NPM control and serial communication Boards & IC
Contents
1. Change to a position before the preset target Continuous circular linear interpolation xX CT www npmeurope com Motion Serial Communication RoHS PCL6045B 4 axis PCL6045BL 4 axis Advanced functions in this series include linear circular interpolaton overriding operating pulse rate and target position during operation opera tion correction backlash correction supression of vibration at cessation programmed soft limit direct input of operating switch diversified origin return sequences mechanical signal input and servomotor interface These functions enable the user to easily configure a complicated motion control system Circular interpolation between two desired axes and linear interpolation among two to four desired axes Linear interpolation among five or more axes is also possible by using two or more chips three or more axes for the PCL6025B Preregisters enable continuous interpolation circular to linear to circular Maximum output pulse rate 6 5 Mpps 10 Mpps Built in four up down counters per axis PCL6045B L PCL6025B 28 bit x 3 and 16 bit x 1 All counters can be used for various purposes since they can be latched or reset by signal input conclusion of operation conditions or the command Built in five comparators per axis PCL6045B PCL6025B PCL6045BL 28 bit x 5 Use of comparators and counters in combination enables the following operations Interrupt sign2. DIL 4 pin surface mounted small sized pulse transformer featuring high dielectric strength made by JPC It is suited for use in combination with G9000 series Primary inductance 1000uH 30 100 kHz 100mV Winding ratio N1 N2 1 1 Leakage inductance 2 0 uH max Winding Capacitance 20pF max DC winding resistance N1 1 5 Q N2 1 5 0 ET product 6V us PRF 1 kHz 3V Insulation resistance 1OOMQ min 1000 Vdc Dielectric strength 1500 Vac rms for one minute Dimensions 7 0 x 5 6 mm mold Serial Communications Cable For the Motionnet system a slender dedicated Nippon Pulse cable or commercially available ethernet LAN cable ensures high quality communication at high speed and is recommended Motionnet dedicated cable one pair The slender and flexible harness cable which is easily installed is available with RJ connector DF con nector RF and DF connectors or with no connector and is 10m long Wiring standard STP cable equivalent to category 5 Commercially available LAN cable Wiring standard TIA EIA 568 B UTP STP cable conforming to category 5 or higher wWwww npmeurope com 15 Motion Serial Communication Bipolar Chopper Driver The NP3775E3 is a switch mode chopper constant current driver with two channels one for each winding of a two phase stepper motor The NP3775E3 is equipped with a dis able input to simplify half stepping operations It also connects to a CPU that has four gen er
3. SD end limit signal EL and encoder Z phase signal Listed below are typical origin return sequences in varied speed operation FL FH Constant speed operation Varied speed operation Varied speed operation w w linear acceleration de S curve acceleration decel celeration eration i FL FH Immediate Stop FL Immediate stop command stops the chip from outputting pulses irrespective A ep rata i dle cp i os silos sane l t of oper ating status celeration celeration Immediate stop command f 3 r 1 SD signal ON starts deceleration 1 and ORG signal ON FH stops pulse output 3 FL FH 2 SD signal ON starts Z phase signal counting 2 and comple FL tion of counting stops pulse output 3 A a o 3 ORG signal ON starts deceleration 1 and pulse rate output w linear acceleration de S curve acceleration decel stops when decelerated to the FL pulse rate 3 e e a 4 ORG signal ON starts deceleration and Z phase signal count Deceleration Stop ing 1 and completion of counting stops pulse output 3 Deceleration stop command lets the chip decelerate the pulse PCL6000 series and G9103 G9003 provide many other origin re output and stop upon decelerating to the starting pulse rate turn sequences including those using EL signal With PCD4500 series only the sequence is applicable f Deceleration stop command Deceleration stop command Varied speed operation t Varied speed operation t w linear w S curv
4. Specification MCH 3U MCH 3B 12VDC 2A to 24VDC 1A 24 watt maximum power supply by AC adaptor Protective Fuse 2A fuse mounted on motor power line Output Current 250mA phase 400mA maximum 400mA phase 700mA maximum Driver chip NP2671 NP3775 A k ri ay T Driving System Unipolar constant voltage Bipolar constant voltage CHO l6mBP n E tO Re m0 r hy Tp Mey Faroa f Excitation Mode Full step 2 2 phase Half step 1 2 phase NIPAA 1 The motion checker can be powered by up to 24VDC The included motor and AC adaptor work at 12VDC If you want to use MC at a high voltage you will need to get an AC adaptor and motor cw se PAUSE FEATURES Specifications e 16 microsteps Drive Method Microstep Bipolar Chopping Drive Wide range of input power Microstep Full 1 2 1 4 1 16 e Max 1 2A phase peak Pulse Dir input Current 1 2A phase peak e Easy connection by block terminals Power Input 12 to 30Vdc Signal Pulse Dir Enable Reset Isolated Function Auto current down Mixed Decay Mount on a Hybrid Motor Use with MCH 5 www npmeurope com Other Nippon Pulse Products SLP Stage System A high precision stage for industrial applications the SLP Acculine Series stages offer superior technology that is unmatched in the industry As an all inclusive stage the SLP stage pro vides integrated s
5. a maximum of 64 local devices can be connected to one serial line coming from the center device Maximum 256 input output control ports 2048 bits maximum 64 motion control axes and maximum 128 chip control devices input output and each device status communication time Input output and each device information is automatically updated in the RAM of center device by every one cyclic communication with communication rate of 20 Mbps cyclic communication 15 1 us local device 1 0 12 ms w 8 local devices connected I O 256 bits 2 0 24 ms w 16 local devices connected I O 512 bits 3 0 49 ms w 32 local devices connected I O 1024 bits 4 0 97 ms w 64 local devices connected I O 2048 bits Data communication time command from CPU lets data communication interrupt cyclic communication 1 19 3us to send receive 3 byte data to write a moving amount to G9003 2 169 3us to send receive 256 byte data connection cable for serial communication multidrop connection using a dedicated cable or LAN cable category 5 remarks CPU Emulation Mode Message Communication Mode Data buffer length 128 words 128 words 1 word for system booking 127 words for message data 21 7us to transfer 5 words 169 3 us to transfer 128 words Communication data length 1 to 128 words frame 1 word 16 bits Max 100m min 0 6m with 32 local devices connected and communications rate 20 Mbps Max 50m min 0 6m with 64 local devices connected and commu
6. etc Pulser input Enables the user to output pulses from the pulse output pin by operating the manual pulser at the mechanism Input pulser signal is 2 pulse signal plus and minus pulses or 90 phase difference signal 90 phase signal can be multiplied by counting Pulser synchronized positioning Positioning is made in synchronization with pulser signal The chip stops outputting pulses after outputting pulses for the present moving amount If receiving pulses more than the present amount from the pulser the chip ignores them Linear interpolation Linear interpolation is possible between desired axes of one or multiple chips Circular interpolation Circular interpolation is possible between two desired axes Continuous interpolation Use of preregisters enables successive linear or circular interpolation Overriding target position Target position moving amount can be changed during positioning operation progress If the newly written parameter designates a position already passed the chip decelerates and stops pulse output immediately stops when operating at conteant speed and then moves in reverse direction Also pulse output can be stopped by outputting a preset number of pulses based on exteral signal input timing 1 pulse output One pulse can be outputted w one command Starting with a value one preset can be made w one command Idling pulse Enables acceleration to be started after outputting several pulses at the starting pulse
7. network or stage you re doing more than just buying a quality product You re benefitting from what we call the Nippon Pulse Advantage This includes superior prototyping complete system engineering proper compliance and certification according to international guidelines and exceptional tailoring to your needs It also includes unmatched support Our biggest asset at Nippon Pulse is our people both our employees and our customers We ensure that we have the best people working for us so we are able to build loyalty among our customers It s an advantage you won t find at any of our competitors and why we take pride in our products and our company Nippon Pulse Representative Information 4 Corporate Drive Radford Va 24141 USA phone 1 540 633 1677 fax 1 540 633 1674 Serial Communication 201009 1K Copyright 2010 Nippon Pulse All Rights Reserved www npmeurope com infoOnipponpulse com
8. preregister for next operation Buffer for continuous operation with different patters Writing operating parameters preset amount starting pulse rate operating pulse rate acel decel rates etc to preregisters during operation in progress enables the start command to copy the parameters from preregisters to operating registers and the start the chip outputting pulses according to new parameter Thus by preparing preregisters for next operation continuous operation with different patterns is made possible Automatic start of next operation With parameter for the next operation written to preregisters the chip can automatically be started based on parameters of preregisters upon completion of the present operation thereby enabling continuous operation with no pulse Command buffer monitor Enables monitoring of written command Selection of output pulse logic Output pulse logic can be changed Selection of output pulse mode Output pulse mode can be selected from common pulse mode command pulse and direction pulse two pulse mode pulse in plus direction and pulse in minus direction or 90 phase difference signal mode Excitation sequence output for 2 phase stepper motor By connecting the output to a stepping motor drive IC or transistor array a stepping motor controller drive system can easily be configured Monitor signal output terminal Enables the user to monitor the status of operation constant speed operation acceleration deceleration
9. Motor Drive Stepping motor Servomotor G9004A A A D D A Converter 59004A x LCD Controller Local Micro Processor G9004A Linear circular interpolation possible w PCL6000 series y ma 69103 G9103 Bo l cong 4 port 32 bit 4 port 32 bit r u ME o A o Input Output A O O Linear circular interpolation possible between G9103 chips Linear interpolation possible w PCL6100 series 10 www npmeurope com Motion Serial Communication Basic Specifications of high speed serial communication chips in G9000 series Name Center Device Local Device 1 0 PCL Device Local Drive Pulse Generator CPU Emulator Model G9001A G9002 G9103 G9003 G9004A Features completely controls serial 32 bit I O ports provides the performance of 1 enables control of remote devices communication thus minimizing input output direction selectable axis in NPM high end multiaxial by emulating CPU burden to CPU by every 8 bits programmable PCL6000 series enables data exchange from to cyclic transfer for I O ports and tolerant buffer is used for inter tolerant buffer is used for inter remote local devices transient transfer for data com face enabling it to connect to 5V face enabling it to connect to 5V munication using few componets using fewer components interpolation possible between multiple units of G9103
10. emulator used as a local device for Motionnet It can control various peripheral chips t performing like a local CPU It can also communicate with an additional CPU installed at the local site According to commands sent from the center device G9004A generates CPU terminal signals including control signals address data bus signals Connecting CPU terminal signals to high performance devices enables remote control from the center device Device status information such as interrupt and FIFO is cyclically transferred to the center device and CPU terminal signals are transiently transferred through data communication e Available as a local device or PCL incorporated board for Motionnet system Can communicate a maximum 256 byte data Up to 64 units can be connected to a single line Communication failure detection circuit ensures safe operation watchdog timer built in Quadraxial pulse ES lt a oa com Ego on re cru aan 6045B E generator chips e Can control various CPU peripheral chips Can connect to two PCL6045B quadaxial pulse User interface generators If 64 units of G9004A are connected ES User logic circuit as local devices to one G9001A 512 axes can be controlled on a single line 4 axes PCL6045B forza ter interface x 2 units of PCL6045B per one G9004A x 64 e 5 S Other CPU periph units of G9004A 512 eral devices bus interface Pulse Transtonmer NPTIOZEF recommended for C9000 seres
11. input or output can be defined for each bit Communication data length One to four words frame 1 word 16 bits Communication mode Cyclic for I O port and transient for parameter transfer Pulse output mode selectable from 12 types of pulse signal outputs and two phase stepping motor excitation sequence Twelve major operation modes Built in one stage preregisters which enable writing of the next operation s parameters moving amount starting pulse rate operating pulse rate acceleration rate deceleration rate multiplication factor ramping down point operating mode S curve sections in acel decel and interpo lation parameters during present operation in progress Manual pulser input terminal with functions to multiply by 32 and to divide by 2048 Fourteen types of error factors and 13 types of event factors are available to initiate an interrupt signal event factor can be selected by the register G9103 Interpolation Schematic m coma G9004A G9103 9 1 Motor Peripheral Circular or linear M r Motor interpola oto tion G9103 4 Motor Drive Circular or linear interpola tion G9103 Motor Drive O G9002 XY Stage 1 REY XY Stage 2 4 lt q ___ As shown above if each G9103 is not connected adjacently circular linear interpolation is possible between 1 and 4 and between 2 and 3 Linear interpolation of all four axes is possible www npmeurope com M
12. operation Y Y Y Override target position Long acceleration deceleration time Y y Y Y Long bit length of accel decel registers Delicate pulse rate setting Y yX Y Long bit length of speed register Programmed soft limit function Y Y Y Output 90 phase deviation pulse Y x Y Y x Environment setting register Backlash correction function N Y Start stop w hardware switch Y x AG Y Y Y Ext switch operation mode Ring count function M y g Origin search function x Y Increased starting pulse w idling pulse Y X Y Idling pulse idling control Interpolation function of PCL6113 and G9103 is usable when two or more units are connected www npmeurope com Motion Serial Communication Specifications of Programmable Pulse Generators Motionnet PCL6025B PCL6113 PCD4511 PCL6045B PCL6123 PCD4521 PCL6045BL PCL6143 PED2 112 PCD4541 Num of controllable 2 PCL6025B 1 PCL6113 1 PCD4511 axes 4 PCL6045B BL 2 PCL6123 2 PCD4521 4 PCL6143 4 PCD4541 Reference Clock 19 6608 MHz max 20 MHz 19 6608 MHz max 30 9 8304 MHz max 20 4 9152 MHz max 10 80 or 40 MHz 80 or 40 MHz MHz MHz MHz Max Output Speed 6 5 Mpps max 10Mpps 9 8 Mpps max 15 Mpps 2 4 Mpps max 5 Mpps 400 Kpps 6 66 Mpps max 10 6 66 Mpps Mpps of pulse rates setting 3 FL FH FA for correction 2 FL FH 2 FL FH 2 FL FH 3 FL FH FA for 3 FL FH FA for registers correction correction of pulse rating setting 1 to 65 5
13. pulses or to generate interrupt signal Functions differ depending on modules External mechanical output As mechanical position detection signals the chip can input the following signals 1 EL signal Mechanical end limit signal The chip immediately stops outputting pulses when the end limit signal in moving direction is turned on and continues stopping if the end limit signal is turned off Some modules can be set so that EL signal ON causes deceleration stop 2 SD signal Mechanical ramping down signal When made valid the SD signal ON lets the chip decelerate pulse output to the starting pulse rate FL When the signal is turned off thereafter the chip accelerates pulse output 3 ORG signal Mechanical origin signal used for origin return Some models can be set so that ORG signal ON stops pulse output after counting encoder Z phase signals or ORG signal causes deceleration stop without using SD signal Interrupt signal output Interrupt signal to CPU Some models can read the interrupt factor Number of interrupt factors differs depending on model Interrupt factor setting Enables selection of only necessary interrupt factors event based interruption Interrupt status Enables monitoring of the factor initiating output of interrupt signal to CPU Status Present operating status and external signal input status can be monitored from CPU Depending on models status can be monitored from the status address or via registers Prebuffer
14. 00 series and G9103 G9003 automatic setting of ramping down point is possible in a range of decleration time lt acceleration x 2 3 PCL6000 series and G9103 G9003 are equipped w a counter which is usable as a deviation counter 4 G9103 G9003 have no interrupt signal output bin but allows interrupt CPU by changing the level at port 0 5 With PCD4500 series 90 phase difference signal can be outputted using the 2 phase stepper motor excitation sequence output 6 With PCL6113 and G9103 linear interpolation is made possible by using two or more units 7 With G9103 circular interpolation is made possible by using two or more units List of Boards Motion Control Boards Product Model Mounted Chip RoHS Compliant 4 axis Motion Control Board PCI PPCI7443 PCL6045B 4 axis Motion Control Board PC 104 NPMC6045A 4104 PCL6045B Motionnet Product Model Mounted Chip RoHS Compliant www npmeurope com Motion Serial Communication Feciures Equipped with memory feature to retain program settings Program operation repetitive operation of six steps pattern including zero return enabled Inching operation one step operation enabled Jog operation continuous operation only while operating switch enabled Easy to use compact and lightweight mobile type with built in 2 phase stepper motor driv ing circuit Various settings enabled such as rotation direction speed control position control oper
15. 35 16 bit 1 to 16 383 14 bit 1 to 8 191 13 bit 1 to 8 191 13 bit 1 to 100 000 17 bit 1 to 100 000 17 bit steps Pulse rating multiplica 0 1x to 100x 0 3x to 600x 0 5x to 300x 1x to 50x 0 1x to 66 6x 0 1 to 66 6x tion setting range 1 to 65 535 16 bit 1 to 16 383 14 bit 1 to 65 535 16 bit 1 to 65 535 16 bit 1 to 65 535 16 bit fee 2 to 1 023 10 bit 1 to 65 535 16 bit 1 to 16 383 14 bit 1 to 65 535 16 bit Common to accel decel HEN 1 to 65 535 16 bit range of positioning pulse 2134 217 728 to 4134 217 134 217 728 to 134 217 0 to 268 435 455 0 to 16 777 215 134 217 728 to 134 217 728 to setting range 727 28 bit 727 28 bit 28 bit 24 bit 134 217 727 28 bit 134 217 727 28 bit CPU interface 8 16 bit bus 8 16 bit bus Serial bus interface 8 bit bus Interface for communi Interface for communi SPD cation w G9000 cation w G9000 Ramping down point 0 to 16 777 215 24 bit 0 to 16 777 215 24 bit 0 to 16 777 215 24 bit 0 to 65 535 16 bit 0 to 16 777 215 0 to 16 777 215 setting 24 bit 24 bit Package 128 pin QFP PCL6025B 80 pin QFP PCL6113 48 pin QFP 44 pin QFP PCD4511 80 pin QFP 80 pin QFP 176 pin QFP PCL6045B BL 128 pin QFP PCL6123 64 pin QFP PCD4521 176 pin QFP PCL6143 100 pin QFP PCD4541 External dimension mm 24 x 24 PCL6045B BL 12 x 12 PCL6113 10 x 10 PCD4511 20 x 14 PCL6025B 20 x 14 PCL6123 20 x 14 PCD4521 4541 24 x 24 PCL6143 Supply voltage
16. 5V 10 and 3 3V 10 3 3V 410 5V 10 3 3V 10 3 3V 410 3 3V 10 6045B 6025B 3 3V 410 6045BL 1 Standard maximum output rate is the rate available with the reference clock input and the maximum rate in parenthesis with the maximum reference clock input 2 For PCD4500 series the stated maximum output pulse rate is a practical value and output at higher pulse rate is possible by increasing the multiplication factor 3 For PCD4500 series the stated multiplication factors are a practical range and it is possible to set the multiplication factor at higher than 50x Notes on Specifications Number of controllable axes Number of axes the single chip can control Reference clock Frequency of the clock which is programmed into the pulse generator A frequency other than the standard can be entered but output pulse rate may be lower than decimal point Maximum output pulse rate Maximum rate at which the chip can output pulses Number of pulse rate setting registers There are FL registers to which the starting pulse rate is written and FH registers to which the operating pulse rate is written The operating pulse rate can be changed during the operation in progress by rewriting it Number of pulse rate setting steps Number of steps available for pulse rate setting The more bits the finer pulse rate possible Pulse rate multiplication setting range Output pulse rate is a product of the value of pulse rate register and of the multiplication setti
17. Designed with best open field bus in mind these chips are available not only at chip level but a also as DIN rail mounted boards which can be combined with user designed boards Driver Chi 16 NP Series NP series chips are stepper motor driver chips that require minimal external components These driver chips are suitable for driving Nippon Pulse tin can rotary stepper motors and LINEARSTEP motors NP2671series which has either a DIP or EMP package is a constant voltage output driver chip for driving unipolar stepper motors with full and half step excitation mode NP3775 series is a bipolar chopper chip that drives bipolar stepper motors with full and half step excitation mode It comes with either a DIP or EMP package Applications Factory Automation Semiconductor Liquid Crystal Mfg Healthcare Equipment Security amp Office Automation Injection molding machine Exposure system Blood analyzer Security camera Mounter Membrane forming machine Liquid injector Entrance exit checking machine Laser processing Etching machine CT scanner Parking management machine Winding machine Washing machine MRI apparatus Industrial printer Dispenser Probing machine Biopsy instrument Laser printer X Y stage Dicing machine X ray generator Labeling machine Knitting machine Bonding machine Trial drug processor Card conveyor Paper processing LSI tester Pre analysis processor Bank ATM Taping machine Handler Electronic microscope Sorting machine Fo
18. M PCL6123 F02410000 JAPAN NPM PCL6113 Ja E TA MAREA doc AAA PCL6113 1 axis PCL6123 2 axis PCL6143 4 axis Because these chips have built in preregisters one stage two up down counters per axis comparators linear interpolation function and ser vomotor interface they can serve general motion control applications This series is recommended for customers who need increased operational control that cannot be achieved with the PCD series The maximum output pulse rate of 15 Mpps makes these chips compatible with high resolution linear motors There are also evaluation boards available that have the ability to reduce the number of development steps Features Linear interpolation among two to four desired axes Linear interpolation between chips is also possible Maximum output pulse rate 15 Mpps Built in two up down counters per axis 28 bit Built in comparators per axis 28 bit Use of comparators and counters in combination enables the following operations Interrupt signal output and external output of comparison results Ring count Starting by internal synchronization signal Overriding operating pulse rate and target position during operation in progress Nine major operating modes One stage preregisters are built in to permit writing parameters moving amount starting pulse rate operating pulse rate acceleration rate deceleration rate multiplication factor ramping
19. PE yp tr MNET PUSB3601 PPCI L1 12 USB Center an PCI Bus Center Board NPMCMNET I Ol 04 G9001A x 1 G9001A x 2 PC 104 Bus Center Board G9001A x 2 SH eydis communication 18 1 ps G9002 is the I O chips used as a local device to configure the Motionnet high speed serial communications system Under the control of the center device G9001A the four port 32 bit input output signals are cyclically communicated between G9002 and G9001A The interface adopts a tolerant buffer enabling it to connect to 5V with few components 2048 I O bits can be put under the control of the center device With 64 units of G9002 connected to a single line Setting address and port status of G9002 are automatically recognized by center device Number of general purpose I O ports Four 8 bits port Input or output and the logic can be defined for each port Communication mode cyclic G9002 mounted boards ERR ELE Cet a oto et et oe et I MNET 340 MNET 322 MNET 304 Local Input Board Local Input Output Board Local Output Board Isolated 32 inputs Isolated 16 inputs outputs Isolated 32 outputs 12 www npmeurope com Motion Serial Communication G9103 is a one axis PCL chip used as a local device for the Motionnet high speed serial communica Y tions system Except for the number of controllable axes it provides the same performance as the high end ROHS programmable pulse generators in PCL6000 series The use
20. SCR series pro duces extremely accurate results with no loss in stability The SCR stage also includes an integrated cross roller guide With a simple lightweight compact shaft type linear motor comprised of only a magnet and a coil large drive force is gained with an efficient and short coil length allowing for high speed and high precision applications Linear Shaft Motor Nippon Pulse s Linear Shaft Motor LSM is a brushless high precision direct drive linear servomotor in a tubular design Consisting of a magnetic shaft and moving coil assembly forcer the linear shaft motor is driven and controlled by the flow of current The basic design of this motor has three major concepts The design is simple only two parts and a non critical air gap non contact no sound dust maintenance free and high precision no iron no cogging This product is offered with 11 unique shaft diameters from 4mm to 50mm and can span lengths ranging from 20mm to 4 6M Hybrid Stepper Motors Hybrid Rotary Steppers PR series are high torque motors with superior response char acteristics Available in sizes from 20mm NEMA SIZE 8 to 57mm NEMA SIZE 23 with step angles of 0 9 deg or 1 8 deg NP Nippon Pulse Your Partner in Motion Control www npmeurope com into nipponpulse com phone 1 540 633 1677 fax 1 540 633 1674 a UA y me HETI EN rm The Nippon Pulse i Advantage A For nearly
21. Serial Communication Miniature package with SPI The first of 1ts kind this miniature package mold measuring only 7 x 7 mm adopts a four wire serial bus that enables downsizing of the board It can output two phase stepping motor excitation sequence and is equipped with a servomotor interface The PCD2112 can control both stepper motors PCD2112 and servomotors Connection to CPU via four wire serial bus Usable with CPU which is not provided with external bus terminal General purpose I O terminals can effectively be used with CPU having multipurpose pins for external bus Optimized control parameter arrangement and block transfer This enables reduction of transfer time to minimum New independent system mode for operation with no CPU Operation with no CPU is made possible by externally connecting EEPROM in which up to 32 operating patterns are written Maximum output pulse rate 5 Mpps with reference clock 20 MHz Pulse output mode Selectable from 12 types of pulse signal outputs and two phase stepping motor excitation sequence 32 bit up down counter built in Eleven major operating modes Manual pulser input terminal with no multiplier divider function Twelve kinds of factors are available to initiate interrupt signal output event factors can be selected by register Suitable for customers who wish to Intelligently control the motor with a CPU with fewer pins Make the motor control board sma
22. WWWwW NPMEUROPE COM DAA NPN 1601090 O i he Lo a me A OC Motion Control Serial Communication Nippon Pulse Your Partner in Motion Control CAN A TU o E A A o a i Motion Serial Communication A variety of Nippon Pulse motion control chips and boards are available including programmable pulse generators counter chips and high speed serial communication chips Selection of the proper chip board enables configuration of an ideal motion control system for every application Receiving commands from a CPU a programmable pulse generator can control a stepper motor or servomotor The programmable pulse generator receives operating parameters for operating pattern from the CPU and in turn sends a START command The motor control can then be committed to the chip thereby reducing the burden to the CPU Since being offered by Nippon Pulse for the first time in 1985 these programmable pulse gen erators have evolved thanks in part to meeting the needs of various customers These chips are available with a wide range of variations including ultra high performance versions with interpolation functions low cost versions for simple motion control and miniature versions Encoder 10 18 These chips are designed to configure a high speed serial communications system with less wiring Besides I O control functions motor controls and data communications functions are available
23. Y Y Simultaneous start stop Y External start stop Y Out of step detection X Y Xe Y X Y Y 8 each axis Y 8 each axis Y 4 Y I O port general purpose input output terminal Y 1 each axis Y 8 Y 8 Operating switch input terminal Ring count function Backlash correction Programmed soft limit Timer operation Y Y Y e a NECROSIS DOES ECT EEC A SR SA CES CN A AN lt lt lt lt lt lt www npmeurope com Motion Serial Communication how te Determine Quiput Pulse Rate Output Pulse Rate Pulse Rate Register Value x Multiplication Register Value The higher the pulse rate register value the finer the output pulse rate can be set Pulse Output Pattern Shown below is an example of S curve acceleration deceleration and S curve section Acceleration rate f Deceleration rate FH pulse rate gt S curve Deceleration section S curve acceleration section Note With PCD4500 series S curve acceleration decelera tion sections cannot be set and the deceleration rate is the same as acceleration rate FL pulse rate gt Ramping down point for positioning set manually or automatically typical Operation Protiles Preset Operation Positioning The chi a b Origin Return Homing e chip stops generation of pulses upon outputting to a preset number bro stammcdi lorca ena Immediate stop command Immediate stop command Immediate stop command ORG ramping down process signal
24. able construction of smaller board Y Small dimensions Need up down counter other than positioning control Y Y Y Y Y Up Down counter Positioning control w encoder signal de x xs ay Y Encoder input Origin return w Z phase signal Y Y x W Y Origin return function Independent setting of accel decel time Y Y Y Y Y Accel decel rate setting Automatic setting of ramping down point w accel Y Y Automatic setting of ramping down point time decel time Automatic setting of ramping down point w accel time Y Y Y Automatic setting of ramping down point decel time and w accel time decel time Linear interpolation between two plus axes xe Ne Interpolation function operation Circular interpolation between two axes Y Interpolation function operation Interpolation between remote boards through serial com e Interpolation function operation munication Continuous interpolation w no cessation Y X y Continuous interpolation operation Linear interpolation only S curve acceleration deceleration Y D M Y Y Y S curve acceleration deceleration Linear accel decel setion on S curve Y Y Y Y Y Setting S curve section Automatic elimination of triangular drive Y Y Y Y Xi FH correction function Manual pulser Y Y Y X Y Pulser input mode Comparator function Y YG Y nd General purpose I O port Y Y Y Y Y Out of step detection x Y D Continuous operation from present to the next Y Y Prebuffer preregister Speed change during operation Y Xx Y Y Y Overriding speed Target position change during
25. al output and external output of comparison results Starting by internal synchronization signal Immediate stop of deceleration stop Programmed limit Out of step detection Output of synchronization signal Ring count function Overriding operating pulse rate and target position during operation in progress 18 major operating modes Two stage preregisters are built in to permit writing parameters moving amount starting pulse rate operating pulse rate acceleration rate deceleration rate multiplication factor ramping down point operating mode center of circular interpolation S curve accel decel for the suc ceeding two operations during operation in progress Composite pulse rate in interpolated operation can be kept constant Manual pulser input terminal with functions to multiply by 32 and to divide to 2048 Seventeen kinds of error factors and 20 kinds of event factors any of which can initiate interrupt signal output event factors can be selected by register PCL6045B mounted boards NPMC6045A 4104 Quadraxial Motion Control PPCI 7443 Quadraxial Motion Control Board with PCI Bus Board with PC 104 Bus Pulse train output type can control Pulse train output type can control servomotor and stepping motor servomotor and stepping motor 6 www npmeurope com eee AP A oe EE n HD E Btis 2 OSL Motion Serial Communication Servo Stepper Versions NP
26. al outputs It also connects to a CPU through the optional NP7380 state logic chip phase distribution chip to decrease the burden on the CPU In addition the NP3775E3 contains a clock oscillator which is common for both driver NP37 75E3 channels a set of comparators and flip flops implementing the switching control and two out put H bridges including recirculation diodes Voltage requirements are 5V for logic FECHUTES and 10 to 45V for the motor Maximum output current 750mA per channel Dual chopper driver 750mA max continuous output current per channel Digital filter on chip eliminates external components Package 22 pin DIP and 24 pin batwing Unipolar Constant Voltage Driver NP2671E2 is a two phase unipolar stepper motor driver with a motor output of a maximum of 60V and a maximum current of 500 mA The pulse input system of the motor controller enables simple switching between half and MEAR full step modes With the 60V maximum voltage and a wide range of power supply voltage the NP2671 can be used with high speed motor applications The use of high voltage improves reliability Maximum motor power supply 60V Continuous output current 2chx500mA Internal driver and phase logic External phase logic reset terminal RESET Phase origin monitoring output terminal MO Thermal shutdown circuit Package EMP16 Translator for NP3775 The NP7380 is a controll
27. ame 1 word 16 bits Communication mode Cyclic for I O port and transient for parameter transfer Pulse output mode selectable from 12 types of pulse signal outputs and 2 phase stepping motor excitation sequence Twelve major operation modes Manual pulser input terminal with functions to multiply by 32 and to divide by 2048 Fourteen types of error factors and 13 types of event factors are available to initiate an interrupt signal event factor can be selected by the register S900S meunica Boards MNET M101 DUM MNET M3X1 Local Uniaxial Motion Local Uniaxial Motion Control Board Control Board Pulse train output type can control Can directly connect to input output of motor servomotor and stepper motor drives of various manufacturers Models vs compatible motors are as follows MNET BCD4020FU FB MNET M321 MIA Panasonic AC servo drive MINAS A AIIT A4 MNET M33 1 33 Mitsubishi Electric AC servo drive MR J3 MNET M341 S23 Yaskawa Electric AC servo drive SII III V MNET M351 SAN Sanyo Denki AC servo drive Q MNET M361 VPS Nikki Denso AC servo drive VPS MNET M371 AS Oriental Motor Step AS C Local two phase Stepper Motor Drive G9003 and stepper motor drive are incorporated into a board MNET BCD4020FU Unipolar 1 16 microstep MNET BCD4020FB Bipolar 1 256 microstep 14 www npmeurope com 4 Y Ae wey TS DE His ADA Motion Serial Communication Control peripheral chips as a remote CPU G9004A is the CPU
28. ation mode and stop time of stepper motor Connecting other external driving circuits enabled by pulse output signals Connecting and integrating external device enabled with external input output signals All in one type for easy operation checking CN3 Input external input terminal CN2 Output external output terminal CN1 Motor motor connecting terminal PJ1 AC adaptor connecting plug jack Specification MCH 5U MCH 5B Excitation Mode Full step 2 2 phase Half step 1 2 phase 1 Motion Checker 5 supports up to 24VDC However the attached AC adaptor and motor are 12VDC power input specification If you use this unit at a higher voltage prepare an appropriate AC adaptor and motor www npmeurope com 19 Motion Serial Communication Miction Giacdwas Y Reciures Compact and lightweight mobile motion checker with an integrated driv ing circuit Checking the motion of stepper motors is simplified with the MC3 A speed pattern feed amount operation mode number of repeat motion wait time excitation mode etc can be set Other driving circuits can be connected externally to take advantage of its pulse output signals The Motion Checker 3 can be connected to an external device and can receive data using external input output signals CN3 Input external input terminal CN2 Output external output terminal CN1 Motor motor connecting terminal PJ1 AC adaptor connecting plug jack
29. ation Sequence Signal Input Driver IC os a PCD4511 Driver IC Excitation Sequence Signal www npmeurope com 9 Motion Serial Communication Best open field bus I O chips pulse generators and CPU emulators are put on single line from center device G9I103 G9003 Center Device Local Device PCL Device Local Device YO Pulse Generator CPU Emulator Motionnet is a high speed serial communications system Configured with Nippon Pulse s unique G9000 series chips the system satisfies requirements for factory automation by completely enabling remote control of input output motors CPU emulators and message communication with less wiring In cyclic communication for input output control 4 byte data is constantly transferred in a maximum 15 1us It can be interrupted by a maximum 256 byte data in motor or qdevice control Communication time can be calculated by using the prescribed equation ensuring the real time characteristics demanded for factory automation Motionnet is recommended for use as a basic communications system for factory auto mation These motion control chips are available as independent chips or G9000 series mounted boards Motionnet boards that can be combined with user designed boards Miotiommet A maximum of 64 local devices can be connected CPU RJ G9001A G9002 a G9004A G9002 J 4 port 32 bit Input Output i 4 T 32 bit Input Output 60458 60458
30. be selected from two pulse signal or 90 phase difference signal 1 2 or 4 times multiplied Origin return using encoder Z phase signals The chip stops outputting pulses regarding origin return complete when several encoder Z phase are counted after origin signal ON The number of counting encoder Z phase signals can be changed in a prescribed range Up down counter present position counter Up down counter can be used for present position management etc It can count output pulses or signals of encoder pulser etc The input signal can be selected from two pulse signal or 90 phase difference signal 1 2 or 4 times multiplied Automatic setting of ramping down point The number of pulses used for acceleration or calculated number of pulses is automatically written to the ramping down point setting register Origin return at up down counter zero The chip continues outputting pulses until up down counter value is zero The function enables a single command to perform such operation that Read the present up down counter value set the value to the zero direction and start Counter latch w hardware Input signal latches designated counter value s Input logic can be changed by software technic Comparator Enables comparison between register value and counter value When the comparison result satisfies comparison conditions the level of CMP pin changes Also satisfaction of comparison conditions can be used to stop the chip from outputting
31. down point operating mode center of circular interpolation S curve acceleration deceleration sections for the next operation during operation in progress Manual pulser input terminal with no muliplier divider function Nine kinds of error factors and 14 kinds of event factors any of which can initiate interrupt signal output event factors can be selected by register Evaluation Boards for Programmable Pulse Generators in PELG100 Series 86113 1 axis EB6113 1 axis EB6143 4 axis r Through the axis interface connector these boards input all axis control input output signals enabling the user to sufficiently evaluate PCL6100 based motion control EB61ISO Isolation board In combination with the EB6113 EB6143 the EB61ISO enables the user to evaluate PCL61 13 PCL6143 based motion control under approximated practical conditions The axis interface is isolated from the internal circuit by a EB611SO photo coupler Control board interface enables the user to evaluate PCL6100 series on the user s system CPU interface terminal which can easily be connected to various types of CPUs can be set on the board or exter nally 4 5 to 5 5V can be applied to the interface core supply 3 3 Oscillator of reference clock of 19 6608 MHz is provided on the board In combination with uniaxial isolation board EB611ISO evaluation can be made under approximated practical conditions Www npmeurope com 23 Motion
32. e acceleration deceleration acceleration deceleration Drive Correction Function Applicable models PCL6000 series PCL6100 series PCD2112 G9103 G9003 When positioning and moving amount is minimal this function au tomatically lowers the operating pulse rate FH thereby eliminat ing triangular drive and realizing a smooth pulse rate curve Correction of triangular drive due to less moving amount 4 www npmeurope com Motion Serial Communication Applicable models PCL6000 PCL6100 PCD2112 G9103 G9003 As shown below various acceleration deceleration patterns can be programmed VX t PE t VA t Pulser Input Externall I Applicable models PCL6000 series PCL6100 series PCD2112 G9103 G9003 f f f ct f f f rr f f t t t Receiving signal from a manual pulser the programmable pulse generator out puts to the driver the pulse signal corresponding to the rotating amount and speed designated by manual pulse signal If required the present position can be controlled using the up down counter To prevent the stepping motor from running out of step the operating speed output pulse rate can be restricted Interface Circuit t The preset FH register value can be changed to a lower value while acceleration is in progress 1 If the newly set value is lower than the pulse rate at the time of the change S curve deceleration is made to the newly set value 2 If the newly
33. er with a translator that converts input step and direction pulse to a driver s phase signal for full and half steps The NP7380 translates from pulse input signal serial interface to phase signal input so that the NP3775 series dual channel bipolar drivers NP7380 can be easily controlled by a microprocessor NP7380 also includes Auto Current Down ACD circuit which is suitable for reducing Feciures power dissipation of power devices and motor Controller with translator Auto current down circuit Operating Voltage V 4 75 5 25V Absolute maximum voltage 7V Half step and full step operation Internal phase logic Phase Logic Reset terminal RESET Internal auto current down function Specially matched to NP3775 C MOS technology Package 14 pin EMP 16 www npmeurope com mm Motion Serial Communication Function Description S curve acceleration deceleration Pulse rate is accelerated or decelerated in S curve which enables reduction of mechanical vibration caused by conventional linear accel decel The degree of vibra tion suppression differs depending on conditions including the applied motor mechanism and operating pattern S curve section setting To shorten the S curve accel decel time the S curve can be made linear Setting S curve sections lets acceleration or deceleration be made in the S curve at the start and end with a linear section in the middle Triangular drive correction function Whe
34. function can be utilized for such a purpose as count ing a rotating table Backlash correction Backlash is corrected every time the moving direction is changed except when making interpolation Programmed soft limit Limit can be programmed by using two comparator circuits Entering the programmed limit causes immediate stop of deceleration stop Thereafter operation is pos sible only in reverse direction The chip can be used as a timer by allowing it to internally perform positioning operation without outputting any pulse Synchronization signal output The chip can output a timing pulse signal at designated intervals Vibration supression With a control constant designated in advance one pulse each is added in reverse and forward directions just before stop This function enables reduction of vibration at the time of stopping the stepping motor The setting time can be shortened Independent operating mode This mode enables the chip to operate with no CPU connected Write parameters for up to 32 operating patterns from CPU to EEPROM in advance Then the chip can operate with CPU removed Also mounting to a board the EEPROM in which parameters for operating patterns are written enables operation without CPU removed Compatibility to 5V interface If the supply voltage is 3 3V each chip uses tolerant buffer for interface thereby enabling it to connect to 5V with fewer components 1 PCD2112 inputs the alarm signal at the reset terminal 2 With PCL60
35. haft support within the housing and simplifies the transition from conventional ball screw sys tems Because this stage system features a lightweight compact linear shaft drive the SLP is a low profile high precision product There are no stages on the current market that match the SLP series force to volume ratio making it an outstanding solution for those with space limitations Tin Can Stepper Motors The cornerstone of Nippon Pulse the tin can rotary stepper is our most recog nizable product A conventional magnet driven rotary stepper motor the tin can offers a high performance yet cost efficient solution Rotating in proportion to the num ber of pulses sent to the motor the tin can se ries is frequency synchronized and can change speed depending on the frequency of the pulse signal Linear Stepper Motors A tin can linear actuator the PFL PFCL series LIN EARSTEP is designed to provide a simple system at a fraction of the cost of a conventional rotary stepper motor Offered in diameters of 25mm and 35mm the LINEARSTEP series can also be or dered with one of three pitches on the lead thread screw 0 48mm 0 96mm and 1 2mm This series can be ordered with a choice of windings on a unipolar or bipolar configuration SCR Stage System The SCR Nanopositioning Series offers the accuracy of piezo driven stages with the speed and performance of servo stages Through complex motion profiles the
36. ller Operate the chip like a stand alone unit without a CPU connected at the time of operation Enjoy more functions than provided by conventional PCD series Conventional Data Bus System New Serial Bus System CS AO Al RD and WR signal lines Conventional www npmeurope com Motion Serial Communication Low cost versions dedicated to stepper motors PCD4521 2 axis PCD4511 1 axis The PCD4500 series chips are low cost programmable pulse generators equipped with an excitation sequence generator circuit to drive two phase stepper motors Placing a stepper motor drive IC between PCD and each stepper motor enables the user to easily configure a multiaxial motion control system Each model can output a pulse train Output pulse rate 400 Kpps Practical rate theoretically max 2 4 Mpps Linear and S curve acceleration deceleration Two phase stepping motor excitation sequence circuit built in Simultaneous start stop Pulse output on multiple axes within one chip or on multiple chips can be started simultaneously by the command or external signal Pulse output on all axes can be stopped by the command external signal or failure on any axis Idling pulse output 1 to 7 pulses Overriding operating pulse rate during operation in progress Four major operation modes Connection Examples 1 Pulse Train Input Driver IC with Built in Excitation Sequence Circuit F a J PCD4511 Driver IC 2 Excit
37. n operated with parameters which cause triangular drive abrupt change from accel to decel operating pulse rate FH is automatically decreased to eliminate triangular drive Movement is made to the origin Various origin return modes are available depending on models Origin search origin escape Origin Search Origin return is made from the designated direction while reciprocating between plus and minus end limits Origin escape When origin signal is ON pulse output returns OFF position once At that time it can be stopped by counting encoder Z phase signals Origin return w moving amount restricted When origin signal is ON or when pulses are output in the number designated by the register the chip stops outputting pulses Limit positioning Movement is made to mechanical or programmed end limit position and then stops normally Movement is made to limit OFF position from the mechanical or programmed end limit position Servomotor interface The following signals are available for servomotor control 1 In position Until receiving in position signal from servomotor drive the chip does not complete the operation 2 Deviation counter clear The chip outputs one shot signal to clear deviation counter of servomotor drive 3 Alarm When receiving alarm signal from servomotor drive the chip stops outputting pulses Encoder input up to 4Xs multiplication possible The chip can input encoder signal for present position management The input signal can
38. ng Acceleration rate setting range Pulse rate slope at acceleration is set Acceleration time can be calculated from the setting value Deceleration rate setting range Pulse rate slope at deceleration is set Deceleration time can be calculated from the setting value Number of positioning pulses setting range Number of output pulses for positioning is set CPU interface Typical CPUs are stated in User s Manual Ramping down point setting range Starting point of deceleration for positioning is set based on the number of remaining pulses www npmeurope com Motion Serial Communication Motionnet9 PCL6025B PCL6113 PCD4511 PCL6045B PCL6123 PCD4521 PCL6045BL PCL6143 PCD2112 PCD4541 S curve acceleration deceleration Y Y Triangular drive correction function Y Origin return Y 13 types Y 4 types Y 4 types Y Y 1 type Y 13 types Y 13 types Y Y r Origin search origin escape E Se era Y Origin return w moving amount restricted SE BT ACES Y Servomotor interface Encoder input up to 4Xs multiplication possible Y for each axis Y for each axis Origin return using encoder Z phase signals Y for each axis Y for each axis Up down counter present position counter Y for each axis Y for each axis Y Y 28 bit x 3 28 bit x 2 16 bit x 1 28 bit x 2 28 bit x 2 16 bit x 1 16 bit x 1 32 bit x 1 Automatic setting of ramping down point Y Origin return at up d
39. nications rate 20 Mbps Package 64 pin QFP 80 pin QFP 80 pin QFP 80 pin QFP Mold Dimensions mm 10x 10 12 12 12 010 x12 Supply Voltage 3 3V 10 3 3V 10 3 3V 10 3 3V 10 Cable length www npmeurope com 11 Motion Serial Communication Reduces burden to CPU Can connect a maximum of 64 local devices G9001A is the center device that configures the Motionnet high speed serial communications system It contains 256 byte RAM for I O control and 512 byte RAM for data communication and can also control a maximum of 64 local devices One data device can perform a maximum 256 byte data communication Minimizes burden to CPU All serial communications are controlled by G9001A Built in large capacity RAM Enables remote I O control in the way to access memory Maximum 256 byte data is exchangable to data communication function Accepts desired combinations of local devices I O device G9002 programmable pulse generators G9103 G9003 and CPU emu lator G9004A can freely be combined in a desired number up to 64 Automatically recognizes setting address and the port status of I O device Address area 512 byte space but 8 byte space can be used depending in the use of input output buffer Communication data length 1 to 128 words frame 1 word 16 bits CPU interface Four types of interface circuits built in SOON Asmounted boarcds untt m5 Ai E i F if he I frr 1 ny eo ee be Em 1
40. od processing machine Molding machine Care amp support instruments Liquid handling instrument Robot Appearance inspection instrument Amusement equipment Packinging machine Dimension measuring instrument House automation equipment Automatic soldering machine Liquid crystal processing Serial Communication PCL6025B PCL6113 PCD4511 Motionnet PCL6045B PCL6123 PCD4521 PCL6045BL PCL6143 PCD2112 PCD4541 G9103 G9003 Remarks Reference Page 6 1 8 9 13 14 Control Stepping Motor Yi Y Y Y Y Excitation sequencer function Y 26 Y Make simple 2 phase step motor drive circuit Control Servomotor Y Y Y Y Y Servomotor I F up down counter Control linear motor Y X Ye Y Servomotor I F high max output freq Control 1 axis w one chip Y Y Y Y Y Control max 2 axes w one chip Y Y Y Control max 4 axes w one chip Y Y Y Use 8 bit CPU data bus Y Y Y Compatibility w 16 bit CPU data bus Y Y Serial CPU data bus SPD Stand alone operation w no CPU connected Independent operating system mode Control 1 axis w Motionnet serial communication Y Y Control multiple axes w Motionnet serial communications Y Y Y G9004A emulation mode line in combo w G9004A Control multiple axes w Motionnet using multiple chips Y Y High cost performance Y Low unit price per axis Supply voltage 3 3 V Compatibility of input signal w 5V interface Mi Y Y Tolerant buffer En
41. of multiple units for the Motionnet system en ables circular interpolation between two axes or linear interpolation between two or more axes Various functions include overriding prevailing pulse rate and target position elimination of triangular drive backlash correction suppression of vibration at cessetion programmed limit diversified origin return sequences inputting mechanical signals and servomo tor interface These functions enable the user to easily configure any complicated motion control system The status of general purpose input output ports and axis control information are cyclically communicated to from the center device Axis control commands and register parameters are read or written through data communciation Feaiures 64 axes can be controlled on a single line By connecting 64 units of G9103 to the line Circular interpolation between two desired axes or linear interpolation between two or more axes via Motionnet Maximum output pulse rate 6 66 Mpps Built in three up down counters Two 28 bit and one 16 bit Built in three comparators Use of comparators and up down counters in combination enables the following Interrupt signal output and external output of comparison results Immediate stop or deceleration stop Programmed limit Out of step detection Synchronization signal output Overriding prevailing pulse rate and target position Number of general purpose input output ports One 8 bits
42. otion Serial Communication G9003 is the one axis programmable pulse generator used as a local device for the Motionnet high speed serial com munications system Various functions include overriding prevailing pulse rate and target position elimination of triangular drive backlash correction suppression of vibration at cessetion programmed limit diversified origin return X sequences inputting mechanical signals and servomotor interface These functions enable the user to easily configure any complicated motion control system The status of general purpose input output ports and axis control information are cyclically communicated to from the center device Axis control commands and regis ter parameters are read or written through data communciation Four axes can be controlled on a single line By connecting 64 units of G9003 to the line Maximum outputpulse rate 6 66 Mpps Built in three up down counters Two 28 bit and one 16 bit Built in three comparators Use of comparators and up down counters in combination enables the following Interrupt signal output and external output of comparison results Immediate stop or deceleration stop Programmed limit Out of step detection Synchronization signal output Overriding prevailing pulse rate and target position Number of general purpose input output ports One 8 bits input or output can be defined for each bit Communication data length One to four words fr
43. own counter zero automatic zero return RA a Counter latch w hardware Comparator Y for each axis Y for each axis 28 bit x 5 28 bit x 2 External mechanical output Y for each axis Y for each axis Ye Interrupt signal output Y 37 factors Y 23 factors Y Interrupt factor setting Status Y 77 types Y 44 types Y Prebuffer preregister for next operation Y 2 stages Y 1 stage Automatic start of next operation Y for each axis Y for each axis 28 bit x 3 28 bit x 3 Y Y Y Y 6 factors Y 27 factors Y 16 types Y 30 types Y each axis Y each axis Command buffer monitor Selection of output pulse logic ENE O Selection of output pulse mode Excitation sequence output for 2 phase stepper motor Y Monitor signal output terminal Y 9 for each axis Y 6 for each axis Y 2 Pulser input External Pulse Input Y each axis Y each axis Y multiplication by 32 No multiplication no multiplication amp division by 2048 division function division function o pa MOTM a DOE MES multiplication by 32 multiplication by 32 amp division by 2048 amp division by 2048 MOTO ye TH Pulser synchronized positioning ny Linear interpolation Circular interpolation Continuous interpolation Overriding target position 1 pulse output Y Idling pulse Y 0 to 7 pulses Y 0 to 7 pulses Y 0 to 7 pulses Y 0 to 7 pulses Output pulse width control Y
44. rate FL This function enables the user to set the starting pulse rate near upper limit of the self starting pulse rate of the stepper motor www npmeurope com Motion Serial Communication Output pulsewidth control Output pulsewidth can be controlled to quicken stop timing When the output pulse rate is lower than the reference value the pulsewidth is constant When it is higher than the reference value the pulsewidth duty is 50 If positioning is complete at the low starting pulse rate FL in positioning can be quickened by making the width of the last pulse shorter Simultaneous start stop Simultaneous start stop in multiaxial control with multiple chips can be made by connecting all concerned chips through STA pins External start stop Enables the user to start or stop pulse output using external signal Out of step detection Made possible by mounting a feedback encoder to the stepping motor 1 O port general purpose input output terminal Input or output can be defined by setting If set for output the port can be used for excitation ON OFF and stepping motor drive count down signal etc With some models the I O port can output interrupt signal to CPU based on level charge Operating switch input terminal Enables the user to directly drive the motor by inputting forward or reverse direction signal Ring count function Use of counters and comparators in combination enables repetitive operation in a designated counting range The
45. set value is equal to or higher than the pulse rate at the time of the change S curve acceleration is made to the newly set value Change the preset FH register value to a higher value during accel eration in progress 3 S curve acceleration is made to the preset pulse rate and then to the newly set value Change the preset FH register value during operation at the FH rate in progress 4 If the newly set value is higher than the preset FH register value S curve acceleration is made to the newly set value 5 If the newly set value is lower than the preset FH register value S curve deceleration is made to the newly set value Applicable rps PCL6000 series G9103 circular linear interpolation PCL series linear interpolation only There are chips that provide both circular interpolation and linear interpolation functions and chips that provide only linear interpo lation function Models providing linear interpolation function enable interpolation in three dimensions Models with circular and linear interpolation functions enable continuous circular circular or linear circular interpolation without cessation on the way Y Circular Interpolation Linear Interpolation Position Applicable models PCL6000 series PCL6100 series G9103 G9003 Target position can be changed during operation in progress f X f N E Change to a position beyond the preset target Change to a position beyond the preset target cr
46. sixty years Nippon Pulse has built state of of the art products based on a solid foundation of advancing technology and thorough product research Nippon Pulse America Inc NPA faithfully provides these high quality products to a wide range of industries in North and South America and Europe NPA has established itself as a leader in stepper motor driver and controller technology while introducing innovative products such as the Linear Shaft Motor and MotionNet At Nippon Pulse we believe that by bringing products to market which not only meet customers requirements but actually impress them we contribute to the progression of technology and its positive impact on our society We pride ourselves on the reputation of our high quality products that provide that impact A wholly owned subsidiary of Nippon Pulse Motor Co Ltd Nippon Pulse America is headquartered in Radford Va Nippon Pulse has representatives throughout North and South America and Europe to directly assist customers Limited quantities of stock on standard motors and electronics are available to allow faster response to customer needs In addition Nippon Pulse has a model shop in its headquarters for quick turnaround on custom prototypes and special orders Nippon Pulse s mission is to faithfully create the new products sought by its customers and to contribute to the development of society from a global viewpoint When you choose a Nippon Pulse motor driver controller
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