 needed for circular interpolation will be obtained as a calculation made by the CPU This is entered into the PRCI register of the control axis For details about how to obtain the number of steps see page 81 Please note that the PRCI register value is only used as the number of residual pulses in order to determine the deceleration start timing Therefore a calculation error in the number o
2. 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 f Acceleration rate Set in PRUR Decelration rate Set in PRDR FH speed Set in PRFH PRMG S curve deceleration range S curve acceleration range Set in PRDS Set in PRUS Preset amount for positioning operations Set in PRMV FL speed Set in PRFL PRMG Slow down point for positioning operation Set in PRDP or set automatically PRFL FL speed setting register 16 bit Specify the speed for FL low 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 Reference clock frequency Hz FL speed pps PRFL x PRMG 1 x 65536 PRFH FH speed setting register 16 bit Specify the speed for FH low speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh When used for high speed operations acceleration deceleration operations specify a value larger than PRFL The speed will be calculated from the value placed in PRMG Reference clock frequency Hz FH speed pps PRFH x PRMG 1 x 65536 PRUR Acceleration rate setting register 16 bit Specify the acceleration characteristic
3. 4 Count 90 phase difference signals at 2x multiplication EA PA EB PB COUNTER n n 1 X n 2 X n 1 Xn 115 5 Count 90 phase difference signals at 4x multiplication EA PA EB PB COUNTER n Y ntt Y n 2 Y n 3 X n 4 X n 3 Y n 2 Yonet Yn In addition counting in reverse direction from above is also possible by setting EDIR bit 22 in ERNV2 for the EA EB input and PDIR bit 26 in RENV2 for the PA PB input When the timer mode is selected the PCL stops counting output pulses The counter value can be reset using any of the following methods 1 Turn ON the CLR input signal set in RENV3 2 When a zero return is complete set in RENV3 3 Write a counter reset command The trigger timing for the CLR input rising edge falling edge can be selected in RENV1 You may choose to output an interrupt signal when a CLR signal is input to indicate the event interrupt cause The value in the counter can be latched by any of the following five methods by setting RENV5 1 Turn ON the LTC signal 2 Turn ON the ORG signal 3 When the comparator 4 conditions are satisfied 4 When the comparator 5 conditions are satisfied 5 Write a counter latch command Also as a substitute for COUNTERS deflection you may latch the current speed and release the latch using hardware timing any timing method 1 to 4 above The input timing for the LTC input can be set in RENV1 You
4. If you want to reuse the same pattern this setting is not needed Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000020 Specify an operation to use until reaching EL or SL MOD 20h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 69 2 Leaving an EL or SL position Leaving EL or SL MOD 22h Leaving EL or SL MOD 2Ah This mode is used to continue feeding until both the EL and SL software limit signals are 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 PCL will stop operation normally when both the EL input and SL signal are OFF The SL signal refers to the software limit signal from comparators 1 and 2 E An example of high speed 2 lt Decelerate and stop when the EL input turns OFF ELM 1 gt f FH 1 Write high speed start command 2 53h l 2 Deceleration stop when the EL input turns FL OFF r t 1 2 EL ON OFF ELM bit 3 1 Specify an
5. Specify operation when EL input of ELM bit 3 1 the RENV1 turns ON Decelerate and stop when the EL input is ON Enter a zero return operation code in To move in the direction MOD bits 0 to 6 10h MOD in the PRMD To move in the direction MOD bits 0 to 6 18h Ohan e a ea raan If you want to reuse the same pattern this setting is t tt Specify an operation speed pattem not needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000006 Specify zero return operation 6 ORM 6h p645_wreg AXS_AY WRENV1 0x00000008 Specify a deceleration stop for processing when the EL input is turned ON p645_wreg AXS_AY WPRMD 0x00000010 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS FA 500pps p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 54 8 Zero position return method 7 ORM 7h After starting the motor will stop immediately when the EL input is turned ON Decelerates and stops when ELM lt bit 3 gt in RENV1 is 1 Then it moves in the opposite direction at FA speed The motor will stop immediately when the specified number of EZ pulses has been co
6. Wait for the X axis operation to complete Write an immediate stop command to the U axis Wait for the operation to complete End X axis PIM bits 24 to 25 11 PA PB input is 2 pulse input U axis PMD bits 0 to 2 100 2 pulse output X axis MOD 69h Y axis MOD 61h Z axis MOD 61h U axis MOD 02h If you want to reuse the same pattern this setting is not needed X axis PRMV 20000 Y axis PRMV 10000 Z axis PRMV 100 High speed start command 2 Ox0F53h Turn ON OFF DRu DRu signals Immediate stop command 0x0049h 96 p645_wreg AXS_AX WRENV2 0x03000000 p645_wreg AXS_AU WRENV1 0x00000004 p645_wreg AXS_AX WPRMD 0x00000069 p645_wreg AXS_AY WPRMD 0x00000061 p645_wreg AXS_AZ WPRMD 0x00000061 p645_wreg AXS_AU WPRMD 0x00000002 p645_vset AXS_AX 500L 10000L 100 0 0 0 S 0 p645_vset AXS_AU 500L 10000L 100 0 0 0 S 0 p645_wreg AXS_AX WPRMV 0x00004e20 p645_wreg AXS_AY WPRMV Oxffffd8f0 p645_wreg AXS_AZ WPRMV 0x00000064 X axis PA PB input is 2 input pulses U axis Pulse output is 2 output pulses X axis Linear interpolation 1 using PA PB input Y axis Linear interpolation 1 Z axis Linear interpolation 1 U axis Continuous operation controlled by an external signal 4DR input X axis Interpolation control axis S curve 500pps to 10Kpps 100
7. 15 2 3 5 Read status p645_rsts N a EEEE E E E ses eee eee EAS Function name p645_rsts Operation Reads the status of the specified axis base_addr Dummy argument base_addr Base address of the specified axis Return value Data read EE DEEPENED IN S EVEEN PE ESA at EERE a a a SS unsigned long p645_rsts base_addr unsigned int base_addr Axis base address union udata unsigned long Idata unsigned int idata 2 udt udt idata 0 inpw base_addr Main status udt idata 1 inpw base_addr 2 Sub status input output port return udt Idata 2 3 6 Write register p645_wreg PR eR N E ah et a A AE td Sd Function name p645_wreg Operation Writes data data to the specified register in the specified axis base_addr Dummy argument base_addr Base address of the specified axis rwcom Register write command data Data to write Return value None ete he bes eee oes ce E cat Me ede esse Write 4 bytes of data to an input output buffer Write a register write command of commands void p645_wreg base_addr rwcom data unsigned int base_addr Axis base address unsigned int rwcom Register write command unsigned long data Data to write union udata unsigned long Idata unsigned int idata 2 udt udt ldata data outpw base_addr 4 udt idata 0 Write to an input output buffer bits 0 to 15 outpw base_addr 6 udt idata 1
8. RENV 2 PIM1 Bit25 _PIMO Bit 24 PAPE input method 0 0 90 phase difference signal 1x 0 1 90 phase difference signal 2x 1 0 90 phase difference signal 4x l 1 1 pulse pulse 2 pulse input Pulser input causes the PCL to output pulses with some pulses from the FL speed or FH speed pulse outputs being omitted When both PA and PB inputs are changed at the same time or if an input buffer counter 16 bits overflow occurs due to an input frequency that is too high the PCL will treat these as errors and output an INT signal lt The relationship between the FH FL speed pps and the pulser input frequency FP pps gt PA PB input method Usable range 2 pulse input FP lt FH or FL 90 phase difference 1x FP lt FH or FL 90 phase difference 2x FP lt FH or FL 2 90 phase difference 4x FP lt FH or FL 4 Note 1 To multiply or divide the number of pulses by setting PMG PD in the RENV6 register the FH and FL speeds must also be multiplied or divided accordingly 2 If there is a fluctuation in the pulse input frequency enter the maximum frequency in FP above not the average frequency 87 2 6 2 1 Continuous operation using a pulser input MOD 01h This mode allows continuous operation using a pulser input PA PB The feed direction depends on PA PB signal input method and the value set in PDIR bit 26 of the RENV2 Enter the pulser input continuous MOD bits 0
9. When a stop command is written or the operation is stopped by an error the PCL does not shift any data in the registers and PFM goes to 0 Therefore when the next start command is written in step 7 above RMV will go to 1000 Be careful If a deceleration stop command is written during deceleration the pre registers are not canceled and the PCL will continue with the next operation 2 5 2 2 Pre register operation control commands Data shift and cancel commands are available for the operation pre registers The function of these two commands is as follows Shift command for operation pre registers 2Bh Execute steps from 1 to PRMV 6 above The 2nd 2nd pre register 1st pre register RMV register PFM pre register is fixed Memory Memory Memory SPRF bit 14 in MSTS status Fed status_ Fixed status Med goes to 1 The Content 3000 Content 5000 Content 1000 pre register full condition 7 Write a shift command PRMV l 2bh SPRF bit 14 in 2nd pre register 1st pre register RMV register PFM MSTS goes to 1 The Memory Memory 5 Memory pre register full condition status Fixed gt status Fixed gt status FE 2 Content 3000 Content 3000 Content 5000 A shift command 2Bh transfers data copy in the following order 1st pre register gt register
10. 3 8 3 RENV 3 Zero return counter specifications 32 bits 7 6 5 4 z 2 4 0 EZD3 EZD2 EZD1 EZD0 ORM3 ORM2 ORM1 ORMO l Lo Specify a zero return method COUNTER Description be reset timing Zero return operation 0 ORG input Stops immediately deceleration stop when feeding at high speed by changing From OFF to the ORG input from OFF to ON ON Zero return operation 1 ORG input Stops immediately deceleration stop when feeding at high speed by changing From OFF to the ORG input from OFF to ON and feeds in the opposite direction at RFA ON constant speed until ORG input is turned OFF Then feeds in the original direction at RFA speed While doing so it will stop immediately when the ORG input is turned ON again Zero return operation 2 EZ counts 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 movement on the axis decelerates when the ORG input is turned ON and stops immediately by counting the EZ counts Zero return operation 3 EZ counts 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 Zero return operation 4 EZ counts Stops immediately deceleration stop when feeding
11. 9 After the third operation is PRMV omae oar A n 2nd pre register 1st pre register RMV register PFM in goes to 0 The FM l M Not M l ene onsen ies Content 3000 Content 3000 Content 3000 The status of the data can be checked by seeing PRMO to 1 of the extension status register RSTS If PFM 3 you can check the status of the data by reading the SPRF bit in the main status register MSTS Also set IRNM lt bit 2 gt to 1 in the RIRQ event interrupt cause and when the status of the 2nd pre register changes from fixed to not fixed ready to write data an INT signal will be output A Stop command is written or an error stops the operation Execute steps 1 to 6 PRMV above The data in the 2nd pre register 1st pre register RMV register PFM 2nd pre register will be Memory s Memory gt Memory stored in memory SPRF status e9 status Fixed status Fed bit 14 in MSTS goes to Content 3000 Content 5000 Content 1000 1 The pre registers are all fixed 7 A stop command is PRMV written or an error stops 2nd pre register 1st pre register RMV register PFM the operation SPRF bit Memory Memory Not Memory 14 in MSTS goes to 0 status Notfxed gt status fixed status Notfixed 0 Content 3000 Content 5000 Content 1000
12. Enter the X and Y axis end point coordinates 10 10 p645_wreg AXS_AY WPRMV 0x0000000A p645_wreg AXS_AX WPRIP Ox0000000A Enter the X and Y axis center coordinates 10 0 p645_wreg AXS_AY WPRIP 0x00000000 p645_wcom AXS_AX STAFH SEL_X SEL_Y FH constant speed start command p645_wait AXS_AX Wait for the motor to stop To execute an S curve acceleration deceleration circular interpolation by specifying rampdown point auto setting make sure to set the PRUS and PRDS registers to a non zero value Please note that the FH correction function cannot be used with circular interpolation For details about the number of steps in a circular interpolation see page 81 360 S curve acceleration deceleration circular interpolation operation with a radius of 1000 using the X and Y axes p645_wreg AXS_AX WPRMD 0x08000064 X axis CW circular interpolation end point auto draw is ON p645_wreg AXS_AY WPRMD 0x08000064 F Y axis CW circular interpolation end point auto draw is ON Interpolation control axis X axis S curve from 1pps to 10Kpps 300mS Acceleration deceleration S curve range 10000 1 2 4999 p645_vset AXS_AX 1L 10000L 300 0 4999 4999 S 0 p645_wreg AXS_AX WPRMV 0x00000000 Enter the X and Y axis end point coordinates 81 p645_wreg AXS_AY WPRMV 0x00000000 p645_wreg AXS_AX WPRIP 0x000003E8 p645_wreg AXS_AY WPRIP 0
13. High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 59 11 Zero position return method 10 ORM Ah After executing zero return operation 3 the motor executes a zero position return operation move until COUNTER2 0 The counter reset and ERC signal output timing is triggered by completion of the zero return when the specified number of EZ pulses has been counted E An example of high speed operation 2 lt Decelerate and stop when the specified number of EZ pulses has been counted after the ORG input is turned ON Then return to zero gt 1 Write high speed start commandz2 53h 2 Turn the ORG input ON 3 Decelerate and stop when the specified number of EZ pulses has been counted 4 Zero position return move until COUNTER2 0 A The counter reset and ERC signal output f FH 3 FL FL FH direction 1 2 3 4 z ofi Lf U ON A ORG OFF lon Specify a zero return operation method in ORM in RENV3 put an EZ counter value in EZD in RENV3 and set COUNTER2 to reset when the zero return is complete in CU2R in RENV3 Enter a zero return operation code in MOD in the PRMD Write a start command Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x0020001A p645_wreg AXS_AY WPRMD 0x00000010 p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 p645_wcom AXS_AY STAUD p645_wait
14. Stop interrupt occurs Auto stop including an error stop Error interrupt occurs Event interrupt occurs equence number MSTSB1 15 14 13 12 11 10 9 8 SPDF SPRF SEOR SCP5 SCP4 SCP3 SCP2 SCP1 Comparator 1 conditions met Comparator 2 conditions met Comparator 3 conditions met Comparator 4 conditions met Comparator 5 conditions met Positional override has not been executed Pre register for next operation is full Pre register for comparator 5 is full lt i ee 3 5 2 Sub status SSTSW 16 bits IOPB 7 6 5 4 3 2 1 0 IOP7 IOP6 IOP5 IOP4 IOP3 IOP2 IOP1 IOPO Output PO Output P1 Output P2 Output P3 0 Low level 1 High level Output P4 Output P5 Output P6 Output P7 7 li SSTSB 15 14 13 12 1 10 9 8 SSD SORG SMEL SPEL SALM SFC SFD SFU 1 While accelerating 1 While decelerating 1 While feeding at constant speed ALM input signal EL input signal EL input signal 0 OFF 1 ON ORG input signal SD input signal latch 134 3 5 3 Extension status register RSTS 17 bits 7 6 5 4 3 2 1 0 SEMG SSTP SSTA SDIR CND3 CND2 CND1 CNDO l l L Reports the operation status 0000 Under stopped 1000 Waiting for PA PB condition input 0001 Waiting for DR input 1001 Feeding at FA low 0010 Waiting for CSTA input speed
15. Write an immediate stop command Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000053 p645_vset AXS_AY 1L 10000L 300 0 0 0 L 0 p645_wreg AXS_AY WPRMV 5000L p645_wcom AXS_AY STAFH PA PB input p645_wait AXS_AY MOD bits 0 to 6 53h If you want to reuse the same pattern this setting is not needed Positive number Feed in the direction Negative number Feed in the direction FL constant speed start command 0x0050h FH constant speed start command 0x0051h Specify s pulser input positioning operation MOD 53h Y axis Linear acceleration deceleration 1pps to 10Kpps 300mS Number of output pulses is 5000 FH constant speed start command Wait for the motor to stop 91 4 Command position zero return operation MOD 54h This operation mode is used to synchronize the motor with a pulser input PA PB until COUNTER1 command position reaches 0 Though the speed to apply is controlled by an external signal input the number of pulses output and the feed direction are set automatically by internal calculation using the COUNTER1 value when starting Set the COUNTER1 value to zero and start the positioning operation the LSI will stop movement on the axis immediately without outputting any command pulses Use an FH constant speed start 51h or FL constant speed start 50h for the start command Ente
16. p645_wreg AXS_AX WRCMP3 0x00000020 3 RCMP 32 Maximum deflection value is 32 p645_wreg AXS_AX WRIRQ 0x00000400 RIPQ 400h Output an interrupt signal when the comparator 3 conditions are met 117 2 11 5 2 Software limit function Frequently the EL and EL signals are used to detect the mechanical stroke limits However there is a way to set operation limits within the stroke limits Mechanical stroke range 1 AIA Jr ______B A Operation limits gt EL 0 m N With the above case software limit function can be set up using comparators 1 and 2 Select COUNTER1 command position as a comparison counter for comparators 1 and 2 Use Comparator 1 for a positive direction limit and Comparator 2 for a negative direction limit to stop the axis based on the results of the comparator and the operation direction When the software limit function is used the following process can be executed 1 Stop pulse output immediately 2 Decelerate and then stop pulse output 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 Example of software limits p645_wreg AXS_AX WRENV4 0x00003838 Set RENV4 Select COUNTER1 as the comparison counter command position Use comparator 1 as the side operation limit and comparator 2
17. MOD in the PRMD To move in the direction MOD bits 0 to 6 18h eee Caines ey Reet or aa If you want to reuse the same pattern this setting is Specify Pot needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000012 Specify zero return operation 2 ORM 2h The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WPRMD 0x0000001 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 46 4 Zero position return method 3 ORM 3h After starting at constant speed the motor will stop immediately after the specified number of EZ pulses has been counted In high speed operation it decelerates and stops with counting up EZ after the ORG input is turned ON Counter reset timing and ERC signal output timing at zero return completion is when counting up the number of EZ pulses specified E An example of constant speed operation lt Stop immediately after the specified number of EZ pulses has been counted after the ORG input is turned ON gt direction f 1 Write FH constant speed start command 51h FH 2 When the ORG input is turned O
18. Write to an input output buffer bits 16 to 31 outpw base_addr rwcom Write command 16 Any order can be used for writing to the input output buffer For details about register write commands see section 3 3 List 2 3 7 Read register p645_rreg Fa re me eR Deere eee ee ell eee eee ere eee ee Function name p645_rreg Operation Reads contents of the register for the axis that was specified base_addr Dummy argument base_addr Base address of the specified axis rrcom Reigster read command Return value Read data a a a eS a A a e e i i R ER Write register read For details about register read commands see section 3 3 command List of commands Read 4 bytes of data from the input output buffer Any order can be used for reading input output buffer unsigned long p645_rreg base_addr rrcom unsigned int base_addr Axis base address unsigned int rrcom Register write command union udata unsigned long Idata unsigned int idata 2 udt outpw base_addr rrcom Write a register read command udt idata O inpw base_addr 4 Read input output buffer bits O to 15 udt idata 1 inpw base_addr 6 Read the input output buffer bits 16 to 31 return udt Idata 17 2 3 8 Wait for the end of the operation p645_ wait N a EAE E ees ee Se ee eee ee ee Function name p645_ wait Operation Waits until bit 3 SEND in the specified axis
19. 0011 Waiting for an internal 1010 Feeding at FL low synchronous signal speed 0100 Waiting for another axis 1011 Accelerating to stop 1100 Feeding at FH low 0101 Waiting for a speed completion of ERC 1101 Decelerating timer 1110 Waiting for INP input 0110 Waiting for a 1111 Others controlling completion of direction change timer 0111 Correcting backlash Operation direction 0 Positive direction 1 Negative direction CSTA input signal CSTP input signal 0 OFF H 1 ON L CEMG input signal 15 14 13 12 11 10 9 8 SDIN SLTC SCLR SDRM SDRP SEZ SERC SPCS PCS input signal gt ERC input signal EZ input signal DR input signal 0 OFF 1 ON DR input signal CLR input signal LTC input signal SD input signal terminal 7 23 22 21 20 19 18 17 16 O 0 PFM1PFMOPFC1 PFCO 0 SINP L INP input signal 0 OFF 1 ON RCMP5 register status fixed Operation pre register status fixed 135 3 5 4 Interpolation status register RISP 24 bits 7 6 5 4 3 2 1 0 IPEu IPEz IPEy IPEx IPLu IPLz IPLy IPLx X axis is executing linear interpolation 1 Y axis is executing linear interpolation 1 Z axis is executing linear interpolation 1 U axis is executing linear interpolation 1 X axis is executing linear interpolation 2 Y axis is executing linear interpolation 2 Z axis is executing linea
20. 55h Zero return to a mechanical position controlled by PA PB input 001 1010 1Ah Negative feed leaving from the zero position 101 0110 56h Positioning operation controlled by external signal DR DR input 001 0101 15h Zero search in the positive direction 110 0000 60h Continuous linear interpolation 1 continuous operation with linear interpolation 1 001 1101 1Dh Zero search in the negative direction 110 0001 61h Linear interpolation 1 010 0000 20h 010 1000 28h Feed to EL or SL position Feed to EL or SL position 110 0010 62h 110 0011 63h Continuous linear interpolation 2 continuous operation with linear interpolation 2 Linear interpolation 2 010 0010 22h 010 1010 2Ah Move away from the EL or SL position Move away from the EL or SL position 110 0100 64h 110 0101 65h CW circular interpolation operation CCW circular interpolation operation 010 0100 24h Feed in the positive direction for a specified number of EZ counts 110 0110 66h CW circular interpolation synchronized with the U axis 010 1100 2Ch Feed in the negative direction for a specified number of EZ counts 110 0111 67h CCW circular interpolation synchronized with the U axis 100 0001 41h Positioning operation specify the incremental target position 110 1000 68h Continuous line
21. If you want to reuse the same pattern this setting is not needed X axis master axis PRMV 10 Y axis slave axis PRMV 4 FH constant speed start command 0x0351h X axis Linear interpolation 1 synthesized constant speed control is OFF Y axis Linear interpolation 1 synthesized constant speed control is OFF Interpolation control axis X axis linear from 1000pps to 10Kpps 300mS Enter an X axis master axis end point coordinate 10 Enter a Y axis slave axis end point coordinate I 4 FH constant speed start command Wait for the motor to stop 6 Linear interpolation 2 MOD 63h Linear interpolation 2 is mainly used for linear interpolation of 5 axes or more using two or more PCL chips In this operation mode interpolation is only available for constant speed operations not for acceleration deceleration In order to execute a linear interpolation using multiple LSls you must use a simultaneous start signal CSTA signal For details about the CSTA signal see section 2 11 2 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 an end point position PRMV set value in the PRIPs for each of the axes Enter end point positions for each slave axis in the PRMV of the slave axes The feed direction is determined by the si
22. Initial latch status is Q L Bit control command 18h to 1fh 3 s t Buffer C PO to P7 terminals Write to general purpose output ports RENV2 POM to P7M Bit control command 10h to 17h Read sub status To use these terminals as outputs change the status by writing to the general purpose output port or writing a bit control command When writing to the general purpose output a 1 in any bit will be output as a HIGH To write a bit control command make 18h to 1fh HIGH and make 10h to 17h LOW The status of each terminal can be checked in the sub status SSTSW register PO to P7 can be set as follows by setting POM to P7M bits 0 to 15 PO During acceleration FUP or one shot output T Approx 26 msec P1 During deceleration FDW or one shot output T Approx 26 msec P2 Constant speed operation MVC P3 to P7 Comparator conditions met The output logic of the PO and P1 terminals can be changed using POL bit 16 and P1L bit 17 when outputting pulses during acceleration FUP during deceleration FDW and in one shot output mode To use them as one shot outputs set the PO terminal to POM bits 0 and 1 11 or set the P1 terminal to P1M bits 2 and 3 11 To change the output logic set POL bit 16 on the PO terminal and P1L bit 17 on the P1 terminal In order to perform a one shot output from the PO and P1 terminals a bit control command should be written However the command you need t
23. 00 Immediate start 01 Start on CSTA input or command 06h 2Ah 10 Start from an internal synchronous signal 11 Start when the specified axis stops Specify an axis to check for an operation stop when the value of MSY 0 to 1 is 11 Setting examples 0001 X axis stopped 1000 U axis stopped 0010 Y axis stopped 0101 Starts when both the X and 0100 Z axis stopped Z axes stop 1111 Starts when all axes stop 31 30 29 28 27 26 25 24 0 0 0 0 MPIE MADJ MSPO MSPE L_ CSTP signal control 0 Disabled 1 Enabled Output CSTP when executing an error stop 0 NO 1 YES FH correction function 0 ON 1 OFF End point draw circular interpolation 0 OFF 1 ON 141 3 8 Environmental setting register 3 8 1 RENV1 register input output terminals specifications 32 bits 7 6 5 4 3 2 1 0 ORGL SDL SDLT SDM ELM PMD2 PMD1 PMDO OUT a ae Set the output pulse specifications direction direction direction direction DIR OUT DIR OUT DIR OUT DIR OUT OUT al DIR DIR Ll OUT OUT DIR Specify Specify 15 14 13 12 11 10 9 8 the process to occur when the EL input is turned ON 0 Immediate stop 1 Deceleration stop the process to occur when the SD
24. 2h After starting at constant speed the motor will stop immediately when the specified number of EZ pulses has been counted In high speed operation it decelerates when the ORG input is turned ON and stops immediately when the specified number of EZ pulses has been counted The counter reset and ERC signal output timing is triggered when the specified number of EZ pulses has been counted E An example of constant speed operation lt Stop immediately when the specified number of EZ pulses has been counted after an ORG signal is input gt direction 1 Write an FH constant speed start f command 51h 2 When the ORG input is turned ON the FH PCL will start counting EZ pulses FL 3 The motor will stop immediately after the specified number of EZ pulses has been t counted 1 2 3 EZ OFF A i A The counter reset and ERC signal output ON timing is triggered by completion of the i zero return ORG OFF Jon Specify a zero return operation ORM bits 0 to 3 2h method in ORM in RENV3 Enter the EZ count value in EZD in EZD bit 4 to 7 th RENV3 Number of EZ pulses counted EZD setting 1 A To move in the direction MOD bits 0 to 6 10h Enter a zero return operation code in a diraeta MOD in the PRMD To move in the direction MOD bits 0 to 6 18h ae E eee eee If you want to reuse the same pattern this setting is ONY ise et Pee Pade
25. 5DBh 0 2 0 2 to 13 107 0 29 1Dh 10 10 to 655 350 599 257h 0 5 0 5 to 32 767 5 14 OEh 20 20 to 1 310 700 299 12Bh 1 1 to 65 535 5 5h 50 50 to 3 276 750 149 95h 2 to 131 070 100 to 6 553 500 Output speed range Setting 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 changes with the ramping down point setting method MSDP in the PRMD register 154 lt When set to manual MSDP 1 in the PRMD register gt Set the number of pulses at which to start deceleration in the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in the equation below 1 Linear deceleration MSMD 0 of the PRMD register PRFH PRFL x PRDR 1 PRMG 1 x 32768 Optimum value Number of pulses However the optimum value for a triangle start without changing the value in the RFH register while turning OFF the FH correction function MADJ 1 in the PRMD register will be calculated as shown in the equation below When using idling control modify the value for PRMV in the equation below by deducting the number of idling pulses from the value placed in the PRMV register The number of idling pulses will be as follows When RENV5 s IDL value 0 the numbe
26. Absolute position COUNTER2 positioning operation T TTT 91 4 Command position zero return operation fain mreisi to nian oa Sis RENNER a cue Blaraia bisia Rie Wea bva aus Alera a Bieta aa Slee bela RKENEN RE 92 5 Mechanical position zero return Operation sitet ieee eter ttennn neeme 93 2 6 2 3 Interpolation operation using a pulser Input sree rete etter tttte tee et teeter 94 2 6 3 External switch DR operation eC rere eee eee errr ere T 98 2 6 3 1 Continuous operation using an external switch lt 1 rere ceeees 98 2 6 3 2 Positioning operation using an external SWitCh treet tite tttet eet ttetieite 100 2 7 Precautions for interrupt programs 2 7 1 Protect the input output buffer MRE E AT AT T E A ETA TE E EP EE E E PTE T E 1 01 2 7 2 Simultaneous occurrence of multiple interrupts PETAR EEIE A EENT E A E E E A A A E 101 2 7 3 When INT signals from multiple chips are bundled into one line vevevevesesenenene 105 2 8 Check the cause of a stop drains reste ia seca areas m eit A a ajar era vee re cu aid e a ava cage juju tte ia aimTavaaua ET 1 06 2 9 Changing speed patterns while in operation 2 9 1 Speed Change irre tte eee sneer enreenenrerieer ranean tien 107 2 9 2 Changing the acceleration deceleration speed acceleration decelerate rate vevevene 107 2 10 Position override 2 10 1 Target position override 1 Changing the target position data cevevesesenenennenen 108 2 10 2 Target position override 2 Changing the
27. Content 2000 Content 2000 Content 1000 i ere 1st pre register RCMPS5 register PFC Memory 3 Memory Memory status Fixed status Fixed gt status Peer Content 3000 Content 2000 Content 1000 inion 1st pre register RCMPS5 register PFC Memory Not fixed Memory Memory 7 status status Fisse status Piec 2 Content 3000 Content 3000 Content 2000 RETT 1st pre register RCMPS5 register PFC Memory Memory Not Memory status Not fixed gt status fixed gt status Fixed 1 Content 3000 Content 3000 Content 3000 Ha RA T 1st pre register RCMPS5 register PFC Memory gt Memory Not gt Memory status Not fixed status fixed status Not fixed 9 Content 3000 Content 3000 Content 3000 The data status PFC value can be checked by setting PFCO to 1 in the RSTS register to 1 and when PFC is 3 SPDF in the main status MSTS will go to 1 Also set IRND lt bit 3 gt to 1 in the RIRQ event interrupt cause register When the 2nd pre register changes from fixed to not fixed ready to write data an INT signal can be output 2 5 2 4 Pre register control command for comparator 5 The comparator 5 pre register can be manipulated with data shift and cancel commands Their functions are as follows Shift command for the comparator 5 pre register 2Ch Execute steps 1 to 3 above SPDF bit 15 in MSTS goes to 1 Pre register full condition 4
28. Continuous linear interpolation 2 Execute a continuous linear interpolation2 operation until a stop command is written 63h Linear interpolation 2 Interpolates between 5 axes or more using multiple LSls 64h CW arc interpolation Interpolates the position for a CW arc between any two axes 65h CCW arc interpolation Interpolates the position for a CCW arc between any two axes 66h CW arc interpolation synchronized with the U axis Interpolates the position for a CW arc between any two axes synchronized with the U axis 67h CCW arc interpolation synchronized with the U axis Interpolates the position for a CCW arc between any two axes synchronized with the U axis 68h Continuous linear interpolation using a pulser PA PB input Continuous linear interpolation1 operation synchronized with the PA PB input 69h Linear interpolation1 using a pulser PA PB input Linear interpolation1 operation synchronized with the PA PB input 6Ah Continuous linear interpolation2 using a pulser PA PB input Continuous linear interpolation2 operation synchronized with the PA PB input 6Bh Linear interpolation2 using a pulser PA PB input Linear interpolation2 operation synchronized with the PA PB input 6Ch CW circular interpolation using pulser PA PB input CW circular interpolation synchronized with the PA PB input 6Dh CCW circular interpolation using
29. Enter the RT time shown in the figure below 0 to 65 535 15 14 13 12 1 10 9 RT15 RT14 RT13 RT12 RT11 RT10 RT9 RTS The units are 32 ticks of the reference clock Setting time range 0 to approx 0 1sec 23 22 21 20 19 18 17 16 FT7 FT6 FT5 FT4 FT3 FT2 FT41 FTO 31 30 29 28 27 26 25 24 Enter the FT time shown in the figure below 0 to 65 535 The units are 32 ticks of the reference clock FT15 FT14 FT13 FT12 FT11 FT10 FT9 FT8 Setting time range 0 to approx 0 1sec The dotted lines in the figure below are pulses added by the vibration reduction function An example of feeding in the direction Positive pulse T i ooo Negative pulse EEEE E EEEE EA atin RT 2 FT 2 k 152 3 9 Speed pattern settings Bit length setting range Setting range Register Pre register Description E 134 217 728 to 134 217 727 PRMV Positioning amount 8000000h 7FFFFFFh PRFL Initial speed 1 to 65 535 OFFFFh RFL RMV PRFH Operation speed 1 to 65 535 OFFFFh RFH PRUR Acceleration rate 1 to 65 535 OFFFFh RUR PRDR Deceleration rate Note 1 Oto 65 535 OFFFFh RDR PRMG Speed magnification rate 2to 4 095 OFFFh RMG PRDP Ramping down point 0 to 16 777 215 OFFFFFFh RDP PRUS S curve acceleration range Oto 32 767 7FFFh RUS PRDS S curve deceleration range Oto 32 767 7FFFh
30. Output the MVC low speed feeding signal with positive logic Specify the operation of the P3 CP1 SL terminals 00 General purpose input 01 General purpose output 10 Output the signal with negative logic 11 Output the signal with positive logic 143 15 14 13 12 11 10 9 8 P7M1 P7M0 P6M1 P6M0 P5M1 P5M0 P4M1 P4M0 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 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 negative logic Specify the operation of the P6 CP4 ID terminals 00 General purpose input 01 General purpose output 10 Output the CP4 satisfied the Comparator 4 conditions signal with negative logic 11 Output the CP4 satisfied the Comparator 4 conditions signal with positive logic 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 23 22 21
31. The comparator 1 conditions were met The comparator 2 conditions were met The comparator 3 conditions were met The comparator 4 conditions were met The comparator 5 conditions were met The count value was reset by a CLR signal input The count value was latched by an LTC input The count value was latched by an ORG input oh GX ak ek ee Sk S 23 22 21 20 19 18 17 16 The SD input turned ON The DR input changed The DR input changed The CSTA input turned ON a aM 138 3 6 Specify event interrupt cause register RIRQ 19 bits 7 6 5 4 3 2 1 0 IRDE IRDS IRUE IRUS IRND IRNM IRN IREN Stopping automatically Starting the next operation continuously Writing to the 2nd pre register Writing to the 2nd pre register for Comparator 5 Starting acceleration When ending acceleration When starting deceleration A ak ek SE A aM M When ending deceleration 15 14 13 12 11 10 9 8 IROL IRLT IRCL IRC5 IRC4 IRC3 IRC2 IRC1 L 1 When Comparator 1 conditions are met When Comparator 2 conditions are met When Comparator 3 conditions are met When Comparator 4 conditions are met When Comparator 5 conditions are met When resetting the count value with a CLR signal input When latching the count value with an LTC signal input ai a i re Mi M When latching the count value with an ORG
32. U axis MOD 02h If you want to reuse the same pattern this setting is not needed Y axis PRMV 0 Z axis PRMV 0 Y axis PRIP 1000 Z axis PRIP 0 High speed start command 2 0x0E53h Turn ON OFF DRu DRu signals Immediate stop command 0x0049h Y axis PA PB input is a 2 input pulses U axis Pulse output is a 2 pulse output Y axis CW circular interpolation using PA PB input Z axis CW circular interpolation U axis Continuous operation controlled by an external signal EDR input Y axis Interpolation control axis Linear 1Kpps to 20Kpps 200mS U axis Dummy axis Linear 1 Kpps to 20Kpps 200mS Simple circle with a radius of 1000 using the Y and Z axes Specify the end point coordinates 0 0 of the Y and Z axes p645_wreg AXS_AZ WPRMV 0x00000000 p645_wreg AXS_AY WPRIP 0x000003E8 p645_wreg AXS_AZ WPRIP 0x00000000 Specify the center coordinates 1000 0 of the Y and Z axes p645_wcom AXS_AY STAUD SEL_Y SEL_Z SEL_U High speed start command 2 p645_wait AXS_AY p645_wcom AXS_AU STOP p645_wait AXS_ AU Software settings Example 2 Wait for the motor to stop Immediate stop command Wait for the motor to stop Specify a U axis dummy axis continuous operation MOD 02h controlled by an external signal EDR input and let the X Y and Z axes exec
33. and change the position at the specified speed The direction is specified with positive numbers and the direction with negative numbers Positioning operation specify the COUNTER1 absolute position Enter a target position for the COUNTER1 coordinate as a signed number and change the position at the specified speed The feed direction is set automatically Positioning operation specify the COUNTER2 absolute position Enter a target position for the COUNTER2 coordinate as a signed number and change the position at the specified speed The feed direction is set automatically Command position COUNTER7 0 position return operation Operates until the command position COUNTER1 becomes 0 Command position COUNTER2 0 position return operation Operates until the command position COUNTER2 becomes 0 direction 1 pulse operation Moves one pulse amount in the direction at the specified speed direction 1 pulse operation Moves one pulse amount in the direction at the specified speed 29 hex 47h Operation mode Description Timer operation Use the operation time as a timer The PCL does not output pulses 51h Positioning operation using a pulser PA PB input Enter the feed direction and feed amount as a signed number and the positioning will be synchronized by pulser PA PB input The motor is not influ
34. and then 2nd pre register gt 1st pre register The memory status does not change 24 Pre register cancel operation command 26h Execute steps from 1 PRMV to 6 above The data 2nd pre register 1st pre register RMV register PFM in the 2nd pre register Memo Memo Memor is fixed tat Y Fixed gt tat Y Fixed tat Y Fixed 3 SPRF bit 14 in MSTS stats Status status goes to 1 The data Content 3000 Content 5000 Content 1000 in the pre registers are all fixed 7 Write a cancel command ppnjy ale an 2nd pre register 1st pre register RMV register PFM goes to 0 The data in the 1st Memory Not fixed gt Memory Not Memory Fixed 1 register is not fixed a a i aesny Content 3000 Content 5000 Content 1000 8 The 1st operation PRMV ee a ae 2nd pre register 1st pre register RMV register PFM i in Ca a 1 Memory gt Memory Not gt Memory ari to a acai a status Not fixed status fixed status Not fixed MEJ SRRA Content 3000 Content 3000 Content 5000 The cancel command 26h cancels the start commands for the next operation and the operation after that These start commands were written to fix the data in the 2nd and 1st pre registers However the data will not change when a cancel command is issued Therefore when the
35. are met _ 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 1 Use COUNTER for ring counter operation by using Comparator 1 Select a comparison counter for Comparator 2 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general purpose Select a comparison method for Comparator 2 001 RCMP2 data Comparison counter regardless of counting direction 010 RCMP2 data Comparison counter while counting up 011 RCMP2 data Comparison counter while counting down 100 RCMP2 data gt Comparison counter data 101 RCMP2 data lt Comparison counter data 110 Use as negative end software limit RCMP2 gt COUNTER1 Others Treats that the comparison conditions do not meet Select a process to execute when the Comparator 2 conditions are met ___ 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 1 Use COUNTER2 for ring counter operation by using Comparator 2 148 23 22 21 20 19 18 17 16 IDXM C3D1 C3D0 C382 c381 C3S0 C3C1 C3C0 Select a comparison counter for Comparator 3 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general p
36. linear acceleration deceleration from 1000pps to 10Kpps 300mS High speed start command 2 Wait for the motor to stop E An example of high speed operation 2 lt Decelerate by turning ON the SD input and stop when the ORG input is turned ON gt f FH FL N 1 SD OFF ORG OFF ON A 3 Set the SD input latch function in SDLT in RENV1 Specify a zero return operation method in ORM in RENV3 a Enter a zero return operation code in MOD in the PRMD and enable SD signals in MSDE in the PRMD Write a start command Wait for the operation to complete End p645_wreg AXS_AY WRENV1 0x00000020 p645_wreg AXS_AY WRENV3 0x00000000 p645_wreg AXS_AY WPRMD 0x00000110 1 Write high speed start command 2 53h 2 Start the rampdown by turning ON the SD input 3 Stop when the ORG input is turned ON A The counter reset and ERC signal output timing is triggered by completion of the zero return SDLT bit 5 1 ORM bits 0 to 3 Oh To move in the direction MOD bits 0 to 6 10h To move in the direction MOD bits 0 to 6 18h MSDE bit 8 1 If you want to reuse the same pattern this setting is not needed High speed start command 2 0x0053h Turn ON the SD input latch function SDLT 1 Specify zero return operation 0 ORM 0h Specify a zero return operation in t
37. notineadad Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x0000001 2 Specify zero return operation 2 ORM 2h The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WPRMD 0x0000001 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant start command p645_wait AXS_AY Wait for the motor to stop 45 E An example of high speed operation lt Decelerates when the ORG input is turned ON and stops immediately when the EZ count is correct gt direction f 1 Write high speed start command 2 53h FH 2 When the ORG input is turned ON the motor decelerates 3 The motor will stop immediately after the specified number of EZ pulses has been t counted FL 1 2 EZ E i E gt e A Counter reset and ERC signal output ORG OFF ON timings by zero return completion Specify a zero return operation ORM bits 0 to 3 2h method in ORM in RENV3 Enter the EZ count value in EZD in EZD bit 4 to 7 1h RENV3 Number of EZ pulses counted EZD setting 1 Enter a zero return operation code in To move in the direction MOD bits 0 to 6 10h
38. stopped 2 The motor starts operation when a start command is written The register is fixed 3 Write the next set of operation data when PRMV 5000 while executing the current operation If the next operation is the same as the previous operation there is no need to write fresh data 4 Write a start command for the next operation The data in the 1st pre register is fixed 5 Write the data for two steps ahead when PRMV 3000 while executing an operation If the next operation is the same as the previous operation there is no need to write fresh data 6 Write a start command for the operation two steps from now The data in the 2nd pre register is fixed SPRF bit 14 in MSTS goes to 1 The pre register full condition 7 When the first operation is complete SPRF bit 14 in MSTS goes to 0 The data in the 2nd pre register in no longer fixed 8 When the next operation is complete SPRF bit 14 in MSTS goes to 0 The 1st and 2nd pre registers are no longer fixed PRMV 1st pre register 2nd pre register E RMV register PFM Memory Memory Not Memory l status Nott
39. 0 0 0 S 0 Y axis S curve acceleration deceleration p645_wreg AXS_AY WPRMV 2000L p645_wcom AXS_AY STAUD p645_wait AXS_AY from 1000pps to 20Kpps 300mS Target position COUNTER1 2000 High speed start command 2 Wait for the motor to stop 35 3 Positioning operation by specifying absolute position COUNTER2 MOD 43h The motor executes a positioning operation so that the value in COUNTER2 matches the value in PRMV when the operation stops The number of pulses and feed direction are set automatically from the COUNTER2 and PRMV values before starting If the COUNTER2 value is changed after starting the actual position which is stopped at will not match the value in COUNTER2 In addition since this system does not use feedback control it is not closed loop if the input to COUNTER2 is from an encoder the COUNTER2 value may be different than the target position when the operation is complete COUNTER2 2000 1 To move from the 100 position to the 2000 position set the PRMV register 2000 000007D0h 2 To move from the 2000 position to the 50 position set the PRMV register 50 2 E FFFFFFCEh Put the positioning operation code MOD bits 0 to 6 43h in MOD of the PRMD If you want to reuse the same pattern this setting is not needed a signed number FL constant speed start command 0x0050h FH constant speed start command
40. 0 in the MSTS with a start pending status regardless of the operation mode selected When started with MSY 00 in the PRMD the stop command will never be executed If you set PSTP 0 a stop command can be executed Stop command Stop command Start command PSTP 0 PDTP 1 on PA ae L T L PB sscmM T o Do L SRUN _ a a BSY LoM _ OUT UUUULU UUUUU 88 2 6 2 2 Positioning operations using a pulser input This mode allows positioning using a pulser input PA PB Operation speed is controlled by PA PB input signal The feed direction is determined by the sign in the PRMV register 1 Positioning operations Specify target position as incremental value MOD 51h With this operation the absolute value in the RMV register is loaded into the positioning counter The PCL outputs pulses synchronized with the PA PB input signal and the positioning counter counts down using these pulses When the counter value reaches 0 the PCL stops the motor PA PB input signals which are received after the number of specified pulses have been counted will be ignored Use an FH constant speed start 51h or FL constant speed start 50h as the start command Enter the pulser input continuous MOD bits 0 to 6 51h mode in MOD in the PRMD If you want to reuse the same pattern this setting is Specify an operating speed pattern not needed Enter a feed amount as a signed Positive nu
41. 0x0051h High speed start command 1 0x0052h High speed start command 2 0x0053h Write a start command Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000043 Specify a positioning operation MOD 43h p645_vset AXS_AY 1000L 20000L 300 0 0 0 S 0 Y axis S curve deceleration from 1000pps to 20Kpps 300mS p645_wreg AXS_AY WPRMV 2000L Target position COUNTER2 2000 p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 36 4 Command position 0 return operation MOD 44h This mode continues operation until the COUNTER1 command position value becomes zero The number of pulses and feed direction are set automatically by an internal operation using the COUNTER 1 value Put a positioning operation code in MOD bits 0 to 6 44h MOD in the PRMD If you want to reuse the same pattern this setting is not needed FL constant speed start command 0x0050h Write a start command FH constant speed start command 0x0051h High speed start command 1 0x0052h High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000044 Specify a zero position return operation MOD 44h p645_vset AXS_AY 1000L 20000L 300 0 0 0 S 0 Y axis S curve deceleration from 1000pps to 20Kpps 300mS p645_wcom AXS_AY STAUD
42. 0x0100 0x0200 0x0400 0x0800 Read from RDP Register Read from RMD Register Read from RIP Register Read from RUS Register Read from RDS Register Read from RFA Register Read from RENV1 Register Read from RENV2 Register Read from RENV3 Register Read from RENV4 Register Read from RENV5 Register Read from RENV6 Register Read from RENV7 Register Read from RCUN1 Register Read from RCUN2 Register Read from RCUNS Register Read from RCUN4 Register Read from RCMP1 Register Read from RCMP2 Register Read from RCMP3 Register Read from RCMP4 Register Read from RCMP5 Register Read from RIRQ Register Read from RLTC1 Register Read from RLTC2 Register Read from RLTC3 Register Read from RLTC4 Register Read from RSTS Register Read from REST Register Read from RIST Register Read from RPLS Register Read from RSPD Register Read from RSDC Register Read from RCI Register Read from RCIC Register Read from RIPS Register X Select Code Y Select Code Z Select Code U Select Code 14 2 3 Basic functions used in descriptions 2 3 1 Word output function outpw Function name outpw Operation Writes word data wdata to a specified address address Dummy argument address _ Address wdata Word data to write Return value wdata Word data to write SD a SP ete A a A ES AE unsigned int outpw addres
43. 1st operation completes at step 7 above the PCL will transfer the data as follows 1st pre register gt register 2nd pre register gt 1st pre register and the status is as shown in step 8 above Since the start command for the next operation is canceled the PCL will not start automatically However if another start command is written the PCL will enter RMV 5000 operation 2 5 2 3 Basic pre register PRCP5 operation for comparator 5 Comparator 5 RCMP5 has pre registers Like the operation pre registers they have a two step configuration and work in FIFO order Change 2nd ist Comparator ael pre register pre register Register comparison circuit PRCP5 RCMP5 Normally write data for comparator 5 to the 2nd pre register PRCP5 In order to change current comparison value you must write new data to the register RCMP5 You cannot write to or read from the 1st pre register Data transfer copy of comparator data 2nd pre register gt 1st pre register gt register This transfer can be done using the following steps a Write data to the 2nd pre register b Change the comparator data comparison condition from enable gt disable c Write a pre register control command Each time data is written to the 2nd pre register the 1st pre register memory status can be confirmed and then the 2nd pre register can be checked The memory status PFC can be checked by reading the RSTS register Below we descr
44. 74 x4 Mode if fhdata gt 262140L rmgdt 59 x5 Mode if fhdata gt 327675L rmgdt 29 x10 Mode if fhdata gt 655350L rmgdt 14 x20 Mode if fhdata gt 1310700L rmgdt 5 x50 Mode if fhdata gt 3276750L rmgat 2 x100 Mode rfldt fldata 300 rmgadt 1 rfhdt fhdata 300 rmgdt 1 rfadt fadata 300 rmgdt 1 if Curve L curve l Linear acceleration deceleration a double rfhdt rfldt 4 b double rfhadt rfldt 4 rmddt p645_rreg base_addr 0Ox00C7 amp OxFFFFFBFF RMD MSMD Bit10 0 else S curve acceleration deceleration if usdata 0 Without linear part a double rfhdt rfldt 8 else With linear part a double rfhdt rfldt 2 usdata 4 if dsdata 0 Without linear part b double rfhat rfldt 8 else With linear part b double rfhdt rfldt 2 dsdata 4 rmddt p645_rreg base_addr 0x00C7 0x00000400 RMD MSMD Bit10 1 rurdt double utime 19660 8 a 1 0 if dtime 0 rdrdt 0 When rdrdt 0 deceleration rate else rdrdt double dtime 19660 8 b 1 0 will the set value of rurdt p645_wreg base_addr WPREL unsigned long rfldt p645_wreg base_addr WPRFH unsigned long rfhat p645_wreg base_addr WPRUR unsigned long rurdt p645_wreg base_addr WPRDR unsigned long rdrat p645_wreg base_addr WPRMG unsigned long rmgadt p645_wreg base_addr WP
45. AXS_AY timing is triggered by completion of the zero return ORM bits 0 to 3 Ah EZD bit 4 to 7 th Number of EZ pulses counted EZD setting 1 CU2R bit 21 1 Reset COUNTER2 when the zero return is complete To move in the direction MOD bits 0 to 6 10h To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is not needed High speed start command 2 0x0053h Specify zero return operation 10 ORM Ah The number of EZ pulses to count is two EZD 1 Reset COUNTER2 when the zero return is complete Specify a zero return operation in the direction MOD 10h Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS High speed start command 2 Wait for the motor to stop 60 12 Zero position return method 11 ORM Bh After executing zero return operation 5 the motor will execute a zero position return operation move until COUNTER2 0 The counter reset and ERC signal output timing is triggered by completion of the zero return when the specified number of EZ pulses has been counted E An example of high speed operation lt Decelerate and stop after the ORG input is turned ON Then feed in the opposite direction the specified number of EZ pulses and return to the zero position gt oe 1 Write high speed start command 2 53h 2 Decelerate and stop after t
46. CP4 terminals using negative logic p645_wreg AXS_AX WRENV3 0x00000000 RENV3 COUNTER4 input is an output pulse p645_wreg AXS_AX WRENV4 0x23000000 RENV4 1 Comparison counter COUNTER4 general purpose 2 Comparison method is a synchronous signal output not affected by direction 3 No process when the conditions are met p645_wreg AXS_AX WRCMP4 0x00000003 RCMP4 3 Enter a maximum value for COUNTER4 Setting example when one shot output mode is selected Only the RENV4 setting is different from the output level example above p645_wreg AXS_AX WRENV2 0x00002000 RENV2 Output a CMP4 signal from the P6 CP4 terminals using negative logic p645_wreg AXS_AX WRENV3 0x00000000 RENV3 COUNTER4 input is an output pulse p645_wreg AXS_AX WRENV4 0x23800000 RENV4 1 Comparison counter COUNTER general purpose 2 Comparison method is a synchronous signal output not affected by direction 3 No process when the conditions are met p645_wreg AXS_AX WRCMP4 0x00000003 RCMP4 3 Enter a maximum value for COUNTER4 121 2 11 5 5 Ring count function COUNTER and COUNTER2 with a ring count function This function repeats the operation within a specified count range just like monitoring the current position angle of a rotating table Also the IDX signal output functions as a ring count operation using COUNTER4 1
47. High speed start command 2 p645_wcom AXS_AX SDSTP Decelerate and stop p645_wait AXS_AX Wait for the motor to stop prmdt p645_rreg AXS_AX RPRMD amp 0xFFFFFF00 Read PRMD and change MOD p645_wreg AXS_AX WPRMD prmdt Set the X axis to run in the direction in continuous operation p645_wcom AXS_AX STAFL FL constant speed start command p645_wcom AXS_AX 0x0049 Immediate stop p645_wait AXS_AX Wait for the motor to stop 32 2 6 1 2 Positioning operation using command control 1 Positioning by specifying incremental positions MOD 41h Specify a number of pulses and a direction using a signed number and then position the axis Put a signed number in PRMV Use a positive number for the direction and a negative number for the direction Position 2000 1 To move from the 100 position to the 2000 position the PRMV register should be set to 1900 0000076Ch 2 To move from the 2000 position to 50 position the PRMV register should be set to 2050 FFFFF7FEh lt Change the speed pattern by using different start commands gt 1 Write an FL low speed start command 50h 2 Auto stop f C t 1 2 f F 1 Write an FH low speed start command 51h 2 Auto stop t 1 2 FH x 1 Write high speed start command 1 52h ae 2 Auto stop when PRDP 0 4 The rampdown point is manually set and can t be changed MibePRDE rd
48. PRMV register The complete operation time is determined by the pulse speed cycle which normally uses an FH constant speed start in order to reduce the operation time Put a positioning operation code in Move in the direction MOD bits 0 to 6 46h MOD in the PRMD Move in the direction MOD bits 0 to 6 4Eh If you want to reuse the same pattern this setting is not needed pecify an operation speed patter Write a start command FH constant speed command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000046 Specify a 1 pulse direction operation MOD 46h p645_vset AXS_AY 1L 20000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1pps to 20Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 38 2 6 1 3 Timer operation MOD 47h This mode allows the internal operation time to be used as a timer The internal effect of this operation is identical to the positioning operation However the LSI does not output any pulses they are masked Therefore the internal operation time using the low speed start command will be a product of the frequency of the output pulses and the PRMV register setting value Write a positive number 1 to 134 217 727 into the PRMV register Put the positioning operation code MOD bits 0 to 6 47h in MOD of
49. Read from PRUR Pre register Read from PRDR Pre register Read from PRMG Pre register Read from PRDP Pre register Read from PRMD Pre register Read from PRIP Pre register Read from PRUS Pre register Read from PRDS Pre register Read from PRCP5 Pre register Read from PRCI Pre register Read from RMV Register Read from RFL Register Read from RFH Register Read from RUR Register Read from RDR Register Read from RMG Register 13 define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define Definition of an axis selection code define define define define RRDP RRMD RRIP RRUS RRDS RRFA RRENV1 RRENV2 RRENV3 RRENV4 RRENV5 RRENV6 RRENV7 RRCUN1 RRCUN2 RRCUN3 RRCUN4 RRCMP 1 RRCMP2 RRCMP3 RRCMP4 RRCMP5 RRIRQ RRLTC1 RRLTC2 RRLTC3 RRLTC4 RRSTS RREST RRIST RRPLS RRSPD RRSDC RRCI RRCIC RRIPS SEL_X SEL_Y SEL_Z SEL_U 0x00D6 0x00D7 0x00D8 0x00D9 0x00DA 0x00DB 0x00DC 0x00DD 0x00DE 0x00DF 0x00E0 0x00E1 0x00E2 0x00E3 0x00E4 0x00E5 0x00E6 0x00E7 0x00E8 0x00E9 0x00EA 0x00EB Ox00EC 0x00ED 0x00EE 0x00EF 0x00F0 0x00F 1 0x00F2 0x00F3 0x00F4 0x00F5 0x00F6 0x00FC 0x00FD OxOOFF
50. WRENV5 0x00090000 RENV5 Output the internal synchronous signal at the end of acceleration SYO 1001 p645_wcom AXS_AX STAUD SEL_X SEL_Y High speed start command 2 127 Example 2 shows how to start another axis using the 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 Example 2 Use COUNTER1 command position and Comparator 1 to start the X axis when the Y axis 1000 p645_wreg AXS_AX WPRMD 0x00080041 PRMD Positioning operation start from an internal synchronous signal MSY 10 p645_vset AXS_AX 100L 5000L 500 0 0 0 L 0 X axis Linear from 100pps to 5000pps 500ms p645_wreg AXS_AX WPRMV 0x000003E8 PRMV Feed amount 1000 p645_wreg AXS_AX WRENV5 0x00100000 RENV5 Use the Y axis internal synchronous signal SY1I 01 p645_wreg AXS_AY WPRMD 0x00000041 PRMD Positioning operation MOD 41h p645_ vset AXS_AY 100L 5000L 500 0 0 0 L 0 Y axis Linear from 100pps to 5000pps 500ms p645_wreg AXS_AY WPRMV 0x000007D0 PRMV Feed amount 2 000 p645_wreg AXS_AY WRENV4 0x00000004 RENV4 Comparison counter COUNTER Command Conditions to meet Comparator 1 COUNTER1 command No
51. When PRDP 0 the motor will stop immediately 1 2 f FH 1 Write high speed start command 2 53h 2 Start auto deceleration EL 3 Auto stop t 1 2 3 33 lt Change the speed pattern using the PRDP register rampdown point and offset gt When the rampdown point is set automatically MSDP lt bit 13 gt of PRMD is 0 and if PRDP is other than 0 the speed pattern will change as shown below When PRDP gt 0 1 A high speed start command 2 53h is written 2 Auto deceleration starts 3 Auto stop When PRDP lt 0 1 A high speed start command 2 53h is written 2 Auto deceleration starts 3 Auto stop Put the desired positioning MOD bits 0 to 6 41h operation in MOD of the PRMD If you want to reuse the same pattern this setting is not needed Put the feed amount in PRMV as a Positive number Feed in the direction signed number Negative number Feed in the direction FL constant speed start command 0x0050h FH constant speed start command 0x0051h Write a start command High speed start command 1 0x0052h High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x0000004 1 Specify a positioning operation MOD 41h p645_vset AXS_AY 1000L 20000L 300 0 0 0 S 0 Y axis S curve deceleration from 1000pps to 20Kpps 300mS p645_wreg AXS_AY WPRMV 2050L Number of
52. aceaiin ganar ante 15 2 3 2 Word input function inpw aSHRA Ses AMAA RNAS RANSOM ARO ES AAEN KENA EENKANT 15 2 3 3 Write the command code and axis selection 9645 _WCOM srt ttre ttre ttt tree ees 15 2 3 4 Write to an output port p645_wotp Cee ee eee Cee ETE Eee eee CET Eee CeCe eee ree eee AEE EE 15 2 3 5 Read status p645_rsts TT ee Cee eee er eee eer ere eee eee ee cere eC er errr 16 2 3 6 Write register p645_wreg CECT eee ee Teter rere eee eee A eee ee rere eT eee Teer ee eer eres 16 2 3 7 Read register p645_rreg PNG SRA SUSAN EMR ANA SNA Sica aM ean cigNGM MUNA AGES ESaR EN AMINE SSAA NEeANC AG naS SAMAK E 17 2 3 8 Wait for the end of the operation p645_Wait steerer er eters 18 2 4 Set the speed pattern p645_vset Ce re eee eee ee reer ee Tere rer Terie eer rere eee rere rrr errr Ty 19 2 5 Control method 2 5 1 p How to access the registers eT rT eee eT eee Tee eee eee eee ee eee eee ee cee eer err ere 21 2 5 2 Pre register FUNCION trttettrtrrrrrrrrrrrrrrrrrrrrsrrrrrnnrrnrnnnnnsrnsrnnnnnsnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn mnnn 22 2 5 2 1 Basic pre register operation RCC CeCe eee TUTE Ter Cerre ere rnc cece E 22 2 5 2 2 Pre register operation control COMMANAS rte ett tet ett teeta 24 2 5 2 3 Basic pre register PRCP5 operation for Comparator 5S vrvtrrstrrrrrtrrertteeteetteeees 25 2 5 2 4 Pre register control command for comparator 5 vrei 26 2 5 3 Control procedures PEET E TRT 28 2 6 Basic operation E E E r ETTE
53. base point Si ainistsRcarg piaco oibleidia aie AAEN ERINE KEANE SEIAS ree anny 110 2 11 Description of the Functions 2 11 1 Idling pulse output FUNCTION iit t tet tt tet rrtt ttnt terret rnnirtiritinittiteiticites 111 2 11 2 External start simultaneous start function Pere er ee Teer Lier te eee eT eee ee eee eee 112 2 11 2 1 CSTA signal acai aim a a Slain a Gow ateiNiGin NS Glalciare T 112 2 11 2 2 PCS signal ee Teer ee LeeLee ere ee eee ere ee eT TEC ETO eee er eer eT errr E 113 2 11 3 External stop simultaneous stop PEE EEEE AA TLT cadre aajele esas sare E cals 114 11 4 Counter E T ale sta atete Pata cieie a e s ais atta eetoiteia S LTS TT 115 2 11 4 2 11 5 COMparatOrs sree ne erin nnne nenene nira nnnenenen nnter seine risinnarien 117 2 11 5 1 Out of step stepper motor detection function ttt tees 117 2 11 5 2 Software limit function ANNAA AKEE ENa EEA ATEREA I AARAA NAKE NOAA EE OAA AR KAPRANAN se ENAKE IER 118 2 11 5 3 Auto speed changeeesesesesenesetreteeetetteterinttttetetintetetinttttntetintenintenetintt titte te 119 2 11 5 4 Synchronous IDX signal output fUNCtION eerie eerie 121 2 11 5 5 Ring count function AKARLAR REKAAN EREA E ANER AAA EAA ab AAAA E EAA AKAAKA DAANA R EANNAN 122 2 11 6 Backlash correction and slip COFreECtjON crt nner tene en srne ne nnaneneeaeanenens 123 2 11 7 Vibration restriction function PEET ataistaia aln s ciais a a7e ela a asa Safe r A T T 124 2 11 8 Synchronous starting restr tte
54. base_addr main status register goes to 1 operation complete Dummy argument base_addr Base address of the specified axis Return value None Read main status The maximum delay after writing an immediate stop command until bit 3 in the main status register goes to 1 is one cycle at FH speed void p645_wait base_addr unsigned int base_addr Axis base address unsigned int msts Axis main status while 1 msts inpw base_addr If msts amp 0x0008 0 break 18 Function name p645_vset Operation Specify the initial speed fldata operation speed fhdata acceleration time utime deceleration time dtime acceleration S curve range usdata deceleration S curve range dsdata selection of a linear S curve curve and the compensated speed fadata and write the speed pattern Dummy argument base_addr Base address of the specified axis fldata Initial speed pps fhdata Operation speed pps utime Acceleration time ms dtime Deceleration time ms usdata Acceleration S curve range dsdata Deceleration S curve range curve Selection of a linear S curve L Linear S S curve fadata Compensated speed pps Return value None EF ase TE ES EEA EE Select a magnification rate for the value PRMG 300 magnification rate 1 of fhdata and set PRMG Magnification Magnification rate 300 PRMG 1 rates are 1x 2x 3x 4x 5x 10x 20x 5
55. complete 1 Reset COUNTER4 general purpose when the zero return is complete 31 30 29 28 27 26 25 24 CU4H CU3H CU2H 0 CU4B CU3B CU2B CU1B 1 Operate COUNTER while in backlash slip correction mode 1 Operate COUNTER2 while in backlash slip correction mode 1 Operate COUNTER3 while in backlash slip correction mode 1 Operate COUNTER4 while in backlash slip correction mode 1 Stop the counting operation on COUNTER2 mechanical position 1 Stop the counting operation on COUNTERS deflection counter 1 Stop the counting operation on COUNTER2 general purpose 147 3 8 4 RENV4 comparators 1 to 4 32 bit 7 6 5 4 3 2 1 0 C1RM C1D1 C1D0 C1S2 C181 C1S0 C1C1 C1C0 15 14 13 12 11 10 9 8 C2RM C2D1 C2D0 C2S2 C2S1 C2S0 C2C1 C2C0 Comparator 1 comparison counter 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general purpose Comparison method for comparator 1 001 RCMP1 data Comparison counter regardless of counting direction 010 RCMP1 data Comparison counter while counting up 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 COUNTERT1 Others Treats that the comparison conditions do not meet Process to execute when the Comparator 1 conditions
56. counting direction 1001 Synchronous signal RCMP4 COUNTER4 while counting up 1010 Synchronous input RCMP4 COUNTER4 while counting up Others Treats that the conditions do not meet Select a process to execute when the Comparator 4 conditions are met __ 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed Note 1 When COUNTERS is selected as the comparison counter the LSI compares the counted absolute value and the comparator data Absolute value range 0 to 32 767 2 When you specify C1S0 to 2 110 positive software limit or C2S0 to 2 110 negative software limit select COUNTER specified position as the comparison counter 3 When C4S0 to 3 1000 to 1010 synchronous output select COUNTER4 for use as the comparison counter and enter a positive number as the setting 149 3 8 5 RENV5 Comparator 5 specifications of internal synchronous signals 22 bits 7 6 5 4 3 2 1 0 C5D1 C5D0 C582 C5S1 C5S0 C5C2 1C5C1 C5C0 Select a comparison counter for comparator 5 000 COUNTER1 command position 001 COUNTER2 mechanical position 010 COUNTER3 deflection counter 011 COUNTER4 general purpose 100 Positioning counter 101 Current speed data Select a comparison method for comparator 5 001 RCMP5 data Comparison counter regardless of cou
57. eed ine feeds in the original direction at FA speed i t 4 Stop immediately when the ORG input is i turned ON again FAL Tte a i A The counter reset and ERC signal output direction 1 2 3 4 timing is triggered by completion of the zero return ORG OFF ON ON A Specify a zero return operation ORM bits 0 to 3 1h method in ORM in RENV3 ti i To move in the direction MOD bits 0 to 6 10h Hea oe cap operation code in To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is E a epee ee not needed Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000001 Specify zero return operation 1 ORM h p645_wreg AXS_AY WPRMD 0x0000001 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS FA 500pps p645_ wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 43 E An example of high speed operation lt Decelerate and stop when the ORG input is turned ON Feed in the opposite direction at FA constant speed until the ORG input goes OFF Then feed in the original direction at FA speed Stop immediately when the ORG input is turned ON g
58. execute the following interpolation operations No Operation mode MOD No Operation mode MOD Continuous linear interpolation 1 for 2 CCW circular interpolation 1 60h 8 i 67h to 4 axes synchronized with the U axis Continuous linear interpolation 1 2 Linear interpolation 1 for 2 to 4 axes 61h g synchronized with PA PB input 68h Continuous linear interpolation 2 for 1 Linear interpolation 1 synchronized 2 to 4 axes 62h gi with PA PB input 62h Continuous linear interpolation 2 4 Linear interpolation 2 for 1 to 4 axes 63h 11 synchronized with PA PB input 6Ah Linear interpolation 2 synchronized 5 Circular interpolation CW 64h 12 with PA PB input 6Bh CW circular interpolation 6 Circular interpolation CCW 65h 13 synchronized with PA PB input 6Ch 7 CW circular interpolation 66h 44 CCW circular interpolation 6Dh synchronized 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 14 t
59. feed amount using a signed number in the PRMV Specify 1 the comparator counter C5C 2 the comparison method C5S and 3 the process when the conditions are met C5D Specify a speed change position in RCMP5 Write a start command Change the operation speed pre register Wait for the operation to complete End p645_wreg AXS_AX WPRMD 0x00000041 p645_vset AXS_AX 100L 1000L 2000 0 0 0 L 0 p645_wreg AXS_AX WPRMV 0x0002710 p645_wreg AXS_AX WRENV5 0x000000C8 2000 1000 PETOG 3000pulse t 7000pulse a 10000pulse MOD bits 0 to 6 41h If you want to reuse the same pattern this setting is not needed PRMV 10000 1 C5C bits 0 to 2 2 C5S bits 3 to 5 counter 3 C5D bits 6 to 7 11 Move pre register data to register operation data 000 COUNTER1 commana 001 Comparator Comparison RCMP5 Current value 3000 High speed start command 2 0x0053h PRFH 2000 X axis Positioning operation MOD 4 1h X axis Linear acceleration deceleration from 100pps to 1000pps 2000mS X axis Enter a feed amount 10 000 RENV5 1 Comparison counter COUNTER1 command 2 Conditions to meet Comparator 5 COUNTER 1 Command 3 Process Move pre register data to register operation data p645_wreg AXS_AX WRCMP5 p645_rreg AXS_AX RRCUN1 0x00000BB8
60. have a constant synthesized speed When the same interpolation mode is selected the T 3 axes whose MIPF bit is set to 1 will have a longer A pulse output interval multiplied by the square root of puse i two V 2 for two axis simultaneous output and by Yaxis 0 L l z output i i the square root of three 3 for three axis pulse ft ele simultaneous output oe i An example of interpolation between two axes i igure Figure 1 shows a trajectory of the 2 axes interpolation Each axis outputs pulses according to the reference pulses from the main axis However when both X and Y axes output pulses the trajectory will be longer than 2 compared with one axis pulse output When the synthesized speed constant control feature is used the feed speed of which the two axes simultaneously output pulses is restricted to 1 42 of single axis feed speed so that the synthesized speed is kept constant The linear interpolation 2 cannot use the synthesized constant peed control When the synthesized constant speed control bit is turned ON MIPF 1 the synthesized speed while performing interpolation will be the operation speed RFH or the initial soeed RFL of the interpolated axes 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 P
61. how to read the error interrupt cause REST register and how to use the contents of the error stop cause register as the return value The PCL ignores any interrupt status other than the cause of an error stop For details about error stops see 3 5 5 Error interrupt status REST register Read the stop cause error cause register Read the REST Store the contents as the return value unsigned long p645_stpr base_addr unsigned int base_addr return p645_rreg base_addr RREST 106 2 9 Changing speed patterns while in operation 2 9 1 Speed change To change between FL and FH speeds that have already been specified write a speed change command Description The motor goes to FL speed instantaneously regardless of whether it is currently in constant speed or high speed operation The motor goes to FH speed instantaneously regardless of whether it is currently in constant speed or high speed operation The motor ramps down to FL speed regardless of whether it is currently in constant speed or high speed operation The motor ramps up to FH speed regardless of whether it is currently in constant speed or high speed operation To change the rotation speed to any level regardless of whether the motor is currently in constant speed or high speed operation overwrite the speed register If the motor is in constant speed operation when the register is changed then the motor
62. input is turned ON 0 Deceleration only 1 Deceleration and stop The latch function of the SD input 0 ON 1 OFF Set SD signal input logic 0 Negative logic 1 Positive logic Set ORG signal input logic 0 Negative logic 1 Positive logic ERCL EPW2 EPW1 EPWO EROR EROE ALML ALMM q fe 23 22 21 20 19 18 17 16 Specify the process to occur when the ALM input is turned ON 0 Immediate stop 1 Deceleration stop Specify the ALM signal input logic 0 Negative logic 1 Positive logic Automatically output an ERC signal when an immediate stop is caused by a EL ALM or CEMG input 0 OFF 1 ON Automatically output an ERC signal when the zero return completes 0 OFF 1 ON Specify an ERC signal output pulse length 000 12usec 001 102usec 010 409usec 011 1 6msec 100 13msec 101 52msec 110 104msec 111 Level output Select an ERC signal output logic 0 Negative logic 1 Positive LTCL INPL CLR1 CLRO ISTPM STAM ETW1 ETWO fis Specify the ERC signal OFF timer time 00 Ousec 10 1 6msec 01 12usec 11 104msec CSTA input trigger type 0 Level 1 Edge Process to use when the CSTP input is ON 0 Immediate stop 1 Deceleration stop CLR input clear condition 00 Clear on the falling edge 10 Clear on a LOW 01 Clear on the rising edge 11 Clear on a HIGH INPL Specify the INP signal input logic 0 Negative logic 1 Positive logic LTCL Specify the ope
63. interrupt Further when a position override is commanded just before stopping and the PCL cannot incorporate this override into the operation the main status SEOR will be 1 However the SEOR bit is also cleared when reading the main status so it is better to confirm cause in the interrupt handling process Start the interrupt handling process Read the X axis MSTSW stsdt_x lt X axis MSTSW Read the Y axis MSTSW stsdt_y lt Y axis MSTSW Read the Z axis MSTSW stsdt_z lt Z axis MSTSW Read the U axis MSTSW stsdt_u lt U axis MSTSW Check bits 2 4 and 5 of stsdt_n on all of the axes All bits 0 Process the stsdt_x Process the stsdt_y Process the stsdt_z Process the stsdt_u 102 Process the stsdt_n n x y Z u Push the I O buffer contents Y Bit 2 1 N Process for a simple stop fp Y Read the REST error causes Bit 0 1 Bit 4 1 Process for bit 0 1 Process for bit 1 1 K Y Bit 5 1 N Read the RIST event causes f Y Bit 0 1 Process for bit 0 1 Process for bit 1 1 pa Pop the contents of the I O buffer End 103 void p645_intall viod unsigned long _ stsdt_x stsdt_y stsdt_z stsdt_u unsigned long stsdt_or while 1 stsdt_x stsdt_y p645_rsts AXS_
64. may choose to output an interrupt signal when the counter value is latched by turning ON the LTC signal or the ORG signal as an indication of the event interrupt cause Other applicable operations 1 Measure the operation time By setting Cl40 to 41 11 and BSYC 1 in RENV3 you can measure the operation time as a number of CLK cycles using COUNTER4 In addition if you set LTFD 1 in RENV5 and use the latch command 29h a relationship between the time from the start and a speed change can be sampled 2 Confirm backlash and slip correction When output pulse is selected for the counter input normally the PCL will not count correction pulses If you want let the PCL to count them set CU1B to 4B in RENV3 to 1 116 2 11 5 Comparator This LSI has 5 circuits axes using 28 bit comparators Comparators 1 to 4 can be used as comparison counters and can be assigned as COUNTER 1 to 4 Comparator 5 can be assigned as COUNTER 1 to 4 a positioning counter or to track the current speed 9 comparison methods and 4 processing methods are available for use when the conditions are satisfied Select these by setting RENV4 and RENV5 The following control can be used with the comparator Use comparators for INT outputs external output of comparison data and for internal synchronous starts Immediate stop and deceleration stop operations Change operation data to pre register data used to change speed while operating Softwar
65. output pulses 2050 p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 34 2 Positioning operation by specifying absolute positions COUNTER1 MOD 42h The motor executes a positioning operation so that the value in COUNTER1 matches the value out into PRMV when the operation stops The number of pulses and feed direction are set automatically by the values in COUNTER1 and PRMV before starting If the COUNTER1 value is changed after starting the position which is actually stopped at will not mach the COUNTER value COUNTER1 2000 Put the positioning operation code in MOD of the PRMD Enter the feed amount in PRMV as a signed number Write a start command Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000042 1 To move from the 100 position to the 2000 position set the PRMV register 2000 000007D0h 2 To move from the 2000 position to the 50 position set the PRMV register 50 FFFFFFCEh MOD bits 0 to 6 42h If you want to reuse the same pattern this setting is not needed Absolute position target for COUNTER1 FL constant speed start command 0x0050h FH constant speed start command 0x0051h High speed start command 1 0x0052h High speed start command 2 0x0053h Specify a positioning operation MOD 42h p645_vset AXS_AY 1000L 20000L 300
66. port 10 BUFWO Input output buffer bits O to 15 BUFWO Input output buffer bits 0 to 15 11 BUFW1 Input output buffer bits 16 to 31 Note Byte access is not possible BUFW1 Input output buffer bits 16 to 31 3 H8 mode H8 PCL6045B n 4 CLK 5V cs Decode circuit GND GND lt Address map for H8 gt System reset Writing operation Reading operation A2 to AO Address Detail Address signal ca signal Detail comw A S assignment and control MSsTSWw Main status bits 0 to 15 command General purpose output port OTPW _ only bits assigned as outputs SSTSW are effective Sub status or general purpose input output port BUFWO Input output buffer bits O to 15 BUFWO Input output buffer bits 0 to 15 BUFW1 _ Input output buffer bits 16 to 31 BUFW1 IInput output buffer bits 16 to 31 Note Byte access is not possible 4 68000 mode 68000 PCL6045B CLK circuit CS IFO DO D15 LDS DTACK IPLO IPL2 Interrupt control circuit RW RESET System reset lt Address map for 68000 gt Writing operation Reading operation A2 to AO Address signal Detail Address signal Detail COMW Axis assignment and control command MSTSW Main status bits 0 to 15 OTPW General purpose output port only bit
67. pulser PA PB input CCW circular interpolation synchronized with the PA PB input 30 2 6 1 Operation using command control 2 6 1 1 Continuous operation using command control direction MOD OOh direction MOD 08h By writing a start command the motor starts rotating in the direction specified by bit 3 of MOD bits 0 to 6 in the PRMD in operation mode The motor stops when a deceleration stop command or an immediate stop command is written Speed pattern Continuous mode FL low speed operation 2 1 Write an FL low speed start command 50h 2 Stop feeding by writing an immediate stop 49h or deceleration stop 4Ah command 1 Write an FH low speed start command 51h 2 Stop feeding by writing an immediate stop command 49h When the deceleration stop command 4Ah is written to the register the PCL starts deceleration 1 Write high speed start command 1 52h 2 Start deceleration by writing a deceleration stop command 4Ah When the deceleration stop command 49h is written to the register the PCL immediately stops When idling pulses are added after outputting idling pulses at FL speed the PCL will accelerate 1 Write high speed command 2 53h 2 Start deceleration by writing a deceleration stop command 4Ah When the deceleration stop command 49h is written to the register the PCL starts deceleration High speed operation
68. return mode code in MOD in the PRMD MOD bits 0 to 6 55h l l If you want to reuse the same pattern this setting is Specify an operating speed pattern ot needed FL constant speed start command 0x0050h Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000055 Specify a pulser input mechanical position zero return operation MOD 55h p645_vset AXS_AY 1L 10000L 300 0 0 0 L 0 Y axis Linear acceleration deceleration 1pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command PA PB input p645_wait AXS_AY Wait for the motor to stop 93 2 6 2 3 Interpolation operation using a pulser input The PCL can execute an interpolation operation synchronized with a pulser input PA PB By using a dummy axis an interpolation operation is possible using manual switches DR DR Continuous linear interpolation 1 using PA PB input MOD 68h Linear interpolation 1 using pulser PA PB MOD 69h Continuous linear interpolation 2 using PA PB input MOD 6Ah Linear interpolation 2 using PA PB input MOD 6Bh CW circular interpolation using PA PB input MOD 6Ch CCW circular interpolation using PA PB input MOD 6Dh With these modes the PCL executes an interpolation operation synchronized with the PA PB input Therefore assign any one axis as a du
69. search operation in the direction MOD 1Dh p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 500 Y axis linear acceleration deceleration from p645_vset AXS_AY WPRMV 0x0000000A p645_wcom AXS_AY STAFH p645_wait AXS_AY 1K to 10Kpps 300mS FA 500pps Specify 10 as the number of pulses needed to escape High speed start command 2 Wait for the motor to stop 68 2 6 1 7 EL or SL operation mode 1 Feed until reaching an EL or SL position direction MOD 20h direction MOD 28h This mode is used to continue feeding until the EL or SL soft 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 to the axis while the EL and SL signals are OFF the axis will stop when the EL or SL signal is turned ON Normal stop The SL signal refers to the software limit signal from comparators 1 and 2 E An example of a constant speed operation lt Immediate stop when the EL input turns ON gt f FH 1 Write an FH constant speed start command 51h 2 Immediate stop when the EL input turns OFF 1 2 EL OFF ON Enter a zero return operation code in To move in the direction MOD bits 0 to 6 20 h MOD in the PRMD To move in the direction MOD bits 0 to 6 28 h
70. signal Detail signal Detail COMBO Control command MSTSBO Main status bits 0 to 7 Assign the axis COMB1 specify a control command for MSTSB1 Main status bits 8 to 15 lexecution General purpose output port OTPB only bits assigned as outputs IOPB General purpose input output port are effective Invalid SSTSB_ Sub status Input output buffer bits O to 7 BUFBO _ Input output buffer bits O to 7 Input output buffer bits 8 to 15 BUFB1 Input output buffer bits 8 to 15 Input output buffer bits 16 to 23 BUFB2 _ Input output buffer bits 11 to 23 Input output buffer bits 24 to 31 BUFB3 __ Input output buffer bits 24 to 31 Note When writing a control command the PCL refers axis assigning status Therefore specify axes to use before writing a control command 2 8086 mode 8086 rT 4 System reset System reset ALE A16 A19 ADO AD15 fe hice A1 A19 PCL6045B 5V GND Ea Ea Uoo 5V lt Address map for 8086 gt A2 to A1 Address signal Writing operation Detail Address signal Reading operation Detail 00 COMW Axis assignment and control command MSTSW Main status bits 0 to 15 01 OTPW General purpose output port only bits assigned as outputs are effective SSTSW Sub status or general purpose input output
71. signal input 23 22 21 20 19 18 17 416 0 IRSA IRDR IRSD When the SD input is ON When the DR nput is changed When the CSTA input is ON 139 3 7 Operation mode setting register PRMD 28 bits MOD Set operation mode description Setting basic operation mode 1 When the pre register is set the PCL will not output an INT signal MOD Set operation mode description 000 0000 00h Continuous positive rotation controlled by command control 100 1110 4Eh Single pulse operation in the negative direction 000 1000 08h Continuous negative rotation controlled by command control 100 0111 47h Timer operation 000 0001 01h 000 0010 02h Continuous operation controlled by pulser PA PB input Continuous operation controlled by external signal DR DR input 101 0001 51h 101 0010 52h PA PB synchronous positioning operation incremental position PA PB synchronous positioning operation COUNTER 1 absolute position 001 0000 10h Positive rotation zero return operation 101 0011 53h PA PB synchronous positioning operation COUNTER2 absolute position 001 1000 18h Negative rotation zero return operation 101 0100 54h Zero return to the specified position controlled by PA PB input 001 0010 12h Positive feed leaving from the zero position 101 0101
72. teeter reenter ne tec ne nenennnenernisee ne tecanas 125 2 11 8 1 Start triggered by another axis Stopping tree teeter 125 2 11 8 2 Starting from an internal synchronous signal a E AS 127 2 11 9 General purpose I O port PO to P7 eeeesereneteeeeeeetttttttteteterertittetetttetettetererentetntet 129 3 Appendix 3 1 Command codes and axis selection Sra Ridin teins Se Gran bia ate Geto a Rien a dce e ATA A A ale Siatena ece aleiaite A TATELA 130 3 2 Output port a isi Siar AE A UE L LLT win asec urn eye Gru e cesure opel n u AT S E SL ALT 130 3 3 Tables of commands aeure nars aaas Selatan dren Wisin W Slats apehd aa EK anaE eN PEN ON Emin aa aE a eee wepN an emealee 131 3 4 Tables of registers A T A ST A ATAT ATTILAT TTT 133 3 5 Tables of status registers AE A ATIATI TT A ITATTA TATT TTT 134 3 5 1 A Main status MSTSW 16 bits aa aE Raai ae eiata ete e Sid atare Stain wee Eaa ae Sin e Gia GK win nies dytie aie Siew ew ERSE ERI ERE nee eS 134 3 5 2 Sub status SSTSW 16 bits Misia pees a Sa unste ecu Sig ates a LEE E AEEA I T A TEAT 134 3 5 3 Extension status register RSTW 17 bits diese hte yincdhale a oh o yi atein MAAKE ein w Sie sia foie we LAEE P EER ehin ncaa a ne ARKONAN S bine Sines obese 135 3 5 4 Interpolation status register RIPS plata nals Minsk Binds E AEAT EE iain Siein bin a s pte nis hs w a s piaine h T ota siuh e nis sla we Mines 136 3 5 5 Error interrupt status register REST 18 bits AAN Min NEN Minin PENARE a s RAV
73. the PRMD If you want to reuse the same pattern this setting is not needed Enter the feed amount in PRMV as Timer time Pulse cycle x PRMV setting a signed number Ex 500pulses at 1Kpps 500mS FL constant speed start command 0x0050h Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000047 Specify timer operation MOD 47h p645_vset AXS_AY 1L 1000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1pps to 1Kpps 300mS p645_wreg AXS_AY WPRMV 500L Set the time 500mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 39 2 6 1 4 Zero return operation direction MOD 10h direction 18h After writing a start command the axis will continue feeding until the conditions for a zero return complete are satisfied When a zero return is complete the LSI will reset the counter and output an ERC deflection counter clear signal Specify the basic return to zero method in ORMO to 3 bits 0 to 3 in RENV3 Specify whether or not you want to reset the counter after the zero return is complete in CU1R to CUA4R bits 20 to 23 in RENV3 Specify whether or not to output an ERC signal using EROR bit 11 in RENV1 1 Zero position return method 0 ORM Oh After starting the motor will sto
74. the direction of operation changes The slip correction function is performed before a command operation is started actually start outputting pulses regardless of the feed direction The correction amount and method is specified in the RENV6 environment setting 6 register By setting RENV3 the counters COUNTERT to 4 can start counting even during an interpolation operation The backlash and slip correction functions cannot be used during timer or circular interpolation operation However they can be used at the start of a circular interpolation operation Example of backlash correction p645_vset AXS_AX 100L 1000L 2000 0 0 0 L 10 X axis Linear from 100pps to 1000pps 2000mS Specify the correction speed FA 10pps p645_wreg AXS_AX WRENV6 0x0000100A RENV6 Backlash correction Correction amount 10pulses p645_wreg AXS_AX WRENV3 0x000f0000 RENV3 Operate COUNTERS 1 to 4 during correction operation Notes 1 During a circular interpolation operation the feed direction of each axis will change However backlash correction is not applied during circular interpolation If you want to apply backlash correction during circular interpolation arrange your program to create circular interpolation operations for each phase and then execute these sequentially 2 In linear interpolation 1 and the circular interpolation the speed data must only be specified for the control axis However i
75. the direction opposite the direction specified High speed start 2 in the direction Start the zero return operation specified in the ORM in the specified direction 6 After the ORG input turns ON the motor will decelerate and stop Then it will start at FA constant speed in the direction 7 After the ORG input turns OFF start at FA constant speed in the direction 8 Stop when the ORG input turns ON The zero position search is complete 67 Specify an operation method to use in ELM in RENV1 when the EL input turns ON Enter a zero search operation method in ORM in RENV3 Enter a zero search operation code in MOD of the PRMD Enter the number of pulses needed for escape in PRMV Write a start command Wait for the operation to complete End p645_wreg AXS_AY WRENV1 0x00000008 p645_wreg AXS_AY WRENV3 0x00000001 p645_wreg AXS_AY WPRMD 0x0000001D ELM bits 3 1 When the EL input turns ON the motor will decelerate and stop ORM bits 0 to 3 1h To move in the direction MOD bits 0 to 6 15h To move in the direction MOD bits 0 to 6 1Dh If you want to reuse the same pattern this setting is not needed PRMV 10 FH constant speed command 2 0x0053h Select a deceleration and stop process to use when the EL input turns ON Specify zero return operation 1 ORM h Specify a zero position
76. to 6 01h mode in MOD in the PRMD Specify an operating speed pattern Enter maximum input frequency of pulser signal FL constant speed start command 0x0050h Write a start command FH constant speed start command 0x0051h Write an immediate stop command Immediate stop 0x0049h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000001 Specify pulser input continuous operation MOD 01h p645_vset AXS_AY 1L 10000L 300 0 0 0 L 0 Y axis Linear acceleration deceleration 1pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wcom AXS_AY STOP Immediate stop p645_wait AXS_AY Wait for the motor to stop Additional function If the number of pulses is multiplied by setting PMG in the RENV6 register the command execution timing can be stopped by setting PSTP bit 15 When multiplication by 5 PMG 4 is specified the motor will feed five times the number of pulses input by the pulser However when a stop command is written while PSTP 0 the motor will not stop at certain positions that are even multiples of 5 When a stop command is written while PSTP 1 the PCL will delay the stop command until the position matches an even multiple of the specified multiplier However please note that after starting with PSTP 1 you must stop the motor before you start inputting PA PB when SSCM 1 and SRUN
77. turn OFF the synthesized constant speed control and specify a long distance axis speed calculated by the CPU for the control axis 4 Precautions for interpolation operations Start stop When writing a start command 50h to 57h stop command 49h 4Ah or speed change command 40h to 43h 16 bit commands are required including setting the interpolation axis in COMB1 In the Z80 I F mode specify an interpolation axis in COMB1 Then write a command to COMBO Be especially careful when writing a stop command If the interpolation axis specified is different from the one specified when starting the motor cannot stop If you are uncertain about the interpolation axis operation using the pre register write a stop command that specifies all of the axes Operation monitor The main status SSCM SRUN SEND and sub status SFU SFD SFC all change exactly the same for axes that are operating in the same interpolation mode Therefore to check the interpolation operation you can simply monitor one axis of the interpolation Backlash correction The backlash correction function can only be used for linear interpolation group 1 To use the backlash correction enter the same value as the control axis in the PRMG registers of all of the axes being interpolated Backlash correction is not needed with the linear interpolation group 2 operations since an axis will start the next operation without waiting for the completion of the operation on an axis tha
78. turned OFF or ON again during the operation it will have no effect on the operation After writing a start command turn ON the DR signal to feed in the positive direction and turn ON the DR signal to feed in the negative direction the motor operates with the specified speed pattern An example of high speed operation 2 f pps FPH eee ee eee nif O N DR i direction direction DR signa OR i i OFF ON OFF ONT i Sana OFF ON OFF Specify the code for an external MOD bits 0 to 6 56h switch link operation in MOD in the PRMD a Pa A uence If you want to reuse the same pattern this setting is Specify an operating speed pattern ot needed Enter a feed mount as a positive number in the PRMD FL constant speed start command 0x0050h FH constant speed start command 0x0051h High speed start command 1 0x0052h High speed start command 2 0x0053h Write a start command Write an immediate stop command Immediate stop command 0x0049h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000056 Specify an external switch positioning operation MOD 56h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis Linear acceleration deceleration 1000pps to 50Kpps 300mS p645_wreg AXS_AY WPRMV 5000L Number of output pulses is 5000 p645_wcom AXS_AY STAUD High speed start command 2 DR DR input p645_
79. will change speed immediately When the motor is in high speed operation it will ramp up or down as necessary to change speed Speed register write command the operating speed RFH is written to 92h and the initial speed RFL is written to 91h Note 1 When the positioning mode is selected and rampdown auto setting MSDP lt bit 13 gt in the PRMD is 0 is specified do not change the RFL register during high speed operation The auto setting function will not follow the operation 2 While in a constant speed start if an FSCHL or FSCHH command is written the motor will change to high speed operation the same pattern as writing high speed start command 2 Also while in a high speed start if an FCHGL or FCHGH command is written the motor will change to constant speed operation the same pattern as writing a constant speed start command 2 9 2 Changing the acceleration deceleration speed acceleration decelerate rate Since the PCL6045B can independently set the acceleration rate deceleration rate acceleration S curve f f f range and deceleration S curve range it can create a variety of acceleration deceleration patterns Figure 7 Note 1 When you want to change to any acceleration deceleration pattern regardless of whether the motor is in constant i speed operation or accelerating decelerating write an acceleration rate deceleration rate acceleration S curve f Example of an acceleration decele ration
80. 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 40 E An example of high speed operation 1 lt decelerate and stop when the ORG input is turned ON gt f FH FL I t 1 2 OFF ON ORG A Specify a positioning operation method in ORM in RENV3 Put a zero return operation code in MOD in the PRMD Write a start command Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000000 p645_wreg AXS_AY WPRMD 0x00000010 p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 p645_wcom AXS_AY STAUD p645_wait AXS_AY 41 1 Write high speed start command 2 53h 2 Trigger a deceleration stop when the ORG input is turned ON A The counter reset and ERC signal output timing is controlled by the completion of a zero return ORM bits 0 to 3 Oh To move in the direction MOD bits 0 to 6 10h To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is not needed High speed start command 2 0x0053h Specify zero return operation 0 ORM 0h Specify a zero return operation in the direction MOD 10h Y axis
81. 00003E8 X axis Set the feed amount 1 000 p645_wreg AXS_AY WPRMD 0x0000004 1 Y axis Positioning operation MOD 41h p645_vset AXS_AY 100L 2000L 200 0 0 0 S 0 Y axis S curve from 100pps to 2000pps 200ms p645_wreg AXS_AY WPRMV 0x00001 388 Y axis Set the feed amount 5 000 p645_wreg AXS_AU WPRMD 0x003C0041 U axis Positioning operation MOD 41h MSY 11 MAX 0011 Starts when both the X and Y axes have stopped p645_vset AXS_AU 100L 10000L 500 0 0 0 S 0 U axis S curve from 100pps to 10kpps 500ms p645_wreg AXS_AU WPRMV 0x00004E20 U axis Set the feed amount 20 000 p645_wcom AXS_AU STAUD SEL_X SEL_Y SEL_U X Y U axes high speed start command 2 p645_wait AXS_AU Wait for the motors to stop 125 This paragraph describes a continuation of the interpolation operation This IC s pre register function is not designed to change the plane being interpolated However by using the correct procedures it is possible to change the plane being interpolated 1 In a continuous interpolation operation without changing the axes being interpolated specify the next operation in the pre register without using the simultaneous start function 2 To continue linear interpolation 1 and 2 without a circular interpolation set PRMV 0 on any axis not being operated Then all the axes can execute a linear interpolation 3 Special procedures ar
82. 0x or 100x Calculate the PRFL value to match the PRFL fldata magnification rate magnification rate fldata 300 PRMG 1 PRFH fhdata magnification rate fhdata 300 PRMG 1 Calculates PRFH set value matching with the magnification rate PRUR utime x 10 x 19660800 a 1 Calculate the acceleration rate PRUR 1 When using linear acceleration curve L from the acceleration time utime PRFL a PRFH PRFL x 4 and PRFH settings acceleration 2 When using S curve acceleration without a linear part deceleration method curve S curve curve S amp usdata 0 linear and S curve acceleration range a PRFH PRFL x 8 usdata 3 When using S curve acceleration with a linear part curve S amp usdata gt 0 a PRFH PRFL 2 x usdata x 4 PRDR dtime x 10 x 19660800 b 1 Calculate the PRDR deceleration rate 1 When using linear deceleration curve L from the deceleration time dtime PRFL b PRFH PRFL x 4 and PRFH settings the acceleration 2 When using S curve deceleration without a linear part deceleration method curve S curve curve S amp dsdata 0 linear and the S curve deceleration b PRFH PRFL x 8 range dsdata 3 When using S curve deceleration with a linear part curve S amp dsdata gt 0 b PRFH PRFL 2 x dsdata x 4 RFA fadata magnification rate Iculate the RFA set value t tch th Calculate the set value
83. 1 is mainly used to start a deceleration block when creating a single speed pattern by continuously combining multiple operation blocks In the acceleration block use high speed operation 2 with MSDP 1 PRDP 0 However the rampdown point must be manually set and cannot be changed to automatically set In addition the positioning operation triggered by an FH constant speed start will complete its positioning when an immediate stop is written 31 Set the feed direction and request direction MOD bits 0 to 6 00h continuous operation in MOD of the direction MOD bits 0 to 6 08h PRMD porter ors aaaneesastenssa lf you want to reuse the same pattern this setting is not Set the operation speed pattern needed FL constant speed command 0x0050h Write a start command FH constant speed command 0x0051h High speed start command 1 0x0052h High speed start command 2 0x0053h Write a deceleration stop command Deceleration stop 0x004Ah or an immediate stop command Immediate stop 0x0049h Wait for the operation to complete End void p645_cmdcnt void unsigned long prmdt p645_wreg AXS_AX WPRMD 0x00000008 Set the X axis to run in the direction in continuous operation p645_vset AXS_AX 1L 20000L 300 0 0 0 S 0 S curve acceleration from 1 to 20Kpps 300mS no linear part p645_wcom AXS_AX STAUD
84. 119 PCMP5 Current value 3000 Specify a speed change position p645_wcom AXS_AX STAUD High speed start command 2 p645_wreg AXS_AX WPRFH 0x000007D0 Speed to set in PRFH 2000 p645_wait AXS_AxX Wait for the motor to stop Note For sequential speed changes a two step configuration there are pre registers in Comparator 5 so that you can preset three positions at which to change speed However you have to write a confirmation command PRSET 4Fh after writing the new speed data f Example 2 of an Auto speed change 3000 The figure on the right shows an operation 2000 pattern which changes speed two times using RPLS remaining number of pulses 1000 FH The motor uses RCMP5 to compare this 400 ra pattern with the RPLS RPLS 5000 4000 2000 1000 0 p645_wreg AXS_AX WPRMD 0x00000041 X axis Positioning operation MOD 4 1h p645_vset AXS_AX 100L 1000L 200 0 0 0 L 0 X axis Linear from 100pps to 1000pps 200mS p645_wreg AXS_AX WPRMV 5000L X axis Enter a feed amount 5 000 p645_wreg AXS_AX WRENV5 0x000000CC RENV5 1 Comparison counter RPLS positioning counter 2 Conditions to meet Comparator 5 COUNTER1 commana 3 Process Move pre register data to register operation data p645_wreg AXS_AX WPRCP5 4000L PRCP5 4000 Specify speed change position p645_wcom AXS_AX STAUD High speed start
85. 17 types of errors 19 types of events and even for a simple stop When an error has caused the interrupt the PCL outputs an INT signal unconditionally To output an INT due to an event specify this in the RIRQ register To output an interrupt for a simple stop specify it in IEND in RENV2 The PCL will continue to output the INT signal until all of the interrupts which have occurred on any axis have been cleared The error interrupts will be cleared when a REST error cause register read command is executed The event interrupts will be cleared when a RIST event cause register read command is executed A simple stop interrupt will be cleared when the main status is read If any event interrupts occurred they are written in the operation axis REST register to let you identify the axis on which the interrupt occurred To clear the interrupts read all of the contents of the RIST register To determine on which axis the interrupt occurred and to clear the interrupt cause read the REST register and RIST register of all the operating axes In addition if the event cause is not specified reading of the RIST register can be omitted Next shown below are the interrupt handling procedures Please note that the interrupt causes are cleared automatically when read 101 When considering the possibility that another interrupt may occur as time passes you may have to make sure that no other interrupt has occurred while processing the first
86. 20 19 18 17 16 EZL EDIR EIM1 EIMO O O PIL POL Specify the output logic when the PO terminal is used for FUP or as a one shot 0 Nagative logic 1 Positive logic Specify the output logic when the P1 terminal is used for FDW or as a one shot 0 Nagative logic 1 Positive logic Specify the EA EB input opration 00 Multiply a 90 phase difference by 1 01 Multiply a 90 phase difference by 2 10 Multiply a 90 phase difference by 4 11 2 pulse input 1 Reverse the counting direction of the EA EB inputs EZL Specify EZ signal input logic 0 Falling edge 1 Rising edge 144 POFF EOFF SMAX PMSK IEND PDIR PIM1 PIMO Specify the PA PB input operation 00 Multiply a 90 phase difference by 1 01 Multiply a 90 phase difference by 2 10 Multiply a 90 phase difference by 4 11 2 pulse input Reverse the counting direction of the PA PB inputs Outputs an INT signal when stopping regardless of whether the stop was normal or due to an error Masks output pulses Enable a start operation that is triggered by stop on the same axis 1 Disable EA EB input 1 Disable PA PB input When the EA PA input phase leads the 90 phase difference signal the counts up When the EB PB input phase leads the counter counts down In a 2 pulse input the counter counts up on the rising edge of the EA PA input and counts down on the falling edge of the EB PB input 145
87. 5_wreg AXS_AZ WPRMD 0x00000061 p645_wreg AXS_AU WPRMD 0x000000671 p645_vset AXS_AZ 1000L 5000L 100 0 0 0 L 0 p645_wreg AXS_AX WPRMV 0x00000000 84 and Y axes in the PRMV Y axis PRMV 0 Enter the center coordinates of X X axis PRIP 1000 and Y axes in the PRIP Y axis PRIP 0 Set PRMV for the Z axis Z axis PRMV 500 Calculate the number of pulses U axis PRMV 5658 Write a start command High speed start command 2 0x0B53h X axis Direction change timer function is OFF Y axis Direction change timer function is OFF Z axis Direction change timer function is OFF U axis Direction change timer function is OFF X axis CW circular interpolation synchronized with U axis Y axis CW circular interpolation synchronized with U axis Z axis Linear interpolation 1 U axis Linear interpolation 1 Z axis Linear 1Kpps to 5Kpps 100mS Enter the X and Y axes end point coordinates 0 0 p645_wreg AXS_AY WPRMV 0x00000000 p645_wreg AXS_AZ WPRMV 0x000001F4 Enter the Z axis feed amount 500 p645_wreg AXS_AU WPRMV 0x0000161A Enter the U axis feed amount 5658 p645_wreg AXS_AX WPRIP 0x000003E8 Enter the X and Y axes center coordinates 1000 0 p645_wreg AXS_AY WPRIP 0x00000000 p645_wcom AXS_AX STAUD SEL_X SEL_Y SEL_Z SEL_U High speed start command 2 p645_wait AX
88. 7g PEX DIRZ gt If the X or Y axis is needed for operation using external to PEy outu 145 _ 145 pulser signals an external circuit is required to select GND DIRu 146 U axis the PA PB input dummy Software setting methods are described below operation Software settings Example 1 Specify the U axis dummy axis for continuous operation MOD 02h using an external signal DR input and let the Y and Z axes execute a CW circular interpolation controlled by the PA PB input Turn ON the DRu or DRu input signal on the U axis and the PCL will continue its circular interpolation operation When this signal is turned OFF the PCL will stop lt Operating conditions gt Arc center 1000 0 radius 1000 simple circle Operation pattern 1 Initial speed FL 1000pps 2 operating speed FH 20000pps 3 Acceleration deceleration time 200msec 4 Linear acceleration deceleration Set the Y axis interpolation control axis operation mode to CW circular interpolation controlled by PA PB input MOD 6ch and set the Z axis for CW circular interpolation MOD 64h Set the PA PB input on the Y axis for 2 input pulses and specify 2 output pulses on the U axis Specify a speed pattern for the Y axis interpolation control axis and the U axis dummy axis Note This circular interpolation operation follows pulses output by the U axis However the speed setting of the Y axis interpolation control axis will be the limitin
89. AxX p645_rsts AXS_AY stsdt_z p645_rsts AXS_AZ stsdt_u p645_rsts AXS_AU stsdt_or stsdt_x stsdt_y stsdt_z stsdt_u if stsdt_or amp 0x00000034 OL return p645_intchk AXS_AX stsdt_x p645_intchk AXS_AY stsdt_y p645_intchk AXS_AZ stsdt_z p645_intchk AXS_AU stsdt_u void p645_intchk base_addr stsdt unsigned int base_addr unsigned long _ stsdt unsigned long xio unsigned long rest_icode rist_icode p645_push base_addr amp xio if stsdt amp Ox00000004 p645_ intf_eni base_addr if stsdt amp Ox00000010 rest_icode p645_rreg base_addr RREST rest Toode amp 000000002120 p645_intf eoa bared if rest_icode amp Ox00000002 0 p645_intf_est_O02 base_addr if stsdt amp Ox00000020 0 rist_icode p645_rreg base_addr RRIST if rist_icode amp 00000000220 p645_intf ist_ospase_addr if rist_icode amp 0x00000002 0 p645_intf_ist_02 base_addr p645_pop base_addr amp xio void p645_intf_eni base_addr unsigned int base_addr Processing a simple stop interrupt void p645_intf_est_01 base_addr unsigned int base_addr Processing the error interrupt status 01 void p645_intf_est_02 base_addr 104 unsigned int base_addr Processing the error interrupt status 02 void p645_intf_ist_01 base_addr unsigned int base_addr Processing the event interrupt status 01 void p645_intf_ist_02 base_addr unsi
90. ER ENDA KAET PENSANTE e s AKERE ssn 137 3 5 6 Event interrupt status register RIST 20 bits A E E A T A LATTI 138 3 6 Specify event interruption cause register RIRQ 19 See eee 139 3 7 Operation mode setting register PRMD 28 bits srstrretres treet etter terete teeters ee tetereees 140 3 8 Environmental setting register agian a ain EE a nia i n hips Sin T E fais en Since Sine p oih eiy A N N alah nine fe s 142 3 8 1 RENV 1 register input output terminals specifications 32 bits setter cee 142 3 8 2 RENV 2 register general purpose port specifications 27 DitS rrr ttt 143 3 8 3 RENV 3 Zero return counter specifications 32 bits etree tte ttt teeter ete 146 3 8 4 RENV 4 comparators 1 to 4 32bits eowie Cane Re New ete Sea ede tedeewets ceeuiwes came enetene twats cues qetans ee eaeanes 148 3 8 5 RENV 5 Comparator 5 specifications of internal synchronous signals 32 bits 150 3 8 6 RENV 6 feed amount correction specification itt ttre cena 151 3 8 7 RENV 7 Specifications of vibration restriction Control 32 bits 1st treet 152 3 9 Speed pattern settings Wee Dineen a ai e d cae tine A whectannea sta caes oui ade ow ead cee Haseena ceecmmee ands 153 1 Hardware This section is full of examples showing hints and tips for designing CPU interface and external interface circuits 1 1 Setting up connections to a CPU This LSI can be connected to four types of CPUs by changing the hardware settings
91. EZ pulses has been counted 1 2 3 4 A The counter reset and ERC signal output timing is EZ OFF triggered by completion of the zero return ON i i ORG OFF ON Specify a zero return operation method in ORM in RENV3 ORM bits 0 to 3 5h Enter the EZ count value in EZD in EZD bit 4 to 7 1h RENV3 Number of EZ pulses counted EZD setting 1 Enter a zero return operation code in To move in the direction MOD bits 0 to 6 10h MOD in the PRMD To move in the direction MOD bits 0 to 6 18h Specify an operation speed pattern If you want to reuse the same pattern this setting is Sees ies sd ace ta ea to ca not needed Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000015 Specify zero return operationS ORM 5h The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WPRMD 0x00000010 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 51 E An example of high speed operation lt Decelerate and stop after the ORG input is turned ON Feed in the opposite direction St
92. FF ON Specify a zero return operation ORM bits 0 to 3 Ah method in ORM in RENV3 Enter the EZ count value in EZD in EZD bit 4 to 7 1h RENV3 Number of EZ pulses counted EZD setting 1 Enter a zero return operation code in TO move in the direction MOD bits 0 to 6 10h MOD in the PRMD To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is Bt te tae Ae et not needed Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000014 Specify zero return operation 4 ORM 4h The number of EZ pulses to count is two EZ0 1 p645_wreg AXS_AY WPRMD 0x00000010 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS FA 500pps p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 49 E An example of high speed operation lt Decelerate and stop after the ORG input is turned ON Feed in the opposite direction at FA constant speed Stop immediately after the specified number of EZ pulses has been counted gt direction f FH nie FA 1 Write high speed start command 2 53h 2 When the ORG input is tu
93. High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 5 Machine position 0 return operation MOD 45h This mode is used to continue operations until the value in COUNTER2 mechanical position becomes zero The number of pulses and feed direction are set automatically by an internal operation using the value in COUNTER 2 Put a positioning operation code in MOD bits 0 to 6 45h MOD in the PRMD 3 i If you want to reuse the same pattern this setting is Specify an operation speed pattern Ha needed p 9 FL constant speed start command 0x0050h Write a start command FH constant speed start command 0x0051h High speed start command 1 0x0052h High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000045 Specify a machine zero position return operation MOD 45h p645_vset AXS_AY 1000L 20000L 300 0 0 0 S 0 Y axis S curve deceleration from 1000pps to 20Kpps 300mS p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 37 6 One pulse operation direction MOD 46h direction 4Eh This mode outputs a single pulse 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 not need to write a 1 or 1 to the
94. 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 simultaneously there will be two interpolation control axes When linear interpolation 2 is selected each axis will be used to control the interpolation 72 Relationship between an interpolation operation and the axes used for interpolation control No Interpolation operation Interpolation control axis 1 Linear interpolation 1 of the X Y Z and U axes X axis 2 Linear interpolation 1 of the X Y and Z axes X axis 3 Linear interpolation 1 of the Y Z and U axes Y axis 4 Linear interpolation 1 of the Z and U axis Z axis 5 Circular interpolation of the X and U axis X axis 6 Circular interpolation of the X and Z axes and linear Circular interpolation X axis interpolation 1 of the Y and U axes Linear interpolation 1 Y axis 3 Constant synthesized speed control This function is used to create a constant synthesized speed for linear interpolation 1 and circular interpolation operations When linear interpolation 2 is selected this function cannot be used To enable this function set the MIPF bit 15 in the PRMD operation mode register to 1 for the axes that you want to
95. N the PCL starts counting EZ pulses 3 The motor will stop immediately after the 1 EZ OFF E ON 2 a t specified number of EZ pulses has been 3 counted E A The counter reset and ERC signal output A timing is triggered by completion of the ORG OFF ON zero return Specify a zero return operation method in ORM in RENV3 J RENV3 Enter the EZ count value in EZD in MOD in the PRMD Enter a zero return operation code in ORM bits 0 to 3 3h EZD bit 4 to 7 1h Number of EZ pulses counted EZD setting 1 To move in the direction MOD bits 0 to 6 10h To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is not needed Write a start command End Wait for the operation to complete p645_wreg AXS_AY WRENV3 0x00000013 p645_wreg AXS_AY WPRMD 0x00000010 FH constant speed start command 0x0051h Specify zero return operation 3 ORM 3h The number of EZ pulses to count is two EZD 1 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration p645_wcom AXS_AY STAFH p645_wait AXS_AY from 1000pps to 10Kpps 300mS FH constant speed start command Wait for the motor to stop 47 E An example of high
96. RDP unsigned long usdata p645_wreg base_addr WPRDS unsigned long dsdata p645_wreg base_addr WPRMD rmddt p645_wreg base_addr WRFA unsigned long rfadt ym 20 2 5 Control Method 2 5 1 How to access the registers There are two methods to write read data to from the registers The difference between these two methods is in how to create the software The mixed use of the two methods is possible The program examples in this manual use method 1 1 Consider the writing of a command and the input or output of data as one set Then use an area of memory that covers 4 sets in all In this case except for the interpolation operation you can use 00h to specify the axis for a command COMB1 However in order to start stop an interpolation operation an axis must be specified With this method a simple program can be created easily when multiple PCL6045Bs are used A4 to AO Symbol Description BUFWO_X BUFW1_X Command for the X axis Input output buffer for the X axis bits 0 to 15 Input output buffer for the X axis bits 16 to 31 COMW_Y BUFWO_Y BUFW1_Y Command for the Y axis Input output buffer for the Y axis bits O to 15 Input output buffer for the Y axis bits 16 to 31 COMW_Z BUFWO_Z Command for the Z axis Input output buffer for the Z axis bits 0 to 15 Input output buffer for the Z axis bits 16 to 31 BUFWO_U BUFW1_U Command for the U axis Input
97. RIP FH constant speed start command Y axis Linear interpolation 2 start on CSTA input Z axis Linear interpolation 2 start on CSTA input 0 Y axis linear from 1000pps to 10Kpps 300mS 0 Z axis linear from 1000pps to 10Kpps 300mS 78 p645_wreg AXS_BY WPRMV 0x00000002 p645_wreg AXS_BZ WPRMV 0x0000000A p645_wreg AXS_BY WPRIP 0x0000000A p645_wreg AXS_BZ WPRIP Ox0000000A p645_wcom AXS_BY STAFH SEL_Y SEL_Z p645_wcom AXS_AX CMSTA p645_wait AXS_AX Enter a Y axis slave axis end point coordinate 2 Enter a Z axis master axis end point coordinate 10 Enter the end point coordinate 10 for the master axis in RIP Enter the end point coordinate 10 for the master axis in RIP FH constant speed start command CSTA input command Wait for the motors to stop 79 7 Circular interpolation CW circular interpolation MOD 64h and CCW circular interpolation MOD 65h This function executes a CW or CCW circular interpolation between any two axes If only one axis or 3 to 4 axes are specified for circular interpolation and a start command is written a data setting error will occur Specify feed speed against the interpolating control axis The synthetic speed used in the circular interpolation will be the speed set for the axes being interpolated FH FL if the constant syntheti
98. S_AZ Wait for the motor to stop Note When calculating the PRMV value the number of pulses needed for a circular interpolation for the U axis first make sure to round the number off to an integer Then add 1 If a circular interpolation does not complete before the U axis completes its operation it will be interpreted as an error stop 85 KKKKK Calculation of the number of pulses number of steps needed for circular interpolation 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 6 below The output pulse status of each axis in each area is as follows Area X axis output pulse Y axis output pulse Output according to the interpolation circular calculation result Always output 1 Always output Output according to the interpolation circular calculation result 2 Always output Output according to the interpolation circular calculation result Output according to the interpolation circular calculation result Always output Output according to the interpolation circular fi calculation result Always output 5 Always output Output according to the interpolation circular calculation result 6 Always output Output according to the interpolation circular calculation result Output according to the interpolation circular cal
99. T 29 2 6 1 Operation using command control eeeeeseesetreeteeettttttetetttttttetetette ttet eterenntttetette tentet et 31 2 6 1 1 Continuous operation using Command Control 1 etree teeters 31 2 6 1 2 Positioning operation using Command Control vette 33 1 Positioning by specifying incremental positions ttre trtne tee 33 2 Positioning operation by specifying absolute position COUNTER1 sree 35 3 Positioning operation by specifying absolute position COUNTER2 rs rrr 36 4 Command position zero return operation Perr rierrrrercrrrieierei ere errr risr eee rere ree cr err err re 37 5 Machine position zero return operations ttre ete ttt tnte ntent nnnm neme 37 6 One pulse operation MET CeO TTC TCC riireer reer cirri eerecrrere rere rere rrr ee errr Retr 38 2 6 1 3 Timer operation PRER CET ERT ELE RECO CETERA C ERE MrCRECeeT RTC ERC RCT Cre Re RETR iaa 39 2 6 1 4 Zero return operation CCRC ETC CP RCCE Tree Trier i ECE CORT erer nce errr errr 40 1 Zero position return method 0 Saisie Feige araieie a evara sintajy T TT 40 2 Zero position return method 1 see eeacdslshabed sre eeededsa seotedsGaten sesh eaemaass esas Tas TET 43 3 Zero position return method 2 Fle eedeaaseaea sen easadsacneedsasGhawes case cadeaass sean Sos saeos sean cadeaa se aeasa 45 4 Zero position return method 3 Sis coa rds sabed sree eoiedsa IHeotedsGhaben see eadw dessa ees tassels CaS R Cane aa se Meese 47 5 Zero position return method 4 sSGie eed eaalseaeas
100. To execute a ring count with COUNTER1 set C1RM 1 C1S0 to 2 000 C1C0 to 1 00 in RENV4 and enter the maximum count value in the RCMP1 register Comparator 1 will be used to manage the ring count 2 To execute a ring count with COUNTER2 set C2ARM 1 C2S0 to 2 000 C2CO to 1 01 in RENV4 and enter the maximum count value in the RCMP2 register Comparator 2 will be used to manage the ring count If the current count value is not within the range of 0 to the maximum count value the PCL will not operate normally in ring count operation Specify using COUNTER for ring C1RM 1 C1S0 to 2 000 count operation C1C0 to 1 00 Enter the maximum count value in RCMP 1 359 RCMP1 Reset COUNTER1 COUNTER1 reset command 0x20h End p645_wreg AXS_AX WRENV4 0x00000080 X axis C1RM 1 C1S0 to 2 000 C1C0 to 1 00 p645_wreg AXS_AX WRCMP1 0x00000167 X axis COUNTER1 maximum count value 359 p645_wcom AXS_AX CUN1R X axis COUNTER1 reset command An example of a ring count DIR OUT E ae UE EU UUU UU U uy COUNTER 0X1 X2 X3 358359X 0X1 X 2 XK 1X 0 59858 3 X2 X1 X_0 X359X358 122 2 11 6 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 The backlash correction is performed each time
101. UD p645_wait AXS_AY 1000pps to 10Kpps 300mS FA 500pps High speed start command 2 Wait for the motor to stop 50 6 Zero position return method 5 ORM 5h At constant speed the motor will stop immediately when the ORG input is turned ON Then it will move in the opposite direction at the same speed The motor will stop immediately after the ORG input turns OFF and the specified number of EZ pulses has been counted In high speed operation it will decelerate and stop when the ORG input is turned ON Then it will move in the opposite direction at high speed The motor will decelerate and stop after the ORG input turns OFF and the specified number of EZ pulses has been counted The counter reset and ERC signal output timing is triggered by completion of the zero return after the ORG input goes OFF and the specified number of EZ pulses has been counted E An example of constant speed operation lt Stop immediately after the ORG input is turned ON Move in the opposite direction Stop immediately after the specified number of EZ pulses has been counted gt direction f FH 1 Write an FH constant speed start command 51h 2 Stop immediately after the ORG input is turned ON and move in the opposite direction at FH constant speed t 3 The PCL will start counting EZ pulses when the ORG input is turned OFF FH 4 The motor will stop immediately after the specified a direction number of
102. Use the IFO and IF1 terminals to change the settings and connect the CPU signal lines as follows Setting status CPU type IFO RD terminal AO terminal WRQ terminal L 5V LDS DTACK H RD GND WAIT L GND H AO WATT CPU signal to connect to the 6045B terminals 1 2 Address map In this LSI the control address range for each axis is independent It is selected by using address input terminal A3 and A4 as shown below The internal map of each axis is defined by AO A1 and A2 address line inputs Detail X axis control address range Y axis control address range Z axis control address range U axis control address range 1 3 Examples of CPU interface circuits 1 Z80 mode Z80 PCL6045B CLK CS System reset Note 1 If you will be using an interrupt controller the PCL6045B also outputs an ORQ signal as an interrupt acknowledge signal to read the interrupt vector When this signal is output if the PCL6045B s CS terminal is pulled L it may output a WRQ signal in which case it cannot receive a vector signal normally Therefore design it so that the decode circuit will function when the M1 signal is H Note 2 Pull up terminals D8 to D15 to 5V using an external resistance 5k to 10kohm Shared use of one resistance for the 8 lines is available lt Address map for Z80 gt Writing operation Reading operation Address Address
103. User s Manual For PCL6045B Pulse Control LSI Application Version Nippon Pulse Motor Co Ltd Preface Thank you for considering our pulse control LSI the PCL6045B This user s manual application version covers Examples of hardware interface circuits and then Examples of software design First look for the operations and functions you want to study in the Table of Contents Then get familiar with the applications of the PCL6045B Precautions 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 E Explanation of the descriptions in this manual 1 The x y z and u terminal names and bit names refer to the X axis Y axis Z axis and U axis respectively 2 Terminals with a bar over the name ex RST are negative logic Their logic cannot be changed Terminals without a bar over the name are positive logic and their output logic can be changed _ INDEX Hardware 1 1 y Setting up connections to a CPU E ETT 1 1 2 N ESA o ti enn cniri ren cine nsniri neni renner riennen sty 1 1 3 Examples of CPU interface C
104. WPRMD 0x00040063 p645_wreg AXS_AU WPRMD 0x00040063 p645_vset AXS_AX 1000L 10000L 300 0 0 0 L MOD 63h MSYM 01 Start on CSTA input If you want to reuse the same pattern this setting is not needed ChipA X axis slave axis PRMV 8 U axis slave axis PRMV 5 ChipB Y axis slave axis PRMV 2 Z axis master axis PRMV 10 PRIP 10 Chip A FH constant speed start command 0x09511h Chip B FH constant speed start command 0x06511h CSTA input command 0x0006h X axis Linear interpolation 2 starton CSTA input U axis Linear interpolation 2 starton CSTA input 0 X axis linear from 1000pps to 10Kpps 300mS p645_vset AXS_AU 1000L 10000L 300 0 0 0 L 0 U axis linear from 1000pps to 10Kpps p645_wreg AXS_AX WPRMV 0x00000008 p645_wreg AXS_AU WPRMV 0x00000005 p645_wreg AXS_AX WPRIP Ox0000000A p645_wreg AXS_AU WPRIP Ox0000000A p645_wcom AXS_AX STAFH SEL_X SEL_U Chip B settings p645_wreg AXS_BY WPRMD 0x00040063 p645_wreg AXS_BZ WPRMD 0x00040063 p645_vset AXS_BY 1000L 10000L 300 0 0 0 L p645_vset AXS_BZ 1000L 10000L 300 0 0 0 L 300mS Enter an X axis slave axis end point coordinate 8 Enter a U axis slave axis end point coordinate 5 Enter the end point coordinate 10 for the master axis in RIP Enter the end point coordinate 10 for the master axis in
105. Write a shift command 2Ch SPDF bit 15 in MSTS goes to 1 PRCP5 2nd pre register 1st pre register RCMPS5 register PFC Memory Memory Memory status a status status med i Content 3000 Content 2000 Content 1000 PRCP5 l 2nd pre register 1st pre register RCMPS5 register PFC Memory 7 Memory gt Memory 4 status Not fixed stat s Fixed status Fixed 2 Content 3000 Content 3000 Content 2000 26 5 Write a shift command PRCP5 2Ch SPDF bit 15 in 2nd pre register 1st pre register RCMPS5 register PFC MSTS goes to 1 Memory i Memory Not Memory status a ie status fixed a status PLCs 1 Content 3000 Content 3000 Content 3000 6 Write a shift command PRCP5 2Ch SPDF bit 15 in 2nd pre register 1st pre register RCMPS5 register PFC MSTS goes to 1 Memo ry Memory Not _ J Memory status Not fixed gt status fixed status Not fixed g Content 3000 Content 3000 Content 3000 7 Write 4000 to PRCP5 PRCP5 f i The register values are 2nd pre register 1st pre register RCMPS5 register PFC fixed Memory aal Memory Not gt Memory 5 status Not fixed status fixed status Piec 1 Content 4000 Content 4000 Content 4000 Wri
106. XM in RENV4 In addition the output level mode can be used with a ring count function set in COUNTER1 and COUNTER2 Output specifications based on the direction of the operation like with COUNTERS are not possible 1 Output level mode When the COUNTER4 value equals the RCMP4 setting the PCL outputs signals The PCL will output a synchronous signal as positional information The number of pulses counted before outputting a signal varies with the direction of operation DIR direction direction OUT ETuUUUUU UU uu pub ua COUNTER4 0 X1X2X3X0X1X2X3X0 X3X2X1XO0X3X2X1X0 P6x CP4x 2 One shot output mode In counter operation when COUNTER4 reaches 0 the PCL outputs a signal two CLK cycles long Set COUNTER4 0 and start operation The PCL will output signals in either direction for the number of pulses specified However the PCL will not output signals if you write a 0 into COUNTER4 or perform a reset DIR direction direction eT INI COUNTERS P6x CP4x gt PS P E This synchronous signal can be used as an internal synchronous signal to set the start conditions for each axis By selecting output a CMP4 signal in PM4 bits 12 to 13 in RENV2 when the comparator conditions are met a synchronous signal can be output externally through the P6 CP4 ID terminals Setting example when Output level mode is selected p645_wreg AXS_AX WRENV2 0x00002000 RENV2 Output a CMP4 signal from the P6
107. Y 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 52 7 Zero position return method 6 ORM 6h After starting the motor will stop immediately when the EL input is turned ON Decelerate and stop when ELM lt bit 3 gt in RENV1 is 1 Then it moves in the opposite direction at FA speed When the EL input turns OFF the motor will stop immediately The counter reset and ERC signal output timing is triggered by a zero return completion when the EL input turns OFF E An example of constant speed operation lt Stop immediately when the EL input is turned ON Move in the opposite direction at FA constant speed Stop immediately when the EL input is turned OFF gt direction 1 Write FH constant speed start command 51h 2 Stop immediately when the EL input is turned ON and move in the opposite direction 3 Stop immediately when the EL input is turned OFF A The counter reset and ERC signal output timing is triggered by completion of the zero return FH FA FA Es FH i direction 1 2 3 e Or lo Specify a zero return operation method in ORM in RENV3 Enter a zero return operation code in MOD in the PRMD Write a start command Wait for the operation to complete En
108. ach of the axes that you want to stop simultaneously then start these axes 2 When an external stop signal is input any axis that was previously set to enable stopping on a CSTP input will stop simultaneously The external stop signal can be provided by an open collector output 74LS06 or equivalent that creates a one shot signal of 4 or more reference clock cycles 5V Chip Chip Chip Chip 5K to 10Kohm A B C D 74LS06 etc CSTP CSTP CSTP CSTP T External stop signal Note The stop method to use when the CSTP is input can be specified in STPM bit 19 of RENV1 0 Immediate stop 1 Decelerate and stop However Decelerate and stop can only be selected when a high speed start is used If the motor is started at constant speed it will stop immediately when the CSTP input turns ON regardless of the setting in STPM Even if the CSTP terminals of multiple LSIs are connected together each axis can be stopped independently using ordinary stop commands 114 2 11 4 Counter Besides the positioning counter this LSI contains four other counters The positioning counter is loaded with an absolute value for the RMV register target position with each start command regardless of the operation mode selected It decreases the value with each pulse that is output However if MPCS bit 14 of the RMD register operation mode is set to 1 and a position override 2 is executed the counter does not decrease until the PCS input
109. ar interpolation 1 from the PA PB input 100 0010 42h Positioning operation specify the absolute position in COUNTER1 110 1001 69h Linear interpolation 1 from the PA PB input 100 0011 43h Positioning operation specify the absolute position in COUNTER2 110 1010 6Ah Continuous linear interpolation 2 from the PA PB input 100 0100 44h Zero return of command position COUNTER 110 1011 6Bh Linear interpolation 2 from the PA PB input 100 0101 45h Zero return of mechanical position COUNTER2 110 1100 6ch CW circular interpolation operation from the PA PB input 100 0110 46h Single pulse operation in the positive direction 110 1101 6dh 140 CCW circular interpolation operation from the PA PB input 15 14 13 12 11 10 9 8 MIPF MPCS MSDP METM MCCE MSMD MINP MSDE SD input signal 0 Disabled 1 Enabled INP signal control 0 OFF 1 ON Acceleration deceleration type 0 Linear 1 S curve COUNTER1 operation 0 ON 1 OFF Operation complete timing 0 End of cycle 1 End of pulse Rampdown point setting 0 Automatic setting 1 Manual setting PCS signal control 0 OFF 1 ON Synthetic speed while performing interpolation feeding 0 OFF 1 ON 23 22 21 20 19 18 17 16 MAX3 MAX2 MAA1 MAXO MSY1 MSY0 MSN1 MSNO To Specify a sequence number Select a synchronous start method
110. as the side operation limit Execute an immediate stop when the operation limit is reached p645_wreg AXS_AX WRCMP1 0x000186A0 RCMP1 100 000 Set side limit value p645_wreg AXS_AX WRCMP2 0xFFFE7960 RCMP2 100 000 Set side limit value Negative direction limit position Positive direction limit position RCMP2 100 000 RCMP1 100 000 o Normal operation zone ee Unable to feed in the lt gt Able to feed in the Able to feed in the gt Unable to feed in the negative direction positive direction negative direction positive direction Operation from the negative direction limit position Operation from the positive direction limit position 118 2 11 5 3 Auto speed change Select a processing method to use when the comparator conditions are satisfied Then execute a move pre register data to register operation data and write the next speed in the operation speed pre register PRFH The motor will change its speed automatically as it passes a specified position the position at which the comparator conditions are satisfied Example 1 of an Auto speed change Specify high speed operation for 10000pulses in a positioning operation After starting the motor accelerates from FL 100pps to 1000pps After outputting 3000pulses it will accelerate to 2000pps Specify the code for an external switch link operation in MOD in the PRMD Enter a
111. at high speed by turning the ORG input ON and feeds in the reverse direction at RFA constant speed Stops immediately by counting the EZ signal Zero return operation 5 EZ counts Stop immediately deceleration stop when feeding at high speed and reverse direction when the ORG input is turned ON Then stop immediately when counting the EZ signal Zero return operation 6 EZ input OFF Stop immediately deceleration stop when ELM 1 by turning ON the EL input and reverse at RFA constant speed Then stop immediately by turning OFF the EL input Zero return operation 7 Then stop Stop immediately deceleration stop when ELM 1 by turning ON the EL immediately by input and reverse direction at RFA constant speed Then stop immediately by counting the counting the EZ signal EZ signal Zero return operation 8 Stop immediately deceleration stop when ELM 1 and reverse direction by turning ON the EL signal Then stop immediately deceleration stop when feeding at high speed when counting the EZ signal Zero return operation 9 After executing a zero return operation 0 move back to the zero position operate until COUNTER 2 0 Zero return operation 10 After executing a zero return operation 3 move back to the zero position operate until COUNTER 2 0 Zero return operation 11 After executing a zero return operation 5 move back to the zero position operate until COUNTER 2 0 Zero return operat
112. ation the motor will stop immediately when the specified number of EZ pulses has been counted In high speed operation the motor decelerates and stops when the specified number of EZ pulses has been counted The counter reset and ERC signal output timing is triggered by completion of the zero return E An example of constant speed operation lt Stop immediately when the EL input is turned ON Move in the opposite direction at constant speed Stop immediately when the specified number of EZ pulses has been counted gt direction f 1 Write FH constant speed start command FH 51h 2 Stop immediately when the EL input is FL turned ON Move in the opposite direction SSS a 3 Start counting EZ pulses when the EL input is turned OFF 4 Decelerate and stop when the specified FH number of EZ pulses has been counted eet a 2 S A The counter reset and ERC signal output EZ OFF timing is triggered by completion of the zero ON return Specify a zero return operation ORM bits 0 to 3 8h method in ORM in RENV3 and put an EZD bit 4 to 7 1h EZ counter value in EZD Number of EZ pulses counted EZD setting 1 gt t ti i To move in the direction MOD bits 0 to 6 me AEPD operator toden To move in the H direction MOD bits 0 to 6 If you want to reuse the same pattern this setting is not needed Write a start command FH constant speed start co
113. being met Stopped by the EL input being turned ON Stopped by the EL input being turned ON Stopped by the ALM input being turned ON h a a k li M M M 15 14 13 12 1 10 9 8 ESAO ESPO ESIP ESDT 0 ESSD ESEMESSP Stopped by the CSTP input being turned ON Stopped by the CEMG input being turned ON Decelerated and stopped by the SD input being turned A by an operation data error Simultaneous stop with another axis due to an error stop on the other axis during interpolation Overflow in the PA PB input buffer counter occurred An out of range count occurred in the positioning counter during an interpolation operation 23 22 21 20 19 18 17 16 O 0 2 2 0 0 0 ESPE ESEE An EA EB input error occurred A PA PB input error occurred r 31 30 29 28 27 26 25 24 137 3 5 6 Event interruption status register RIST 20 bits 7 6 5 4 3 2 1 0 ISDE ISDS ISUE ISUS ISND ISNM ISN ISEN Stopped automatically The next operation starts continuously Available to write operation to the 2nd pre register Sk Ss Available to write operation to the 2nd pre register for Comparator 5 Starting acceleration Ending acceleration Starting deceleration Ending deceleration i ak ak ak 15 14 13 12 11 10 9 8 ISOL ISLT ISCL ISC5 ISC4 ISC3 ISC2 ISC1
114. c speed control is ON MIPF 1 for both axes When an FH constant speed start is triggered FH speed is used When an FL constant speed start is triggered FL speed is used Specify an end position and center coordinates for the circular interpolation as an incremental distance from the current position Enter the end point coordinates in the PRMV register and the center coordinates in the PRIP register If the end point coordinates of both axes are zero starting point the motion will be a simple circle Write a start command after setting SELx and SELu in COMB1 to 1 Either axis can be used to bia oa write a start command a T10 ee End point In CW circular interpolation the PCL draws an iad a 10 10 arc in a clockwise direction from the current coordinates to the end point coordinates taking 8 the center coordinates as the center point of the 7 arc In CCW circular interpolation the PCL 7 draws an arc in a counter clockwise direction from the current coordinates to the end point Fal End point drawing operation coordinates taking the center coordinates as the center point of the arc Figure 3 is an example of a CW circular 2k interpolation that draws a 90 arc with a radius Starting 14 oln 10 using the X and Y axes 0 0 of l X axis x p F a 1 2 3 4 5 6 7 8 9 40 11 142 In circular interpolation when either axis Center coordinates 10 0 reaches the final end point coordinates the as
115. ched Ritc3 EFh RRLTC3 ae latched Ritc4 Foh RRLTC4 Extension status RSTS Fih RRSTS Error INT status REST F2h RREST Event INT status RIST F3h RRIST Positioning counter RPLS F4h RRPLS EZ counter speed RSPD F5h RRSPD monitor Ramping down point RSDC F6h RPSDC Circular interpolation Rey Fen RRCI Bch wrci PRcI cch RPRCI sch WPRCI stepping number Circular interpolation stepping counter Interpolation status RCIC FDh RRCI RRIPS 132 3 4 Tables of registers Register name Z fo Details 2nd pre register name RMV Feed amount target position PRMV RFL Initial speed PRFL RFH Operation speed PRFH RUR Acceleration rate PRUR RDR Deceleration rate PRDR RMG Speed magnification rate PRMG RDP Ramping down point PRDP RMD Operation mode PRMD CO N 0 On BY Go PO gt RIP Circular interpolation center position master axis feed amount with linear interpolation and with multiple chips PRIP RUS S curve acceleration range PRUS RDS S curve deceleration range PRDS RFA Speed at amount correction RENV1 Environment setting 1 specify I O terminal details RENV2 Environment setting 2 specify general purpose port details RENV3 Environment setting 3 specify zero return and counter d
116. command 2 p645_wreg AXS_AX WPRFH 3000L Change speed PRFH 3000 when RPLS 4000 p645_wcom AXS_AX PRSET Fix the speed data p645_wreg AXS_AX WPRCP5 2000L PRCP5 2000 Specify a speed change position p645_wreg AXS_AX WPRFH 2000L Change speed PRFH 2000 when PRLS 2000 p645_wcom AXS_AX PRSET Fix the speed data while p645_rsts amp 0x00004000 O0L Wait for a time when the operation pre register is not fixed p645_wreg AXS_AX WPRCP5 1000L PRCP5 1000 Specify a speed change position p645_wreg AXS_AX WPRFH 500L Change speed PRFH 500 when RPLS 1000 p645_wcom AXS_AX PRSET Confirm speed data p645_wait AXS_AX Wait for the motor to stop Note When changing speed do not change the PRMG setting speed multiplication In the example above the initial PRFH setting is 1000pps which means that the speed multiplication rate is 1x Therefore speed can be set between 1 and 65535pps 120 2 11 5 4 Synchronous IDX signal output function Using comparator 4 and COUNTER4 general purpose synchronous signals can be output pulsed signals at a specified interval Using this function the count range of COUNTER4 will be 0 to the value set in RCMP4 and the PCL will repeat the count within this range The output modes for this function are an output level mode and a one shot output mode Select either of these by setting ID
117. culation result Always output In each area one of the two axes always outputs pulses so that the number of pulses when passing on a square that contact the circle inside and the number of steps will match To draw an arc with radius a the length of one side of a square Ta A axis whose vertices touch the inside of the circle with radius a will be aV2 x2 Since the calculation result must be a real number change it to a K whole number by rounding up To enter the value for the U axis PRMV in order to execute a circular interpolation synchronized with the U axis the number of pulses is also needed for end process of the circular interpolation Therefore add 1 to 4 to the whole number that was obtained from the previous calculation End point To obtain the number of steps for any start and end points follow Fi 6 the procedure below ee 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 0 to 7 Then draw a vertical horizontal line to find the contact point with the square inside the circle 3 On the square whose vertices are touching the circle calculate the distance from a starting point that crosses the starting position vertical line and the circle to the end po
118. d p645_wreg AXS_AY WRENV3 0x00000006 p645_wreg AXS_AY WPRMD 0x00000010 ORM bits 0 to 3 6h To move in the direction MOD bits O to 6 To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is not needed FH constant speed start command 0x0051h Specify zero return operation 6 ORM 6h Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 Y axis linear acceleration deceleration from p645_wcom AXS_AY STAFH p645_wait AXS_ AY 1000pps to 10Kpps 300mS FA 500pps FH constant speed start command Wait for the motor to stop 53 E An example of high speed operation lt Decelerate and stop when the EL input is turned ON Feed in the opposite direction at FA constant speed Stop immediately when the EL input is turned OFF gt direction f 1 Write high speed start command 2 53h FH 2 When the EL input is turned ON the motor will decelerate and stop Then it will feed in the opposite direction FL ELM lt bit 3 gt in RENV1 1 FA 3 The motor will stop immediately when the t EL input is turned OFF FA A The counter reset and ERC signal output FL Hao timing is triggered by completion of the zero return FH direction 1 2 3 EL OFF ON Specify a zero return operation ORM bits 0 to 3 6h method in ORM in RENV3
119. e limit function using Comparators 1 and 2 Ring count function using COUNTER1 and Comparator 1 Ring count function using COUNTER2 and Comparator 2 Detect out of step stepper motors using COUNTER3 and a comparator Output a synchronous signal IDX using COUNTER4 and a comparator Comparator 5 is equipped with a pre register As the event interrupt cause it too can output an INT signal when the comparator s conditions are satisfied 2 11 5 1 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 processes when the comparator conditions are met For this function use an encoder with the same resolution as the stepper motor COUNTER3 deflection can be cleared by writing the reset command CUNS3R 22h to the deflection counter Example of out of step detection function p645_wreg AXS_AX WRENV4 0x00360000 Set RENV4 Select COUNTER3 as the comparison counter deflection Satisfy the conditions for comparator 3 lt COUNTERS deflection Immediate stop when the conditions are met
120. e needed to change the axes being interpolated using linear interpolation 1 and circular interpolation The basic idea is to arrange it so that the pre registers of all of the axes shift simultaneously when starting the interpolation operation Imagine that the following interpolation operations are executed in 3 dimensional area of X Y and Z 1 Circular interpolation of the X and Y axes 2 Circular interpolation of the Y and Z axes 3 Linear interpolation of the X and Z axes Simply writing the three blocks of operation data above may result in the following data storage conditions The simultaneous start conditions are set to immediate start for step 1 and a 3 axis stop for X Y and Z in steps 2 and 3 Data storage location Xaxis Yaxis Zaxis Register 1 data 1 data 2 data 1st pre register 3 data 2 data 3 data 2nd pre register To start operation in the conditions above 2 data for the Z axis is in a start hold status and it will generate a data setting error a circular interpolation specifying only one axis In order to prevent this error think of the processes involved as follows First execute a dummy positioning operation with a feed amount PRMV 0 operation Rule 1 During a circular interpolation specify a dummy operation on an axis that is not moving Rule 2 During a linear interpolation specify a dummy operation on an axis that is not moving Rule 3 During a
121. e to FL Frq Change to FH Frq Change to FL with U D Frq Change to FH with U D Quick Stop Down Stop Common Stop Emergency Stop Definition of a general purpose output bit control command define STAFL 0x0050 define STAFH 0x0051 define STAD 0x0052 define STAUD 0x0053 define CNTFL 0x0054 define CNTFH 0x0055 define CNTD 0x0056 define CNTUD 0x0057 define CMSTA 0x0006 define SPSTA 0x002A define FCHGL 0x0040 define FCHGH 0x0041 define FSCHL 0x0042 define FSCHH 0x0043 define STOP 0x0049 define SDSTP 0x004A define CMSTP 0x0007 define CMEMG 0x0005 define PORST 0x0010 define P1RST 0x0011 define P2RST 0x0012 define P3RST 0x0013 define P4RST 0x0014 define P5RST 0x0015 define P6RST 0x0016 define P7RST 0x0017 define POSET 0x0018 define P1SET 0x0019 define P2SET 0x001A define P3SET 0x001B define P4SET 0x001C define P5SET 0x001D define P6SET 0x001E define P7SET 0x001F Definition of a control command define NOP 0x0000 define SRST 0x0004 define CUN1R 0x0020 define CUN2R 0x0021 define CUN3R 0x0022 define CUN4R 0x0023 define ERCOUT 0x0024 define ERCRST 0x0025 define PRECAN 0x0026 define PCPCAN 0x0027 define PRESHF 0x002B define PCPSHF 0x002C define PRSET 0x004F define STAON 0x0028 define LTCH 0x0029 POResettoL P1ResettoL P2ResettoL P3ResettoL P4ResettoL P5ResettoL P6ResettoL P7ResettoL PO Se
122. e zero return completion conditions are net direction zero escape operation Operate in the direction at the specified speed until the ORG signal goes OFF direction zero escape operation Operate in the direction at the specified speed until the ORG signal goes OFF direction zero point search operation Drives back and forth between EL and EL at the specified speed and returns to the zero position from the direction direction zero point search operation Drives back and forth between EL and EL at the specified speed and returns to the zero position from the direction Moves to the EL or SL position Moves to the EL input ON or SL software limit ON position Moves to the EL or SL position Moves to the EL input ON or SL software limit ON position EL or SL escape operation Moves to the EL input OFF or SL software limit OFF position EL or SL escape operation Moves to the EL input OFF or SL software limit OFF position Moves in the direction for the specified EZ count amount Moves in the direction at the specified speed until the specified number of EZ signals has been counted Moves in the direction for the specified EZ count amount Moves in the direction at the specified speed until the specified number of EZ signals has been counted Positioning operation specify an incremental target position Enter the feed direction and feed amount as signed numbers
123. en status fixed status Norse g Content 1000 Content 1000 Content 1000 PRMV 2nd pre register 1st pre register RMV register PFM Memory Memory Not Memory status Norien status fixed status ap 1 Content 1000 Content 1000 Content 1000 PRMV 2nd pre register be 1st pre register RMV register PFM Memory Memory Not Memory s status Notiixed status fixed status PEGs Content 5000 Content 5000 Content 1000 PRMV 2nd pre register 1st pre register RMV register PFM Memory gt Memory Memory 5 status Not fixed status Fixed status Fixed 2 Content 5000 Content 5000 Content 1000 PRMV 2nd pre register 1st pre register RMV register PFM Memory gt Memory Memory status Not fixed status Fixed Status Fixed 2 Content 3000 Content 5000 Content 1000 PRMV 2nd pre register 1st pre register RMV register PFM Memory gt Memory Memory status e status ped status PGE 3 Content 3000 Content 5000 Content 1000 PRMV 2nd pre register 1st pre register RMV register PFM Memory Memory Memory 3 stat s Not fixed gt stat s Fixed statis Fixed 2 Content 3000 Content 3000 Content 5000 PRMV 2nd pre register 1st pre register RMV register PFM Memory Memory Not gt Memory status Nor axed status fixed status ped 1 Content 3000 Content 3000 Content 3000 23
124. enced by the PA PB input direction 52h Positioning operation using a pulser PA PB input Enter an absolute target position with a sign in COUNTER1 and the positioning will be synchronized by a pulser PA PB input The motor is not influenced by the PA PB input direction 53h Positioning operation using a pulser PA PB input Enter an absolute target position with a sign in COUNTER2 and the positioning will be synchronized by a pulser PA PB input The motor is not influenced by the PA PB input direction 54h Command position COUNTER7 zero position return operation using a pulser PA PB input Operates until the command position COUNTER1 becomes 0 while synchronized by a pulser PA PB input The motor is not influenced by the PA PB input direction 55h Command position COUNTER2 zero position return operation using a pulser PA PB input Operates until the command position COUNTER2 becomes 0 while synchronized by a pulser PA PB input The motor is not influenced by the PA PB input direction 56h 60h Positioning operation using an external switch DR DR Enter a feed amount as a number and execute a positioning operation by turning the DR input ON Continuous linear interpolation 1 Execute a continuous linear interpolation1 operation until a stop command is written 61h Linear interpolation 1 Interpolates between any 2 to 4 axes in the LSI 62h
125. et the axes to waiting for CSTA input to start them all at the same time In addition a start signal can be output from the CSTA terminal using the simultaneous start command 06h The CSTA terminal is bi directional terminal At the same the start signal is output it can be read internally 1 To start axes controlled by different LSIs simultaneously connect the LSIs as follows 5V p 5K to 10Kohm 1 Set MSYO to 1 bits 18 and 19 in the RMD register for the axes you want to start Write a start command and put the LSI in the waiting for CSTA input status 2 By writing a simultaneous start command 06h the LSI will output a one shot signal of 8 reference clock cycles from the CSTA terminal and an axis that are set to wait fora CSTA input simultaneously start operation 2 To start simultaneously from an external circuit or use a single axis as an external start connect the LSIs as follows 5V 5K to 10Kohm 74LS06 etc ae External start signal 1 Set MSYO to 1 bits 18 and 19 in the RMD register for the axes you want to start Write a start command and put the LSI in the waiting for CSTA input status 2 Input an external start signal to start simultaneous operation on axes that are set to wait for a CSTA input The external start signal can be an open collector output 74LS06 or equivalent that provides a one shot signal lasting 4 reference clock cycles or more Note Ei
126. etails RENV4 RENV5 Environment setting 4 specify details for comparators 1 to 4 Environment setting 5 specify details for comparator 5 Environment setting 6 specify details for feed amount correction Environment setting 7 specify vibration reduction control details COUNTER1 command position COUNTER2 mechanical position COUNTERS deflection counter COUNTER4 general purpose counter Comparison data for comparator 1 Comparison data for comparator 2 Comparison data for comparator 3 Comparison data for comparator 4 Comparison data for comparator 5 Specify event interruption cause COUNTER1 command position latch data COUNTER2 mechanical position latch data COUNTERS deflection counter latch data COUNTER4 general purpose latch data Extension status Error INT status Event INT status Positioning counter number of residual pulses to feed EZ counter current speed monitor Automatically calculated ramping down point Number of steps for interpolation Circular interpolation step counter w A AD S 0 0 0B 0 0 0 A 0 0 0 Interpolation status 133 3 5 Tables of status registers 3 5 1 Main status MSTSW 16 bits MSTSBO 7 6 5 4 3 2 1 0 SSC1 SSC0 SINT SERR SEND SENI SRUN SSCM Writing the start command completed Starting same as BSY L
127. example of high speed operation FH FL 0 i DIR i l DR signal OFF LON OFF L ON Do DR signal OFF ON OFF Specify the code for an external MOD bits 0 to 6 02h switch link operation in MOD in the PRMD i If you want to reuse the same pattern this setting is Specify an operating speed pattern ot needed FL constant speed start command 0x0050h FH constant speed start command 0x0051h High speed start command 2 0x0053h Write a start command Write an immediate stop command Immediate stop command 0x0049h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000002 Specify external switch continuous operation MOD 02h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis Linear acceleration deceleration 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAUD High speed start command 2 98 DR DR input p645_wcom AXS_AY STOP Immediate stop command p645_wait AXS_AY Wait for the motor to stop 99 2 6 3 2 Positioning operation using an external switch MOD 56h This mode is used for positioning based on the DR input rising timing When the DR input is turned ON the absolute value in the PRMV register is loaded into the positioning counter 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
128. f steps will not affect the interpolated trajectory Note If an end point is specified that will not be an end point coordinate of both axes in the circular interpolation the circular interpolation operation will not complete and the path of the motors will keep moving endlessly 80 Enter a CW circular interpolation MOD 64h code in MOD in the PRMD and MIPE 1 Turn ON the end point auto draw operation specify whether or not to do an end point auto draw operation in MIPE bit 27 in the PRMD Specify the operating speed pattern If you want to reuse the same pattern this setting is for the interpolation control axis not needed i i j X axis PRMV 10 Enter the end point coordinates in the PRMV Y axis PRMV 10 Enter the center coordinates in the X axis PRIP 10 PRIP Y axis PRIP 0 Write a start command FH constant speed start command 0x03511h Wait for the operation to complete End 90 circular interpolation operation with a radius of 10 using the X and Y axes p645_wreg AXS_AX WPRMD 0x08000064 X axis CW circular interpolation end point auto draw is ON p645_wreg AXS_AY WPRMD 0x08000064 Y axis CW circular interpolation end point auto draw is ON p645_vset AXS_AX 1000L 10000L 300 0 0 0 L 0 Interpolation control axis X axis linear from 1000pps to 10Kpps 300mS p645_wreg AXS_AX WPRMV 0x0000000A
129. 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 153 1 Linear acceleration MSMD 0 in the PRMD register PRFH PRFL x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s 2 S curve without a linear range MSMD 1 in the PRMD register and PRUS register 0 PRFH PRFL x PRUR 1 x 8 Reference clock frequency Hz Acceleration time s 3 S curve with a linear range MSMD 1 in the PRMD register and PRUS register gt 0 PRFH PRFL 2 x PRUS x PRUR 1 x 4 Reference clock frequency Hz Acceleration time s PRDR Deceleration rate setting register 16 bit Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic MSDP 0 in the PRMD register the value placed in the RDR register will be used as the deceleration rate However when PRDR 0 the deceleration rate will be the value placed in the PRUR To turn ON the auto setting of the rampdown point specify deceleration time lt acceleration time x 2 for independent operation and deceleration time acceleration time for interpolation operation If the times entered are deceleration time gt acceleration time x 2 in independent operat
130. g value for the maximum input frequency on the PA PB input If this value is smaller than the U axis value a PA PB input buffer overflow error will occur 94 Set the Y axis PA PB input specification in PIM in RENV2 and the U axis output pulse specification in PMD in PRENV1 Specify a Y axis CW circular interpolation using PA PB input in MOD in the PRMD Specify a Z axis CW circular interpolation in MOD in the PRMD Write a U axis continuous operation controlled by an external signal DR input code in MOD in the PRMD Specify an operating speed pattern to l Y and U axes Specify end point coordinates in the PRMVs of the Y and Z axes Specify the center coordinates in the PRIPs of the Y and Z axes Write a start command Wait for the Y axis operation to complete Write an immediate stop command to the U axis Wait for the operation to complete End p645_wreg AXS_AY WRENV2 0x03000000 p645_wreg AXS_AU WRENV1 0x00000004 p645_wreg AXS_AY WPRMD 0x0000006C p645_wreg AXS_AZ WPRMD 0x00000064 p645_wreg AXS_AU WPRMD 0x00000002 p645_vset AXS_AY 1000L 20000L 200 0 0 0 L 0 p645_vset AXS_AU 1000L 20000L 200 0 0 0 L 0 p645_wreg AXS_AY WPRMV 0x00000000 95 Y axis PIM bits 24 to 25 11 PA PB input is 2 pulse input U axis PMD bits 0 to 2 100 2 pulse output Y axis MOD 6Ch Z axis MOD 64h
131. gn of the value in the PRMV register Specify the speed data PRFL PRFH PRUR PRDR PRMG PRDP PRUS and PRDS for the slave axis to be the same as for the master axis After writing 01 into MSY bits 18 and 19 in the PRMD operation mode register of the axes write a start command and set the axes to wait for the CSTA signal input By entering a CSTA signal all of the axes on all of the LSls will start at the same time The master axis provides pulses constantly The slave axes provide some of the pulses fed to the master axis but some are omitted Linear interpolation 2 for 4 axes using two chips i pa 5V outpu Chip A pulse CSTA CSTA 5K to U axis 10 K ohm output E Chip A Chip B pulse r Y axis aA output Chip B sin 1 2 3 4 5 6 7 8 9 10 axis output pulse 77 Enter a linear interpolation 2 code in MOD in the PRMD and specify the start conditions in MSYM in the PRMD Specify the same operating speed pattern as the master axis for all of the axes including the main and slave axes and slave axes poo Enter an end point coordinate in the PRMV Enter the master axis end point coordinate PRMV value in the PRIP of all the axes being interpolated rs Write a start command Write a CSTA input command to the X axis on chip A Wait for the operation to complete End Chip A settings p645_wreg AXS_AX
132. gnal is supplied a software reset command is written or the power is turned OFF Turn ON the power Set the environment register RENV 1 to 7 Set the event interrupt register RIST Select an operation mode using If the operation mode you want is the same as the previous the PRMD register mode there is no need to set the operation mode again Set a speed pattern in PRFL If the pattern you want is the same as the previous pattern through the PRDS RFA registers there is no need to set the pattern again Set a feed amount data in the If the data you want to enter is the same as the previous data PRMV register there is no need to enter the data again If needed a slow down point data If the data you want to enter is the same as the previous data can be set in PRDP there is no need to enter the data again If needed enter comparator data If the data you want to enter is the same as the previous data at RCMP 1 to 5 there is no need to enter the data again a constant RER ied H j constant speed start 0x ite e eer corimane High speed start 1 0x0052h High speed start 2 0x0053h Deceleration stop 0x004Ah Write a deceleration stop i command or an immediate stop Immediate stop 0x0049h command Read the main status MSTS register The completion of the operation can be N NDE checked by interrupt processing Y The flow chart above shows the procedure for entering setting
133. gned int base_addr Processing the event interrupt status 02 2 7 3 When INT signals from multiple chips are bundled into one line The discussion below covers general precautions not limited to this LSI If INT signals from multiple LSIs are summed into one interrupt request signal by ORing using TTL circuits wired OR connections cannot be used and an edge trigger system is used to receive an interrupt signal from a CPU you have to make sure that all the chip INT outputs that are connected are turned OFF at the end of the interrupt routine in order to prevent a lock up of the interrupt request signal An example of lock up INT output of chip A INT output of chip B Request signal With INT pooling when an interrupt occurs there is only a request from chip A Therefore the system executes the chip A handling process Later however chip B may output an interrupt request This means that the ORed results cannot be reset and further interrupts will be disabled 105 2 8 Check the cause of a stop Even though you are not using the INT terminal will not be using the interrupt process we recommend checking the cause of any stop by reading the error interrupt cause REST register Although reading the extension status RSTS register may reveal the cause sometimes there is a possibility that the cause might have already disappeared if the ALM signal is input as a pulse The following program is an example of
134. guage MS C 2 2 Address map and label definitions Write cycle Chip A Chip B Address HEX Address HEX Y Z Y Z axis axis axis axis Access Description Write an axis selection select an axis for control command execution and a control command Write to an output port only effective on bits specified for output Write to an input output buffer bits 0 to 15 Write to an input output buffer bits 16 to 31 Read cycle Chip A Chip B Address HEX Address HEX Y Z Y Z axis axis axis axis Access Description Read the main status bits 0 to 15 Read the sub status or an input output port Read an input output buffer bits 0 to 15 Reads an input output buffer bits 16 to 31 Definition of Chip A base address define AXS_AX 0x0300 X axis define AXS_AY 0x0308 Y axis define AXS_AZ 0x0310 F Z axis define AXS_AU 0x0318 U axis Definition of Chip B base address define AXS_BX 0x0320 F X axis define AXS_BY 0x0328 F Y axis define AXS_BZ 0x0330 F Z axis define AXS_ BU 0x0338 F U axis 11 Definition of an operation command FL Start FH Start Down_only Start Up Down Start FL Continue Start FH Continue Start Down only Continue Start Up Down Continue Start Common Start Spcial Common Start Frq Chang
135. h RRMD 97h WRMD_ PRMD C7h RPRMD Circular interpolation pip Deh RRIP 98h WRIP PRIP C8h RPRIP center ee S curve Rus poh RRUS 99h wrus pRUS C9h RPRUS Pea a S curve RDS Dah RRDS gah wRDS pRDS CAh RPRDS Feed amount RFA DBh RRFA oBh WRFA correction speed Environment setting 1 RENV1 DCh RRENV1 9Ch WRENV1 Environment setting 2 RENV2 DDh RRENV2 9Dh WRENV2 Environment setting 3 RENV3 DEh RRENV3 9Eh WRENV3 Environment setting 4 RENV4 DFh RRENV4 9Fh WRENV4 Environment setting 5 RENV5 EOh RRENV5 AOh WRENV5 Environment setting 6 RENV6 Eth RRENV6 Aih WRENV6 Environment setting 7 RENV7 E2h RRENV7 A2h WRENV7 COUNTER T 5 RCUN1 E3h RRCUN1 A3h_ WRCUN1 command position COUNTER2 FRCUN2 E4h RRCUN2 A4h WRCUN2 mechanical position COUNTERS RCUN3 E5h RRCUN3 A5h WRCUN3 deflection counter COUNTERS general RCUN4 Eeh RRCUN4 Ash WRCUN4 purpose Data for comparator 1 RCMP1 E7h RRCMP1 A7h WRCMP1 Data for comparator 2 RCMP2 E8h RRCMP2 A8h WRCMP2 Data for comparator 3 RCMP3 E9h RRCMP3 A9h WRCMP3 Data for comparator 4 RCMP4 EAh RRCMP4 AAh WRCMP4 Data for comparator 5 RCMP5 EBh RRCMP5 ABh WRCMPS5 PRCP5 CBh RPRCP5 Event INT setting RIRQ ECh RRIRQ ACh WRIRQ COUNTER latched RLTC1 EDh RRLTC1 WPRCP5 data ee latched Ritc2 EEh RRLTC2 yaaa lat
136. h operation lt Zero position search in the direction from a point between ORG and EL ORM 1h gt f FH FA EL ORG OFF ON OFF ON 1 By writing an FH constant speed start command the motor will start rotating in the direction 2 Stop when the EL input turns ON and then start rotation at FH constant speed in the direction 3 The ORG input turns ON 4 The ORG input turns OFF 5 After feeding for the number of pulses specified in the RMV register the motor will stop feeding The zero escape operation using a positioning operation in the direction opposite the direction specified is complete Start at FH constant speed in the direction Start the zero return operation specified in the ORM in the specified direction 6 After the ORG input turns ON start at FA constant speed in the direction 7 After the ORG input turns OFF start at FA constant speed in the direction 8 Stop when the ORG input turns ON Zero positioning complete Specify a positioning operation ORM bits 0 to 3 1h method in ORM in RENV3 15h 1Dh Put t ti i To move in the direction MOD bits 0 to 6 AO Rahs ERD pee To move in the 5 direction MOD bits 0 to 6 If you want to reuse the same pattern this setting is RES gee ety Weg a not needed Enter the number of pulses needed PRMD 10 for escape in the PRMV Write a start command FH constant speed c
137. he direction MOD 10h Enable SD signals MSDE 1 p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration p645_wcom AXS_AY STAUD p645_wait AXS_AY from 1000pps to 10Kpps 300mS High speed start command 2 Wait for the motor to stop 42 2 Zero position return method 1 ORM 1h After starting at constant speed the motor will stop immediately when the ORG input is turned ON If the motor is in high speed operation it will decelerate and then stop on this signal After that the motor will feed in the opposite direction at FA constant speed until the ORG input goes OFF Then it will feed in the original direction at FA speed and stop immediately when the ORG input goes ON again The counter reset and ERC signal output timing that are controlled by the zero return completion will be triggered the first time the ORG input goes ON at FA speed in the original direction E An example of constant speed operation lt Immediate stop when the ORG input is turned ON Feed in the opposite direction at FA constant speed until the ORG input goes OFF Then feed in the original direction at FA speed Stop immediately when the ORG input is turned ON gt direction f 1 Write an FH constant speed start command 51h 2 Stop immediately on an ORG input and then 3 When the ORG input goes OFF the motor FH eeepc FA E EEE
138. he ORG input is turned ON Then feed in the opposite direction at high speed 3 Start counting EZ pulses when the ORG input is turned OFF 4 Decelerate and stop when the specified number of EZ pulses has 3 4 5 been counted a 5 Start zero positioning A f FH FL FL FH direction 1 EZ OFF ON OFF Seto seat T E A A E A The counter reset and ERC signal output timing is triggered by completion of the zero return ORG ON ON Specify a zero return operation method in ORM in RENV3 ORM bits 0 to 3 Bh Put an EZ counter value in EZD in EZD bit 4 to 7 1h RENV3 Number of EZ pulses counted EZD setting 1 __ Enter a zero return operation code in To move in the direction MOD bits 0 to 6 10h MOD in the PRMD To move in the direction MOD bits 0 to 6 18h ees PE ET If you want to reuse the same pattern this setting is PEPO On Dperer emsyens PATE pot needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x0020001B Specify zero return operation 11 ORM Bh The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WPRMD 0x0000001 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration f
139. hwassautibaineeasseNsGaateRTeeeeateeteanenm 71 2 6 1 9 Interpolation operations Wo NOR Sa caNa eae wee NERS aeGN NeW MU RRO Ne CaRCN AN Teed ueeeUGaNe RNA emabeeeEGeresNNeWeENeeeeeeanee 72 1 Combination of interpolation Operations viii tee tee eet irreet ete 72 2 Interpolation Control AXIS UE EU Eo nner ities 72 3 Constant synthesized speed control LTE Tere e Pee Teer ere reer ere rrr reeee Pre ree errr ere 73 4 Precautions for interpolation operations CS ae RMSE WEAN EERE TR RNAR NERO EE EE sen 74 5 Linear interpolation 1 MOD 61h VEGAUSNs AGHEM USAR ATH RRCONN EA UEA HARMON uunia 75 6 Linear interpolation 2 MOD 63h VESaN SASS TMRM EAE AS ieee Gaw a emeed eaeiueanGea awa tanGeweeaueneatibaaNGuweeeeeameut 77 7 Circular interpolation SGA gdeaeu Rasa Wine ses se Vedas teens easa any aaT eee Ese saTe eR Gase Neus sey ETETETT 80 8 Circular interpolation synchronized with the U axis cccccccctrttt et tet tet eet eee ee een ee eee eeeeeeees 83 2 6 2 Operation using a pulser input PA PB i aiacataiahn on aiblateh a higiare bla nru hia aual Sea aia austoltais hia aus Wieiais pica Sieiava TTT 87 2 6 2 1 Continuous operation using a pulser inpUts sree eee eet ttre teeta 88 2 6 2 2 Positioning operations using a pulser iNput sree eerie te tetas 89 1 Positioning operations specify target position as incremental value 7777 89 2 Absolute position COUNTERT1 positioning operation sciedies Se aeeN Eas ERRENKA NEETER ee eee sare 90 3
140. ibe the memory status of the comparator data The PFC register is used to monitor the data status By reading the RSTS register you can check the status of the data fixed or not 1 Write 1000 to PRCP5 PRCP5 register is fixed 2nd pre register 1st pre register RCMPS5 register PFC Memory Memory Not Memory status Wor fxed status fixed status fixed 3 Content 1000 Content 1000 Content 1000 25 2 Write 2000 to PRCP5 the data in the 1st pre register will be fixed 3 Write 3000 to PRCP5 the data in the 2nd pre register will be fixed SPDF bit 15 in MSTS goes to 1 Pre register full condition 4 When RCMP 1000 the PCL will change the comparison condition for comparator 5 from enabled gt disabled SPDF bit 15 in MSTS goes to 0 Data can be written to the pre registers 5 When RCMP 2000 the PCL will change the comparison condition for comparator 5 from enabled gt disabled 6 With RCMP 3000 the PCL will change the comparison condition for comparator 5 from enabled gt disabled e 1st pre register RCMPS5 register PFC Memory Memory y Memory status Not fixed gt slatus Fixed status Fixed 2
141. iginal 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 3 If the axis has already passed over the new target position or 4 the target position is changed to a position that is closer than Already passed the original position during deceleration movement on the axis position ae a 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 Note If the RMV value is changed just before stopping the override processing will not complete and the motor will stop without the override When the override is not executed the main status will set SEOR 1 After reading the main status the SEOR bit is cleared automatically Inside the PCL if the RMV register is written to when the motor is stopped the PCL will set SEOR 1 109 2 10 2 Target position override 2 Changing the base point In a positioning operation you have to specify a feed amount from a starting position You can specify a base point timing for when to start counting output pulses Set MPCS 1 in the PRMD operation mode and start with a positioning operation The PCL will place a feed amount in the positioning counter and begin outputting pulses However the positioning counter will not decrease with these
142. in the following order a Write start stop commands b End of operation c Write a pre register control command Pre register confirmation status 0 None of the register data is fixed When data is written into the 2Pr the PCL transfers the data as follows 2Pr gt 1Pr gt Rg The contents of the 2Pr 1Pr and Rg are all the same as the data written to the 2Pr The status of the Rg is fixed but the 2Pr and 1Pr are not yet fixed When data is written into 2Pr the PCL transfers the data as follows 2Pr gt 1Pr The data in 2Pr and 1Pr will be the same The status of the Rg and 1Pr are fixed but 2Pr is not When data is written into the 2Pr it is only written into 2Pr not into the 1Pr or Rg The status of the 2Pr 1Pr and Rg is not fixed You cannot write data to 2Pr In this condition SPRF bit 14 in MSTS goes to 1 The status of the data in the pre registers fixed or not can be checked by reading PFMO to 1 bits 20 21 of the RSTS register Pre register vacant status data transfer copy details 2Pr 2nd pre register 1Pr 1st pre register Rg Register 22 Using the PRMV register as an example we describe below how the memory status and register contents change when data is written to the 2nd pre register or by writing start stop commands and at the end of an operation We also cover what changes when writing a pre register control command 1 Write 1000 to the PRMV when the operation is
143. input p645_vset AXS_BU 2000L 50000L 100 0 0 0 S 0 U axis S curve from 2000pps to 50Kpps 100mS p645_wcom AXS_BU STAFH SEL_Y SEL_U FH constant speed start command p645_wcom AXS_BU CMSTA Simultaneous start command 2 11 2 2 PCS signal The PCS input is a terminal originally used for the target position override 2 function By setting the PCSM bits 0 to 3 of RENV1 to 1 and the MSY bits 18 and 19 of RMD to 01 in the PRMD operation mode register the PCS input signal can enable the CSTA signal External start signal for only its own axis The input logic can also be changed by setting PCSL in RENV1 PCSx ye External start signal chip Ex Start X axis operation on chip A by turning ON the PCS input Enter data for the X axis on chip A and specify wait for PCSx input p645_wreg AXS_AX WRENV1 0x40000000 Make the PCS input a CSTA signal that is only valid for its own axis p645_wreg AXS_AX WPRMD 0x00040041 Start positioning on CSTA input p645_vset AXS_AX 1000L 10000L 300 0 0 0 L O Linear from 1000pps to 10Kpps 300mS p645_wreg AXS_AX WPRMV 0x000003E8 Enter a feed amount 1000 in the direction p645_wcom AXS_AX STAUD High speed start command 2 p645_wait AXS_AX Wait for the motor to stop lt Internal block diagram gt f Logic PCS terminal select PCS internal signal circuit RENV1 PCSL aR CSTA internal signa
144. inputs lt When inputting an open collector signal gt Since these are high speed signals you can use high speed photo couplers 5V PCL6045B T NEC PS971 560 2 KIY Assa OY NA 7 777 PCL6045B 1KQ 74LS14 77 5 lt When inputting line driver signals gt 5V PCL6045B PS9711 560 2 1 8193 _ lessee ence AM26LS32 AM26LS31 T009 PCL6045B AM26LS32 Sete SF AM26LS31 1002 Sa ae 4 ERC and BSY output signals Since these are high speed signals you can use high speed photo couplers PCL6045B y 1809 _TLP181_ gt V K 77 55V 10MA Max iso 7777 PCL6045B e 30V 40mA Max ote 5 OUT and DIR signals lt When using an open collector output up to 10Kpps can be output gt For signal speeds up to 10Kpps or so general purpose photo couplers can be used PCL6045B 5V TLP181 Ko 10m A Max gt Ioanna E 4 1802 lt When using a photo coupler output up to 5Mpps can be output gt Output using high speed photo couplers PCL6045B 5V 5V 5602 PS9711_ sv L gt ae o lt With an isolated line driver output up to 5Mpps can be output gt Drive a line driver using output through a photo coupler PCL6045B 5V 5602 _PSO7tt el AM26LS31 AM26LS32 lt When line driver output up to 5Mpps can be output gt AM26LS31 ee PCL6045B lt When TTL o
145. int that crosses the end position vertical line and the circle Round this value up to a whole number To execute a circular interpolation synchronized with the U axis add 1 to 4 to the integer value Note 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 the FL constant time will apply When a larger value is entered the PCL will delay the beginning of deceleration and then will have to stop suddenly However the interpolation trajectory is equal to the constant speed circular interpolation To specify a rampdown 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 changing the RICI value and conducting a test 86 2 6 2 Operation using a pulser input PA PB This mode is used to allow operations from a pulser input PA PB Make the PE terminal LOW to enable pulser input After writing a start command when a pulser signal is input the LSI will output pulses Use an FH constant speed start 51h or FL constant speed start 50h as the start command PA PB input can be selected from the following by setting PIMO and 1 bits 24 and 25 in RENV2
146. ion or deceleration time gt acceleration time in interpolation operation the motor may not complete deceleration to FL speed when stopping In this case use the manual rampdown point mode MSDP 1 in the PRMD register 1 Linear deceleration MSMD 0 in the PRMD register PRFH PRFL x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and PRDS register 0 PRFH PRFL x PRDR 1 x 8 Reference clock frequency Hz Deceleration time s 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and PRDS register gt 0 PRFH PRFL 2 x PRDS x PRDR 1 x 4 Reference clock frequency Hz Deceleration time s 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 Magnification rate Reference clock frequency Hz PRMG 1 x 65536 Magnification rate setting example when the reference clock 19 6608 MHz Output speed unit pps Magnification Output speed Settin Magnification rate range 9 rate 2999 OBB7h 0 1 0 1 to 6 553 5 59 3Bh 5 Sto 327 675 1499
147. ion 12 After executing a zero return operation 8 move back to the zero position operate until COUNTER 2 0 EZ counts Enter the EZ count value to use for a zero return operation 0000 ist count to 1111 16th count 146 15 14 13 12 11 10 9 8 0 BSYC C141 C140 C131 CI30 C121 C120 l L_____ Select the input count source for COUNTER2 mechanical position 00 EA EB input 01 Output pulse 10 PA PB input Select the input count source for COUNTER3 deflection counter 00 Output pulse and EA EB input 10 Output pulse and PA PB input 01 EA EB input and PA PB input 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 i 1 Operate COUNTER4 only while LSI is operating BSY is low 23 22 24 20 19 18 17 16 CU4RCU3RiCU2RICU1R CU4C CUSC CU2C CU1C L___ 4 Reset COUNTER1 command position when the CLR input turns ON 1 Reset COUNTER2 mechanical position when the CLR input turns ON 1 Reset COUNTER3 deflection counter when the CLR input turns ON 1 Reset COUNTER4 general purpose when the CLR input turns ON 1 Reset COUNTER1 command position when the zero return is complete 1 Reset COUNTER2 mechanical position when the zero return is complete 1 Reset COUNTER3 deflection counter when the zero return is
148. ion is used Connect an encoder to a 5 phase stepper motor Supply encoder signals to the up down counter and read the counter values at certain intervals using a program to make the measurements Then calculate the feed amount and monitor the motor operation status an oo Amplitude T D D v ke 5 a lt 90 0 100 0 110 0 120 0 130 0 140 0 150 0 90 0 100 0 110 0 120 0 130 0 140 0 150 0 95 0 105 0 115 0 125 0 135 0 145 0 95 0 105 0 115 0 125 0 135 0 145 0 Time msec Time msec Note When using S curve acceleration deceleration it is easier to restrict the vibration when stopping than in linear acceleration deceleration However imagine that the maximum acceleration speed is constant Then the acceleration deceleration time will be the linear acceleration deceleration setting The vibration restriction function described above was based on a positioning operation with linear acceleration deceleration The vibration restriction function cannot be used in an interpolation operation 124 2 11 8 Synchronous starting This LSI can perform the following operation by setting MSY bit 18 to 19 of the PRMD operation mode register in advance Start triggered by another axis stopping MSY 11 Start triggered by an internal synchronous signal from another axis MSY 10 The internal synchronous signal output is available with 9 types of timing They can be selected by setting the RENV5 register 2 11 8 1 S
149. irCUits srt rent es 2 1 ZBO mode ver rE EERE eee 2 2 8086 mode verre EERE EEE EERE EEE Ene Cee E ene 3 3 H8 MOE rte EEE EEE EEE n enna ene 4 68000 mode Steerer reece ccc 5 1 4 Examples of input output interfaces 1 CEMG EL EL SD ORG and ALM input signals siavataisisiaCeisia al Ninian wieraisihie Guinea Gieia a Sela SNS Biase TT 6 2 DR DR PE PCS CLR LTC and INP Signal iNPUtS 1 1 eeeeteees ete ttt ttttete ttre teenees 6 3 EA EB EZ PA and PB signal inputs i Rae GANAS SUcie NOR EES AM odaeeeaNeNGOdaeosap O T 6 4 ERC and BSY output signals 1r reer t rere te ttre rene tere cenenenneee ne tecaeates 7 5 OUT and DIR signals shan tnsa clears a wiate ro aubrbi wage Gianna olate aa ach Sininigte Glens R eleiaG Gis nisin a Salen a Siena A SRIAINING Ger aaa Sana Nene USM RiNN aes Sale mae 7 1 5 Examples of external connections 1 5 1 Connecting a manual pulser lt 1 1 1 1 e reer etter rete eet een receneneritnenennieetaey 9 1 5 2 Connecting a DR switch SRG SN SRAERAn Ree ane Ma GSR SEW ene OaGean nessa Neu ecaeS Wee haaabeian Seas Wena EARNE KANEEN Sean hease ENEKE 10 Software 2 1 Assumed environment for this description PARAE Selena asta Gia KRANKEN aia auntie ein bieia Na Sie KRADE EEE Save ames ENKER KUN KRANKEN KRREEY 11 2 2 Address map and label definitions rs Siar Giaia woh Sia ais Sia ane Wine TTT 11 2 3 Basic functions used in descriptions 2 3 1 Word output function outpw E T Sieisintnle dia Siaca e ADA Ae T r a
150. is turned ON Input to COUNTER is exclusively for output pulses However COUNTERS2 to 4 can be selected as follows by setting the RENV3 register U D COUNTER up down counter Possible to count Blank Not possible to count COUNTER1 COUNTER2 COUNTER3 COUNTER4 Mechanical position Up down counter Up down counter Deflection counter Up down counter 28 28 16 28 O Command position Deflection General purpose Encoder EA EB input Pulser PA PB input 1 2 of reference clock One of two methods can be selected for the signal input EA EB input EIM bits 20 to 21 in RENV2 and PA PB input PIM bits 24 to 25 in RENV2 1 Signal input method Input 90 phase difference signals 1x 2x 4x Counter direction Count up when the EA input phase is leading Count down when the EB input phase is leading 2 Signal input method Input 2 sets of positive and negative pulses Counter direction Count up on the rising edge of the EA input Count down on the falling edge of the EB input 1 Count output pulses negative logic 2 pulse output om H H H H DIR ft Lt 1s 1d COUNTER n X n 1 Y m2 Y m3 X n4 YX m3 Y m2 Y net 2 Count 2 pulse external inputs EA PA EB PB L COUNTER n Xni Y m2 Y m3 X nmt4 Y n3 Y m2 Y nH 3 Count 90 phase difference signals at 1x multiplication EA PA L EB PB i i COUNTER n Y n 1 Yn
151. l CSTA terminal RENV1 PCSM 113 2 11 3 External stop simultaneous stop This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the CSTP terminal Set MSPE bit 24 1 in the RMD register to enable a stop from a CSTP input The axis will stop immediately or decelerate and stop when the CSTP terminal is LOW When multiple LSIs are used to control multiple axes connect all of the CSTP terminals from each LSI and input the same signal so that the axes which are set to stop ona CSTP input can be stopped simultaneously Using the simultaneous stop command 07h you can output a stop signal from the CSTP terminal and output a signal when an error stop occurs The CSTP terminal is a bi directional terminal It can output a stop signal and read this signal into the PCL 1 Connect the terminals as follows for a simultaneous stop among different LSls 5V Chip Chip Chip B C D CSTP CSTP CSTP 5K to 10Kohm 1 Set MSPE bit 24 1 in the RMD register for each of the axes that you want to stop simultaneously then start these axes 2 By writing a simultaneous start command 07h the LSI will output a one shot signal of 8 reference clock cycles from the CSTP terminal and axes that are set to wait for a CSTP input stop simultaneously 2 To stop simultaneously using an external circuit connect as follows 1 Set MSPE bit 24 1 in the RMD register for e
152. mS U axis dummy axis S curve 500pps to 10Kpps 100mS Specify the end point coordinates for the X axis 20000 Specify the end point coordinates for the Y axis 10000 Specify the end point coordinates for the Z axis 100 p645_wcom AXS_AX STAFH SEL X SEL_Y SEL_Z SEL_U High speed start command 2 p645_wait AXS_AX p645_wcom AXS_AU STOP p645_wait AXS_ AU 97 Wait for the motor to stop Immediate stop command Wait for the motor to stop 2 6 3 External switch tDR operation 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 2 6 3 1 Continuous operation using an external switch MOD 22h 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 An example of FL constant speed operation An example of FH constant speed operation f pps f pps FH s TENA FL Jae ank FL DIR direction direction DIR direction direction DR signal i DR signal i i a OFF LON on i OFF LON signa signa OFF ON 3 OFF L oN An
153. mber Feed in the direction number in PRMV Negative number Feed in the direction FL constant speed start command 0x0050h Write an immediate stop command p FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000051 Specify pulser input positioning operation MOD 51h p645_vset AXS_AY 1L 10000L 300 0 0 0 L 0 Y axis Linear acceleration deceleration 1pps to 10Kpps 300mS p645_wreg AXS_AY WPRMV 5000L Number of output pulses is 5000 p645_wcom AXS_AY STAFH FH constant speed start command PA PB input p645_wait AXS_AY Wait for the motor to stop 89 2 Absolute position COUNTER positioning operation MOD 52h In this operation when starting the absolute value of the difference between the RMV register value and RCUNT is loaded into the positioning counter Synchronized by the PA PB input signal the PCL outputs pulses and the positioning counter counts down using these pulses When the counter reaches 0 the PCL stops the motor PA PB input signals received after the specified number of pulses are output are ignored Use an FH constant speed start 51h or FL constant speed start 50h for the start command Enter the pulser input continuous MOD bits 0 to 6 52h mode in MOD in the PRMD If you want to reuse the same pattern this setting is Specify an operating speed patte
154. mmand 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000018 Specify zero return operation 8 ORM 8h The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WPRMD 0x00000010 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 57 E An example of high speed operation lt Decelerate and stop when the EL input is turned ON Feed in the opposite direction at high speed Stop immediately after the specified number of EZ pulses has been counted gt direction FH FL N t i a7 FH o direction 1 2 3 4 EZ OFF ON A EL OFF ON Specify a zero return operation method in ORM in RENV3 and put an EZ counter value in EZD in RENV3 Specify a processing method to use in ELM in RENV1 when the EL input turns ON Enter a zero return operation code in MOD in the PRMD If you want to reuse the same pattern this setting is gt not needed Write a start command Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000018 p645_wreg AXS_AY WRENV1 0x00000008 p645_w
155. mmy axis dedicated for interpolation operations and connect pulse output terminals on the dummy axis to the PA PB input terminals on the interpolation control axis so that the PCL can execute an interpolation operation following the independent operation of the dummy axis For example when the dummy axis has specified continuous operation controlled by an external input signal DR the PCL can execute an interpolation operation while DR input signal on the dummy axis is turned ON In order to match the pulse output specification of the dummy axis and interface it to the PA PB input enter 100 in the PMD for the dummy axis RENV1 to specify 2 output pulses and enter 11 in the PIM of the interpolation control axis RENV2 to specify 2 output pulses Hardware connection methods are described below Example of hardware connection In the example in the figure on the right the U axis is specified as the dummy axis The pulse output PCL 6045 terminals OUTu DIRu of the U axis are connected to OUTx 22 the PA PB input terminals on the X and Y axes 43 pay DIRx 58 lt X axis With this connection arrangement any two axes from 44 PAx 78 X Y and Z can execute a circular or linear 74 OUTy 79 gt Vaxis interpolation between 2 or 3 axes 5 PAY DIRy gt Do not forget to connect the PE terminal enable 7 PAy 122 PA PB input on the PA PB input terminals for the 45 OUTZ 753 gt Z axis active axis to GND
156. n operation move until COUNTER2 0 The counter reset and ERC signal output timing is triggered by completion of the zero return when the ORG input is turned ON E An example of a constant speed operation lt Decelerate and stop after the ORG input is turned ON Then return to the zero position gt direction 1 Write a high speed start command 2 53h 2 Start to decelerate and stop after the ORG input is turned ON 3 Execute a zero position return after decelerating and stopping 4 Complete the zero position return FH FL FL 4 direction 1 2 3 4 Counter reset and ERC signal output timing ORG OFF on lon A Specify a zero return operation ORM bits 0 to 3 9h method in ORM in RENV3 Ent t ti de i To move in the direction MOD bits O to 6 10h MOD Shea eee aera To move in the H direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is ee ee a not needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00200009 Specify zero return operation 9 ORM 9h p645_wreg AXS_AY WPRMD 0x00000010 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAUD
157. n the correction operation the PRMG setting for its own axis is used as speed data If you want to apply backlash correction during an interpolation operation set PRMG in the axes being interpolated with the same value as used in the control axis Also set the RFA register for these axes 3 The PCL applies a correction operation at the constant speed set in the RFA The sub status register monitors SFU during acceleration SFD during deceleration and SFC during constant speed will all become 0 123 2 11 7 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 register When both the reverse timing RT and the forward timing FT are non zero the vibration restriction function is enabled The setting unit for FT bits 16 to 31 and RT bits 0 to 15 is 32x the reference clock frequency normally about 1 6 us The dotted lines below are pulses added by the vibration restriction function an example in the positive direction Positive pulses i Final pulse Negative pulses Example of the vibration restriction function p645_wreg AXS_AX WRENV7 0x01520266 Specify RENV7 FT 0 55ms RT 1ms The figures below are sample waveforms of motor operation when the vibration restriction funct
158. nd stop when the EZ signal turns ON so that the motion on the axis overruns the EZ position E An example of a constant speed operation lt Stop immediately by counting EZ pulses gt direction f ei 1 Write an FH constant speed start command 51h 2 Stops immediately when the specified number of EZ pulses has been counted 1 2 EZ OFF l B l Enter the EZ counter number in EZD EZD bits 4 to 7 2h in RENV3 Number of EZ pulses counted EZD setting 1 Enter an EZ count operation code in To move in the direction MOD bits O to 6 24h MOD in the PRMD To move in the direction MOD bits 0 to 6 2Ch If you want to reuse the same pattern this setting is L ay ae ae eae eee not needed Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000020 Three EZ pulses are specified EZD 2 p645_wreg AXS_AY WPRMD 0x00000024 Specify direction EZ count operation MOD 24h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 71 2 6 1 9 Interpolation operations 1 Combination of interpolation operations In addition to each independent operation this LSI can
159. nting direction 010 RCMP5 data Comparison counter while counting up 011 RCMP5 data Comparison counter while counting down 100 RCMP5 data gt Comparison counter 101 RCMP5 data lt Comparison counter Others Treats that the comparison conditions do not meet Select a process to execute when the Comparator 5 conditions are met ___ 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 15 14 13 12 11 10 9 8 Enter the number of idling pulses 0 to 7 pulses Specify the latch 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 met 11 When the Comparator 5 conditions are met 1 Latch the current speed in place of COUNTER3 1 Stop the latch by timing of a hardware operation Only used by software 150 23 22 21 20 19 18 17 16 0 0 SYI1 SYIO SYO3 SYO2 SY01 SYO0 L Select the output timing of the internal synchronous signal 0001 When the Comparator 1 conditions are met 0010 When the Comparator2 conditions are met 0011 When the Comparator3 conditions are met 0100 When the Comparator4 conditions are met 0101 When the Comparator5 conditions are met 1000 When starting acceleration 1001 When ending acceleration 1010 When starting deceleration 1011 When ending deceleration Others Internal
160. o allow a single LSI to provide interpolation operations between any 2 to 4 axes After specifying an operating speed for the interpolation control axis select whether or not to apply synthesized control of the interpolated axis by writing to the PRMV Enter the end point position in the PRMV of each axis as an incremental value based on the current position 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 the master axis The other axis will be the slave axis Figure 2 is an example of a two axis linear Y Slave axis Final interpolation using the X and Y axes The end coordinates ae 10 4 point coordinates are specified as 10 4 4 When a start command is written the LSI will 3 ZA output pulses to the master axis and the slave 7 7 axis will be supplied a smaller number of JA a pulses than the master axis Gags T A Write a start command by setting either the mare ee a s ee en SELx or SELu bits corresponding to the X axis interpolation axes in COMB1 to 1 ie vivivivivivlvlivivle Writing to any of these axes will create the Vads same result output y h v pulse Pulse ON Note Two axis linear interpolation Figure 3 1 If synthesized constant speed control is ON and rampdown p
161. o write will vary depending on the output logic selected See the table below for the details Terminal Logic setting Bicone Terminal Logic setting Pit canil command command Negative logic POL 0 PORST 10h P1 Negative logic P1L 0 P1RST 11h Positive logic POL 1 POSET 18h Negative logic P1L 1 P1SET 19h Note When writing control commands to output ports OTPB address 2 for the Z80 interface the PO and P1 terminals will not change PO 129 3 Appendix 3 1 Command codes and axis selection COMBO Setting command code See 3 2 List of command codes COMB 15 14 13 12 41 10 9 8 o o 0 0 SELuiseLz SELy SELx E 1 Execute a command on the X axis 1 Execute a command on the Y axis 1 1 Execute a command on the Z axis Execute a command on the U axis When all the bits are 0 the command is only executed on the axes specified in the A3 and A4 address lines 3 2 Output port COMB1 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 0 Low level 1 High level Output P5 Output P6 Output P7 130 3 3 Tables of commands lt Operation command gt COMBO Symbol Description COMBO Symbol Descripti
162. oint auto setting is selected when you start acceleration deceleration of the PRMV register of the longer feed axis is set to less than 2 then this axis will operate at FL constant speed and not accelerate If you want to accelerate this axis even though the register is set to less than 2 set PRDP equal to 1 Also when the PRM is set to 2 or greater setting PRDP equal to 1 will not be a problem Set the PRDP to the same value for all the axes being interpolated 2 When synthesized constant speed control is ON and rampdown point auto setting is selected enter the same acceleration and deceleration rate values PRUR and PRDR 3 When backlash correction is turned ON enter the same value for the PRMG and RFA registers as used for the control axis in the other axes being interpolated 75 Enter a linear interpolation 1 code in MOD and whether or not to use synthesized constant speed control in MIPF bit 15 in the PRMD MIPF 0 Specify an operation speed pattern Enter end point coordinates in the PRMV Write a start command Wait for the operation to complete End p645_wreg AXS_AX WPRMD 0x00000061 p645_wreg AXS_AY WPRMD 0x00000061 p645_vset AXS_AX 1000L 10000L 300 0 0 0 L 0 p645_wreg AXS_AX WPRMV 0x0000000A p645_wreg AXS_AY WPRMV 0x00000004 p645_wcom AXS_AX STAFH SEL_X SEL_Y p645_wait AXS_AX 76 MOD 61h Synthesized constant speed control is OFF
163. ommand 0x0051h Wait for the operation to complete End 66 p645_wreg AXS_AY WRENV3 0x00000001 Specify a zero return operation 1 ORM 1h p645_wreg AXS_AY WPRMD 0x0000001D Specify a zero position search operation in the direction MOD 1Dh p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 500 Y axis linear acceleration deceleration from 1K to 10Kpps 300mS FA 500pps p645_wreg AXS_AY WPRMV 0x0000000A Enter 10 as the number of pulses needed to escape p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop E An example of a high speed zero search operation lt Zero position search in the direction from a position between ORG and EL ORM 1h ELM 1 gt f j rA 255555 i 1 2 3 4 5 6 7X8 EL OFF oN OFF ORG OFF ON OFF on LON 1 The motor will start rotating in the direction when a high speed start command 2 is written 2 Decelerate and stop when the EL input turns ON and then execute a high speed start 2 in the direction 3 Decelerate and stop when the ORG input turns ON and then execute another high speed start 2 in the direction 4 ORG input turns OFF 5 After feeding for the number of pulses entered in the RMV register the motor will decelerate and stop The zero escape operation is completed using a positioning operation in
164. on 05h CMEMG Emergency stop 50h STAFL_ FL constant speed start 06h CMSTA aaa output simultaneous 54h STAFH FH constant speed start ae High speed start 1 FH o7h cmstp CSTP output simultaneous 55 STAD constant speed gt stop deceleration stop Instantaneous change to the B ie a 40h FCHGL FL constant speed 53h STAUD Acceleration FH constant speed Deceleration Ath ECHGH Instantaneous change to the 54h CNTFL Residual pulses FL constant FH constant speed speed start 42h FSCHL Decelerate to FL speed 55h_ CNTFH_ Residual pulses FH constant speed start 43h FSCHH Accelerate to FH speed 56h CNTD a pulses high speed 49h STOP Immediate stop ei CNW e te na 4Ah SDSTP_ Decelerate and stop lt General purpose port control command gt COMBO Symbol Description COMBO Symbol Description 10h PORST Set the PO terminal LOW 18h POSET Set the PO terminal HIGH 11h P1RST Setthe P1 terminal LOW 19h P1SET Set the P1 terminal HIGH 12h P2RST Set the P2 terminal LOW 1Ah P2SET Set the P2 terminal HIGH 13h P3RST Set the P3 terminal LOW 1Bh P3SET Set the P3 terminal HIGH 14h P4RST Set the P4 terminal LOW 1Ch P4SET Set the P4 terminal HIGH 15h P5RST Set the P5 terminal LOW 1Dh P5SET Set the P5 terminal HIGH 16h P6RST Set the P6 terminal LOW 1Eh P6SET Set the P6 terminal HIGH 17h P7RST Set the P7 terminal LOW 1Fh P7SET Set the P7 terminal HIGH lt Control command gt COMBO Symbol Description COMBO S
165. on in the specified direction move away to escape from the zero position Execute a zero escape operation using the positioning operation in the direction opposite the direction specified 2 Start feeding in the specified direction The zero return operation specified in the ORM in the specified direction 3 Stop at the zero position LT lt Zero position search in the direction from a position between ORG and EL gt EL ORG EL 1 Start moving in the specified direction Zero return operation specified in the ORM in the specified direction 2 Stop feeding when the EL input turns ON and start feeding in the direction opposite the direction specified Then stop when the ORG input turns ON Zero return operation opposite the specified direction ORM Oh 3 In order to approach the zero position from the specified direction move away to escape from the zero position Execute a zero escape operation using the positioning operation in the direction opposite the direction specified 4 Start feeding in the specified direction The zero return operation specified in the ORM in the specified direction 5 Stop at the zero position lt Zero position search in the direction from a position between ORG and EL gt EL ORG EL 1 Start feeding in the specified direction The zero return operation specified in the ORM in the specified direction 2 Stop at the zero po
166. op immediately after the specified number of EZ pulses has been counted gt direction f FH 1 Write high speed start command 2 53h 2 When the ORG input is turned ON the motor will feed in the opposite direction at FH high speed t 3 The PCL starts counting EZ pulses when ae the ORG input is turned OFF 4 The motor will stop immediately after the FH specified number of EZ pulses has been direction counted 1 EZ OFF A The counter reset and ERC signal output timing is triggered by completion of the ON zero return ORG OFF ON Specify a zero return operation ORM bits 0 to 3 5h method in ORM in RENV3 Enter the EZ count value in EZD in EZD bit 4 to 7 th RENV3 Number of EZ pulses counted EZD setting 1 Enter a zero return operation code in To move in the direction MOD bits 0 to 6 10h MOD in the PRMD To move in the direction MOD bits 0 to 6 18h E ee es I ee If you want to reuse the same pattern this setting is eee n Perens Peet nal ngadat Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000015 Specify zero return operationS ORM 5h The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WPRMD 0x0000001 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_A
167. operation to use when the When the EL input is ON the operation will execute EL input turns ON in ELM in RENV1 a deceleration stop Enter a zero return operation code in Escape from EL or SL MOD 22 h MOD in the PRMD Escape from EL or SL MOD 2Ah See eperationspesd palem oo If you want to reuse the same pattern this setting is Dab ie tes eek ek elem eee oa tthe not needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000022 Specify an escape operation from EL or SL MOD 22h p645_wreg AXS_AY WRENVI 0x00000008 Select a deceleration stop for the operation to execute when the EL input turns ON p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 70 2 6 1 8 EZ count operation direction MOD 24h direction MOD 2Ch This mode is used to count EZ signal of the number EZD set value 1 written into the RENV3 register After writing a constant speed start command after the PCL has counted the specified number of EZ pulses the motor will stop immediately The EZ count can be set from 1 to 16 Use the low speed start command 50h 51h for this operation When the high speed start command is used the axis will start decelerating a
168. operation when the conditions are met p645_wreg AXS_AY WRENV5 0x00010000 RENV5 When the conditions for comparator 1 are met an internal synchronous signal is output SYO 0001 p645_wreg AXS_AY WRCMP1 0x000003E8 RCMP1 Comparator 1 data 1000 p645_wcom AXS_AX STAFH SEL_X SEL_Y FH constant speed start command The timing chart below shows the period after the Comparator 1 conditions are established and the X axis starts oy d L LI LJ LI Li ites 207X aE X La X 1001 X 1002 X_1003 CP1y S o L OUTx i mr X axis Sennen 0 4 Note In the example above even if the Y feed amount is set to 2000 and the X feed amount is set to 1000 the X axis will be 1 when the Y axis position equals 1000 Therefore the operation complete position will be one pulse off for both the X and Y axes In order to make the operation complete timing the same set the RCMP1 value to 1001 or set the comparison conditions to Comparator 1 lt comparison counter 128 2 11 9 General purpose I O port PO to P7 These ports are initially set as input ports By setting POM to P7M bits 0 to 15 in RENV2 they can be set individually as inputs or outputs An outline of the internal circuit configuration for this port is shown below While using these as input terminals they can be set to latch the circuit when used as an output Thus when they are changed from inputs to outputs the latched status will be output
169. output buffer for the U axis bits 0 to 15 Input output buffer for the U axis bits 16 to 31 2 Use the shared command write address and data input output area for each axis In this case you have to specify an axis each time a command is written However a software reset command SRST does not need to specify an axis When one PCL6045B is used an interpolation command can be used the same as above This method can write read data to the same register of any connected axis with one command A4 to A1 Description 0000 BUFWO_X BUFW1_X Command Input output buffer for the X axis bits O to 15 BUFWO_Y BUFW1_Y BUFWO_Z BUFW1_Z Input output buffer for the Z axis bits 16 to 31 BUFWO_U BUFW1_U Input output buffer for the U axis bits 0 to 15 bits 16 to 31 Input output buffer for the U axis 21 2 5 2 Pre register function The pre registers consist of three groups the operation pre registers RMV RFL RFH RUR RDR RMG RDP RMD RIP RUS RDS RCI the comparator 5 pre register RCMP5 and start command pre register This LSI has the following 2 layer structure and executes FIFO operation The pre register is a register to store next operation data during operation Change O 7 2nd 1st Operation Set E pre register pre register Register control circuit PRMV etc RMV etc 2 5 2 1 Basic pre register operation Normally operation data are writ
170. p operation immediately if it is rotating at constant speed when ORG goes from OFF to ON or it will start decelerating if it is rotating at high speed Therefore in high speed operation the motor will stop after it passes the position where the ORG input is turned ON But by using the counter reset function the distance it moves after passing that point the current position is reliable The counter reset and ERC signal output timing due to a zero return completion are determined by when the ORG input goes from OFF to ON E An example of a constant speed operation lt Immediate stop when the ORG input is turned ON gt f 1 Write an FH constant speed start command FH 51h 2 Immediate stop when the ORG input is turned ON t 1 2 A Counter reset and ERC signal output due to OFF ON completion of a zero return ORG SS A Specify a positioning operation ORM bits 0 to 3 Oh method in ORM in RENV3 Put ti ti dei To move in the direction MOD bits 0 to 6 10h ae ainseani ON CASIN To move in the direction MOD bits 0 to 6 18h Sethe operation gpacd pation _ 4 If you want to reuse the same pattern this setting is Fst ere el tc a neo a gt not needed Write a start command FH constant speed command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000000 Specify a zero return operation 0 ORM 0h p645_wreg AXS_AY WPRMD 0x0000001
171. pattern range and deceleration S curve range to the proper registers Note 2 The register write commands are 93h for the acceleration rate RUR 94h for the deceleration rate RDR 99h for the acceleration S curve range RUS and 9Ah for the deceleration S curve range RDS Figure 7 Note 1 To specify acceleration deceleration combining an S curve with linear deceleration acceleration set MSMD 1 in the PRMD register to specify the S mode In this status if the S curve range is set to 1 the speed pattern will be a linear acceleration deceleration For example to specify linear acceleration and S curve deceleration set PRUS 1 Note 2 When the positioning mode is selected and rampdown auto setting MSDP lt bit 13 gt in the PRMD is 0 is specified do not change the RFL register during high speed operation The auto setting function will not follow the operation 107 2 10 Position override This LSI can override change the target position freely during operation There are two methods for overriding the target position 2 10 1 Target position override 1 Changing the target position data 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 Specify the code for an external MOD bits 0 to 6 41h switch link operation in MOD in the Ne Scag ae
172. positioning operation specify a dummy operation on an axis that is not moving By applying the rules above the PCL will move as follows 1 Circular interpolation operation on the X and Y axes and a dummy operation on the Z axis 2 Circular interpolation operation on the Y and Z axes and a dummy operation on the X axis 3 Linear interpolation operation on the X and Z axes and a dummy operation on the Y axis 126 2 11 8 2 Starting from an internal synchronous signal There are 9 types of internal synchronous signal output timing They can be selected by setting the SYOO to 3 of RENV5 register Specify a signal to use for starting its own axis in SYIO to 1 Choose from the four internal synchronous signals that are output by each axis SYO3 to SYOO Output timing 0001 When comparator 1 conditions are met 0010 When comparator 2 conditions are met 0011 When comparator 3 conditions are met 0100 When comparator 4 conditions are met 0101 When comparator 5 conditions are met 1000 At the start of acceleration 1001 At the end of acceleration 1010 At the start of deceleration At the end of deceleration SYI1 to SYIO Select axis to output Use synchronous signal output from the X axis Use synchronous signal output from the Y axis Use synchronous signal output from the Z axis Use synchronous signal output from the U axis The output timing above can also function as event inte
173. pulses The positioning counter only starts counting down the number of pulses when the PCS input signal is turned ON or a PCS input substitute command is written after the start of operation after starting to output command pulses Then it will execute a positioning operation for the number of pulses specified in the PRMV Specify the code for an external MOD bits 0 to 6 41h switch link operation in MOD in the MPCS bit 14 1 PRMD sient Rea te a a f you want to reuse the same pattern this setting is Specify an operating speed pattern hot needed Enter a feed amount using a signed Positive number direction number in the PRMV Negative number direction Write a start command High speed start command 2 0x0053h Wait for PCS input or PCS input PCS input substitution command 0x0028h substitute command Wait for the operation to complete End p645_wreg AXS_AX WPRMD 0x00004041 X axis Positioning operation MOD 4 1h MPCS 1 p645_vset AXS_AX 1000L 10000L 100 0 0 0 S 0 X axis S curve acceleration deceleration from 1Kpps to 10Kpps 100mS p645_wreg AXS_AX WPRMV 0x000186A0 X axis Enter a feed amount 100 000 p645_wcom AXS_AX STAUD High speed start command 2 p645_wait AXS_AX Wait for the motor to stop 110 2 11 Description of the Functions 2 11 1 Idling pulse output function When starting an accelera
174. pulses so that the combined axes output will be 1000 7 2 per area Therefore the number of circular interpolation steps will be 1000 V 2 x8 5656 85 So the value to set in PRMV of the U axis is 5658 See How to get the number of pulses needed for a circular interpolation on page 86 Figure 4 Y axis f pps U axis speed pattern Figure 5 707 Starting point 0 0 1000 2 X axis 2 83 timer function in DTMF of RENV1 for all the axes l r l l X axis MOD 66h Enter the CW circular interpolation Y axis MOD 66h code synchronized with the U axis ne a in the MOD of the X and Y axes TE TOE E ae PRMDs and a linear interpolation 1 axis code in the MOD of the Z and U Turn OFF the direction change All axes DTMF bit 28 1 axes PRMDs Specify an operating speed pattern If you want to reuse the same to 2 axes linear interpolation pattern this setting is not needed control axis Enter the end point coordinates of X X axis PRMV 0 needed for circular interpolation and enter them in the PRMV of the U axis Wait for the operation to complete p645_wreg AXS_AX WRENV1 0x10000000 p645_wreg AXS_AY WRENV1 0x10000000 p645_wreg AXS_AZ WRENV1 0x10000000 p645_wreg AXS_AU WRENV1 0x10000000 p645_wreg AXS_AX WPRMD 0x00000066 p645_wreg AXS_AY WPRMD 0x00000066 p64
175. r a pulser input command position zero return mode code in MOD in the PRMD MOD bits 0 to 6 54h l l If you want to reuse the same pattern this setting is Specify an operating speed pattern ot needed FL constant speed start command 0x0050h Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000054 Specify a pulser input command position zero return operation MOD 54h p645_vset AXS_AY 1L 10000L 300 0 0 0 L 0 Y axis Linear acceleration deceleration 1pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command PA PB input p645_wait AXS_AY Wait for the motor to stop 92 5 Mechanical position zero return operation MOD 55h This operation mode is used to synchronize the motor with a pulser input PA PB until COUNTER2 mechanical position reaches 0 Though the speed to apply is controlled by an external signal input the number of pulses output and the feed direction are set automatically by internal calculation using the COUNTER2 value when starting Set the COUNTER2 value to zero and start the positioning operation the LSI will stop movement on the axis immediately without outputting any command pulses Use an FH constant speed start 51h or FL constant speed start 50h for the start command Enter a pulser input command position zero
176. r interpolation 2 ok Sk ek ek US S U axis is executing linear interpolation 2 15 14 13 12 11 10 9 8 IPFu IPFz IPFy IPFx IPSu IPSz IPSy IPSx X axis is in circular interpolation Y axis is in circular interpolation Z axis is in circular interpolation U axis is in circular interpolation Synthesized constant control is ON for the X axis Synthesized constant control is ON for the Y axis Synthesized constant control is ON for the Z axis A ok eS ok ek GA ee Ek Synthesized constant control is ON for the U axis 23 22 21 20 19 18 17 416 SED1 SEDO SDM1 SDMO IPCC IPCW IPE IPL C Executing linear interpolation 1 Executing linear interpolation 2 Executing a CW directional circular interpolation k ae a Executing a CCW directional circular interpolation Current phase of a circular interpolation 00 1st phase 01 2nd phase 10 3rd phase 11 4th phase Final phase in a circular interpolation 00 1st phase 01 2nd phase 10 3rd phase 11 4th phase 136 3 5 5 Error interrupt status register REST 18 bits 7 6 5 4 3 2 1 0 ESAL ESML ESPL ESC5 ESC4 ESC3ESC2 ESC1 Stop by comparator 1 conditions being met SL Stop by comparator 2 conditions being met SL Stop by comparator 3 conditions being met Stop by comparator 4 conditions being met Stop by comparator 5 conditions
177. r of idling pulses 0 When RENV5 s IDL value 1 to 7 the number of idling pulses IDL value 1 PRMV x PRDR 1 PRUR PRDR 2 Optimum value Number of pulses 2 S curve deceleration without a linear range MSMD 1 in the PRMD register and the PRDS register 0 PRFH PRFL x PRDR 1 x 2 PRMG 1 x 32768 Optimum value Number of pulses 3 S curve deceleration with a linear range MSMD 1 in the PRMD register and the PRDS register gt 0 PRFH PRFL x PRFH PRFL 2 x PRDS x PRDR 1 Optimum value Number of pulses PRMG 1 x 32768 Start deceleration at the point when the positioning counter value lt PRDP set value lt When set to automatic MSDP 0 in the PRMD register gt This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelerating When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the axis will feed at FL low speed after decelerating PRUS S curve acceleration range register 15 bit Specify
178. ra Dea a a If you want to reuse the same pattern this setting is Specify an operating speed pattern hot needed Enter a feed amount using a signed Positive number direction number in the PRMV Negative number direction Write a start command High speed start command 2 0x0053h Enter a new target position in the Positive number direction RMV as a signed number Negative number direction Wait for the operation to complete End p645_wreg AXS_AX WPRMD 0x00000041 Specify a positioning operation MOD 4 1h p645_vset AXS_AX 1000L 10000L 100 0 0 0 S 0 S curve acceleration deceleration from 1Kpps to 10Kpps 100mS p645_wreg AXS_AX WPRMV 0x00030D40 Enter a feed amount 200 000 p645_wcom AXS_AX STAUD High speed start command 2 p645_wreg AXS_AX WRMV 0x000186A0 Overwrite the RMV value with 100 000 p645_wait AXS_AX Wait for the motor to stop 108 When the RMV value is changed during an operation the motor operation will be as follows Acceleration deceleration are only applied in a high speed start 1 If the new target position is further away from the original target position during acceleration or low 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 or
179. ration edge for the LTC signal 0 Falling 1 Rising 142 31 30 29 28 27 26 25 24 PDTC PCSM INTM DTMF DRF FLTR DRL PCSL L_ 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 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 1 Apply a filter on the DR DR or PE inputs When a filter is applied signal pulses shorter than 32 msec are ignored 1 Turn OFF the direction change timer 0 2 ms function 1 Mask an INT output 1 Only allow the PCS input on the local axis CSTA signal 1 Keep the pulse width at a 50 duty cycle 3 8 2 RENV2 register general purpose port specifications 27 bits 7 6 5 4 3 2 1 0 P3M1 P3MO P2M1 P2M0 P1M1 P1M0 POM1 POMO 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 ms 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 ms Specify the operation of the P2 MVC terminal 00 General purpose input 01 General purpose output 10 Output the MVC low speed feeding signal with negative logic 11
180. recautions for using the synthesized constant speed control bit MIPF 1 gt Positioning is only possible 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 an 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 means that the speed through the ideal locus trajectory will not be constant 273 For example with linear interpolation in the figure on Y Slave axis Final the right using the synthesized constant speed N coordinates feature the PCL will make a constant synthesized 4 10 4 speed in order to feed at a 45 angle by decreasing 3 the speed to 1 2 2 Therefore the feeding interval when the feed speed 1 is 1pps will be 6 44y 2 11 66 seconds 05 5 10 gt X Main axis Figure 2 The length of the ideal line dotted line is V 10 4 10 77 If the machine can be fed by just following the ideal line the feed interval will be 10 77 seconds Please take note of the above when using synthesized constant speed control In order to match a feed time with an ideal line
181. reg AXS_AY WPRMD 0x0000001 0 p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 p645_wcom AXS_AY STAUD p645_wait AXS_AY 1 Write high speed start command 2 53h 2 The motor decelerates and stops when the EL input is turned ON Then it feeds in the opposite direction ELM lt bit 3 gt in RENV1 1 3 The PCL starts counting EZ pulses when the EL input is turned OFF 4 The motor will decelerate and stop when the specified number of EZ pulses has been counted A The counter reset and ERC signal output timing is triggered by completion of the zero return ORM bits 0 to 3 8h EZD bit 4 to 7 th Number of EZ pulses counted EZD setting 1 ELM bit 3 1 Decelerate and stop when the EL input is ON To move in the direction MOD bits 0 to 6 10h To move in the direction MOD bits 0 to 6 18h High speed start command 2 0x0053h Specify zero return operation 8 ORM 8h The number of EZ pulses to count is two EZD 1 Specify a deceleration stop for processing when the EL input is turned ON Specify a zero return operation in the direction MOD 10h Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS High speed start command 2 Wait for the motor to stop 58 10 Zero position return method 9 ORM 9h After executing zero return operation 0 the motor will execute a zero position retur
182. reg AXS_AY WRENV3 0x0020001C p645_wreg AXS_AY WRENV1 0x00000008 p645_wreg AXS_AY WPRMD 0x00000010 p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 p645_wcom AXS_AY STAUD p645_wait AXS_AY 5 Start zero positioning A The counter reset and ERC signal output timing is triggered by completion of the zero return ORM bits 0 to 3 Ch EZD bit 4 to 7 1h Number of EZ pulses counted EZD setting 1 ELM bit 3 1 Decelerate and stop when the EL input is turned ON To move in the direction MOD bits 0 to 6 10h To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is not needed High speed start command 2 0x0053h Specify zero return operation 12 ORM Ch The number of EZ pulses to count is two EZD 1 Specify a deceleration stop for processing when the EL input is turned ON Specify a zero return operation in the direction MOD 10h Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS High speed start command 2 Wait for the motor to stop 62 2 6 1 5 Leaving the zero position operations direction MOD 12h direction MOD 1Ah After writing a start command the axis will leave the zero position when the ORG input turns ON Make sure to use the Low speed start command when leaving the zero position When you write a start command
183. rn not needed Enter a feed amount as a signed Positive number Feed in the direction number in PRMV Negative number Feed in the direction FL constant speed start command 0x0050h Watson romediate stop command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000052 Specify pulser input positioning operation MOD 52h p645_vset AXS_AY 1L 10000L 300 0 0 0 L 0 Y axis Linear acceleration deceleration 1pps to 10Kpps 300mS p645_wreg AXS_AY WPRMV 5000L Number of output pulses is 5000 p645_wcom AXS_AY STAFH FH constant speed start command PA PB input p645_wait AXS_AY Wait for the motor to stop 90 3 Absolute position COUNTER2 positioning operation MOD 53h In this operation when starting the absolute value of the difference between the RMV register value and RCUNT is loaded into the positioning counter Synchronized by the PA PB input signal the PCL outputs pulses and the positioning counter counts down using these pulses When the counter reaches 0 the PCL stops the motor PA PB input signals received after the specified number of pulses are output are ignored Use an FH constant speed start 51h or FL constant speed start 50h for the start command Enter the pulser input continuous mode in MOD in the PRMD Enter a feed amount as a signed number in PRMV
184. rned ON the motor will decelerate and stop Then it will feed in the opposite direction at FA speed 3 The PCL starts counting EZ pulses after the ORG input is turned ON 4 The motor will stop immediately after the JER eesse See direction 1 2 3 4 EZ OFF ON ORG OFF ON Specify a zero return operation method in ORM in RENV3 Enter the EZ count value in EZD in RENV3 Enter a zero return operation code in MOD in the PRMD Write a start command Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000014 p645_wreg AXS_AY WPRMD 0x00000010 specified number of EZ pulses has been counted A The counter reset and ERC signal output timing is triggered by completion of the zero return ORM bits 0 to 3 4h EZD bit 4 to 7 1h Number of EZ pulses counted EZD setting 1 To move in the direction MOD bits 0 to 6 10h To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is gt not needed High speed start command 2 0x0053h Specify zero return operation 4 ORM 4h The number of EZ pulses to count is two EZD 1 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 Y axis linear acceleration deceleration from p645_wcom AXS_AY STA
185. rom 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 61 13 Zero position return method 12 ORM Ch After executing zero return operation 8 the motor will execute a zero position return move until COUNTER2 0 The counter reset and ERC signal output timing is triggered by completion of the zero return when the specified number of EZ pulses has been counted E An example of high speed operation lt Decelerate and stop when the EL input is turned ON Then feed in the opposite direction for the specified number of EZ pulses and return to the zero position gt direction f FH FL FL FH 1 Write high speed start command 2 53h 2 Decelerate and stop when the EL input is turned ON Then feed in the opposite direction t ELM lt bit 3 gt in RENV1 1 3 Start counting EZ pulses when the EL input is turned OFF 4 Decelerate and stop when the specified number of EZ pulses has been counted 3 direction 1 3 EZ OFF ON EL OFF ON Specify a zero return operation method in ORM and put an EZ counter value in EZD in RENV3 Put a processing method to use when the EL input is ON in ELM in RENV1 ee Enter a zero return operation code in MOD in the PRMD Write a start command Wait for the operation to complete End p645_w
186. rrupt causes By setting RIRQ the event interrupt cause register the PCL can be set to output an interrupt signal when it outputs the internal synchronous signal There are 9 types of internal synchronous signal output timing They can be selected by setting SYO bit 16 to 19 of the RENV5 register Specify f an axis to synchronize by the internal synchronous signal in SYI bit 20 FH 3 to 21 The monitor signal for the internal synchronous signal can be output externally by setting the RENV2 Example 1 below shows how to use the end of an acceleration for the internal synchronous signal Setting example 1 After started the Y axis when the Y axis completes acceleration the X axis starts operation Y axis Acceleration Complete FL p645_wreg AXS_AX WPRMD 0x00080041 PRMD Positioning operation start from an internal synchronous signal MSY 10 p645_vset AXS_AX 100L 5000L 500 0 0 0 L 0 X axis Linear from 100pps to 5000pps 500ms p645_wreg AXS_AX WPRMV 0x00002710 PRMV Feed amount 10 000 p645_wreg AXS_AX WRENV5 0x00100000 RENV5 Use the Y axis internal synchronous signal SYI 01 p645_wreg AXS_AY WPRMD 0x00000041 PRMD Positioning operation MOD 41h p645_vset AXS_AY 100L 5000L 500 0 0 0 L 0 Y axis Linear from 100pps to 5000pps 500ms p645_wreg AXS_AY WPRMV 0x00001388 PRMV Feed amount 5 000 p645_wreg AXS_AY
187. s assigned as outputs are effective Input output buffer bits O to 15 SSTSW Sub status or general purpose input output port Input output buffer bits O to 15 Input output buffer bits 16 to 31 Note Byte access is not possible Input output buffer bits 16 to 31 1 4 Examples of input output interfaces In order to prevent malfunctions that may be caused by electrical noise and to protect the PCL we recommend isolating the circuits using photo couplers If you don t use photo couplers use some kind of protective circuit such as a TTL buffer If the PCL s terminals are led out directly to external circuits the PCL may be destroyed by latching up or other similar problems 1 CEMG EL EL SD ORG and ALM input signals Since these are not high speed signals general purpose photo couplers can be used The EL and EL signals logic can be changed by setting the ELL input However if a disconnection occurs it is safest to use NC normal closed contacts with negative logic ELL H 5V _4 7K 2 TOSHIBA POLGOSB zaista i E EE 2 2KQ So a 1002 per 188193 o J 0 1uF EENE 3 NC 777 PCL6045B 5V aKa lt H NC terminal o 74LS14 77 2 DR DR PE PCS CLR LTC and INP signal inputs Since these are not high speed signals general purpose photo couplers can be used PCL6045B 47KQ 1 pana 3 EA EB EZ PA and PB signal
188. s data unsigned int address Address unsigned int data Word data to write 2 3 2 Word input function inpw N a ee he aan E eae Rt Eres RE PR oe Function name inpw Operation Reads word data from a specified address address Dummy argument address _ Address Return value Word data read cau SSSA oe A a E EEEE unsigned int inpw address unsigned int address Address 2 3 3 Write the command code and axis selection p645_wcom a a IE a ee SETER Function name p645_wcom Operation Writes a command code and an axis selection comw to a specified axis base_addr Dummy argument base_addr Base address of the specified axis comw Word data to write Return value None estes esas S EE A eta es ees void p645_wcom base_addr comw unsigned int base_addr Axis base address unsigned int comw Command code and axis selection outpw base_addr comw 2 3 4 Write to an output port p645_wotp N fears ee I Pre en OER ee ee eee Function name p645_wotp Operation Writes word data otpw to the output port of the specified axis base_addr Dummy argument base_addr Base address of the specified axis otpw Word data to write Return value None Be Sep RUSSERT Cen ee OREN EC TEES USEC TEE Sea Ene aie See er ENR EC Reece void p645_wotp base_addr otpw unsigned int base_addr Axis base address unsigned int otpw Word data to write outpw base_addr 2 otpw
189. s for a single axis To operate multiple axes simultaneously or to execute an interpolation operation set all the registers needed for those operations Set the bits corresponding to the active axes in SELu to SELx of the axis assignment register COMB1 to 1 Then write a start command Any axis can be used to write a start command and start operation Ex High speed start 2 command for the U and Y axes 0x0A53 FH constant speed start command for the Z and X axes 0x0551 28 2 6 Basic operation The following 44 basic operation patterns are available Select one using the MOD bits bits 0 to 6 in the RMD operation mode register Operation mode Description Continuous operation in the direction using command control Continuous operation in the direction until a stop command is written Continuous operation in the direction using command control Continuous operation in the direction until a stop command is written Continuous operation using a pulser PA PB input Operation started with a pulser PA PB input and continuing until a stop command is written Continuous operation started by an external switch DR Dr Continue to operate while the DR input switch is ON direction zero return operation Operate in the direction at the specified speed until the zero return completion conditions are met direction zero return operation Operate in the direction at the specified speed until th
190. sition oe lt Zero position search in the direction from the position when the ORG input turns ON gt EL ORG EL 4 In order to approach the zero position from the specified direction move away to escape from the zero position Execute a zero escape operation using the positioning operation in the direction opposite the direction specified 2 Start feeding in the specified direction The zero return operation specified in the ORM in the specified direction 3 Stop at the zero position oy lt Zero position search in the direction from a position between ORG and EL gt EL ORG EL 1 Start moving in the specified direction Zero return operation specified in the ORM in the specified direction 2 Stop feeding when the EL input turns ON and start feeding in the direction opposite the specified direction Then stop when the ORG input turns ON Zero return operation ORM 0h opposite to the specified direction ee Td 3 In order to approach the zero position from the specified direction move away to escape from the zero position Execute a zero escape operation using the positioning operation in the direction opposite the direction specified 4 Start feeding in the specified direction The zero return operation specified in the ORM in the specified direction 5 Stop at the zero position 65 E An example of a constant speed zero position searc
191. sition from the specified direction This operation adds a sequence to a zero return operation It consists of the following block 1 Execute a Zero return operation MOD 10h or 18h ORM 0h in the direction opposite the specified direction 2 Execute a Positioning operation MOD 41h in the direction opposite the specified direction until the zero position has been passed 3 Execute a zero return operation in the specified direction The zero return method specified in the ORM Start a zero position search Is the ORG signal ON 3 Strat rotation with the zero return method specified in the ORM in the specified direction Did the opration complete normally 1 Strat rotation with a zero return operation in the direction opposite the direction specified Did the opration complete normally 2 Strat rotation with a zero return operation in the direction opposite the direction specified Did the opration complete normally The zero position search did not complete lt Zero position search in the directioin from a point between EL and ORG gt EL JRG EL 1 Start feeding in the specified direction The zero return operation specified in the ORM in the specified direction en 2 Stop at the zero position 64 lt Zero position search in the direction from the position when the ORG input turned ON gt EL ORG EL 1 In order to approach the zero positi
192. smaller than the actual number of steps in the arc interpolation a data setting error may occur while the motors are moving and they may stop Also note that circular interpolation synchronized with the U axis cannot apply a synthesized constant speed control MIPF 1 in the PRMD Write a start command by setting a bit corresponding to the moving axis SELx to SELu in COMB1 to 1 Any axis can be used to write the start command When circular and linear interpolation are both employed SELx to u 1111 An operation example of a CW circular interpolation synchronized with the U axis Executes a circular interpolation between the X and Y axes synchronized with the U axis and let the X axis be synchronized by this interpolation operation Suppose you want to draw a simple circle with center coordinates of 1000 0 and a radius of 1000 with an X axis feed amount of 500 Figure 4 The speed pattern will be as described below Figure 5 Initial speed FL 1000pps Operating speed FH 5000pps Acceleration deceleration time tud 100msec Calculate the number of circular interpolation steps that are needed Count equals 1 when either of the axes involved in circular interpolation is outputting pulses When both axes are outputting pulses the count is also 1 A circle with a radius of 1000 will pass through all areas from 0 to 7 In each area one or the other of the two axes will always output
193. sneesasds ase cedsasGhawes E sean teseaees sean caceaasm needs 49 6 Zero position return method 5 sais ced eda seaed sre eadedss yNeedeasGleawan REIRANTA teas Gases EARNER eae aa cle necys 51 7 Zero position return method 6 face cede aacatea sence ass asneedsasGeawen E satan cadmas se nesit 53 8 Zero position return method 7 Esse cebeaothabed sree eededsa se odedsGhasen estan enee dass tees case Saeed ERREA RRR EEES 55 9 Zero position return method 8 sis sede aetwated esse cedessaceeedsasGhabed ese radaaess sean Seialsaeea saan cadmas se wesed 57 10 Zero position return method 9 rere reer ree ere eee cer ere rere r rr eres 59 11 Zero position return method 10 Peer tree rere ee eee eee ere re cere eee ee reer cree 60 12 Zero position return method 11 TC RTER Te C Tee eer CCRT rEr OTT ee eer ee Tree ee ere eer er ere 61 13 Zero position return method 12 snc ae ere wrar ae i cGiarmieracnre OMe elevate adaareiejalach T 62 2 6 1 5 Leaving the zero position operations sere eee ett trte nte nnne eeteeeeate 63 2 6 1 6 Zero search operation T 64 2 6 1 7 EL or SL operation bieveReceeieeuatAWeaeeNeseeTUA MO NeNae Sus eee TOAD MN UNUUNU NRUN NUN NNUU KANUNUNUN 69 1 Feed until reaching an EL or SL position EPC er rere Ere ee Tee ere ree eee reer ere ee cence 69 2 Leaving anELor SL position SoMe Selec aia N WA Seine SERS aaUNNN ununun ikuune 70 2 6 1 8 EZ count operation ia ROm Seiele SEWN G AINE C ESRC CONE AW ERR Re Se AANNGRRTNA CRS e ce
194. speed operation lt Decelerates and stops by counting EZ after turning ON the ORG input gt al 1 Write high speed start command 2 53h f 2 When the ORG input is turned ON the PCL FH A starts counting EZ 3 The motor decelerates and stops after the specified number of EZ pulses has been FL i counted 1 2 3 A The counter reset and ERC signal output EZ OFF timing is triggered by completion of the zero ON A return ORG OFF ON Specify a zero return operation ORM bits 0 to 3 3h method in ORM in RENV3 Enter the EZ count value in EZD in EZD bit 4 to 7 1h RENV3 Number of EZ pulses counted EZD setting 1 To move in the direction MOD bits 0 to 6 10h Ent t tion code in i oD EPRI SRE To move in the direction MOD bits 0 to 6 18h If you want to reuse the same pattern this setting is DER OC PUES GAAS ORR not needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000013 Specify zero return operation 3 ORM 3h The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WPRMD 0x0000001 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_
195. synchronous signal output is OFF Select an input source when starting with an internal synchronous signal 00 X axis outputs the signal 01 Y axis outputs the signal 10 Z axis outputs the signal 11 U axis outputs the signal 31 30 29 28 27 26 25 24 0 CU4L CU3L CU2L CU1L 1 Reset COUNTER1 when latching COUNTER1 1 Reset COUNTER2 when latching COUNTER2 1 Reset COUNTER3 when latching COUNTER3 1 Reset COUNTER4 when latching COUNTER4 3 8 6 RENV6 feed amount correction specification 14 bit 7 6 5 4 3 2 1 0 BR7 BR6 BR5 BR4 BR3 BR2 BR1 BRO Enter a backlash correction amount or a slip correction amount 0 to 4 095 15 14 13 12 11 10 9 8 PSTP 0 ADJ1 ADJO BR11 BR10 BR9 BR8 Select the feed amount correction method 00 Turn OFF the correction function 01 Backlash correction 10 Slip correction 1 Suspend a stop command until a specified magnified pulser input value position has been reached 23 22 21 20 19 18 17 416 PD7 PD6 PD5 PD4 PD3 PD2 PD1 PDO Specifies the division ratio for pulses on the PA PB input 31 30 29 28 27 26 25 24 PMG4 PMG3 PMG2 PMG1 PMG0 PD10 PD9 PD8 l Specifies the magnification rate for pulses on the PA PB input 151 3 8 7 RENV7 Specifications of vibration restriction control 32 bits 7 6 5 4 3 2 1 0 RT7 RT6 RT5 RT4 RT3 RT2 RT1
196. t ey diesion 1 Write high speed start command 2 53h Me 2 Decelerate and stop on an ORG input and then feed in the opposite direction at FL FA speed 3 When the ORG input goes OFF the FA motor feeds in the original direction at FA l t speed 4 Stop immediately when the ORG input is FA i turned ON again direction 1 2 3 4 A The counter reset and ERC signal output timing is triggered by completion of the ORG OFF ON ON zero return A Specify a zero return operation ORM bits 0 to 3 1h method in ORM in RENV3 Ent t ti de i To move in the direction MOD bits 0 to 6 10h OD irene iai i To move in the direction MOD bits 0 to 6 18h Set the operation speed pattem a If you want to reuse the same pattern this setting is hin Ot hfe ea Pet cet bce ees not needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x000000071 Specify zero return operation 1 ORM h p645_wreg AXS_AY WPRMD 0x00000010 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS FA 500pps p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 44 3 Zero position return method 2 ORM
197. t needs backlash correction This is needed to avoid breaking the locus of that motion During a circular interpolation the direction of operation will change automatically However the PCL will not execute a backlash correction Due to this setting positional deviations may occur Deceleration from the SD input When using the same interpolation mode any of the axes that have enabled SD input MSDE 1 will decelerate when an SD signal is received Error stop When using the same interpolation mode if any of the axes stops on an error the other axes will also stop However the secondary axis error interrupt status REST will be ESIP 1 Therefore you can determine which axis had the actual error that caused the stop Setting the rampdown point PRDP In the interpolation operation write the same data to all of the axes in the same interpolation mode regardless of the rampdown point setting method specified set in MSDP in the PRMD register Vibration restriction function Interpolation operations do not apply to the vibration restriction function Set RENV7 to 0 for all of the axes to be interpolated 74 FH correction function The circular interpolation operation cannot be applied to the FH correction function For short feeds and interpolation operations using acceleration deceleration an FH correction calculation must be made by the CPU 5 Linear interpolation 1 MOD 61h Linear interpolation 1 is used t
198. t toH P1 Set to H P2 Set to H P3 Set to H P4 Set to H P5 Set toH P6 Set to H P7 Set to H No Operation Reset Counter1 Reset Counter2 Reset Counter3 Reset Counter4 Reset ERC Output ERC Reset Mov Pre register Cancel Cmp Pre register Cancel Mov Pre register Shift Cmp Pre register Shift Mov Pre register Set Positioning_Control Start Counter Latch 12 Definition of a register control command define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define define WPRMV WPRFL WPRFH WPRUR WPRDR WPRMG WPRDP WPRMD WPRIP 0x0080 0x0081 0x0082 0x0083 0x0084 0x0085 0x0086 0x0087 0x0088 0x0089 0x008A 0x008B 0x008C 0x0090 0x0091 0x0092 0x0093 0x0094 0x0095 0x0096 0x0097 0x0098 0x0099 0x009A 0x009B 0x009C 0x009D 0x009E Ox009F 0x00A0 0x00A1 0x00A2 0x00A3 0x00A4 0x00A5 0x00A6 0x00A7 0x00A8 0x00A9 Ox00AA 0x00AB 0x00AC 0x00BC 0
199. tart triggered by another axis stopping Two control methods can be used for this operation by setting SMAX in RENV2 1 Set SMAX 0 This method is compatible with the PCL6045 However the control axis cannot be specified as the stop axis 2 Set SMAX 1 This method has recently been added as control method on the PCL6045B In this method the control axis can also be specified as the stop axis If compatibility with the PCL6045 is not a problem in your application use this function with SMAX 1 The description below is based on the condition SMAX 1 Multiple axes can be specified as a stop axis Set MAXO to 3 bits 20 to 23 in the PRMD When the operation status changes from the condition in which any of the specified axes is operating to one in which all of the specified axes have stopped this axis will start operation Setting example 1 Independent operation start conditions are when other axes have stopped By writing a start command the X and Y axes will start When the X and Y axes both stop the U axis will start operation p645_wreg AXS_AX WRENV2 0x20000000 X axis Set to SMAX 1 p645_wreg AXS_AY WRENV2 0x20000000 Y axis Set to SMAX 1 p645_wreg AXS_AU WRENV2 0x20000000 U axis Set to SMAX 1 p645_wreg AXS_AX WPRMD 0x00000041 X axis Positioning operation MOD 4 1h p645_vset AXS_AX 100L 1000L 200 0 0 0 L 0 X axis Linear from 100pps to 1000pps 200ms p645_wreg AXS_AX WPRMV 0x0
200. te a shift command 2Ch and the PCL will transfer data copy as follows 1st pre register gt register 2nd pre register gt 1st pre register Each time data is written the registers change from fixed to not fixed in this order 2nd 1st and register Cancel command 27h for the comparator 5 pre register Execute steps 1 to 3 PRCP5 f n e pit lt P 2nd pre register 1st pre register RCMP5 register PFC goes to 1 The data M M j M j in all the pre registers is S Fixed in Fixed aa Fixed 3 fixed Content 3000 Content 2000 Content 1000 4 Write a cancel command PRCP5 ah SPOF ITS in 2nd pre register 1st pre register RCMPS5 register PFC goes to 0 Memory Memory Not Memor gt y status pebinee status fixed status Fixed Content 3000 Content 2000 Content 1000 Write a cancel command 27h and the PCL will cancel the fixed status of the 2nd and 1st pre registers However the data will not be changed 27 2 5 3 Control procedures The PCL starts operation when a start command is written Therefore before writing the start command you have to complete the setting of the operation mode register PRMD the speed pattern environment setting registers 1 to 7 and comparator data 1 to 5 The registers can be written to in any order Once written the data will not change unless an RST si
201. ten into the 2nd pre register When you need to modify the current operating status such as to change the speed write the new data in the 2nd pre register Writing to and reading from the 1st pre register is not possible Use the operation pre register when you want the motor to continue on to the next operation when the current operation is complete This is done by writing the new data for the next operation while the current operation is executing However sometimes new data must be written to more than one pre register to prepare for the next operation and it is possible that the operation currently being executed will end while still writing the new operation data In this case the motor may malfunction if the new data is still being written To prevent this problem a function has been added to the PCL6045B to confirm whether or not the writing is complete When new data are written into the pre register the PCL stores the data However the status is not confirmed at first After writing to all the operation pre registers that need to be rewritten write a start command to the PCL Now the PCL will have a confirmed status If you want the PCL to do the same operation as the previous one you just write a new start command Data transfer copy details for the PCL 2nd pre register gt 1st pre register gt register varies with 2 pre register confirmation status PFM bits that are controlled inside the PCL chip They will change
202. the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssu will be calculated from the value placed in RMG Reference clock frequency Hz Ssu pps PRUS x PRMG 1 x 65536 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssu and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component PRDS S curve deceleration range setting register 15 bit Specify the S curve deceleration range for S curve acceleration deceleration operations in the range of 1 to 32 767 7FFFh The S curve acceleration range Ssp will be calculated from the value placed in PRMG Reference clock frequency Hz PRMG 1 x 65536 Ssp pps PRDS x In other words speeds between the FL speed and FL speed Ssp and between FH speed Ssp and 155 the FH 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 156 Notes No DA70107 1 157
203. ther a level trigger input or an edge trigger input can be used for the CSTA signal However if a level trigger input is selected while the CSTA terminal is L when you write the simultaneous start command the motors will start immediately To release the CSTA input waiting status write an immediate stop command 49h Even if the CSTA terminals of multiple LSIs are connected to each other each axis can be started independently by ordinary start commands Ex Simultaneous start of the X axis on chip A and the Y and U axes on chip B p645_wreg AXS_AX 0x0087 0x0004004 1 Specify the X axis data for chip A and the starton CSTA input method p645_vset AXS_AX 1000L 10000L 300 0 0 0 L 0 X axis Linear acceleration deceleation from 1000pps to 10kpps 300mS p645_wreg AXS_AX 0x0080 0x000003E8 X axis Enter a feed amount 1000 in the direction p645_wcom AXS_AX STAUD High speed start command 2 112 Specify Y and U axes data for chip B and the start on CSTA input method p645_wreg AXS_BY WPRMD 0x0004004 1 Y axis Positioning operation start on CSTA input p645_ vset AXS_BY 1000L 20000L 300 0 0 0 S 0 Y axis S curve from 1000pps to 20Kpps 300mS p645_wreg AXS_BY WPRMV 0x00001388 Y axis Enter a feed amount 5000 in the direction p645_wreg AXS_BU WPRMD 0x00040000 U axis Continuous operation command starton CSTA
204. tion or a deceleration operation it can be started after the output of a few pulses at FL speed idling output Set the number of pulses for idling in IDL bits 8 to 10 of the RENV5 register If you will not be using this function enter 0 or 1 to value n The LSI will start the acceleration at the same time it begins outputting pulses Therefore the start speed obtained from an initial 2 pulse frequency will be faster than the FL speed To use this function enter 2 to 7 to value n 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 start automatically at upper speed limit If this function is used with the positioning mode the total feed amount will not change Setting idling pulses and the acceleration start timing BSY When n 0 n 1 oT 1 ff 5 heal M nr rp A Start the acceleration from the 0 pulse BSY k FL speed cycle When n 3 OUT 1 2 3 FUP A Start the acceleration from the 3rd pulse 111 2 11 2 External start simultaneous start function 2 11 2 1 CSTA signal This LSI can start when triggered by an external signal on the CSTA terminals Set MSY bits 18 and 19 01 in the RDM 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 s
205. to match the fadata 300 PRMG 1 magnification rate When the curve L linear MSMD bit 10 of PRMD 0 Write PRFL PRFH PRMG PRUR i When the curve S S curve MSMD bit 10 of PRMD 1 PRDR PRUS PRDS RFA and PRMD End 19 Note 1 This function sets the MSMD bit 10 in PRMD operation mode Therefore when you write to PRMD after using this function be careful not to change the MSMD setting Note 2 With this function the LSI automatically selects the lowest magnification rate that will generate the speed specified in fhdata If you want a shorter acceleration deceleration time a modification will be needed to force a higher magnification rate void p645 vset base_addr fldata fhdata utime dtime usdata dsdata carv fadata unsigned int base_addr Specified axis base address unsigned long fidata Initial speed pps unsigned long fhdata Operation speed pps unsigned long utime Acceleration time ms unsigned long dtime Deceleration time ms unsigned int usdata Acceleration S curve range unsigned int dsdata Deceleration S curve range char curve L linear S S curve unsigned long fadata Compensated speed pps unsigned int _ rfldt rfhdt rurdt rdrdt rmgat rfadt unsigned long rmddt double a b rmgdt 299 x1 Mode if fhdata gt 65535L rmgdt 149 x2 Mode if fhdata gt 131070L rmgdt 99 x3 Mode if fhdata gt 196605L rmgdt
206. ulses counted EZD setting 1 Specify a processing method to use in 44 ngu ELM in RENV1 when the EL input aii nce eae tums ON Decelerate and stop when the EL input is ON Enter a zero return operation code in To move in the direction MOD bits 0 to 6 10h MOD in the PRMD To move in the direction MOD bits 0 to 6 18h Se On as If you want to reuse the same pattern this setting is tt ee a ee Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000017 Specify zero return operation 7 ORM 7h The number of EZ pulses to count is two EZD 1 p645_wreg AXS_AY WRENV1 0x00000008 Specify a deceleration stop for processing when the EL input is turned ON p645_wreg AXS_AY WPRMD 0x0000001 0 Specify a zero return operation in the direction MOD 10h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS FA 500pps p645_wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 56 9 Zero position return method 8 ORM 8h After starting the motor will stop immediately when the EL input is turned ON Decelerates and stops when ELM lt bit 3 gt in RENV1 is 1 Then it moves in the opposite direction In constant speed oper
207. unted after the EL input turns OFF The counter reset and ERC signal output timing is triggered by completion of the zero return E An example of constant speed operation lt Stop immediately when the EL input is turned ON Move in the opposite direction at constant speed Stop immediately when the specified number of EZ pulses has been counted gt direction f 1 Write FH constant speed start command 51h 2 Stop immediately when the EL input is turned ON Then move in the opposite direction 3 Start counting EZ pulses when the EL input is turned OFF 4 Stop immediately after the specified number of EZ pulses has been counted A The counter reset and ERC signal output timing is triggered by completion of the zero return FH FA FA sn ra direction 1 2 3 4 eal r ON A ei OFF ON Specify a zero return operation method in ORM in RENV3 and put an EZ counter value in EZD ORM bits 0 to 3 7h EZD bit 4 to 7 th Number of EZ pulses counted EZD setting 1 Enter a zero return operation code in MOD in the PRMD 10h To move in the direction MOD bits 0 to 6 co To move in the direction MOD bits 0 to 6 If you want to reuse the same pattern this setting is not needed Write a start command High speed start command 2 0x0053h Wait for the operation to complete End p645_wreg AXS_AY WRENV3 0x00000017 p645_
208. urpose Select a comparison method for Comparator 3 001 RCMP3 data Comparison counter regardless of counting direction 010 RCMP3 data Comparison counter while counting up 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 Select a process to execute when the Comparator 3 conditions are met ___ 00 None use as an INT terminal output or internal synchronous start 01 Immediate stop 10 Deceleration stop 11 Change operation data to pre register data change speed 1 Makes an IDX signal to COUNTERO output 31 30 29 28 27 26 25 24 lc4D1 C4D0 C4S3 C4S2 C4S1 C4S0 C4C1 C4C0 L Select a comparison counter for Comparator 4 00 COUNTER1 command position 01 COUNTER2 mechanical position 10 COUNTER3 deflection counter 11 COUNTER4 general purpose Select a comparison method for Comparator 4 A RCMP4 B Comparison counter C COUNTER4 0001 RCMP4A data Comparison counter regardless of counting direction 0010 RCMP4A data Comparison counter while counting up 0011 RCMP4A data Comparison counter while counting down 0100 RCMP4A data gt Comparison counter data 0101 RCMP4A data lt Comparison counter data 0111 Treats that the comparison conditions do not meet 1000 Synchronous output RCMP4 COUNTERS regardless of
209. ute a linear interpolation 1 controlled by the PA PB input Turn ON the DRu or DRu input signal on the U axis The PCL will execute a circular interpolation operation 1 continuously and stop only when it is turned OFF lt Operating conditions gt End point coordinates of linear interpolation 1 on the X Y and Z axes 20000 10000 100 Operating speed pattern 1 Initial speed FL 500pps 2 operating speed FH 10000pps 3 Acceleration deceleration time 100msec 4 S curve acceleration deceleration Specify an X axis interpolation control axis operation mode for linear interpolation 1 controlled by the PA PB input MOD 69h and set the Y and Z axes to linear interpolation 1 MOD 61h Set the PA PB input on the X axis for 2 input pulses and specify 2 output pulses on the U axis Specify a speed pattern for the X axis interpolation control axis and the U axis dummy axis Set the Y axis PA PB input specification in PIM in RENV2 and the U axis output pulse specification in PMD in PRENV1 Specify a Y axis CW circular interpolation using PA PB input in MOD in the PRMD Specify a Z axis CW circular interpolation in MOD in the PRMD Write a U axis continuous operation controlled by an external signal DR input code in MOD in the PRMD Specify an operating speed pattern to Xand U axes Specify end point coordinates in the PRMVs of the X Y and Z axes Write a start command
210. utput up to 5Mpps can be output gt PCL6045B p 74LS04 1 5 Examples of external connections 1 5 1 Connecting a manual pulser External pulse input The following two methods are used to connect a pulser 1 Method to connect to each axis PCL6045B TLP521 Pulser for the X axis Pulser for the Y axis circuit Pulser for the Z axis Pulser for the U axis 2 Use only one pulser and then select the axis to rotate using an axis selector switch PCL6045B TLP521 Ordinary pulser circuit Axis selector switch 1 5 2 Connecting a DR switch The following two methods are used to connect a DR switch However if you will also be using a pulser PA PB the DR switch has to share the PEn terminal Therefore be careful when choosing a connection method 1 Connect two DR switches for each axis PCL6045B TLPS21 DRx 46 Switch for X DRx O Switch for X PEx Switch for Y circuit Switch for Y Switch for Z Switch for Z Switch for U Switch for U 2 Connect an axis selection switch and two DR switches PCL6045B TLP521 Switch for Switch for Axis selection switch 10 2 Software 2 1 Assumed environment for this description CPU used 8086 Data bus I F 16 bit I F WRGQ signal control Used Reference clock 19 6608 MHz Number of axes controlled A total of 8 with 2 chips 2 x 4 axes X Y Z U Program lan
211. wcom AXS_AY STAUD High speed start command 2 p645_wait AXS_AY Wait for the motor to stop 48 5 Zero position return method 4 ORM 4h After starting at constant speed the motor will stop immediately when the ORG input is turned ON In high speed operation it decelerates and stops when the ORG input is turned ON Then the motor moves in the opposite direction at FA constant speed and stops immediately after the ORG input goes OFF and the specified number of EZ pulses has been counted The counter reset and ERC signal output timing is triggered by completion of the zero return after the ORG input goes OFF and the specified number of EZ pulses has been counted E An example of constant speed operation lt Stop immediately after the ORG input is turned ON Move in the opposite direction at FA constant speed Stop immediately after the specified number of EZ pulses has been counted gt direction 1 Write an FH constant speed start command f 51h FH 2 Stop immediately after the ORG input is turned ON and move in the opposite direction at FA speed 3 The PCL will start counting EZ pulses when the ORG input is turned OFF FA FA 4 The motor will stop immediately after the bo specified number of EZ pulses has been direction 1 2 3 4 counted EZ OFF i i B L i L A The counter reset and ERC signal output timing ON a A is triggered by completion of the zero return ORG O
212. wcom AXS_AY STOP Immediate stop command p645_wait AXS_AY Wait for the motor to stop 100 2 7 Precautions for interrupt programs This section describes the precautions to observe when accessing this LSI during an interrupt process 2 7 1 Protect the input output buffer When an interrupt occurs while reading writing registers in the main routine and if a register reading writing process occurs in the interrupt routine the contents of the input output buffer may have changed when the operation returns to the main routine again This may cause the PCL to malfunction In order to prevent this problem the LSI must push and pop the input output buffer in the interrupt routine void p645_intax void X axis interrupt routine unsigned long xio p645_push AXS_AX amp xio p645_pop AXS_AX amp xio void p645_push base_addr buff Protect the I O buffer unsigned int base_adadr unsigned long buff union udata unsigned long Idata unsigned int idata 2 judt idata 0 inpw base_addr 4 idata 1 inpw base_addr 6 buff udt ldata void p645_ pop base_addr buff Return I O buffer unsigned int base_addr unsigned long buff union udata unsigned long Idata unsigned int idata 2 udt udt ldata buff outw base_addr 4 udt idata 0 outw base_addr 6 udt idata 1 2 7 2 Simultaneous occurrence of multiple interrupts The PCL6045B can output interrupts INT signal for
213. while the ORG input is OFF the LSI will stop the movement on the axis as anormal stop without outputting pulses If the PCL starts at constant speed while the ORG signal is ON it will stop operation immediately after outputting one pulse since the ORG input is turned OFF Normal stop E An example of constant speed operation lt Immediate stop by turning OFF the ORG input gt f FH 1 Write an FH constant speed start command 51h 2 Immediate stop when the ORG input turns t OFF 1 2 ORG ON OFF Puta positioning operation code in To move in the direction MOD bits 0 to 6 12h MOD in the PRMD To move in the direction MOD bits 0 to 6 1Ah If you want to reuse the same pattern this setting is Specify an operation speed pattern e needed P g Write a start command FH constant speed start command 0x0051h Wait for the operation to complete End p645_wreg AXS_AY WPRMD 0x00000012 Specify a zero escape operation in the direction MOD 12h p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 0 Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS p645_wcom AXS_AY STAFH FH constant speed start command p645_wait AXS_AY Wait for the motor to stop 63 2 6 1 6 Zero search operation direction MOD 15h direction MOD 1Dh Feed forward and backward between EL and EL and then return to the zero po
214. wreg AXS_AY WPRMD 0x0000001 0 p645_vset AXS_AY 1000L 10000L 300 0 0 0 L 500 p645_wcom AXS_AY STAUD p645_wait AXS_AY Specify zero return operation 7 ORM 7h The number of EZ pulses to count is two EZD 1 Specify a zero return operation in the direction MOD 10h Y axis linear acceleration deceleration from 1000pps to 10Kpps 300mS FA 500pps High speed start command 2 Wait for the motor to stop 55 E An example of high speed operation 2 lt Decelerate and stop when the EL input is turned ON Feed in the opposite direction at constant speed Stop immediately after the specified number of EZ pulses has been counted gt ny clredtion f 1 Write high speed start command 2 53h 2 When the EL input is turned ON the motor will decelerate and stop Then it will feed in the opposite direction ELM lt bit 3 gt in RENV1 1 FH FL FA 3 The PCL starts counting EZ pulses when the FA i EL input is turned OFF i 4 Decelerates and stops when the specified FL i number of EZ pulses has been counted FH i A The counter reset and ERC signal output a timing is triggered by completion of the zero direction 1 2 3 _ 4 return EZ OFF Y ON A EL OFF ON Specify a zero return operation ORM bits 0 to 3 7h method in ORM in RENV3 and put an EZD bit 4 to 7 1h EZ counter value in EZD in RENV3 Number of EZ p
215. x00000000 p645_wreg AXS_AX WPRIP 0x00001619 p645_wcom AXS_AX STAUD SEL_X SEL_Y p645_wait AXS_AX 82 0 0 Enter the X and Y axis center coordinates 1000 0 Enter the number of steps for circular interpolation 5657 High speed start command 2 Wait for the motor to stop 8 Circular interpolation synchronized with the U axis CW circular interpolation MOD 66h CCW circular interpolation MOD 67h This mode is used to advance the circular interpolation operation in steps by receiving output pulses from the U axis Used together with linear interpolation this mode can execute circular and linear interpolations This function can be used for things like a circular interpolation between the X and Y axes and to adjust the angle of a jig toward an arc tangent point with the Z axis Also in this operation the U axis operation will be a dummy motion and it cannot be used for any other purpose lt Conceptional figure gt Oscillation of the linear Linear Z interpolation control interpolation gt U Dummy axis circuit Circular X operation Circular interpolation interpolation Y calculation pulse 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 However when the value entered in the PRMV on the U axis is
216. x00C0 0x00C1 0x00C2 0x00C3 0x00C4 0x00C5 0x00C6 0x00C7 0x00C8 0x00C9 0x00CA 0x00CB 0x00CC 0x00D0 0x00D1 0x00D2 0x00D3 0x00D4 0x00D5 Write to PRMV Pre register Write to PRFL Pre register Write to PRFH Pre register Write to PRUR Pre register Write to PRDR Pre register Write to PRMG Pre register Write to PRDP Pre register Write to PRMD Pre register Write to PRIP Pre register Write to PRUS Pre register Write to PRDS Pre register Write to PRCP5 Pre register Write to PRCI Pre register Write to RMV Register Write to RFL Register Write to RFH Register Write to RUR Register Write to RDR Register Write to RMG Register Write to RDP Register Write to RMD Register Write to RIP Register Write to RUS Register Write to RDS Register Write to RFA Register Write to RENV1 Register Write to RENV2 Register Write to RENV3 Register Write to RENV4 Register Write to RENV5 Register Write to RENV6 Register Write to RENV7 Register Write to RCUN1 Register Write to RCUN2 Register Write to RCUN3 Register Write to RCUN4 Register Write to RCMP1 Register Write to RCMP2 Register Write to RCMP3 Register Write to RCMP4 Register Write to RCMP5 Register Write to RIRQ Register Write to RCI Register Read from PRMV Pre register Read from PRFL Pre register Read from PRFH Pre register
217. ymbol Description 00h NOP Invalid command 26h_ PRECAN Cancel the operation pre register Cancel pre register for 04h SRST Software reset 27h PCPCAN RCMP5 20h CUNIR Reset COUNTER1 28h STAON Alternative to a PCS terminal command position input 21h CUN2R Reset COUNTER2 29h LTCH Alternative to an LTC mechanical position terminal input Reset COUNTER3 Own axis only the same Aah SUNAR deflection counter cai SPETA process as a CSTA input 23h CUN4R Reset COUNTER4 2Bh PRESHF Shift the operation general purpose counter pre register data Shift the RCMP5 operation 24h ERCOUT Outputs the ERC signal 2Ch PCPSHF pre register data 25h ERCRST Reset the ERC signal deh PARSER eee shed Stange data 131 lt Table of register control commands gt Register 2nd pre register Detail Read command Write command Read command Write command Name Name COMBO Symbol COMBO Symbol COMBO Symbol COMBO Symbol Petra target omy Doh Remv gon wemv PRMV Coh RPRMV Initial speed REL Dth RRFL 91h WRFL PRFL Cth RPRFL Operation speed RFH D2h RRFH 92h WRFH PRFH C2h RPRFH Acceleration rate RUR D3h RRUR 93h WRUR PRUR C3h RPRUR Deceleration rate RDR D4h RRDR 94h WRDR PRDR C4h RPRDR Speed magnification rate Ramping down point RMG D5h RRMG 95h WRMG PRMG CSh RPRMG RDP Deh RRDP g6h WRDP prop C6h RPRDP Operation mode RMD D7
218. ypes of interpolation operations below can be separated into the following three groups Linear interpolation 1 group MOD 60h 61h 68h 69h Linear interpolation 2 group MOD 62h 63h 6Ah 6Bh Circular interpolation group MOD 64h 65h 66h 67h 6Ch 6Dh Simultaneous execution of two interpolation operations from different groups is possible However simultaneous execution of two interpolation operations in the same group is not possible Ex While executing a linear interpolation from group 1 on the X Y axes gt Possible execute a linear interpolation 2 on the Z U axes While executing a linear interpolation from group 1 on the X Y axes gt Possible execute a circular interpolation on the Z U axes While executing a linear interpolation from group 2 on the X Y axes gt Possible execute a circular interpolation on the Z U axes While executing a linear interpolation from group 1 on the X Y axes gt Not possible execute a linear interpolation from group 1 on the Z U axes The interpolation settings and operation status can be monitored by reading the RIPS interpolation status register The RIPS register is shared by all the axes Reading from any axis will return the identical information The SRUN SEND and SERR of the interpolated axis MSTSW main status change identically Write start and stop commands to both axes by setting SELu and SELu in COMB1 2 Interpolation control axis In Circular interpolation and

PCL6045B_Application Manual 050713

Contents

Download Pdf Manuals

Related Search

Related Contents