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1. Acceleration D cel rati h Acceleration i Decdienaiisn 4 seconds lt gt 2 seconds 4 seconds lt _ _ gt 2 seconds Peak Keep Time pper speed period seconds 2 seconds Fig 1 14 Relationships between Distance and Patterns If the distance of 24 000 which is more than the minimum distance forming the trapezoid is commanded in this pattern a trapezoidal speed control where upper speed period of 2 seconds is inserted will be performed see Figure 1 14 C Ifa distance less than the minimum distance to form the trapezoid less than 15 000 in this example is instructed MK Y44 MC02A will return an error saying that the distance is not enough to form the pattern If a value other than 0 is set for Peak Keep Time in order to enable the triangular drive prevention function the distance required for pattern formation will be increased by the distance that has Peak Keep Time as upper speed period In the example shown in Figure 1 14 D where 3 seconds is set for Peak Keep Time the minimum distance forming the trapezoid 1s 28 500 errors are less than 15 019 and 28 520 with up to 0 2 calculation error 1 18 TEP ST ECHNICA CO LTD Chapter 1 Functions for Motion Control 1 3 8 Pattern Reduction Function Most applications using stepping motors try to avoid calculation of the minimum distance and errors caused when they fall below it except when c
2. 01 gt 11 10 01 10S Is 01 or 11 gt 10 Global memory composed of 64 memory blocks Motion control word of 4 byte structure MCW Motion Control Word O area To Motion Controller TMC EA HH u Address owo IE 21 MCW a a S __ ACB Access Control Byte ACB Write Data z u N e Ww S lt Ww on bit bits bitO Write trigger 0x5678EA Uy mn SS ee SS Lo 0x5678EA Select registers Internal set of registers 0x04 SA 0x3C 60d ASB Answer Status Byte ASB Read Data 0x5678EA te vot ver ven MB 59 area From Motion Controller FMC AR E MB 61 Ty aw 4 Motion answer word of 4 byte structure MAW Motion Answer Word Fig 2 2 How to Write TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD Once MK Y44 MC02A recognizes a write trigger it will write the Write Data in the MCW Motion Control Word to the register shown by the lower 6 bits of the ACB Access Control Byte In Figure 2 2 the Write Data OxS678EA is written in register number 0x04 Inside MKY44 MCO02A the register data selected by bits 0 to 5 of the ACB is set in Read Data and the value copying the ACB is set in the ASB Answer Status Byte just like read operation In this case the data newly written in the register will be shown to the Read Data The MAW Motion Answer Word which is ma
3. Same as above The distance is minus Operating from ultra low speed The ratio of acceleration and deceleration is 1 30 Same as above The distance is minus Natural acceleration and deceleration Addressing triangular drive prevention of 500 ms App 4 Addressing manual parameters Ser Appendix TECHNICA CO LTD The following are the contents written in flash ROM at factory shipping as the initial values set in the registers when returning from hardware reset The data is the same for both AXO axis and AX axis Register Target function Set value Value in flash ROM 24 Bit Data Abbreviation Name Address of synchronization trigger Synchronization ons Trigger Setup Ox0000 FB Data of synchronization trigger Plus Limit Plus limit coordinates 8 300 000 0x7EA5E0 Coordinates Minus Limit Minus limit coordinates 8 300 000 0x815A20 Coordinates Speed range 2 10 Speed transition curve 1 S curve 0x009000 Property Group 1 Me 2 2 3 13 D FR PG1 Peak Keep Time 0 See 3 13 Description of Register PG Do3 watchdog timer 0xC08500 See 2 2 3 14 Description of Register PG2 Property Group 2 Selection of various options App 5 Revision history Revision contents E Developed and manufactured by StepTechnica Co Ltd 757 3 Shimo fujisawa Iruma shi Saitama 358 0011 TEL 04 2964 8804 FAX 04 2964 7653
4. Since the Up Down counter of MK Y44 MC02A is 24 bit signed the available coordinate values are 8 388 608 to 8 388 607 0x800000 to Ox7FFFFF There are two types of move instructions that can take specifications of distance and target position based on these logical position coordinates in MK Y44 MC02A 1 12 TEP ST ECHNICA CO LTD Chapter 1 Functions for Motion Control 1 3 1 Move Instruction to Specify Distance One of the two types of move instructions is Distance Specification DS which specifies how much distance to move relative to the current logical position coordinates This type of instruction includes the following three movements 1 Distance specification pattern movement DS_Pattern There are two types of distance Relative Distance RD and Absolute Distance AD Both types provide 24 bit numerical parameters to MKY44 MC02A Relative Distance can handle the numerical values of 8 388 608 to 8 388 607 0x800000 to Ox7FFFFF since it is signed to indicate positive or negative direction Absolute Distance can handle 0 to 16 777 215 0x000000 to OxFFFFFF since it is unsigned The usage of instructions specifying distance is illustrated in Figure 1 10 2 Distance specification lower speed movement DS_LFlat 3 Distance specification upper speed movement DS_UFlat Specification of relative distance 1 1 600 Relative distance 2 Execute a instruction spe
5. The parameters of relative distance absolute distance target position coordinate lower speed upper speed and acceleration can be rewritten to prepare for the next instruction even during instruction execution Reference E When Deceleration Stop is selected as a stop type option for MK Y44 MC02A rewriting the parameters OS of lower speed and acceleration is disabled during operation In such a case if the lower speed parameter is rewritten mistakenly an error showing that it is disabled will occur For more information about stop type see 1 5 Stop Functions TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 3 4 Timing to Receive Move Instructions The basic instructions Stop and Deceleration Stop will be received even while operating with move instructions Peak Keep Time may be inserted into the Deceleration Stop instruction with the triangular drive prevention function In contrast move instructions will be received only while stopped While logical position coordinates are transitioning move instructions will not be received since the initial position for movement can hardly be identified If the user application mistakenly issues a move instruction during operation MK Y44 MC02A will return an error saying that it will not receive the instruction 1 3 5 Operation of Move Instructions to Maintain Constant Speed Among the move instructions the following four instructions move with constant speed 1 Dist
6. the operating signal of the axis will be output to the Do2 pin see Figure 3 8 Also if the SCDo3 bit of the PG2 register is set to 1 the axis will operate only when Do3 is active The related signals of DIR Do2 and Do3 will not transition for 20 us before and after the pulse is output to the POUT pin The output signal level of the Do2 pin will be inverted if the InvDo012 bit of the PG2 register is set to 1 The output signal level of the Do3 pin will be inverted if the InvDo3 bit of the PG2 register is set to 1 The Do2 pins and Do3 pins enter a high impedance state during hardware reset of MK Y44 MC072A see Figure 3 2 Type B Therefore connect to the pin either pull down resistance or pull up resistance that can ensure initial levels suitable for the user application device 3 15 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual min 20 us min 39 us min 20 us I I I Pp 1 i y POUT PG2 register InvMD bit 0 DIR PG2 register Do2FS bit 1 Do2 PG2 register SCDo3 bit 1 Do3 Positive rotation min 20 us a POUT PG2 register InvMD bit 0 DIR i PG2 register Do2FS bit 1 D02 PG2 register SCDo3 bit 1 DOS o Negative rotation Passage of time Fig 3 8 Motion Control Output Signal of Positive Negative Rotation When the input signal to the motor driver of the user MKY44 MCO2A application device 1s not the pair of pulse signal and ae se a
7. 8 388 608 to 8 388 607 Set the minus limit coordinate 8 388 608 to 8 388 607 Property Group 1 Property group 1 Set speed range speed transition curve peak time of triangular drive prevention and Do3 watchdog timer Property Group 2 Property group 2 Set options regarding the axis The patterns related to move instructions are TPC RAD LS US and ACC For how to access to the registers the details of the registers see Chapter 2 How to Use MKY44 MC02A Chapter 2 How to Use MKY44 MC02A This chapter describes how to use MKY44 MCOZA 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 How to Access CUnet Interface and Registers cocccccnconocicccconanonos 2 4 Internal Registers of MKY44 MCO2A ocoocccocccocccococoocconcnoonnnocnnonnnonanonas 2 14 Commands of MKY44 MCOBA coooccoccconccoccoccconcconcconcncnconccnnncnncnanennronanos 2 27 Errors and Error NotificatiON omcoocconcconnocnconcconrocnnonnconncnncnancnnnenanos 2 31 MOTOM EVENTS saco ata 2 33 Exceptional Operation ooccconcoccconcccnnoccnonccnnronncnnccnnrnnnrnnncnnrrnnrnanenarenanos 2 34 Operation Procedure of MKY44 MCOZA cccccseeeeseeeeeeeeeeneeeeeees 2 35 Addressing CUnet Mail Function oocccocccoccnoccconanoncccnnnnonanonanonancnannns 2 37 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD Chapter 2 How to Use MKY44 MC02A This chapter describes how to use MKY44 MC02A MK Y44 MC02A is o
8. Quality Control and Indication of Network for the CUnet dedicated LSI installed in the device to issue control commands to MK Y44 MC02A When not using the MON LCARE MCARE and DONA pins keep them open the same as that of MKY 46 3 13 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 3 5 3 PING Signal The PING signal is one of the utility functions related to CUnet in MK Y44 MC02A The PING signal can be controlled by any of the CUnet stations including CUnet stations that issue control commands to MK Y44 MC02A when MK Y44 MC02A is connected by CUnet The PING pin from which the negative logic of the PING signal is output normally maintains High level If it receives a PING instruction from another CUnet station it will transition to Low level If it receives a packet in which no PING instruction from another CUnet station to MK Y44 MC072A is embedded it will transition to High level In the CUnet protocol the purpose and destination of the PING signal are not specified The PING signal is a supplementary extended function that helps building user applications For details on the PING signal refer to Sections Related to PING for the CUnet dedicated LSI installed in the device to issue control commands to MK Y44 MC02A When not using PING pins keep them open 3 5 4 CYCT signal The CYCT signal is one of the utility functions related to CUnet in MKY44 MC02A The CYCT pin from which the negative logic of
9. Shows 1 when synchronization command preparation 1s completed synchronization trigger wait state 1 7 Synchronization of Operation Instructions Total Position Sensor Shows 1 when any bit of LP in register AXS is 1 1 5 Stop Functions Pattern Number Data Out Port Bits to write the pattern number of the target to operate pattern memory Bits to write general purpose output data 1 6 Pattern Memory and File 1 9 2 General Purpose Input Pins General Purpose Output Pins 2 3 2 Commands to Set Data in General Purpose Output Pins Data In port Monitor Show the status of general purpose input pins 2 19 1 9 2 General Purpose Input Pins General Purpose Output Pins TEP ST ECHNICA CO LTD MKY44 MCO2A User s Manual 2 2 3 6 Description of Register TPC Register TPC Target Position Coordinates is a 24 bit width register that specifies the target position coordinates to issue move instructions specifying target see Figure 2 5 The coordinate values of 8 388 608 to 8 388 607 0x800000 to OX7FFFFF can be written into this register For more information on target position coordinates see 1 3 2 Move Instruction to Specify Target If the ASE Auto Start Enable bit of the PG2 Property Group 2 register is set to 1 in advance a stopped axis will start operating right after the value is written into this register even if the operation start command
10. in MCWO and there is an operation start instruction to the target coordinate of AX0 in MCW1 MK Y44 MC02A will start AX0 toward the coordinate of 5000 Conversely if there is an operation start instruction to the target coordinate of AXO in MCWO and there is a instruction specifying the target coordinate of AXO as 5000 MK Y44 MC02A will start AXO toward the previously set coordinate Then it will update the register of the target coordinate to 5000 in preparation for next start In this manner the former and the latter are different in their intentions of instructions for AXO Also if 2 1 6 Extended CUnet Interface Optional is selected access from the MCW and MAW are processed starting from the lower address MCWO lt MAWO MCW1 lt gt MAWI MCW2 lt gt MAW 2 and MCW3 lt gt MAWS3 2 1 8 Warnings of Setting Mistakes of SA and DOSA If the SA value and DOSA value set in MK Y44 MC02A by the hardware are the same MK Y44 MC02A cannot fulfill its function Likewise if the interface extension option HOPTO is specified 1t cannot function in the following settings 1 SA value and DOSA value are the same 2 SA value is 0x3F the final position 3 DOSA value is Ox3F the final position 4 The position of SA value and SA value 1 is set differently from the position of DOSA value and DOSA value 1 value In the above MK Y44 MC02A warns that it is a setting mistake putting the MCARE
11. 1 9 5 Logical Inversion Function for Pins InvDo012 Do0 to Do2 output signal logical invert Invert Do012 0 Normal 1 Invert 1 9 2 General Purpose Input Pins General Purpose Output Pins 1 9 5 Logical Inversion Function for Pins Di23FS Function selection of Di2 and D13 pins Di2 3 Function Select 00 Di3 Di2 Normal 01 Stop sensor 10 Manual single 11 Manual continue 1 5 3 Stop Using Origin Sensor EZ Sensor and Stop Signal Input 1 8 Addressing Manual Operation 1 9 2 General Purpose Input Pins General Purpose Output Pins Function selection of Dil pin Dil Function Select Table 2 7 Factory Default Settings of PG2 LEDO Abbreviation Value 15 STS 1 0 Dil Normal 1 Stop signal input 1 5 3 Stop Using Origin Sensor EZ Sensor and Stop Signal Input 1 9 2 General Purpose Input Pins General Purpose Output Pins Abbreviation Do2FS InvDo3 Do012C InvDo012 DONAS Di23FS LEEPER Sbit Data 0xC0 Sbit Data 0x85 Sbit Data 0x00 TEP ST ECHNICA CO LTD 2 2 4 MKY44 MC02A User s Manual Initial Values of Registers Table 2 8 shows the initial value of each register after returning from reset Table 2 8 Initial Value of Each Register after Returning from Reset Abbreviation Register name Target Initialization value AXS AXis Status Motion event 0x000000 Logical Position Coordinates Logica
12. O Name Xi148MHz A PING DEC 1uF AX0 PHL AX0 PPC CYCT VDD AX0 MHL N C AX1_PPC AX0_PPCDIR FALLSTOP FMCARE NC AX1_PPCDIR LCARE VDD AX0 DIR MON Vss AX1 ORG AX1 PHL SN O AX1 DIR AX0 POUT CU TXD CU TXE XTAL41 AX1 MHL AX1 POUT CU RXD XTAL40 HAXO Di0 AX1_Do0 AX1_ Di0 Vss AX0 Dil AX0 Di2 EN O REN O AX1 Dol AX1 Do2 AX1 Dil AX1_ Di2 AX0 Di3 AXI Do3 AX1 Di3 EM gt MM gt MM YU MA 7 RN o Cee UC AX0 Do0 O Bea O DONA SyncT RG Oo U FEJT v MN Y MA TU Mal gt Mn gt CU gt N C TEP Chapter 3 MKY44 MC02A Hardware ST ECHNICA Co LTD Figure 3 2 shows the pin electrical characteristics in I O circuit types in MK Y44 MC02A Type A Pull up register Schmitt input Vt max 2 1 V Vt min 1 4 V Ayt min 0 5 V Rpu Pull up register Typ 100 KQO 30KQ to 300KQ Vpp 3 3V Vi Vss Type B Push pull output sal ra VoH min 2 4 V Voo 3 3 V loH 2 mA 2 mA VoL max 0 4 V Voo 3 3 V lo 2 mA loh max 2 mA Internal reset signal lo max 2 mA Type C Pull up register Schmitt input Open drain output Vt max 2 1 V Vt min 1 4 V Ayt min 0 5 V VoL max 0 4V Vpp 3 3 V loL 2 mA Internal rese lo max 2mA ae Rpu Pull up register Typ 100 KQO 30 KO to 300 KQO Vpp 3 3 V Vi Vss Kaa
13. and actuators may be overloaded Therefore it is generally required to prevent this except for some applications that allow triangular drive MK Y44 MC02A can insert Peak Keep Time which can retain the speed at which triangular drive occurs for a certain period of time see Figure 1 7 As well as during acceleration and deceleration Peak Keep Time can be applied at the upper speed after acceleration at the lower speed after deceleration and while stopped after deceleration stop Peak Keep Time can be set in units of 10 ms up to 10 23 seconds Ox3FF with the PKTS Peak Keep Time Setup bit of the PG1 Property Group 1 register The setting of Peak Keep Time as 0 is the OFF state of the triangular drive prevention function The factory default setting is OFF Speed Linear S curve Reaching the upper speed Speed Reaching the upper speed y y Accelerate Decelerate Deceleration Accelerate Decelerate Deceleration instruction instruction Stop instruction instruction instruction Stop instruction Accelerate Accelerate instruction instruction Fig 1 7 Triangular Drive Prevention with Peak Keep Time 1 10 TEP ST ECHNICA CO LTD Chapter 1 Functions for Motion Control The combinations of basic instructions when a value other than 0 is set in Peak Keep Time and the triangular drive prevention function is ON are shown in Table 1 7 When the triangular drive prevention function is ON it will start a deceleration
14. 0 non 1 Reaction 1 5 Stop Functions 14 Synchronization Ready Shows 1 when synchronization command preparation is completed synchronization trigger wait state 1 7 Synchronization of Operation Instructions Total Position Sensor Shows 1 when any bit of LP in register AXS is 1 1 5 Stop Functions Limit Position Show the status of limit or origin sensors Bit 12 Minus limit coordinate 0 non 1 Over Bit 11 Plus limit coordinate 0 non 1 Over Bit 10 Minus hardware limit 0 non 1 Reaction Bit 9 Plus hardware limit 0 non 1 Reaction Bit 8 Origin sensor 0 non 1 Reaction 1 5 Stop Functions Data Out port Monitor Data In port Monitor Show the status of general purpose output pins Show the status of general purpose input pins 1 9 2 General Purpose Input Pins General Purpose Output Pins 1 9 2 General Purpose Input Pins General Purpose Output Pins User applications can understand the current motion status by referring to MS Motion Status In the AS All Stop bit 1 is shown when the all stop input pin is active Lo In the SR Synchronization Ready bit 1 is shown when receiving a synchronization trigger after completing synchronization command preparation If any status of limit and origin sensors in bits 12 to 8 of this register is active 1 will be shown in TPS Total Position Sensor bit MS AS SR T
15. CW_PULSE dl direction signal but the pair of positive direction pulse signal and negative direction pulse signal 1t can be converted simply by adding a gate circuit see Figure CCW PULSE 3 9 Fig 3 9 Example of Circuit Conversion for CW and CCW Pulse Format 3 16 TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 6 2 Input Signal Connection for Physical Position Coordinates Connect clock signals generating physical position coordinates for encoders to the PPC pin of MK Y44 MC02A and connect a status signal that adds and subtracts clocks to the PPCDIR pin MK Y44 MC02A adds one to the physical position coordinate if the PPCDIR pin is Low level right after PPC pin input transitions from Low level to High level If it is High level MKY44 MCO02A subtracts one from the physical position coordinate The logic of the PPCDIR pin that determines addition and subtraction of physical position coordinates can be inverted by setting 1 to the InvPPD Invert Physical Pulse Direction bit of the PG2 Property Group 2 register The speed of the clock to input to the PPC pin is 12 5 kpps 12 5 kHz at a maximum There is no minimum The minimum width of High level and Low level is 40 us Retain the signal of direction to input to the PPCDIR pin for at least 80 us from when the PPC pin input signal transitions from Low level to High level When not using the PPC input pin and PPCDIR input pin keep them open If the signal of th
16. Fig 3 2 Pin electrical characteristics in I O circuit types of MKY44 MC02A 3 7 TEP ST ECHNICA CO LTD MKY44 MCO2A User s Manual 3 3 Pin Assignment Figure 3 3 shows the pin assignment 45 ET AX1_Do2 44 PTAS AX1_Do1 43 FL AX1_Do0 42 FL AX1_POUT 41 CL AXO POUT 40 CIO AX1_DIR 39 EL AXO DIR 38 CLJ AX1_PPCDIR 37 LIL AX0_PPCDIR 36 LLJ AX1_PPC 35 EE Axo PPC 34 CLJ AX0_Do3 33 CL AXO Do2 48 FT SyncIRG 47 ET DONA 46 Fr AX1_Do3 Xi48MHz CT PING ET CYCT I ALLSTOP CL MCARE CL LL AXO Dot tJ AXO Dol Ly AX0 Di3 LL AX0 Di2 CHNICA E 00 LCARE CCL OD AX0 Dio MON LL ied FAX 1_MHL 2 CU_TXD EI AL HAX1_PHL CU_TXE C L TO Ax1_ ORG rr rm Y CU RXD LIL ied VDD AX1_ DIO CL le NC FAX1_Di EL ed NC AX1_Di2 EL ied AXO MHL AX1 D3 CCL TO AX0 PHL Nc CO IJ AX0 ORG nc EQ o TD Dip Rx OT TEN NILO ENAFIOONVO0O rre Jopogoooooooooil ri a ee ae SS sssRsssrsssssss D x LE a Q lt Q Fig 3 3 Signal Assignment of MKY44 MC02A Pins In the connection of MK Y44 MC02A make sure to connect all of the multiple Vpp pins pins 1 2 4 and 23 to the 3 3 V power supply terminal and make sure to connect all of the multiple Vss pins pins 5 9 and 12 to the 0 V power supply terminal Keep the N C pin open Between the pin 2 VDD and the pin 12 Vss connect a capacitor whose capacitance is at least 1 uF and a 0 1 uF ceramic capacitor for high fre
17. Positive Positive An input pin to determine addition or subtraction of the PPC Physical Position Coordinates ofAXO If this pin is Low level when counting PPC 1 will be added to PPC If it is High level 1 will be subtracted An input pin to determine addition or subtraction of the PPC Physical Position Coordinates of AX1 If this pin is Low level when counting PPC 1 will be added to PPC If it is High level 1 will be subtracted 3 4 Chapter 3 MKY44 MC02A Hardware Pin name AX0 DIR AX1 DIR Pin number Logic 39 Positive Positive TEP ST ECHNICA CO LTD Table 3 1 Pin Functions of MKY44 MC02A I O Function An output pin to show the rotation direction of AX0 Normally it shows CW clockwise when this pin is Low if the bit logical inversion option is not set An output pin to show the rotation direction of AX1 Normally it shows CW clockwise when this pin is Low if the bit logical inversion option is not set AX0 POUT AX1 POUT Positive 42 Positive A pulse output pin of AXO It is in Low level while stopped A pulse output pin of AX1 It is in Low level while stopped AX1_Do0 to AX1_Do3 DONA 43 to 46 Positive Positive A general purpose output pin bit of AX1 If the option to assign to the output of logical invert or other functions is not set this pin will output High level when 1 is set in DOP bit of COM register T
18. SA3 SA2 SA1 SAO volume ST44SW User s Manual It is recommended to connect two 8 bit type DIP SWs to an ST44SW of hexadecimal setting MKY44 MCO1A zzz 104 Pp So DOSAO connect the signal output by the DIP_TX pin of AT uF om l BPS1 ST44SW see Figure 3 4 a o BESO For details on ST44SW and its hexadecimal 717 6 SA5 setting specifications refer to the separate Open or connect to 3 3 V y Laminated ceramic 2 2 uF a gt 4 47 Doy l DIP SWO specification The pin where the DIP SW of S1445W is connected is pulled up internally Fig 3 4 Connection of DIP SW and Read Only LSI when reading the DIP SW MKY44 MC02A Hexadecimal Setting Specifications recognizes the ON status Low level as 1 Table 3 3 shows the definitions of the DIP SW bits for hardware settings which are connected to the ST44SW of hexadecimal setting specification Table 3 3 Settings of the DIP SW Connected to ST44SW of Hexadecimal Setting Specifications ST44SW DIP SW i Function Description Setting of Hardware OPTion 1 Set it OFF normally Setting of Hardware OPTion 0 Set it ON to extend OWN area For details see 2 1 6 Extended CUnet Interface Optional IMS dId Set DOSA value in hexadecimal treating the ON state as 1 Regarding DOSA value see 2 1 How to Access CUnet Interface and Registers Set the transfer rate of CUnet BPS1 BPSO OFF OFF 12 Mb
19. 1 the LS register will be write protected and cannot be changed This will guarantee operation when deceleration stop is suddenly issued by a limit sensor or such When a command controlling axis operation is issued MK Y44 MC02A examines the values of registers LS and US and whether their speed transition width is within the valid range as needed When they are out of the valid range and have harmful effects it will continue operation after automatically changing the setting to a value within the valid range if the setting of the PAC Parameter Auto Correction bit of the PG2 register is 1 see 1 2 5 Parameter Auto Correction Function If the PAC bit of the PG2 register is 0 it will issue an error or a warning and stop command execution 2 2 3 9 Description of Register ACC Set plus acceleration UR Up Rate to the lower 12 bits and set minus acceleration DR Down Rate to the upper 12 bits of the ACC ACCeleration register see Figure 2 5 For the UR and DR of this register values of rate format or required time format can be written When receiving an operation instruction of the axis MK Y44 MCOIA determines whether to interpret the value of this register as a rate or a required time by using the ARTS Acceleration Rate Time Select bit of the PG2 register For more information about acceleration in rate format see 1 2 3 Setting Acceleration Rate Format For more information about acceleration in required ti
20. 1 25 az DONADO rancia 1 25 1 5 3 Stop Using Origin Sensor EZ Sensor and Stop Signal Input oocconncccnnniccncicocacincanonnns 1 25 1 5 4 Stop Using Stop Sensors and Hardware LimMitS ooncconncccnnicccnccccnncccnnnocannnannnnonanennnnonan 1 25 1 5 5 Physical Position Coordinate nr actina 1 26 1 5 6 Stop Setting Using Limit Coordinates ooccconnncccnnncccoccnccoccnnccnnancnnnnnrononnncnnnnnrerananernnnnrnnanas 1 26 to Patteri Memory and Fe seseris RAEE EEEN EENEN 1 27 1 7 Synchronization of Operation Instructions oonoccconnccconnnnccocnconnnarononanonnnnancnnanarrnnnnnernnanrnnananenas 1 28 1 7 1 Synchronization TriQQer cccccscsccesseecsssseeseseeeeeseeeeeeneeeeeseeeeesneeeeeseeseageesseenesensnassnesnessnegs 1 29 1 7 2 Synchronous Performance saicnrimiicncinaia algien cata 1 29 1 7 3 Releasing Synchronization Wait State ooonccoonociconnncicnnncoccconononnnronannnonnnnnronannrnrnnannrnannrenanas 1 29 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 8 Addressing Manual Operation scsicisccnccssccncasiesnensnseanentecassansaxsnensspaxsenesixennseessuunessecaxaneeaasensuantecene 1 30 1 8 1 Continue Mode and Single Mode ccccssseesssseeeeeeeeseeeeeseeneeeseeneeseaeessueesseanessoaneesenaes 1 30 1 8 2 Speed and Distance in Manual Operation onccocnconnconnccncccncnconaconnconnncnnaronancnnnrnnncnnarenancos 1 31 We A COONS ages spe restric o E RE CA 1 32 1 9 1 Remote Reset from ApplicatiONS occcoccccon
21. ClockWise Bit 22 21 Status Bits 11 Speed Down 10 Speed Flat 01 Speed Up 00 Stop 2 COM 3 SCom ms scom_ jas sr Pattern Number DOM3 to DOMO DIM3 to DIMO 1 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 4 PG1 Do3 Watchdog O to 255 OxFF ss cs Peak Keep Time O to 1023 Ox3FF Bits that can be written directly yp Write protected registers or read only registers All Stop AS Synchronization Ready SR Pattern Number DOP3 to DOPO DIM3 to DIMO Fig 2 5 Register Structure for Motion Control 2 15 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 2 2 2 Write Protected Registers Registers TPC RAD LS US and ACC which set directly necessary parameters for axis operation can have values written directly using the method described in 2 1 2 How to Write to Registers These values are referenced in MK Y44 MC02A when operation instructions are given to the axis Registers COM and SCom which give instructions to the axis register AXS which clears the reference values of their status can be also written directly using the method described in 2 1 2 How to Write to Registers Registers STS PLC MLC PG1 and PG2 cannot be changed during axis operation Also the values of registers LPC and PPC cannot be changed except in initialization setting and coordinate transition Therefore these registers are write protected so that they cannot be writt
22. Count Ox00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 Contents CUnet CR ASCII e t HEX 65 74 All bytes 0x00 to 0x06 are fixed ASCH character strings Byte 0x07 showing CR is Ox0D of the fixed ASCII character standard Response format Byte Count 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 Ox0A Ox0B 0x0C 0x0D OxOE 0x0F Identity Code Contents Name In bytes 0x00 to 0x04 the product type is shown by ASCII characters In bytes 0x05 a space ASCII character 0x20 is shown In bytes 0x06 and 0x07 the version number is shown as a 2 digit decimal number in ASCII characters Example Ver01 is 01 The maximum is 99 MS Message Status of byte 0x08 is normally ASCII character M showing normal response to product type inquiry For abnormal product type inquiry it shows N In MC Message Code of byte 0x09 byte 0x00 representing Basic setting is shown In BPS and SA of byte Ox0A the transfer rate BPS and SA of the hardware setting status are shown in hexadecimal This value matches what DIP SWO is when setting hardware by hexadecimal setting specifications Regarding hardware setting see 3 4 3 Connection of Signal for Hardware Setting Hexadecimal Setting Specifications In Hopt and DOSA of byte Ox0B the value of the hardware options HOPT1 HOPT0O and DOSA is shown in hexadecimal This value matches what DIP SW1 is when settin
23. EEE NE 2 31 List of Motion Event CodeS snsssnsnenunnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenun nnmnnn 2 33 Pin Functions of MKY44 MC02A saasaasnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenne 3 4 Electrical Ratings of MKY44 MC02A cocoooocccococccoococcconcocononononnnanonnanaronnnnrrnnnronnnnnrrnnnarernanrenos 3 6 Settings of the DIP SW Connected to ST44SW of Hexadecimal Setting Specifications 3 10 States of MKY44 MC02A Displayed by LED Indicators cconcncconnccccnccccconcoconnnnnnnnananonas 3 13 General Purpose I O Pin and Shared Functions cccccceeeeeseecceneeeeeeceeeeenecenenenesseneeees 3 18 Absolute Maximum RatingS asiatico icons 3 21 Electrical RANGS aO E E ET EEE EREE E OEE E EEE 3 21 Chapter 1 Functions for Motion Control This chapter describes the functions for motion control provided by MK Y44 MCO2A 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 Connection of MKY44 MCOZA coooooccconoccconcccconcccoconoroconanononanconnnnronnnnnrrnnnnrrrnnnrrrnnnnernanarenanas 1 3 Basic IAS trucho AS sionista 1 4 Move INStrUCUON Sissis ce 1 12 OO Detection anni ti tetas 1 21 SOP FUNCIONS ana aita 1 24 Pattern Memory anq AAA 1 27 Synchronization of Operation Instructions cooonoccccnnnnocononocononononanonnnnnrononaronnnnnronnaannnns 1 28 Addressing Manual Operation oooncccocnccccoconcccnnncocnnaronnnanennnnnronannrnnnnnnrrnnnrenannrenananenaanns 1 30
24. Functions for Motion Control ST ECHNICA CO LTD 1 9 6 Addressing DONA and Network Failure MK Y44 MC02A has a function that constantly monitors the existence of another party issuing operation instructions to MK Y44 MC02A This function monitors the formation of a link which 1s a basic function of CUnet In CUnet the DOA DO Arrival state is when links are formed in 3 or more scans MK Y44 MC02A defines a state in which the DOA state has changed into a non DOA state for at least 0 5 seconds as the DONA DO Not Arrival state see Figure 1 25 MKY44 MC02A will transition to the DONA state if it is isolated in the CUnet network line disconnected It is because it also cannot find the other party issuing operation instructions In the DONA state the High signal is output to the DONA terminal When the link formation state 0 5 second is recovered DONA pin State in which links formed at least 3 times DOA state lt gt output turns non active Low i gt Passage of time The signal of DONA pin is Hi active DONA DO Not Arrival state when link formation state is lost for 0 5 second or more Fig 1 25 Timing of DONA If the DONA state is entered while an axis is operating the operation will differ according to the setting state of the DONAS DONA Stop bit of the PG2 Property Group 2 register If the DONAS bit is 0 operation will not be affected If the DONAS bit is 1 it will st
25. LED into a lighted state that continues from when returning from hardware reset For more information about the MCARE LED see 3 5 2 Connection and Displayed States of LED Indicator Pins 2 13 TEP ST ECHNICA CO LTD MKY44 MCO2A User s Manual 2 2 Internal Registers of MKY44 MC02A MK Y44 MC02A has 16 registers for motion control in two axes of AXO and AX1 It also has registers not belonging to any axes MK Y44 MC072A is accessed by specifying a number 0 to 63 0 to 0x3F see Figure 2 4 Abbreviation f Abbreviation Target function main usage Logical iti ox Lec Logical Position Coordinates a ene a sii Registers to refer to Physical positi axis status 0x12 MER 0x02 Physical Position Coordinates a ES 0x0 Now Speed Current speed 0x0 Target Position Coordinates 0x06 Relative Absolute Distance 0x0 Lower Speed eee a 0x0 Upper Speed 0x09 ACC ACCeleration Ox0A Synchronization Command 0x0B Synchronization Trigger Setup 0x0 Plus Limit Coordinates MLC Minus Limit Coordinates O 0x1 Z 3 l BO TEF U MA S OO MA 0x1 0x1 0x1 0x1 0x1 0x1 gt O HE Ox1A SCo 0x1B ST mn E 0x1C iia O Registers to set limit coordinates 0x1D MLC 0x0 0x1E PG 0x0 Property Group 1 Registers to set Do3 watchdog timer value speed range G acceleration curve Peak Keep Time and options PG2 OxOF Property Group 2 Abbreviation Target function main usage 0x20 WA Write A
26. LTD 1 3 3 Parameters of Move Instructions Table 1 8 shows the parameters required for move instructions Table 1 8 Parameters Required for Move Instructions Relative distance Target Instruction Target position Lower speed Upper speed Acceleration Direction position coordinates coordinates Distance specification DS Pattern pattern movement Distance specification DS LFlat lower speed movement E Distance specification DS_UFlat upper speed movement 3 Target specification pattern movement Target specification TS LFlat lower speed movement a upper speed movement TS Pattern lt O lt O 5 zi O S N Direction column RD Relative Distance specification AD Absolute Distance specification This doesn t mean that instructions will not be executed unless all the required parameters are newly set The parameters set previously can be used again 1f changes are not necessary However if instructions specifying target are issued serially without changing the target position coordinates an error shows that no movement will occur In contrast instructions specifying distance can be executed serially without changing any parameters Although direction parameters are necessarily determined in instructions specifying target and move instructions specifying Relative Distance RD a setting is required to execute move instructions using Absolute Distance AD
27. Ox0F Reserved by manufacturer Do3WatchdogTimeOver Do3 clear generated by Do3 watchdog timer 1 9 4 Do3 Watchdog Timer Function Command Stop Stop by stop command 1 2 Basic Instructions 1 9 2 General Purpose Input Pins Command Normal Stop Stop by command normal completion eto rre ManualEnd_Stop Stop by manual operation completion 1 8 Addressing Manual Operation 1 9 6 Addressing DONA and DONA DONA occurred in the past Network Failure 0x15 0x16 Reserved by manufacturer bed OriginTurnOn Stop Stop by detecting OFF ON of origin sensor OriginTurnOff Stop Stop by detecting ON OFF of origin sensor 1 4 Origin Detection EZ_LoSignal_Stop Stop by detecting ON of EZ sensor 1 5 Stop Functions StopSignal Stop Stop by stop signal Dil input 1 5 6 Stop Setting Using Limit LimitCoordinates Stop Stop by reaching the limit coordinate Sales St StopSensor Stop Stop by detecting stop sensor D12 3 ON 1 5 Stop Functions op HardLimit_ Stop Stop by detecting hardware limit ON 1 5 Stop Functions 1 5 1 All Stop 1 5 2 DONA Stop 1 9 6 Addressing DONA and Network Failure 0x1F All stop Stop by all stop signal input 1 5 1 All Stop Ox1E DONA Stop Stop by DONA occurrence 2 33 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 2 6 Exceptional Operation User applications can perform hardware reset on MK Y44 MC072A by executing the following special operation to the network if CUne
28. SCom Bit Abbreviation Item Description Reference Bit 23 Rotation direction 1 Minus CCW Counter Clock Wise 0 Plus CW Clock Wise Bit 22 21 Status 11 Deceleration Speed Down 10 Constant speed Speed Flat 01 Acceleration Speed Up 00 Stop Stop The same data as registers AXS 23 to 21 Motion Status and COM Reserved bit 0 is shown 1 7 Synchronization of Operation Instructions 2 3 5 Synchronization Commands Synchronization eos Lo Command Bits to write instructions to synchronize All Stop Shows status of all stop input pin 0 non 1 Reaction 1 5 Stop Functions Synchronization Shows 1 when synchronization command preparation is Ready completed synchronization trigger wait state 1 7 Synchronization of Operation Instructions Total Position Shows 1 when any bit of LP in register AXS is 1 Sensor 1 5 Stop Functions Pattern Number Bits to show the pattern number of the operation target 1 6 Pattern Memory and File Data Out port Monitor Show the status of general purpose output pins 1 9 2 General Purpose Input Pins General Purpose Output Pins Data In port Show the status of general purpose 1 9 2 General Purpose Input Pins General Purpose Monitor input pins Output Pins 2 2 3 11 Description of Register STS Register STS Synchronization Trigger Setup sets the trigger condi
29. The connection of the CUnet network is normal The user application should execute appropriate operation The setting values of SA and DOSA of DIP SW are inappropriate When a state of no link establishment is newly recognized for at least one CUnet link destination the LED flashes about 50 ms When a state of no link establishment in three consecutive scans is newly recognized for at least one CUnet link destination the LED flashes about 50 ms When a disconnection in three consecutive scans is recognized for at least one CUnet link destination and when a hardware rest is performed the LEDs flash about 50 ms The following internal hardware of MK Y44 MC02A is abnormal Alternating lit and unlit every 1 second DIP SW read system hardware including ST44S W Alternating lit and unlit every 2 seconds Internal flash ROM hardware Alternating lit and unlit every 3 seconds gt Internal memory and circuit hardware Please perform maintenance such as replacement O Continuous lighting Flash lighting for about 50 ms A Alternating lit and unlit every few seconds The state in which only MCARE stays lit means that the settings of SA and DOSA of DIP SW are inappropriately identical or overlapping values If LCARE and MCARE keep blinking every few seconds it is a failure caused by a crash in MK Y44 MC02A Perform maintenance such as replacement For other details on MON LCARE and MCARE refer to sections such as
30. To synchronize instructions write the codes shown in Table 2 10 in the SCom bits bits 19 to 16 of the SCom register When preparation for synchronization is complete 1 is shown in the SR Synchronization Ready flag For more on synchronization of instructions see 1 7 Synchronization of Operation Instructions Since the clear of code 0x00 is only to clear a command it is not a synchronization instruction Table 2 10 List of Synchronization Commands Code Command name Instruction description clear Clear a command Quick Stop Stop immediately LFlat Constant speed with lower speed UF lat Constant speed with upper speed 1 2 Basic Instructions P Accele Acceleration M_Accele Deceleration MA Stop Deceleration stop DS Pattern Distance specification pattern movement 1 3 1 Move Instruction to DS _LFlat Distance specification lower speed movement Specify Distance DS UFlat Distance specification upper speed movement TS Pattern Target specification pattern movement Ox0B TS Flat Target specification lower speed movement vee ONG Instruction ta Specify Target 0x0C TS_UFlat Target specification upper speed movement TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 4 Errors and Error Notification When an error occurs after a user application writes a command to MK Y44 MC02A MK Y44 MC02A reports the occurrence of an error to the user application and makes a transition t
31. and stop of motion are kept MK Y44 MC02A provides the events changes of operation are not considered as events related to operation start and stop of motion in ME bits 20 to 16 of the AXS register as the codes shown in Table 2 12 ME in the AXS register will not disappear until the next event occurs or a user application writes the clear code 0x00 except in return from reset Table 2 12 List of Motion Event Codes Code Event name Description Reference remark Type clear Clear event codes Write from user applications Start by lower speed upper speed and acceleration instructions Start by DS_LFlat DS_UFlat TS_LFlat and TS _ UFlat instructions Free Start 1 2 Basic Instructions Target Start 1 3 Move Instructions Pattern Start Start by DS Pattern and TS_ Pattern instructions OriginSearch_ Start Origin search start 1 4 Origin Detection Manual Start Manual start 1 8 Addressing Manual Operation Start by lower speed upper speed and acceleration instructions Start by DS_LFlat DS UFlat TS _LFlat and TS_UF lat instructions Correction Free Start 1 2 Basic Instructions Correction Target Start 1 3 Move Instructions Start by DS_ Pattern and TS_Pattern Correction Pattern Start 7 i instructions Correction OriginSearch Start Origin search start 1 4 Origin Detection UOTI9IION OME JoJOUTeIeg Manual start 1 8 Addressing Manual Operation Correction Manual Start Ox0B to
32. as above The distance is minus 50 000 50 000 12 500 Accelerate 10 times slower to the maximum speed and then naturally decelerate Same as above The distance is minus 10 000 10 000 12 500 Accelerate most rapidly to the maximum speed Same as above The distance is minus 10 000 10 000 12 500 Accelerate rapidly to the maximum speed and then decelerate 10 times slower Same as above The distance is minus 10 000 10 000 12 500 Accelerate 10 times slower to the maximum speed and then decelerate rapidly Same as above The distance is minus 520 000 520 000 12 500 Accelerate most slowly in 40 95 seconds 520 000 520 000 12 500 Same as above The distance is minus 280 000 280 000 12 500 Accelerate in a second Decelerate most slowly in 40 95 seconds 280 000 280 000 12 500 Same as above The distance is minus 280 000 280 000 12 500 Accelerate most slowly in 40 95 seconds Decelerate in a second 280 000 280 000 12 500 Same as above The distance is minus 35 000 35 000 2 500 Operating from ultra low speed Slow acceleration and deceleration 35 000 17 000 35 000 17 000 2 500 Same as above The distance is minus Operating from ultra low speed The ratio of acceleration and deceleration is 30 1 17 000 17 000
33. be executed because it is a move instruction whose distance is 0 The command cannot be executed because OSE OverScale Enable in the PG2 register is disabled and the target position coordinate calculated from the distance exceeds the range that can be controlled by logical position coordinates The command cannot be executed because the specified distance falls short of pattern formation and the pattern reduction function is OFF The command cannot be executed because the specified distance falls short of pattern formation including Peak Keep Time for triangular drive prevention and the pattern reduction function is OFF A command that originates triangular drive cannot be executed because it is during Peak Keep Time after completing acceleration A command that originates triangular drive cannot be executed because it is during Peak Keep Time after completing deceleration or deceleration stop File save instruction to flash ROM patternSave command cannot be received during axis operation File save in flash ROM failed flash ROM hardware failure detected 2 32 TEP Chapter 2 How to Use MKY44 MC02A ST ECHNICA CO LTD 2 5 Motion Events If the stop sensor turns OFF after the axis stops after turning ON the stop sensor it is impossible to understand why it stops just by referring to MS Motion Status In such a case it 1s easier to create applications if the events related to operation start
34. case it may be useful if there is a signal that transitions to OFF after a certain period of time from when the motor is stopped MK Y44 MC02A has a Do3 watchdog timer function that can be used for such purposes The general purpose output pin Do3 is the target of this function A time value is set for the Do3 watchdog timer function If the time value is set to 0 the Do3 pin will function as a normal general purpose Do pin If the time value is set to other than 0 1 is set to the Do3 pin Then when the axis is in the stopped state for a time that reaches the set value the Do3 pin will transition to 0 If the axis operates while the watchdog timer is in progress the timer will be initialized When the Do3 watchdog timer is being used there is write protection even if 0 is written to the Do3 pin bit while the axis is operating When the axis is stopped 0 can be written The numerical values that can be set for the Do3 watchdog timer are 0 to 255 0xFF 1 in these values means 2 55 seconds Therefore the time that can be set for the Do3 watchdog timer is 0 to 650 25 seconds approximately 10 minutes and 50 seconds The output signal of the Do3 pin can be connected to the excitation ON OFF input pin of driver devices or the current control High Low input pin Choose the connection suitable for the user application MKY44 MC02A also has a function that returns an error when it rec
35. ignored relative to the entire time The cycle time of CUnet is approximately 102 us to 2 5 ms depending on the setting of user applications Therefore the estimated time required for read access response is approximately 400 us to 6 5 ms There are two MCWs and MAWs enabling two accesses at the same time The estimated time required for read access response is the same either when performing two accesses at the same time or when performing one access Since the Write Data in MCW is not adopted for read the value of Write Data does not really matter As for MB Memory Block allocating TMC and FMC TMC is allocated in the lower address position in Figure 2 1 However there will be no problem if FMC is allocated in the lower address position 2 5 TEP DTECHNICA CO LTD MKY44 MC02A User s Manual 2 1 2 How to Write to Registers The way to write data to the registers of MK Y44 MC02A shares the same concept as read in the previous section However the handling of the upper 2 bits of the ACB Access Control Byte set in the MCW Motion Control Word is different The following describes how to write to a register using Figure 2 2 MK Y44 MC02A recognizes the timing when the upper 2 bits of the ACB transition to a value other than 00 as the write trigger Specifically the write trigger is when any of the following transitions of the upper 2 bits of the ACB occur 00 gt 01 00 gt 10 00 gt 11 01 gt 10
36. instruction Select Direction Stop Lower Speed Upper Speed Accelerate Decelerate Deceleration Stop o Can be executed o Stop as soon as deceleration ends already decelerating x An error will occur and the instructions will not be executed It will not affect operations in execution For details on error codes see 2 4 Errors and Error Notification 1 9 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 2 10 Intentional Triangular Drive By executing the Decelerate instruction while accelerating you can intentionally execute a triangular drive which forms an angle at the upper speed side Similarly by executing the Accelerate instruction while decelerating you can intentionally execute a triangular drive which forms an angle at the lower speed side see Figure 1 6 These intentional triangular drives can be used to effectively control some mechanisms Speed Linear S curve Reaching the upper speed Speed Reaching the upper speed y v Passage of time Accelerate Decelerate Deceleration Accelerate Decelerate Deceleration instruction instruction Stop instruction instruction instruction Stop instruction Accelerate Accelerate instruction instruction Fig 1 6 Examples of Intentional Triangular Drive 1 2 11 Triangular Drive Prevention Function If a machine is shifted to deceleration while it is still accelerating the drive systems such as motors gear boxes
37. is not issued to the COM register because it is considered that the TP Pattern command is executed see 1 3 9 Usage Specifying Only Distance In such a case by setting 1 in the PAC Parameter Auto Correction bit and RS Reduction Select bit of the PG2 register axis operation can avoid errors and warnings even when there are errors in parameter values or when there is only a short distance to the target position coordinate CSS Y Caution In usage specifying only distance a stopped axis can start operation without issuing operation commands to register COM Please make such use only when there will be no danger from starting axis operation 2 2 3 7 Description of Register RAD Register RAD Relative Absolute Distance is a 24 bit width register to specify distance see Figure 2 5 This register 1s referred to when move instructions are issued to specify distance To this register you can write the values of RD Relative Distance 8 388 608 to 8 388 607 0x800000 to Ox7FFFFF or AD Absolute Distance 0 to 16 777 215 0x000000 to OXFFFFFF When receiving a move instruction to specify distance MKY44 MC02A determines whether to interpret the value of this register as relative distance or absolute distance by using the RADS Relative Absolute Distance Select bit of the PG2 register For more information on relative distance and absolute distance see 1 3 1 Move Instruction to Specify Distance If the
38. number of pulses output is equivalent to the distance to the target position coordinate Target specification TS UFlat upper speed movement Output the automatically calculated number of pulses to the origin orientation Pulse rigin detection riginSearch Origin detectio QUE penn output stops upon sensor detection TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 2 Basic Instructions This section describes basic instructions controlling axes 1 2 1 Relationship between Basic Instructions and Parameters There are seven basic instructions including Select Direction Stop Lower Speed Upper Speed Accelerate Decelerate and Deceleration Stop The parameters required for these instructions are lower speed upper speed acceleration and direction see Table 1 2 Table 1 2 Parameters Required for Basic Instructions Select Direction CW CCW Stop Quick Stop Lower Speed LFlat Upper Speed UF lat Accelerate P_Accele Decelerate M_Accele Deceleration Stop O A parameter is required to execute the instruction A Required to start the operation of a stopped axis with the Accelerate instruction When it is already operating the current set value applies O The current set value applies since the execution of the instruction is enabled only during operation These seven basic instructions will not be executed unless all the required parameters are newly set The parameters set prev
39. on limit coordinates see 1 5 6 Stop Setting Using Limit Coordinates These registers are write protected These registers can set the data shown by register WA using the PLCwrite and MLCwrite instructions as long as the axis is stopped Regarding the initialization of these registers see 2 2 4 Initial Values of Registers These registers have no effect if stop by limit coordinates is not validly selected by the LCE Limit Coordinates Enable bit of the PG2 Property Group 2 register Also the LCLPPP Limit Coordinates LP PP bit of the PG2 register selects whether the values of these registers are compared to logical position coordinates LPC or physical position coordinates PPC 2 2 3 13 Description of Register PG1 Register PG1 Property Group 1 can set Do3 Watchdog Do3W speed range SRS Speed Range Select speed transition curve CS Curve Select and Peak Keep Time PKTS Peak Keep Time Setup for triangular drive prevention function see Figure 2 5 and Table 2 4 Table 2 4 Settings of PG1 Abbreviation Setting item Set value Reference 0 to 225 0x00 to OxFF 1 2 55 seconds max 10 minutes and 50 seconds 23 to 16 Do3 Watchdog 1 9 4 Do3 Watchdog Timer Function 11 160 pps to 12 5 kpps 10 160 pps to 12 5 kpps 01 40 pps to 10 0 kpps 00 10 pps to 2 5 kpps Speed Range Select 1 2 2 Settable Speed Reserved bit 0 is shown 0 Straight line o
40. pattern memory exceeds the value set for the upper speed in MK Y44 MC02A manual operation will not start Thus the maximum value of the distance that can be set for Single Mode is within the value of upper speed Addressing manual operation with MK Y44 MC02A is suitable when manual adjustment is required for the device using MK Y44 MC02A MK Y44 MC02A s Single Mode is also suitable as the controller of a dispenser device such as needs a fixed distance or ejection triggered by an external input signal Target position coordinate 0 relative distance 2 000 lower speed 2 000 pps upper speed 2 500 pps 1 31 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 9 Utility Functions This section describes the utility functions for motion control provided by MK Y44 MCO02A 1 9 1 Remote Reset from Applications User applications can execute a hardware reset on MK Y44 MC02A by performing exceptional operations to the network For how to execute this see 2 6 Exceptional Operation NET Use remote reset of MK Y44 MC02A only when user application requires it such as when initializing the system 1 9 2 General Purpose Input Pins General Purpose Output Pins MKY44 MC02A has four general purpose input pins D10 to D13 and four general purpose output pins Do0 to Do3 for each axis Some of these pins are shared with other functions as shown in Table 1 14 Select the function of shared pins by setting the DilFS Dil Function Se
41. should be cleaned sufficiently 5 Ultrasonic cleaning Depending on frequencies and circuit board shapes ultrasonic cleaning may cause resonance affecting lead strength 3 11 Recommended Reflow Conditions MAX 260 C Package surface temperature Pre heat time 60 to 120 s Pre heat temperature 150 to 180 C Temperature rise rate 2 to 5 C s Peak condition time 10 s max Peak condition temperature or oC D Cooling rate 2 to 5 C s High temperature area 220 C 60 s max Removal temperature lt 100 C ny Caution The recommended conditions apply to hot air reflow or infrared reflow Temperature indi cates resin surface temperature of the package Appendix Appendix 1 CUnet Cycle Time Table ooccooccoccconcocccoccccnconcconccnnnonanons Appendix 2 File Contents of Flash ROM in Factory Default Setting Appendix Appendix 1 CUnet Cycle Time Table Typ LF 0 12 Mbps 102 00 6 Mbps 204 00 3 Mbps 408 00 TEP DTECHNICA CO LTD unit us Frame option LF 1 12 Mbps 6 Mbps 3 Mbps 172 00 128 33 256 67 913 33 215 83 344 00 688 00 431 67 863 33 1 040 00 1 218 00 1 060 00 1 397 33 394 50 789 00 1 578 00 880 00 1 760 00 1 173 33 971 67 1 943 33 1 288 00 1 404 00 1 521 33 1 064 00 2 128 00 578 50 1 157 00 2 314 00 1 250 67 2 501 33 1 640 00 1 345 00 2 690 00 940 67 1
42. storing Write Data or after storing Write Data Also do not allow the ACB to transition to other data until write process completion by the MAW in MK Y44 MC02A is confirmed 2 7 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 2 1 4 Cautions in Read Operation MK Y44 MC02A constantly reads out the latest data of the register selected by the lower 5 bits of the ACB Access Control Byte and then updates them to the MAW Motion Answer Word see Figure 2 1 CUnet is a real time data sharing tool that constantly repeats cycles in each fixed cycle time Therefore user applications can constantly monitor a specified register just by continuing to read the MAW of MK Y44 MC02A However it requires attention when the register data to read 1s a value that exceeds the byte limit and the register always has a possibility of transition In MK Y44 MC02A this case applies to the registers of Logical Position Coordinates LPC Physical Position Coordinates PPC and Now Speed NS To read these data from FMC area From Motion Controller of CUnet s Global Memory GM read them according to the following any one workaround plan to prevent read data hazard 1 Read FMC area From Motion Controller using the hazard prevention function of the CUnet dedicated LSI that is installed in the device to execute a user application program 2 Read the MAW twice and adopt the matched data However with this method if both reads ar
43. 0 ms 0 06 seconds can be set as the minimum time When the upper speed is lower than or equal to 5 kpps 5 50 ms 0 05 seconds can be set as the minimum time 663K 99 In the factory default setting the required time format is not selected In the table indicates the maximum settable value 1 6 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 2 5 Parameter Auto Correction Function If the acceleration setting of MK Y44 MC02A goes out of the controllable range whether in the standard rate format or the optional required time format an error will occur when an operation instruction is received It is the same when the setting of upper speed and lower speed is inappropriate In such a case there is a parameter auto correction function that can automatically correct the setting into the controllable range without causing any errors For example when the speed range is 2 an error will occur if 40 pps is mistakenly set as the lower speed However if the parameter auto correction function is on the lower speed setting will be changed automatically to 160 pps which is the minimum value of the 2 speed range In this way the function affects the parameter values of speed and acceleration When the speed transition width is less than 32 in the basic instructions Accelerate Decelerate and Deceleration Stop an error will occur even if parameter auto correction fu
44. 00 2000 1000 0 1000 2000 3000 4000 nnnnn A Hardware limit A Minus Plus A AA A AS Limit coordinate e A Minus Plus A Stop sensor A Minus Di3 Plus Di2 Stop signal input Di1 EZ sensor Di0 Origin sensor DONA All stop input pin AX1 A Immediate stop A Immediate stop or deceleration stop Fig 1 20 Sensors and Signals of Stop System If an operation start instruction is received when it should stop because stop function is enabled an error saying that it will not receive instructions will occur Table 1 11 shows the factory default setting of various stop functions Set stop types and enabling disabling of stop functions using the STS Stop Type Select bit of the PG2 Property Group 2 register Table 1 11 Factory Default Setting of Stop Functions E x Fa ees A A Immediate stop Immediate stop Immediate stop eee N Immediate stop Immediate stop Always enabled no setting O Set as enabled A Depending on the instruction X Set as disabled 1 24 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 5 1 All Stop All stop functions on both two axes of MK Y44 MC02A If the all stop input pin transitions to be active while the axis is operating it will immediately stop regardless of operating direction and coordinate position If an operation start instruction is received when the state of
45. 193 33 2 015 83 4 031 67 8 063 33 1 337 00 2 674 00 5 348 00 2 072 00 4 144 00 8 288 00 1 376 00 1 415 33 2 52 00 2 830 67 5 504 00 5 661 33 2 128 50 2 185 33 4 257 00 4 370 67 8 514 00 8 741 33 1 455 00 2 910 00 5 820 00 2 242 50 4 485 00 8 970 00 1 495 00 1 535 33 1 576 00 2 990 00 3 070 67 3 152 00 5 980 00 6 141 33 6 304 00 2 300 00 4 600 00 9 200 00 2 357 83 4 715 67 9 431 33 2 416 00 4 832 00 9 664 00 1 617 00 3 234 00 6 468 00 2 474 50 4 949 00 9 898 00 1 658 33 1 700 00 1 742 00 3 316 67 3 400 00 3 484 00 6 633 33 6 800 00 6 968 00 2 533 33 5 066 67 10 133 33 2 592 50 5 185 00 10 370 00 2 652 00 5 304 00 10 608 00 1 784 33 3 568 67 7 137 33 271183 5 423 67 10 847 33 1 827 00 1 870 00 3 654 00 3 740 00 7 308 00 7 480 00 2 772 00 2 832 50 5 544 00 5 665 00 11 088 00 11 330 00 1 913 33 3 826 67 7 653 33 2 893 33 5 786 67 11 573 33 1 957 00 3 914 00 7 828 00 2 954 50 5 909 00 11 818 00 2 001 00 2 045 33 4 002 00 4 090 67 8 004 00 8 181 33 3 016 00 3 077 83 6 032 00 6 155 67 12 064 00 12 311 33 2 090 00 4 180 00 8 360 00 3 140 00 6 280 00 12 560 00 2 135 00 4 270 00 8 540 00 3 202 50 6 405 00 12 810 00 2 180 33 2 226 00 4 360 67 4 452 00 8 721 33 8 904 00 3 265 3
46. 3 3 328 50 6 530 67 6 657 00 13 061 33 13 314 00 2 272 00 4 544 00 9 088 00 3 392 00 6 784 00 13 568 00 2 318 33 4 636 67 9 273 33 3 455 83 6 911 67 13 823 33 2 365 00 4 730 00 9 460 00 3 520 00 App 3 7 040 00 14 080 00 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual Appendix 2 File Contents of Flash ROM in Factory Default Setting The following are the contents written in the flash ROM at factory shipping as the initial values set in the pattern memory of the axis when returning from hardware reset The data is the same for both AXO axis and AX axis Pattern Number Target position coordinate TPC 1 000 Relative distance RD 1 000 Acceleration pps 10 ms Reference value pps sec Acceleration Deceleration Acceleration Deceleration Natural acceleration 1 000 1 000 Same as above The distance is minus 17 000 17 000 Rapidly accelerate and then decelerate 100 times slower 17 000 17 000 Same as above The distance is minus 17 000 17 000 Accelerate 100 times slower and then rapidly decelerate Same as above The distance is minus Accelerate to the maximum speed with natural acceleration Same as above The distance is minus 50 000 50 000 12 500 Naturally accelerate to the maximum speed and then decelerate 10 times slower Same
47. 760 00 1 881 33 1 440 00 1 535 67 2 880 00 3 071 33 1 002 00 2 004 00 1 632 00 3 264 00 1 064 00 2 128 00 1 729 00 3 458 00 18 12h 1 126 67 1 190 00 2 253 33 2 380 00 962 50 1 826 67 1 925 00 3 653 33 3 850 00 19 13h 1 254 00 2 508 00 1 012 00 2 024 00 4 048 00 20 14h 1 318 67 2 637 33 1 061 83 2 123 67 4 247 33 1 384 00 1 450 00 2 768 00 2 900 00 1 112 00 1 162 50 2 224 00 2 325 00 4 448 00 4 650 00 1 516 67 3 033 33 1 213 33 2 426 67 4 853 33 1 584 00 1 652 00 1 720 67 3 168 00 3 304 00 3 441 33 1 264 50 2 929 00 5 058 00 1 316 00 2 632 00 5 264 00 1 367 83 2 735 67 5 471 33 1 790 00 3 580 00 1 420 00 2 840 00 5 680 00 1 001 00 1 860 00 1 930 67 2 002 00 3 720 00 3 861 33 4 004 00 1 472 50 2 945 00 5 890 00 1 525 33 3 050 67 6 101 33 1 578 50 3 157 00 6 314 00 1 037 00 2 074 00 4 148 00 1 632 00 3 264 00 6 528 00 1 073 33 1 110 00 2 146 67 2 220 00 4 293 33 4 440 00 1 685 83 1 740 00 3 371 67 3 480 00 6 743 33 6 960 00 1 147 00 2 294 00 4 588 00 1 794 50 3 589 00 7 178 00 1 184 33 2 368 67 4 737 33 1 849 33 3 698 67 7 397 33 1 222 00 1 260 00 2 444 00 2 520 00 4 888 00 5 040 00 1 904 50 1 960 00 3 809 00 3 920 00 7 618 00 7 840 00 1 298 33 2 596 67 5
48. 9 shows an example using the Origin Search 2 instruction and the Origin Search 3 instruction In this example it is assumed that the mechanism of the device is adjusted to issue an EZ Encoder Zero sensor signal when the center of the slide table matches the position of the origin sensor In Figure 1 19 first with the Origin Search 2 instruction the slide table going through S curve speed transition 1s stopped by the origin sensor right after the table passes the sensor Then the Origin Search 3 instruction matches the center position of the slide table with the position of the origin sensor and stops the table origin sensor 1 The table is first stopped near the origin sensor by the Origin Search 2 instruction 2 Identifying the position by Origin Search 3 instruction A EZ sensor ttt tet te ttt fd 2000 1000 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 A 3 Initializing the logical coordinate to 0 Fig 1 19 Usage Example of Origin Search Instruction The logical coordinate of MK Y44 MC02A can be initialized to an arbitrary value Since the origin search instruction of MK Y44 MC02A operates to target logical coordinate 0 it is normally recommended to initialize the logical coordinate to 0 in the position where the table is stopped by the origin sensor and EZ Encoder Zero sensor as in Figure 1 19 Also in MK Y44 MC02A the internal logical coordinate will be initialized to 0 after going throug
49. ASE Auto Start Enable bit of the PG2 register is set to 1 in advance a stopped axis will start operating right after the value is written into this register even if the operation start command is not issued to the COM register because it is considered that the DS Pattern command is executed see 1 3 9 Usage Specifying Only Distance In such a case by setting 1 in the PAC bit and RS bit of the PG2 register axis operation can avoid errors and warnings even when there are errors in parameter values or when there is only a short distance to the target position coordinate LSS Y Caution In 1 3 9 Usage Specifying Only Distance a stopped axis can start operation without issuing operation commands to register COM Please make such use only when there will be no danger from starting axis operation 2 20 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 2 3 8 Descriptions of Registers LS and US Register LS Lower Speed and US Upper Speed are 14 bit width registers to specify speed The upper reserved bits bits 23 to 14 are 0 see Figure 2 5 Although the values 0x0000 to Ox3FFF can be written to these registers the valid values depend on the speed range For details on speed see 1 2 2 Settable Speed The values of these registers can be changed at any time However only if the axis is operating when the STS Stop Type Select bit of the PG2 Property Group 2 register is
50. AX1 of other MKY44 MCO2A Synchronizing the start of distance specification lower speed movement instruction 3 AX1 Synchronizing the start of acceleration instruction S curve 4 Synchronization trigger 5 AX1 Synchronizing the stop instruction 6 AXO Synchronizing the start of deceleration stop instruction 7 Synchronization trigger It does not respond to synchronization trigger because SR 0 Stop after reaching the specified distance Fig 1 23 Example of Operation Instruction Ss The synchronization in MK Y44 MC072A is to synchronize the execution start of instructions It is not designed to provide interpolation function that synchronizes the timing of operation progress and result 1 28 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 7 1 Synchronization Trigger The synchronization triggers include external signal synchronization using signals to input to the synchronization input pin and shared data synchronization using data in the shared memory of CUnet MK Y44 MC02A cannot use both synchronization triggers at the same time Set which synchronization trigger to use by using the SyncT Sync Type bit of the PG2 Property Group 2 register There is only one input pin for external signal synchronization for both axes In shared data synchronization you can set the address and data of trigger conditions for each axis Shared data synchronization provi
51. B When the user application is to read the register set the upper 2 bits of the ACB as 00 Figure 2 1 shows the read of the register number 0x03 The data of the selected register is stored in the Read Data of the MAW In Figure 2 1 0x1234DE is stored The data of the ACB of the MCW is echoed back to the ASB of the MAW When the user application uses MCWO for access the answer comes from MAWO When the user application uses MCW1 for access the answer comes from MAW1 Figure 2 1 shows a state in which the user application uses MCW1 for access and the answer comes from MAW1 The following summarizes the concept of the read method described above 1 User application writes MCW to TMC 2 User application reads MAW from FMC 3 If ACB in the written MCW and ASB in the read MAW are different repeat 2 to wait for an echo back 4 If ACB and ASB are the same adopt the Read Data in MAW The time until the ACB matches the ASB is the time required for read MK Y44 MC02A is positioned ahead of the network via CUnet from the user application s point of view Therefore the sum of cycle time of CUnet signal propagation time of the communication wire and process time in MK Y44 MC02A is considered the response time required for read The process time in MK Y44 MC02A is from 300 us to 4 ms The range of this time depends on the motion state Since the signal propagation time of a 100 m communication wire is about 1 us it can be
52. C area From Motion Controller This FMC is the area in which MK Y44 MC02A writes the data that is referenced by the user application Global memory composed of 64 memory blocks Motion control word of 4 byte structure MCW Motion Control Word area To Motion Controller TMC MB 1 lt G J o o or or e 4 DOSA 0x03 ACB Access Control Byte ACB Write Data f itO_ 0x6789AB lt J lt Ww a ee a ee 0x123CDE Select registers Internal set of registers 0x03 w os SA 0x3C 60d ASB Answer Status Byte ASB Read Data 0x123CDE area From Motion Controller FMC EN MB 61 SC maw a MB 62 p12 HE E E E 2 MB 63 03 Motion answer word of 4 byte structure MAW Motion Answer Word Fig 2 1 CUnet I F Image 2 4 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 1 1 How to Read Registers One TMC area To Motion Control is composed of two Motion Control Words MCW An MCW is composed of a 1 byte Access Control Byte ACB and 3 byte Write Data One FMC area From Motion Control is composed of two Motion Answer Words MAW An MAW is composed of a 1 byte Answer Status Byte ASB and 3 byte Read Data Figure 2 1 shows a state in which the user application sets the data ACB 0x03 and Write Dat 0x6789AB in MCW1 one of the two MCWs MCWO and MCW1 The register numbers to access are set in bits 0 to 5 of the AC
53. CYCT signal 1s output normally maintains High level and 1t outputs Lo pulse for 2 x Tbps of time at the lead timing of the CUnet cycle By using the timing at which this signal transitions to Low level the user device can recognize a common timing synchronization for all CUnet stations connected to the network The synchronization capability of CUnet can be calculated with Formula 3 1 When not using the CYCT pins keep them open Formula 3 1 within 2 x Tbps cycle time x clock accuracy signal propagation delay For example under the conditions of 12 Mbps Tbps 83 3 ns 64 CUnet stations cycle time 2 365 ms drive clock accuracy of 200 ppm 0 02 cable 7 ns m total length of 100 m maximum 50 ns send signal transit delay in transceiver parts ADM3078E and maximum 75 ns receive signal transit delay ADM3078E the synchronization capability is within 167 ns 473 ns 700 ns 50 ns 75 ns 1 465 us Ss If a HUB is inserted in the network this formula does not apply Reference The function of the CYCT pin in MKY44 MCO02A is the same as the function of the CYCT pin in MKY43 A and MKY46 and the function of the STB pin in MK Y40 3 14 TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 6 I O Signal of Axis Control Unit In the axis control unit of MK Y44 MC02A signals include POUT DIR PPC PPCDIR ORG PHL MHL D10 to D13 Do0 to Do3 see Figure 3 1 3 6 1 Connection of Motion Con
54. ERAA RERAN 3 22 3 10 Recommended Soldering Conditions onccconnccconcnnccnnaconononoconanononanonnnnnnrnnnnnrrnnnnnrrnnnrrnannrrnnnanos 3 23 3 11 Recommended Reflow CONdItiONS ccooncccconociconccoconcnonnncncononarononnanonnnnnornnnnrrnnnnrrrnnarernanrrrnnanns 3 23 Appendix Appendix 1 CUnet Cycle Time Table ccococconcncconccccnccccoccconcnccnnanononnnnnanonnnnrcnnnrennnrnnnnrenanrnnnanennn App 3 Appendix 2 File Contents of Flash ROM in Factory Default Setting coooccccocncococonooonanoo App 4 viii Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig 1 1 1 2 1 3 1 4 1 5 1 6 i 1 8 1 9 1 10 1 11 1 12 1 13 1 14 1 15 1 16 1 17 1 18 1 19 1 20 1 21 1 22 1 23 1 24 1 25 2 1 2 2 2 3 2 4 2 5 2 6 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 TEP MKY44 MC02A User s Manual DTECHNICA Co LTD Figures Connection of MKY44 MCOZA siege casi ccces eo nets dct edeuseceda dances deedoauctdy deuauecusscelavswcevacaaeedetmnceucteuece 1 3 Method of Setting the Required Time cccccesseeeeeeseeeesseeeeeeeeeeeneeseeneeeeeeeesseeeessneneeseaneess 1 6 A o A ARPA Pe o ee eee eee eee 1 7 256 Levels of Speed TransitiON ooncconccocncccnccnncccnncnanccnnrcnnncnonononrnnnrrnnrcnnrrnnrrnare
55. I Decimal Setting Specifications 141 C Laminated ceramic 2 2 uF SAx1 ENTER QO gt In the following cases serial output of properly serialized set data cannot be obtained from an ST44SW of decimal setting specification 1 When the setting values of Ox0A to OxOF are recognized in the P00 to P03 P04 to P07 pins P10 to P13 pins and P 14 to P17 pins 2 When a setting value of more than 64 is recognized as a 2 digit decimal number in the P00 to P07 pins or P10 to P17 pins MK Y44 MC02A handle these cases as hardware errors of the DIP SW read system When this happens MK Y44 MC02A can use the LED indicator pins to flash the LCARE and MCARE LEDs alternately every second For more on LED indicator pins see 3 5 2 Connection and Displayed States of LED Indicator Pins ST44SW of decimal setting specification 3 11 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 3 5 Connection of CUnet related I O Signals CUnet interface signals include the CU_TXD CU TXE and CU_RXD pins of MK Y44 MC02A MKY44 MC02A also has four pins connecting monitor LEDs MON LCARE MCARE and DONA and two utility function output pins PING and CYCT 3 5 1 Recommended Network Connection MK Y44 MC02A receives packets sent from other CUnet stations through the CU_RXD pin and outputs packets to send to other CUnet stations through the CU_TXD pin While sending packets the High level is outpu
56. InstructiONS oncooncconncccnccnnncnnnnonnncnnrconanonarenaronannnnanos 1 9 Combinations of Basic Instructions when Triangular Drive Function is ON 1 11 Parameters Required for Move INStructions ccoocccocccconcncconnccocnncncnnonnnncnnanonannnnannnnnanenas 1 15 Auto Start Enable FUNCION versionado 1 20 Origin Search Instructions and Target SCNSOSS cccccssseeeeeseeeeeeeeeeeeseeeesneseeeneseeeneeeees 1 22 Factory Default Setting of Stop FUNCTIONS 0cccoocnccconocococonocononononanrononaronnnanennnanrornanrrnnannns 1 24 Synchronous Pero malaria 1 29 Addressing Manual Operation oooccconncccconccoconococonanonnnnnronnnaronnnnnrnnnnronnnarrrnnnnrrnanarrnanarennannrs 1 31 General Purpose I O Pins and Convertible Functions cccocccocnconaccnnccnnnconnronanonanenancnan 1 32 Pins Settable for Logical Inversion oonoccconnnccconacicococonononononcnonnnnnronnnaronnnarennnanrrrnnnrernanranos 1 34 Registers for Motion Control msrionicianl caci n dali 1 36 Dedo ooo AA AP 2 17 Description COM ii 2 19 Description of COIN anio iasaos 2 22 a o PPP A EEEE 2 23 Factory Default Settings of PG1 ninia 2 23 SENOS A E 2 24 Factory Default Settings OF PGZ comisario encata 2 25 Initial Value of Each Register after Returning from Reset scccecsseeeeseeeeseeeeeeenees 2 26 List OF COMMAS sea aaa EEEE EAEE 2 27 List of Synchronization COMMAN S sonioimariinaiairinmecir arica 2 30 LECO TENO COMES orreen AE EAEE N
57. MC02A Table 3 1 shows the pin functions of MK Y44 MC02A DEC1uF Table 3 1 Pin Functions of MKY44 MC02A I O Function Connect a capacitor whose effective capacitance is at least 1 uF and a 0 1 uF ceramic capacitor for high frequency bypass in parallel between this pin and Vss Or connect a laminated ceramic capacitor of around 2 2 uF with the property that capacitance reduction 1s about 20 even in DC bias Reset Negative An input pin to execute hardware reset from outside For details on this function see 3 4 2 Supply of Hardware Reset Signal XTAL41 XTAL4o Pins to connect a crystal oscillator Connect a 4 MHz crystal oscillator between these pins Connect 20 pF ceramic capacitors between these pins and Vss Connect them near the pins DIP_ON Positive Connect this pin to the DIP_ON pin of ST44SW For the details of ST44SW refer to the manual ST44SW User s Manual DIP RX Positive Connect this pin to the DIP_TX pin of ST44SW For the details of ST44SW refer to the manual ST44SW User s Manual An input pin to connect the origin sensor signal of AX0 MK Y44 MC02A recognizes that the TAAN ORS EES sensor is active when the Low level is input to this pin AXO PHL a An input pin to connect the plus hard limit sensor signal of AXO MKY44 MCO02A recognizes that the sensor is active when the Low level is input to this pin AX0 MHL e An input pin to con
58. O LTD MKY44 MC02A User s Manual Table 2 11 List of Error Codes Code Error description 0x15 The command cannot be received because it cannot be executed during acceleration The command cannot be received because it cannot be executed while stopped The command cannot be received because it cannot be executed unless stopped The command cannot be received because it cannot be written to the synchronization command The command cannot be received because it is a synchronization command that cannot be addressed during deceleration The command cannot be received because it is a synchronization command that cannot be addressed unless at constant speed 0x1B The command cannot be executed during manual operation Cannot operate because the hardware limit of the specified direction is already ON 0x21 Cannot operate because the limit coordinate of the specified direction has been reached 0x22 Cannot operate because the stop sensor D13 2 of the specified direction is already ON Cannot operate because the origin sensor is already ON Cannot operate because the EZ Encoder Zero sensor D10 is already ON Cannot operate because SCDo3 Start Condition with Do3 of the PG2 register is set ON and the data bit of Do3 is 0 Cannot operate because stop signal input Dil is already ON 0x27 The command cannot be executed because the all stop input pin is active 0x28 The command cannot
59. PC Physical Position Coordinates in MK Y44 MC02A will disappear after the power is turned off Also when MKY44 MCO02A returns from reset the value of these registers will be initialized to 0 When controlling coordinates by using LPC Logical Position Coordinates and PPC Physical Position Coordinates for applications that control the coordinates of slide tables and such if power off or reset is performed when the coordinate position is not 0 the workload of the user application to correct the coordinate in the next startup may increase Before the power off or reset of MK Y44 MC02A it is recommended to perform exit operation such as moving back a target that requires coordinate control to the coordinate 0 just like the shutdown or restart operation of PC 2 36 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 8 Addressing CUnet Mail Function MK Y44 MC02A supports a product type inquiry function via CUnet mail function If MK Y44 MC02A receives the following product type inquiry format mail it will respond by sending a response format mail This product type inquiry can be called from any device on CUnet If there is a mistake in even one character of the product type inquiry format MK Y44 MC02A will send back a response format with not M meaning Master code but N 0x4C meaning NAC code as MS Message Status O Product type inquiry format Byte
60. PS DOM3 to DOMO and DIM3 to DIMO have the same data as registers COM and SCom TEP ST ECHNICA CO LTD MKY44 MCO2A User s Manual 2 2 3 2 Description of Register LPC Register LPC Logical Position Coordinates is a 24 bit width register showing the logical position coordinates see Figure 2 5 For more information on logical position coordinates see 1 3 Move Instructions In the initialization of this register the data shown by register WA can be written by with the LPCwrite instruction only when the axis is stopped For more information on the LPCwrite instruction see 2 3 Commands of MKY44 MC02A 2 2 3 3 Description of Register PPC Register PPC Physical Position Coordinates is a 24 bit width register showing the physical position coordinates see Figure 2 5 For more information on physical position coordinates see 1 5 5 Physical Position Coordinate In the initialization of this register the data shown by register WA can be written with the PPCwrite instruction only when the axis is stopped For more information on the PPCwrite instruction see 2 3 Commands of MKY44 MC02A 2 2 3 4 Description of Register NS Register NS Now Speed is a 14 bit width register showing the speed when the axis is operating see Figure 2 5 The speed values to be expressed are 0 to 12 500 0x0000 to 0x30D4 pps When the axis is stopped 0 0x0000 is shown This register is read only In the upper reserved b
61. S Chapter 1 Functions for Motion Control 1 1 Connection of MKY44 MCO2A ccccccceesseeeeeeeeseeeeeeeeeneeeeeseeesasseesaeneeseenseeeasaeseeanesseesesseasaeseannens 1 3 te len MVS COINS IP o 1 4 1 2 1 Relationship between Basic Instructions and ParamMeterS cooncocnconcconccccnocnconcnnaconanonnnnns 1 4 1 2 2 SettaDle Speel si ratciniaai fiin 1 5 1 23 Setting Acceleration Rate Format coconnccconnnicccnncicccnncccnnorononarononnnronnnnronnnarernnanrrrnanrennnarenos 1 5 1 24 Setting Acceleration Required Time Format ooccconnnccconccicocccoccncnconnnnrononnrcnnnnancnnannrnnananonas 1 6 1 2 5 Parameter Auto Correction Function cccccsseeesseeeeseeeeeeeeseeeseeseeseneeseeeeneeseaneeseeneessoneenees 1 7 1 2 6 Selecting Speed Transition Curve ccccccsceceseseeesceeeesseneeeeeseeeeeeneeseaseesseeneeseaneesenneessonsenses 1 7 1 2 7 256 Levels of Speed TransitiON oocconnccnniccncconoceccncconcconnconnncnnncnnncnonrnnnncnnnrnanrnnnrrnnnenanennnrnnnns 1 8 1 2 8 Operation by Combination of Basic Instructions cccconnccconncccccnnconanaronnnanonnannronnnarennnaneos 1 8 1 2 9 Errors from Combination of Basic InStructiONS oocccconnniconnncccncnconnnnrononanonennnnonnnnnnnnananonas 1 9 1 2 10 Intentional Triangular DIO 1 10 1 2 11 Triangular Drive Prevention Function ccccscecseeeeeeeeeeeeeeeeeeeseneeseeneseeseeseneseenessenesseneeens 1 10 Me Mov ANS UC IONS sinnen o A no 1 12 1 3 1 Move Instruction to S
62. S Do2 Function Select bit of the PG2 Property Group 2 register the Do2 bit data of the register COM to output to the general purpose Do pins will not be written in pin Do2 For more information about the axis operating signal see 1 9 3 Output Signal Indicating Axis Operating 2 3 3 Data Setting Commands for Write Protected Registers The command codes 0x16 to 0x1C are commands to set data in write protected registers These commands are received only while the axis is stopped Before issuing these command set the data to write in register WA These commands will not be received and will cause an error unless they are issued in the next operation after writing the data in register WA 2 28 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 3 4 Operation Commands of Pattern Memory When issuing the patternRead 0x1D command to the COM register you should write the target pattern memory number in the pattern number bits 12 to 8 in the same COM register at the same time When MK Y44 MC02A receives this command it sets the pattern memory data of the specified number as parameters in registers TPC RAD LS US and ACC When issuing the patternWrite 0x1E command to the COM register you should write the target pattern memory number in the pattern number bits 12 to 8 in the same COM register at the same time When MK Y44 MC02A receives this command it stores the data of registers TPC RAD LS US and ACC in
63. STD MKY44 MCO2A V1 2E 2 TEP C TECHNICA Motion control function LSI for CUnet MKY44 MCO2A User s Manual Note 1 The information in this manual is subject to change without prior notice Before using this product please confirm that this is the latest version of this manual Technical information in this manual such as explanations and circuit examples are references for this product When actually using this product always fully evaluate the entire system according to the design purpose based on considerations of peripheral circuits and the PC board environment We assume no responsibility for any incompatibility between this product and your system We assume no responsibility whatsoever for any losses or damages arising from the use of the information products and circuits in this manual or for infringement of patents and any other rights of a third party When using this product and the information and circuits in this manual we do not guarantee the right to use any property rights intellectual property rights and any other rights of a third party This product is not designed for use in critical applications such as life support systems Contact us when considering such applications No part of this manual may be copied or reproduced in any form or by any means without prior written permission from Step Technica Co Ltd TEP MKY44 MC02A User s M
64. Synchronization Trigger Acceleration setting format selection Acceleration Rate Time Select Rate Time 1 2 3 Setting Acceleration Rate Format 1 2 4 Setting Acceleration Required Time Format Relative distance absolute distance selection Relative Absolute Distance Select Relative Absolute 1 3 1 Move Instruction to Specify Distance Do012C Do0 to Do2 output clear function Do012 Clear DONA stop function DONA Stop 0 OFF 1 9 6 Addressing DONA and Network Failure 1 5 1 All Stop 1 5 2 DONA Stop 1 9 6 Addressing DONA and Network Failure LCEPRE Limit coordinate comparison target Limit Coordinates LP PP 0 LP Logical Position PP Physical Position 1 5 6 Stop Setting Using Limit Coordinates LCE Limit coordinate stop Limit Coordinates Enable 2 24 0 Disable Enable 1 5 6 Stop Setting Using Limit Coordinates Chapter 2 How to Use MKY44 MC02A SH TECHNICA Co LTD ES Abbreviation Table 2 6 Settings of PG2 Item description Reserved by manufacturer Reserved bit Setting Set to 0 Reference Function selection of Do2 pin Do2 Function select 0 Normal 1 Motion Active signal 1 9 2 General Purpose Input Pins General Purpose Output Pins 1 9 3 Output Signal Indicating Axis Operating InvDo3 Do3 output signal logical invert Invert Do3 1 9 2 General Purpose Input Pins General Purpose Output Pins
65. Table 3 7 lists the electrical ratings of the MK Y44 MC02A Table 3 7 Electrical Ratings Ta 25 C Vss 0 V Parameter Conditions Operating power supply voltage Vi VID or Vss output open Mean operating current X148 MHz 50 MHz XTAL 4 MHz External input frequency Input to Xi48MHz pin Vpp Vi 0 V I O pin capacitance Xi48MHz 1 MHz A When inputting generated clock Rise fall time of input signal of XTAL4i pin Rise fall time of input signal Schmitt trigger input Number of times of file saving instruction in built in flash ROM Number of years of Data retention in built in flash ROM TEP S TECHNICA CO LTD MKY44 MC02A User s Manual 3 9 Package Dimensions 12 00 0 20 10 00 0 10 12 00 0 20 10 00 0 10 1 20 TYP INDEX MARK y Mirror finish 0 50 0 15 0 05 1 20 MAX 0 10 0 05 0 50 0 10 0 10 unit mm TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 10 Recommended Soldering Conditions Parameter Reflow Manual soldering iron Peak temperature resin surface 260 C max 350 C max Peak temperature holding time 10 s max 3 s max Ss 1 Product storage conditions TA 30 C max RH 70 for prevention of moisture absorption 2 Manual soldering Temperature of the tip of soldering iron 350 C 3 s max Device lead temperature 260 C 10 s max 3 Reflow Twice max 4 Flux Non chlorine flux
66. UTIL FUACUONS arrancan ici cea 1 32 1 10 Registers for Motion Control ccconnncccnnncicocncicoconoconcncnonnnnonnnnncnnnnnrnnanarrnnnnnrrnnnnrrnanarennannos 1 36 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD Chapter 1 Functions for Motion Control This chapter describes the functions for motion control provided by MK Y44 MC02A As this chapter focuses on the concepts of functions and description of operations please refer to the other chapters regarding actual use after understanding this chapter 1 1 Connection of MKY44 MC02A CUnet is a network that can connect multiple devices MK Y44 MC02A is a CUnet dedicated LSI for motion control with the function to output pulse signals to drive a stepping motor or such MK Y44 MC02A is connected between CUnet and a motor driver motor amplifier see Figure 1 1 MK Y44 MC02A controls two axes using basic instructions and move instructions received from CUnet see Table 1 1 CUnet Stepping motor MKY44 MCO2A l Communication Rotation direction Driver AXO cable RXD TXD A TRX otation direction AX1 Fig 1 1 Connection of MKY44 MC02A Table 1 1 Move Instructions Select Direction CW CCW _ Select rotation direction This operation can be executed only while stopped Stop Quick Stop Stop pulse output Lower Speed LF lat Start pulse output at equal intervals corresponding to the lower speed Upper Speed UF lat Start pulse output at equa
67. al operation set the option to use the Di2 and D13 pins as manual operation input using the Di23FS bit D12 3 Function Select bit of the PG2 Property Group 2 register To the Di2 pin connect the manual signal that enables rotation in the positive direction To the Di3 pin connect the manual signal that enables rotation in the negative direction MKY44 MC02A does not receive manual operation when both the D12 pin and the Di3 pin are active When starting operation with manual operation operation will not start if there are already stop factors such as having the hardware limit ON In such a case an error will not be given to the user application because the user application is involved with MK Y44 MC02A cannot be received For the stop factors in the case that operation cannot be started manually see 1 5 Stop Functions 1 8 1 Continue Mode and Single Mode For manual operation you can select from Continue Mode in which pulses are output continuously while the manual signal is active and Single Mode in which pulses of fixed distance are output in each time the manual signal transitions to be active see Figure 1 24 Make these selections by D123FS D12 3 Function Select bit of PG2 register ens Operation of Continue Mode continuous movement while active pee Lower speed Passage of time The status of Di2 or Di3 input pin I I Low active I I Operation of Single Mode
68. al resonance and for speed specification in flow control CIR The precision of speed setting of MKY44 MCO02A is within 0 3 The factory default speed range is 2 160 pps to 12 5 kpps 1 2 3 Setting Acceleration Rate Format Although acceleration is commonly represented as the amount of speed change in a second pps sec or pps With MKY44 MCO02A the value is set as the amount of speed change in 10 ms pps 10 ms see Table 1 4 Acceleration includes plus acceleration Table 1 4 Settable Acceleration acceleration in which the speed transitions to the RE CA Reference indication indication pps sec ms kHz MKY44 MC02 setting upper speed and minus acceleration deceleration value pps 10 ms in which the speed transitions to the lower speed Plus acceleration and minus acceleration can be set individually The values that can be set with 10 000 MKY44 MC02A are 1 to 1 542 5 000 2 000 If the required time speed transition width rate for speed transition exceeds 40 95 seconds 1 000 when acceleration is very slow and speed transition width 1s large the acceleration will be set for 40 95 seconds Also if the acceleration is high and the required time for speed transition is less than 80 ms when executing acceleration deceleration an error will occur 154 3 K to Reference E Even if the required time for speed transition is less than 80 ms an error wil
69. ance specification lower speed movement DS_LFlat The part corresponding to the graphical area 2 Distance specification upper speed movement DS_UFlat of these speed transitions is the distance For 3 Target specification lower speed movement TS_LFlat example the movement time required for a 4 Target specification upper speed movement TS_UFlat distance specification lower speed movement DS_LFlat instruction when the lower speed is 1 000 pps and the relative distance is 10 000 is 10 seconds 10 000 1 000 The movement time required for a distance specification upper speed movement DS_UF lat instruction when the upper speed is 5 000 pss and the relative distance is 10 000 is 2 seconds The distance in both cases is 10 000 and the area of the diagram is also the same Also the distance matches the pulse count output by the pulse output pin of MK Y44 MC02A see Figure 1 12 Distance 10 000 Upper speed 5 000 pps Lower speed 1 000 pps Passage of time 1 2 10 seconds seconds _ Distance specification lower Distance specification upper speed movement instruction speed movement instruction DS_LFlat DS_UFlat Fig 1 12 Move Instructions to Maintain Constant Speed 1 16 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 3 6 Trapezoidal Speed Control and Pattern Among the move instructions the following two instructions execu
70. and lower speed in MK Y44 MC02A has 256 levels with constant transition time For example if the lower speed is set to 123 pps and the upper speed is set to 9 876 pps in an S curve with an acceleration rate of 5 kpps sec or acceleration required time of 1 950 ms and an deceleration rate of 25 kpps sec or acceleration required time of 390 ms it will take 256 levels of transition to the target speed for both acceleration and deceleration This makes speed transition smooth regardless of the setting value see Figure 1 4 Speed Linear Speed S curve Passage of time Fig 1 4 256 Levels of Speed Transition Reference To address a deceleration instruction while accelerating it will decelerate by the same number of levels used by acceleration because the speed transition width is not the width between the upper speed and the lower speed It is the same for addressing an acceleration instruction while decelerating 1 2 8 Operation by Combination of Basic Instructions Basic instructions can be used in serial combination Figure 1 5 shows an example 1 Execution acceleration instruction 4 Execution deceleration instruction after changing the lower speed 2 Execution lower speed instruction after changing the lower speed 5 Execution upper speed instruction after changing the upper speed 3 Execution upper speed instruction after changing the upper speed 6 Execution upper speed instruction after changing the upper speed 7 Execution d
71. anual DTECHNICA Co LTD Preface This manual describes about MKY44 MCO2A motion control function LSI for CUnet The description of this manual is based on the premise that you have already understood the overview of CUnet Be sure to read CUnet Introduction Guide before understanding this manual and the MKY44 MCOZ2A O Target Readers This manual is for e Those who use StepTechnica s MKY44 MCOZ2A to build the application used a CUnet O Prerequisites This manual assumes that you are familiar with e Network technology e Semiconductor products especially microcontrollers and memory O Related Manuals e CUnet Introduction Guide Issued by Step Technica e CUnet Technical Guide Issued by Step Technica Caution Some terms in this manual are different from those used on our website and in our product brochures The brochure uses ordinary terms to help many people in various industries understand our products Please understand technical information on HLS Family and CUnet Family based on technical documents manuals WE This manual has been prepared based on Standard English meeting the requirements of the International Organization for Standardization ISO and the American National Standards Institute ANSI This English manual is consistent with the Japanese document STD MKY44 MC02A V1 2J e Standard English is a trademark of Win Corporation TEP MKY44 MC02A User s Manual DTECHNICA Co LTD CONTENT
72. arious options memories exist independently in AX0 and AX1 the values to be set in the registers are also separate Also the various settings of STS PLC MLC PG1 and PG2 are read from the flash ROM and set as the initial values These values are the data at the last time when a instruction to save a file in the flash ROM was issued These values are separate in AXO and AX1 For more information about flash ROM and pattern memory see 1 6 Pattern Memory and File 2 26 TEP Chapter 2 How to Use MKY44 MC02A ST ECHNICA Co LTD 2 3 Commands of MKY44 MC02A This section describes the commands of MK Y44 MCO02A User applications can operate MK Y44 MC02A by issuing commands These commands are classified into commands to operate motion MC commands to operate general purpose Do pins Do commands to set data in a write protected register WR and commands to operate pattern memory PM see Table 2 9 Table 2 9 List of Commands Code Command name Instruction description clear Clear a command Quick Stop Stop immediately LFlat Constant speed with lower speed UF lat Constant speed with upper speed 1 2 Basic Instructions P Accele Acceleration M_Accele Deceleration DS Pattern Distance specification pattern movement 1 3 1 Move Instruction to Specify DS LFlat Distance specification lower speed movement Distance DS_UFlat Distance specification upper speed movement TS_Pa
73. ations ccconcccconnnccoconconncnnonananconannrnnnnarenennnrnnnnns 2 11 2 1 6 Extended CUnet Interface Optional ocoooncccnnicicnncnccccconocononoconcnnonnnnncnnnanrnnanannnnannrenananenas 2 12 2 1 7 Processing Order of ACCeSS vciccncesesisusiexccossenmsuaisenesuswestanssenansseesunnecundimensnsuaeunewadeswsanieuees 2 13 2 1 8 Warnings of Setting Mistakes of SA and DOSA ssasssnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenne 2 13 2 2 Internal Registers Of MKY44 MC02A oocooocccconcocococococonococononcononarononnnnonnnnncrnnnnrrnnnnrrrnnarernanrrrnnannns 2 14 2 2 1 Register Structure for Motion Control cccceseceeeeeseeeeeeeeeeeeeeeseeeseeeseneeeeanseesanneeseeneenees 2 15 2 2 2 Write Protected Registers sucia o a Dd A RA 2 16 2 2 3 Descriptions of Registers for Motion Control ccccccsssceeeeeseeeeseeeeeeeseeeeeneeeseeneessaneenees 2 17 2 2 3 1 Description of Register AXS eciscctsccieneissucnsrceswcenmusinduonsevensavnrensndauenwavensusnneusasawenanesdacdes 2 17 2 2 3 2 Description of Register LPC ainia ci 2 18 2 2 3 3 Description Of Register PPC incio 2 18 2 2 3 4 Description Of Register NS smart ara atinada 2 18 2 2 3 5 Description of Register COM sima ri lcd 2 19 2 2 3 6 Description Of Register TPC nicas 2 20 2 2 3 7 Description of Register RAD sassssnunsnnsnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenn n nnne 2 20 2 2 3 8 Descriptions of Registers LS and US Lcconcccccnnnciconnncccococon
74. ations to execute There is no difference in the synchronous performance of external signal synchronization and shared data synchronization see Table 1 12 Table 1 12 Synchronous Performance Target for synchronization Operation to execute Synchronous performance To start operation from stopped state Within 10 us 2 axes in 1 MK Y44 MC02A To change ongoing operation Within 500 us Each axis of other MKY44 MCxx products Within 4 ms Ss The synchronous performance of shared data synchronization with other MK Y44 MCxx products connected to CUnet refers to the time value inside MKY44 MC02A User applications may need to add time to propagate data on the network cycle time for CUnet or time related to network failure 1 7 3 Releasing Synchronization Wait State The state of MK Y44 MC02A waiting for a synchronization trigger is released when instructions other than the ready instruction of synchronization or manual operation are given When the wait state is released the SR Synchronization Ready flag returns to 0 1 29 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 8 Addressing Manual Operation This section describes addressing manual operation The rotation direction and pulse signals output by MK Y44 MC02A can be also operated manually The input pins for manual operation are shared with the D12 and Di3 pins for general purpose input and stop sensor input To perform manu
75. cifying the distance E Specification of absolute distance 1 1 600 gt Absolute distance 2 CCW gt Rotation direction 3 Execute a instruction specifying the distance E 3000 2000 1000 0 1000 2000 3000 3000 2000 1000 0 1000 2000 3000 4 4 000 Absolute distance 5 CW Rotation direction 6 Execute a instruction specifying the distance 3 4 000 gt Relative distance 4 Execute a instruction specifying the distance 3000 2000 1000 0 1000 2000 3000 3000 2000 1000 0 1000 2000 3000 Fig 1 10 Examples of Move Instructions Specifying Distance When specifying distance you need to set whether to use relative distance or absolute distance beforehand using the RADS Relative Absolute Distance Select bit of the PG2 Property Group 2 register It 1s generally recommended to select 1t at the initial setting of the system If the position reached from specifying the distance exceeds the controllable range of logical position coordinates an error will occur However in applications such as controlling a rotating system that constantly rotates in a certain direction this error 1s inappropriate Therefore you can select an option that enables over scale distance so there will be no error even 1f the position reached exceeds the controllable range of logical position coordinates It can be set with the OSE Over Scale Enable bit of the PG2 register 1 13 TEP ST ECHNICA CO LTD MKY44 MC02A U
76. cnnoncncnnnnonnnncanonanonos 3 23 Recommended Reflow Conditions ooccocccccccoccconoconcccnnnnonononanonanonas 3 23 TEP Chapter 3 MKY44 MC02A Hardware ST ECHNICA Co LTD Chapter 3 MKY44 MC02A Hardware This chapter describes the MK Y44 MC02A hardware Figure 3 1 shows a block diagram of MKY44 MC02A MKY44 MC02A has a CUnet core two axis control units and flash ROM The structure inside two axis control units is the same Each axis control unit has pattern memory and a group of registers The CUnet core and axis control unit are connected by the data of the registers MKY44 MC02A has I O signals as shown in Figure 3 1 ST44SW is designed to assist MK Y44 MC02A It reads 16 bit DIP SW and serves as a dedicated LSI for hardware setting AX1 Control Pattern Memory Flash ROM POUT N DIR AX0 Control Pattern Memory PES POUT PPCDIR gt y DIR n MHL e Wy PHL 8 PPC CUnet Core e PPCDIR Registers MHL C PHL Ana Do2 Do1 oe aia Do3 com commend aa Do2 Di3 o ea RAD Relative absoute Distance Green pa a o Crean Do0 Di1 z Orange Di0 o l Red sind Di2 Utilit ne DIO Reset ALLSTOP EEN 3 SyncTRG DIP ON XTAL4i XTAL4 0 pec yr ES Xi48 MHz DIP SW 16bit X TAL L 4MHz L 1uF Fig 3 1 Block Diagram of MKY44 MC02A 3 3 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 3 1 Pin Functions of MKY44
77. d to a pin is located at a mechanical junction input a processed signal When not using these input pins keep them open Pin D10 is shared with EZ Encoder Zero sensor input Pin Dil is shared with stop signal input Pin D12 is shared with the plus stop sensor and manual plus direction SW Pin D13 is shared with the minus stop sensor and manual minus direction SW see Table 3 5 Table 3 5 General Purpose I O Pin and Shared Functions EZ Encoder Zero sensor Stop signal input General purpose input Plus stop sensor General purpose output Axis operating signal The selection of shared pins Di3 and D12 can be set with the Di23FS bit of the PG2 Property Group 2 register The selection of shared pin D11 can be set with the DilF bit of the PG2 register There is no selection setting for shared pin D10 It recognizes the pin D10 input as the EZ sensor only when Origin Search 3 instruction is executed Therefore connect an EZ sensor to pin D10 for user applications that often use an EZ sensor 3 18 TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 6 5 General Purpose Output Do0 to Do3 MKY44 MC02A has four pins Do0 to Do3 as general purpose output pins Shared functions are attached to some of pins Do0 to Do3 for the purposes of logical inversion and control When not using shared functions for logical inversion and control write 1 in the DOP bit of the COM register and the H
78. de up of ASB and Read Data is stored in MAW1 of the answer position for MCW1 Figure 2 2 shows the state in which the MAW of ASB 0x44 and Read Data 0x5678EA is stored in MAW1 Therefore the ACB in the MCW matches the ASB in the MAW when MK Y44 MC02A completes the write process Thus the user application can confirm by an echo back that the instructed write in the register is successfully completed The following summarizes the concept of the write method described above 1 User application writes MCW to TMC 2 User application reads MAW from FMC 3 If ACB in the written MCW and ASB in the read MAW are different repeat 2 to wait for an echo back 4 If ACB and ASB are the same write operation will be completed The time until the ACB matches the ASB is the time required for write 1t 1s the same as when in read As for the MBs Memory Blocks allocating TMC and FMC there is no problem if FMC is allocated in the lower address position as when in read There are two MCWs and MAWs enabling two accesses at the same time If write is disabled in some bits in the register or if register size is less than 24 bits Write Data and Read Data may differ Therefore determine write completion not by the match of the MCW and MAW but by the match of the ACB and ASB 2 1 3 Cautions in Write Operation MK Y44 MC02A writes when the upper 2 bits of the ACB transition to a value other than 00 Therefore set the ACB at the same time as
79. des a synchronization trigger when the address data set as the trigger condition newly matches the set data For both synchronizations signals with transition interval of at least 4 ms are required for a synchronization trigger Synchronization of move instructions using the synchronization trigger is possible not only between two axes installed in MK Y44 MC02A but also with other MK Y44 MCxx products connected to CUnet see 4 Synchronization trigger in Figure 1 23 To use external signal synchronization for this purpose a hardware signal commonly connected to the device of each axis 1s required To use shared data synchronization a hardware signal commonly connected to the device of each axis is not required Also if shared data synchronization is used you can group the devices to synchronize Specifically synchronization of each group is enabled by grouping each axis in advance and setting different trigger conditions of shared data synchronization for each group in a system in which multiple MK Y44 MC02As are connected to CUnet 1 7 2 Synchronous Performance The synchronous performance to start operation from stopped state is within 10 us between two axes installed in MKY44 MC02A The synchronous performance of instruction execution that changes from active operation to another operation is within 500 us The synchronous performance with other MK Y44 MCxx products connected to CUnet is within 4 ms regardless of the oper
80. dth is less than the specified value of 32 pps The command cannot be received because the plus acceleration value of the ACC ACCeleration register is less than the settable lower limit The command cannot be received because the plus acceleration value of the ACC ACCeleration register is more than the settable upper limit The command cannot be received because the climbing time value of the ACC ACCeleration register is less than the settable lower limit The command cannot be received because the falling time value of the ACC ACCeleration register is less than the settable lower limit The command cannot be received because the minus acceleration value of the ACC ACCeleration register is less than the settable lower limit The command cannot be received because the minus acceleration value of the ACC ACCeleration register is more than the settable upper limit The data setting command to the write protected register cannot be received unless it is right after WA Write Assist write The command cannot be received because it cannot be executed while the axis is operating The command cannot be received because it cannot be executed during operation by the pattern move instruction The command cannot be received because it cannot be executed while stopped or decelerating The command cannot be received because it cannot be executed during deceleration stop suspension TEP ST ECHNICA C
81. e executed within the cycle time of CUnet the data may not match Please confirm whether the user application is suitable before executing it 3 Before the read examine the progress status of CUnet s cycle time to recognize the timing when data updates of FMC area From Motion Controller do not occur For more information about data hazards and 1 and 3 above refer to the manual for the CUnet dedicated LSI mounted in the device to execute a user application program For more information about Logical Position Coordinates LPC see 1 3 Move Instructions For more information about Physical Position Coordinates PPC see 1 5 5 Physical Position Coordinate For more information about Now Speed NS see 2 2 3 4 Description of Register NS 2 8 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 1 5 Warnings and Notifications from MKY44 MC02A Normally there is a relationship of echo back between the MCW Motion Control Word and MAW Motion Answer Word There are four exceptions to this as follows 1 Reset warning 2 CUnet line return warning 3 Error notification 4 Stop notification optional The above exceptions occur even when a user application does not set ACB Access Control Byte to the MCW or when it is waiting for echo back after setting 2 1 5 1 Reset Warning State and How to Cancel It If MK Y44 MC02A returns from reset state by power on or hardware reset MK Y44 MC02A wil
82. e user application device does not have the signal format of pulse and direction but the phase difference signal format of Phase A and Phase B it can be adjusted by adding a gate circuit see Figure 3 10 MKY44 MC02A Phase A Phase B AX0_PPCDIR Positive CW Negative CCW E E 1 Phase A Phase B R Passage of time gt PPC PPCDIR Fig 3 10 Example of Circuit Conversion from Phase Signal Format 3 17 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 3 6 3 Input Signal of Sensors Connect the signal of the origin sensor to the ORG pin of MK Y44 MC02A Connect the signal of the plus hardware limit sensor to the PHL pin Connect the signal of the minus hardware limit sensor to the MHL pin In each case connect a signal whose Low level is active If a process such as chattering elimination is required because the sensor is located at a mechanical junction input a processed signal When not using the MHL input pin PHL input pin or ORG input pin keep it open For the role of the origin sensor see 1 4 Origin Detection For the role of hardware limit sensors see 1 5 Stop Functions 3 6 4 General Purpose Input Di0 to Di3 MK Y44 MC02A has four pins D10 to D13 as general purpose input pins When pins D10 to D13 are Low level the DIM bit of the the register shows 1 If a process such as chattering elimination is required because the signal source connecte
83. e using instructions 3 Lower speed 4 Upper speed lt gt 5 Acceleration A Set No 0 data when returning from reset Fig 1 22 Pattern Memory The file saved in flash ROM will not be lost when the power of MK Y44 MC02A is OFF After the power is turned on and MK Y44 MC02A returns from the reset state it will read the file in flash ROM and set the data in all pattern memories Then the data of the number 0 pattern memory will be set to the parameters comprising the pattern 1 27 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 7 Synchronization of Operation Instructions This section describes synchronization of operation instructions The execution start of MK Y44 MC02A s basic instructions and move instructions except for the origin detection can be synchronized If MKY44 MCO2A receives a ready instruction for synchronization the SR Synchronization Ready flag will transition to 1 and it will wait for instruction execution Ifa synchronization trigger is issued at this state the instruction will be executed Figure 1 23 shows an example in which the timing of executing instructions is synchronized using two MK Y44 MC02As The synchronization trigger of 4 synchronizes three axes and the trigger of 7 synchronizes two axes Reaching the upper speed 7 Deceleration stop is completed Passage of time AX0 SR i 1 AXO Synchronizing the start of acceleration instruction linear 2
84. eceleration stop instruction after changing the lower speed Reaching the Reaching the upper speed amp upper speed y Speed A i Reaching the i lower speed Reaching the lower speed and stopping Passage of time 1 2 3 4 5 6 7 Fig 1 5 Driving by Combination of Basic Instructions Chapter 1 Functions for Motion Control TEP ST ECHNICA Co LTD 1 2 9 Errors from Combination of Basic Instructions MK Y44 MC02A defines importance in the order Stop gt Deceleration Stop gt Other instructions Therefore when it receives a Stop instruction it will stop regardless of operation status see Table 1 6 The Deceleration Stop instruction comes right next to the Stop instruction in importance While performing the deceleration an important stop process in the Deceleration Stop instruction other instructions such as Lower Speed Upper Speed Accelerate and Decelerate will not be accepted but cause an error With MKY44 MCO02A an error will occur for some combinations such as Accelerate instructions while accelerating Errors caused by x marked operations in Table 1 6 are only to notify that instructions will not be accepted They will not affect operations in execution Table 1 6 Combinations of Basic Operation Instructions While At upper speed While While decelerating by At lower speed accelerating decelerating deceleration pS ete stop
85. eives an operation start instruction when the Do3 pin is 0 This function adds the axis start condition that the Do3 pin should be 1 To enable or disable this function set the SCDo3 Start Condition with Do3 bit of the PG2 Property Group 2 register simple general purpose Do pin Also the option adding the start condition that Do3 pin should be 1 is OFF 1 33 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 9 5 Logical Inversion Function for Pins Generally the clockwise direction from an anterior view is the positive rotation direction and the counterclockwise direction is the negative direction However in user applications in which a motor is installed from the back you may want to reverse the rotation direction To address such needs MK Y44 MC02A can invert the signal logic of each of the pins shown in Table 1 15 These signal inversions can be set by the InvDo012 Invert Do012 bit InvDo3 Invert Do3 bit InvMD Invert Motion Direction bit and InvPPD Invert Physical Pulse Direction bit of the PG2 Property Group 2 register Table 1 15 Pins Settable for Logical Inversion Target function 1 Target function 2 Do0 Dol General purpose output and Do2 are set for logical inversion SAR together Axis operating signal output General purpose output Watchdog timer output Motor rotation direction Input PPCDIR Physical coordinate Up Down 1 34 TEP Chapter 1
86. en directly using the method described in 2 1 2 How to Write to Registers To set data in these registers first write the data in register WA Write Assist of register number 0x20 Then set the required data using commands For more information about these commands see 2 3 Commands of MKY44 MC02A and 2 3 3 Data Setting Commands for Write Protected Registers 2 16 Chapter 2 How to Use MKY44 MC02A 2 2 3 Descriptions of Registers for Motion Control This section describes the registers for motion control 2 2 3 1 Description of Register AXS TEP ST ECHNICA CO LTD Register AXS AXis Status shows status of the axis see Figure 2 5 Clear 0x00 can be written only in ME Motion Event showing events of axis operation start or stop The others are read only bits that show axis status see Table 2 1 EN Abbreviation 23 to 21 Motion Status Table 2 1 Description of AXS Description Bit 23 Rotation direction 1 Minus CCW Counter Clock Wise 0 Plus CW Clock Wise Bit 22 21 Status 11 Deceleration Speed Down 10 Constant speed Speed Flat 01 Acceleration Speed Up 00 Stop Stop Reference The same data as registers COM and SCom 20 to 16 Motion Event Show events like axis operation start or stop Only clear 0x00 can be written 2 5 Motion Events IS All Stop Shows the status of the all stop input pin
87. en the XTAL41 pin and the XTAL4o pin see Figure 3 1 This allows MKY44 MC02A to generate a clock within itself Connect 20 pF ceramic capacitors between these pins and Vss Place these near the pins If you want to open the XTAL4o pin and provide a generated 4 MHz clock to the XTAL4Mi pin without using a crystal oscillator provide a clock of the following specifications The rising edge and falling edge are less than or equal to 5 ns The minimum time at High level or Low level 1s greater than or equal to 45 ns The jitter 1s less than or equal to 500 ps The frequency accuracy is within 500 ppm Provide a 48 MHz clock of the following specifications to the X148 MHz pin using an oscillator or such The rising edge and falling edge are less than or equal to 20 ns The minimum time at High level or Low level is greater than or equal to 5 ns The jitter is less than or equal to 250 ps The frequency accuracy is within 500 ppm 3 4 2 Supply of Hardware Reset Signal If a Low level signal is supplied to the Reset pin pin 6 MK Y44 MC02A will perform hardware reset To reset MK Y44 MC02A properly keep the Low level when power voltage of this pin is lower than the predefined value and provide the signal maintaining the Low level for at least 200 us after the power voltage reaches the predefined voltage value If a hardware reset instruction is received from a user application MK Y44 MC02A will activate its internal reset trigger At this time t
88. es 1 2 6 Selecting Speed Transition Curve Curve Select Reserved bit 0 is shown 0 to 1023 0x000 to 0x3FF 1 2 11 Triangular Drive Prevention Peak Keep Time Setup 1 10 ms max 10 23 seconds Function If the value of Do3 Watchdog Do3W is set to 0x00 pin Do3 will Table 2 5 Factory Default Settings function as a normal general purpose Do pin of PG1 The state in which 0x000 is set in Peak Keep Time Setup PKTS is Bit DTO the OFF state of the triangular drive prevention function 23 to 16 Do3W This register 1s write protected This register can set the data shown by register WA using the PG1write instruction as long as the axis is stopped Generally it is recommended to set the values of register PG1 in an initial stage such as system startup or operation start Regarding the initialization of this register see 2 2 4 Initial Values of Registers For the factory default setting values see Table 2 5 24 bit Data 0x009000 2 23 TEP ST ECHNICA CO LTD MKY44 MCO2A User s Manual 2 2 3 14 Description of Register PG2 Register PG2 Property Group 2 can set various options see Figure 2 5 The Options corresponding to each bit of the PG2 register are shown in Table 2 6 This register is write protected This register can set the value to the data shown by register WA using the PG2write instruction as long as the axis is stopped Generally it is recom
89. es move instructions Most applications using stepping motors manage and control the number of rotations of the motors and the distance of the actuators driven by the motors For example to drive a slide table using a stepping motor positive rotation of the motor moves the table in the positive direction the same distance the motor rotates Conversely negative rotation of the motor moves the table in the negative direction the same distance the motor rotates see Figure 1 8 Negative rotation of motor Positive rotation of motor Tabl k AM A Table moves forward Fig 1 8 Driving Slide Table In such an application the signal of rotation direction output by MK Y44 MC02A moves the table in a certain direction and the pulse count output by MK Y44 MC02A corresponds to the distance of the table If an Up Down counter is set up by adding the pulse count when the rotation direction is positive CW ClockWise and subtracting the pulse count when it is negative CCW CounterClockWise the value of the Up Down counter will correspond to the coordinate of the table position see Figure 1 9 MKY44 MCO2A Stepping motor Pulse MN Rotation direction Pulse generation circuit Fig 1 9 Up Down Counter Comprising Logical Position Coordinates MKY44 MC02A has an Up Down counter that can create coordinates from the number of pulse signals output by the LSI The value of this counter 1s called Logical Position Coordinates LPC
90. fixed distance Speed Lower speed a A ee ee E Passage of time Fig 1 24 Continue Mode and Single Mode 1 30 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 8 2 Speed and Distance in Manual Operation The pulse signal speed output by MK Y44 MC02A in manual operation is the lower speed registered in number 31 0x1F of the pattern memory The distance pulse count output by MK Y44 MC02A in Single Mode is also the distance registered in number 31 of the pattern memory In user applications using manual operation it is recommended to set in advance and register the lower speed and the distance in number 31 of the pattern memory see Table 1 13 Table 1 13 Addressing Manual Operation Manual mode Operation Distance Continue to move while manual signal is Continue active Lower speed registered in number 31 of the pattern The distance registered in number 31 Start moving a fixed distance when manual memory of the pattern memory signal transitions to be active However it must be less than or equal to the upper speed value If a large value is mistakenly registered as the distance in number 31 of the pattern memory there may be undesirable effects For instance a manual signal may continue to operate for a very long time after the manual signal transitions to be active Therefore to prevent this if the distance in number 31 of the
91. forming the trapezoid is an area where the time of the upper speed period is 0 see Figure 1 14 B Although this is no longer a trapezoid but intentional triangular drive MKY44 MC02A can execute pattern move instructions specifying the distance not less than this area For example the theoretical value of distance required for pattern formation is 500 4 500 x 4 2 500 4 500 x 2 2 15 000 according to the calculation method of the graphical area when it is set that lower speed is 500 pps upper speed is 4 500 pps plus acceleration is 1 000 pps sec 10 pps 10 ms and minus acceleration is 2 000 pps sec 20 pps 10 ms B The minimum distance A Basic trapezoidal speed control Upper speed period 0 seconds Speed Speed Upper speed mms pen 4 500 pps Area The minimum distance 15 000 Passage of time __ __ 500pps Lower speed AAA I 1 1 I j 1 1 I j I j 1 I 1 4d 7y l _ _ _ i Upper speed period gt de A Acceleration Deceleration Acceleration Deceleration seconds 2 seconds C More distance than the minimum distance D When Peak Keep Time is set Upper speed period to be inserted Speed Speed 4 500 pps f Distance 24 000 The minimum distance 28 500 Passage of time 500 pps y a Passage of time gedeew we RRA ge
92. g esc nicas cess tocmnenanseneaereusnsosnteuseeeueecagasdeesneuaeusesceneasceaerene 2 31 29 MOON EV CIS ainia ai dai 2 33 2 6 Exceptional Operation dada 2 34 2 7 Operation Procedure of MKY44 MCO2A ooooccoonccocccccciocccooncconccnoncconrcnnnconnrcnnrcnanennnrnnarenanenanenane 2 35 2 7 1 Process after Power on and Return from Reset cccceeeeeseeeeeeeeeeeeeeeeeeeseeeeseesensanees 2 35 2 2 COMMING ChIP COGCS esmas ico 2 35 2 7 3 Initializing the Registers for Motion Control of Each AXiS cccccssseeessseeeeeeeeseeeneesees 2 36 2 7 4 Initializing the Application Device occocccocncocococccoocncoconenaconnnconaronancnnanennnenarennnrnnnrenarenannnnans 2 36 2 1 9 Normal ODC CANON sicasccaces ces enscvescstnncancscaseseuesicceptavinncsanceenesnsaceansapneseresesieasaesanariieseneneidacsnaaies 2 36 200 130 A A o E o en E ORTAS NEANS 2 36 2 8 Addressing CUnet Mail FunctiON ooccconnncccncnnicnccncconcnccnnnanonnnnnronnnnronnnnnrrnnnnrrrnnnrrrnannrrnanarenanans 2 37 Chapter 3 MKY44 MC02A Hardware 3 1 Pin Functions of MIR YA44 MC 02sec isscaccectenestsxereudanacenannecsusteeusenmonunsessisednesmacamencauscanavnutameasedwenedes 3 4 3 2 Electrical Ratings of PINS pinamar a iia mn 3 6 33 PUNY PRS SIGIINIO UIE ario 3 8 3 4 Connection of Basic I O Signals isidecucsccdiccctexsetuncrecucsnedenenccassvnuwecauennsnesdocsimasandscaneuctduseauanusduesmenesss 3 9 3 4 1 Supply of Drive Cl ae et or oi 3 9 3 4 2 Supply of Hardware Re
93. g hardware by hexadecimal setting specifications Regarding hardware setting see 3 4 3 Connection of Signal for Hardware Setting Hexadecimal Setting Specifications In bytes 0x0C to OxOF 0x00 is shown Identity Code composed of bytes 0x00 to 0x07s is the center of the product type inquiry function via CUnet mail By referring to Identity Code you can search for what device with what function exists in which address Also from the hardware setting of bytes Ox0A and 0x0B you can understand the operation handling of the functional unit to some extent 2 37 Chapter 3 MKY44 MC02A Hardware This chapter describes the MK Y44 MC02A hardware 3 1 3 2 3 3 3 4 3 9 3 6 3 7 3 8 3 9 3 10 3 11 Pin Functions of MKY44 MC02A 0ooccooccoccconoconocoocccocncocnronanonaronarnnannnnanos 3 4 Electrical Ratings of PINS oonccoccconccocococcnonnnonanonnncnnnnonnnennnonanenanenancnannn 3 6 PUT PAS SI IOI asia tios o 3 8 Connection of Basic I O Signals cccccesseeeeeeeeeeeeeeeeeeeeneeeneseeeseeeees 3 9 Connection of CUnet related I O Signals cooncocncccnnicnniccncncnnonar 3 12 I O Signal of Axis Control Unit oocoonccnnciocnniccncocaconaconanonnrnnancnannnnanonns 3 15 Example of Connection Circuit ccccccceseceeeceneeeeeeeeseneeeeseeesenesenees 3 20 Elec rIcal RANGS narraciones 3 21 PACKAGE DIMENSIONS issisaircarcinia acercas denotan 3 22 Recommended Soldering Conditions cccocccccnno
94. g state CUnet line return warning state and stop notification state Therefore it is recommended to adopt an algorithm that can address warnings and notifications by regularly checking the ASB of the MAW even while not issuing any instructions to MK Y44 MC02A Also you may receive warnings and notifications from MK Y44 MC02A even while waiting for echo back after setting the ACB to the MCW so that user application can access the registers Therefore you need to adjust the basic procedure described in 2 1 1 How to Read Registers and 2 1 2 How to Write to Registers as 3 that says 3 If ACB in the written MCW and ASB in the read MAW are different repeat 2 to wait for an echo back To address the user application adjust the procedure as follows 3 If ACB in the written MCW and ASB in the read MAW are different repeat 2 to wait for an echo back If ASB of MAW shows an error or a warning stop the access underway and transition to processes for recovering from an error or releasing a notification such as suitable for the user application 2 11 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 2 1 6 Extended CUnet Interface Optional Global memory composed of 64 memory blocks In the normal MK Y44 MC0O2A the CUnet GM interface is composed of a TMC area To Motion area To Motion Controller TMC Controller of one memory block size and a FMC area From Motion Controller of one memory block seize It can use
95. h the reset state due to power on off etc In some user applications it is possible to execute origin search to determine the proper logical coordinate 0 after temporarily setting the logical coordinate to a certain value LSS Y Caution After MKY44 MC02A goes though the reset state the logical coordinate inside MKY44 MC02A may not match the coordinate of the user equipment In the effort to align the logical coordinate inside MK Y44 MC02A and the coordinate of user equipment if the origin search instruction is used without knowing the coordinate of user equipment the direction to start operation or the distance may become inappropriate Make sure you understand the operation of the origin search instruction and execute operation using proper procedure to match the application 1 23 TEP DTECHNICA CO LTD MKY44 MCO2A User s Manual 1 5 Stop Functions This section describes various stop functions MKY44 MCO2A has various stop functions including the function to stop when a signal is input externally and the function to stop when there 1s a problem with the network as well as stop instructions and deceleration stop instructions see Figure 1 20 Some of these functions stops by stop types selecting immediate stop or deceleration stop that can be set for each axis AXO Logical position coordinates LPC nnnnn see 4000 3000 2000 1000 0 1000 2000 3000 4000 nnnnn coordinates PPC nannnn ttt 4000 30
96. hall not issue these codes 2 3 1 Commands to Control Motion The command codes from 0x01 to 0x11 are for motion control Among these codes from 0x02 to Ox0F may require parameters MK Y44 MC02A uses the data set in each register as parameters at the point when these commands are issued Therefore set necessary parameters before issuing commands 2 3 2 Commands to Set Data in General Purpose Output Pins The command code 0x12 is a DoWrite command that operates general purpose output pins Do0 to Do3 To issue this command write the data to set to the Do pins in the DOP Data Out port bits of register COM bits 7 to 4 at the same time If the Do3 Watchdog Do3W value of the PG1 Property Group 1 register is set as 0x00 pin Do3 will function as a normal general purpose Do pin Thus the Do3 bit data in the 4 bit data to output to the general purpose Do pins can be written to pin Do3 When the Do3 Watchdog Do3W value of the PG register is set otherwise than as 0x00 you cannot write 0 in the bit of pin Do3 if pin Do3 is 1 and the axis is still operating You can write 0 when the axis is stopped The status of the axis can be referred to by the MS Motion Status bit of the AXS COM and SCom registers For more information about the Do3 Watchdog see 1 9 4 Do3 Watchdog Timer Function If the axis operating signal is selected as the signal to output to pin Do2 by the Do2F
97. he Reset pin temporarily outputs a Low level signal The internal equivalent circuit is open drain output see Figure 3 2 C The time for outputting this Low level is within 1 us Therefore for external parts to connect to this pin select one in open drain format that can configure a wired OR of the Low level Accordingly it is recommended to connect a reset LSI of voltage detection type that can operate when the power voltage is reduced to this pin Connect a reset LSI whose output is either open drain type or open collector type and that has a time limit function of at least 200 us SS Make sure that hardware reset becomes active right after power activation of MKY44 MC02A MKY44 MCO02A may be reset when a Low level pulse of 200 us or less is input to this pin Make sure to prevent input of unintended Low level pulses from external noise etc 3 9 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 3 4 3 Connection of Signal for Hardware Setting Hexadecimal Setting Specifications When returning from hardware reset MK Y44 MKYA4 MCO2A MC02A reads 16 bits of DIP SW data for i ST44SW hardware setting as serial data from the reek lt dedicated LSI ST44SW i Rpd To the DIP_ON pin of ST44SW connect the adi output signal of the DIP ON pin of MKY44 MC02A pulled down by 10 kQ resistance Power supply To the DIP RX pin of MKY44 MC02A unit shared with DIP SW1 HOPT1 HOPTO DOSAS5 DOSA4 DOSA3 DOSA2 DOSA1 3 3 V
98. his pin retains the High level while the DONA DO Not Arrival state continues It is in Low level in other cases SyncTRG X148MHz Negative Positive An input pin of the synchronization trigger signal MK Y44 MC02A recognizes the time when this pin transitions to the Low level from High level as a synchronization trigger An input pin to supply the clock that drives the CUnet core of MK Y44 MC02A Connect the generated 48 MHz clock to this pin PING Negative A pin to output the PING signal which is a standard function of CUnet When the PING signal occurs this pin transitions to Low level CYCT Negative A pin to output the CYCT signal which is a standard function of CUnet When the CYCT signal occurs this pin transitions to Low level FALLSTOP Negative An input pin for the all stop signal MK Y44 MC02A recognizes that the all stop signal is active while this pin is in Low level Negative A pin to output the MCARE signal which is a standard function of CUnet This pin outputs the Low level for about 50 ms when the MCARE signal occurs and when it returns from hardware reset This pin may also output the Low level when indicating hardware errors including setting mistakes For details see 3 5 2 Connection and Displayed States of LED Indicator Pins LCARE Negative A pin to output the LCARE signal which is a standard function of CUnet This pin outputs the Low level for abou
99. http www steptechnica com info steptechnica com Motion control function LSI for CUnet MKY44 MCO2A User s Manual Document No STD MKY44 MC02A V1 2E Issued November 2012
100. igh level will be output to pins Do0 to Do3 After hardware reset the DOP bits of registers are all 0 Pin Do2 is shared with the output of the axis operating signal see Table 3 5 For details on the function of pin Do2 see 3 6 1 Connection of Motion Control Output Signals and 1 9 3 Output Signal Indicating Axis Operating The selection of shared pin Do2 can be set with the Do2FS bit of the PG2 Property Group 2 register The output level of pins Do0 Dol and Do2 can be inverted relative to the internal logic definitions This can be set with the InvDo012 bit of the PG2 register When issuing the patternSave 0x1 F command to the COM register after setting inversion the initial state after hardware reset will become High level Pin Do3 can be used as a watchdog timer For the details of the function of pin Do3 see 3 6 1 Connection of Motion Control Output Signals and 1 9 4 Do3 Watchdog Timer Function The output level of pin Do3 can be inverted relative to the internal logic definition This can be set with the InvDo3 bit of the PG2 register When issuing the patternSave 0x1 F command to the COM register after setting inversion the initial state after hardware reset will become High level Output pins Do0 to Do3 are in a high impedance state during hardware reset of MK Y44 MC02A see Figure 3 2 Type B Therefore connect to the pins either pull down resistance or pull up resistance that can ensure the initia
101. iously can be used again if changes are not necessary The parameters of lower speed upper speed and acceleration can be rewritten to prepare for the next instruction even during instruction execution Reference E When Deceleration Stop is selected as the stop style for MK Y44 MC02A rewriting the parameters of lower RA speed and acceleration is disabled during operation In such a case if the lower speed parameter is rewritten mistakenly an error showing that it is disabled will occur For more information about stop type see 1 5 Stop Functions 1 4 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 2 2 Settable Speed Table 1 3 Speed Range and MKY44 MC02A has three speed ranges as shown in Table 1 3 Corresponding Speed The speed range should be selected while the axis is stopped It is Speed range Corresponding speed generally recommended to select it at the initial setting of the system 160 pps to 12 5 kpps 40 pps to 10 0 kpps The parameters of lower speed and upper speed can be set flexibly in units of 1 pps within the selected range 10 pps to 2 5 kpps MK Y44 MC02A doesn t have the concept of magnification commonly seen in 1 chip type pulse generator LSIs For example when the speed range from 160 pps to 12 5 kpps is selected the lower speed can be set as 234 pps and the upper speed can be set as 8 765 pps This is useful for speed specification avoiding mechanic
102. irming that MK Y44 MC072A is in the reset warning state For the details on the reset warning state see 2 1 5 1 Reset Warning State and How to Cancel It If the option described in 2 1 6 Extended CUnet Interface Optional is selected all MAWs as described in 2 1 5 1 Reset Warning State and How to Cancel It and 2 1 5 2 CUnet Line Return Warning and How to Cancel It represents four MAWs MAWO to MAW3 Likewise all MCWs represents four MCWs MCWO to MCW3 Therefore the user application should prepare 16 bytes of cancel codes to cancel them 2 7 2 Confirming Chip Codes Read CC Chip Code from MK Y44 MC02A and confirm if it is normal If the operation of the user application program differs by version number make sure for it By performing read access to registers number 0x21 to 0x24 one can confirm CC Chip Code as the little endian ASCII string MK Y44 MC02Ann see Figure 2 4 The chip code is MK Y44 MC02A and the value of last two digits represents the version number 2 35 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 2 3 Initializing the Registers for Motion Control of Each Axis For the initial values of the registers for motion control which are initialized after return from reset see 2 2 4 Initial Values of Registers If the user applications use these values as initial values no operation will be necessary in this step If the user application must cha
103. ith little distance 5 in Figure 1 15 is a example of this case 1 When the speed transition width of lower speed and upper speed is less than 32 pps 2 When the required time for acceleration or deceleration is less than or equal to 8 ms Turn ON OFF the pattern reduction function using the PRE Pattern Reduction Enable bit of the PG2 Property Group 2 register 1 19 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 3 9 Usage Specifying Only Distance Auto Start Enable ASE function is one of the optional settings for MK Y44 MC02A If this function 1s selected and the user application sets relative distance or absolute distance the distance specification pattern movement DS Pattern instruction will be started simultaneously Similarly if the user application sets target position coordinate target specification pattern movement IS Pattern will be started simultaneously see Table 1 9 Table 1 9 Auto Start Enable Function Parameter that triggers instruction execution Instruction starting automatically Relative distance Absolute distance Target position coordinate Instruction Name Distance movement Target specification TS Patten pattern movement An error will occur 1f this auto start enable option is selected and the speed parameter is inappropriate By turning on the parameter auto correction function one can often avoid errors For the details of the parame
104. its bits 23 to 14 0 1s shown 2 18 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 2 3 5 Description of Register COM Register COM Command is a register to instruction the axis see Figure 2 5 For details on instructions see 2 3 Commands of MKY44 MC02A This register also specifies pattern numbers to operate pattern memories and sets data to output to the general purpose Do pins Regarding the operation of pattern memory see 2 3 4 Operation Commands of Pattern Memory Regarding writing data to output to general purpose output pins see 2 3 2 Commands to Set Data in General Purpose Output Pins The bits other than Command Pattern Number and DOP3 to DOPO are read only bits that show axis status see Table 2 2 MS AS SR TPS and DIM3 to DIMO have the same data as registers AXS and SCom Table 2 2 Description of COM Description Reference Bit 23 Rotation direction 1 Minus CCW Counter Clock Wise 0 Plus CW Clock Wise Bit 22 21 Status 11 Deceleration Speed Down 10 Constant speed Speed Flat 01 Acceleration Speed Up 00 Stop Stop Abbreviation The same data as registers AXM 23 to 21 and SCom Motion Status 20 to 16 Command Bits to write instructions 2 3 Commands of MKY44 MC02A 15 All Stop Shows status of all stop input pin O non 1 Reaction 1 5 Stop Functions 14 Synchronization Ready
105. l Position Coordinates PPC are 8 388 608 to 8 388 607 0x800000 to OxX7FFFFF MKY44 MCO2A Stepping motor Pulse generation circuit Driver Rotation direction Pulse l Signals from encoders etc Fig 1 21 Up Down Counter Comprising Physical Position Coordinates 1 5 6 Stop Setting Using Limit Coordinates MKY44 MC02A has a register to set limit coordinates for both the plus and the minus sides If the coordinate becomes greater than or equal to the limit coordinate of plus side while the axis is operating towards the positive direction the stop by the limit coordinate of the plus side will function Similarly if the coordinate becomes less than or equal to the limit coordinate of the minus side while the axis is operating towards the negative direction the stop by the limit coordinate of the minus side will function Enabling disabling of stop using limit coordinates can be set using the LCE Limit Coordinates Enable bit of the PG2 Property Group 2 register Also using the LCLPPP Limit Coordinates LP PP bit of the PG2 register you can set whether to compare limit coordinates with Logical Position Coordinates LPC or Physical Position Coordinates PPC If stop using limit coordinates 1s enabled and an operation start instruction is received when a limit coordinate has been exceeded an error saying that 1t will not receive instructions will occur is set to be compared with limit coordinates Even if i
106. l intervals corresponding to the upper speed Ne peek Change the pulse output speed from the lower speed to the upper speed if stopped or from the current speed to the upper speed if during operation Decelerate Change the pulse output speed from the current speed to the lower speed SUOTIONSUI o1seg Stop pulse output after changing the pulse output speed from the current speed to the lower Deceleration Stop speed Output pulse of specified distance by changing the speed from stop to acceleration constant upper speed and deceleration stop Distance specification pattern DS Pattern movement E Output pulse at equal intervals corresponding to the lower speed equivalent to the specified distance Distance specification DS LFlat lower speed movement Output pulse at equal intervals corresponding to the upper speed equivalent to the specified distance Distance specification DS_UFlat upper speed movement Output pulse to the target position coordinate by changing the speed from stop to acceleration constant upper speed and deceleration stop Target specification pattern TS Pattern movement SE Output pulse at equal intervals corresponding to the lower speed The number of pulses output is equivalent to the distance to the target position coordinate Target specification lower speed movement SUOTIONSUI SAOJA TS LFlat Output pulse at equal intervals corresponding to the upper speed The
107. l levels suitable for the user application device When not using these output pins keep them open 3 19 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 3 7 Example of Connection Circuit Figure 3 11 shows an example of a circuit connected as described in this section The ST44SW shown in the figure has hexadecimal setting specifications AXO To the driver of axis ll DIR From the encoder of axis dlls PPCDIR From the sensor of axis Origin ORG Hard limit PHL Hard limit MHL Watchdog timer output Do3 Axis operating signal output Do2 Do1 Do0 Stop sensor manual negative Di3 Stop sensor manual positive Di2 Stop signal Di1 EZ sensor DiO Common to AXO and AX1 All stop Synchronization trigger To the driver of axis POUT DIR From the encoder of axis PEE PPCDIR From the sensor of axis Origin ORG Hard limit PHL Hard limit MHL Watchdog timer output Do3 Axis operating signal output Do2 Do1 Do0 Di3 Di2 Di1 Di0 Stop sensor manual negative Stop sensor manual positive Stop signal EZ sensor Equivalent to ADM3078E LSI driven at 3 3 V MKY44 MCO2A One twisted pair cables with impedance of 100 Q AXO_POUT AXO_DIR Rt 100 Q AXO PPC CU_RXD AXO_PPCDIR Rd Npe O AX0_ORG HAXO_PHL A HAXO_MHL DONA MON AXO_Do2 AXO_Do1 AXO_Do0 Utility output of CUnet system Y AX0_Di3 Crysta
108. l not occur when the function described in 1 2 5 Parameter Auto Correction Function is on the acceleration will be forced so that the required time for speed transition is 80 ms 1 5 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 2 4 Setting Acceleration Required Time Format The time to transition between the upper Speed Speed transition width Upper speed Lower speed speed and the lower speed 1 e the required Upper speed F 3 climbing time acceleration and falling time deceleration can be used as a format for setting acceleration see Figure 1 2 In the Lower speed AR factory default setting rate format 1s selected Lu Passage of time instead of required time format To use values in the required time format set the ARTS Acceleration Rate Time Select bit of the PG2 Property Group 2 register Climbing time acceleration Falling time deceleration Fig 1 2 Method of Setting the Required Time In this setting values with units of 10 ms are set For example set 100 for 1 second and set 1 000 for 10 seconds Plus acceleration and minus acceleration can be set individually just like the standard method The values that can be set regardless of upper speed are 8 to 4 095 0 08 seconds to 40 95 seconds To illustrate this method settings where the transition width is 8 kpps or 12 34 kpps are shown in Table 1 5 This set
109. l oscillator OSP533 48 MHz AX0_Di2 4 33V A AX0_Dit 3 AX0_Di0 H 104 cu 20 PF 2 XTAL4i r r 7 7 E 20pF X tal 4MHz XTAL40 SISI pa 141 Voltage detection reset IC SyncTRG 3 3 V aN 10 KQ 104 Open collector type with time d Out limit of at least 200 us VSS Z 5 6 V 441 Noise protection AX1_POUT 7 7 AX1_DIR ST44SW DIP_RX DIP_TX 4p17 b AX1_PPC DIP_ON DIP_ON ypig b22 AX1_PPCDIR 4p15 b gt DEC1uF HMODE s544 30 HAX1_ORG DEC1uF jp 13 b 22 A HAX1_PHL T T EE 28 AX1_MHL Ean 27 P10 DIP SW1 HOPT1 HOPTO DOSA5 DOSA4 DOSA3 DOSA2 DOSA1 DOSAO AX1_Do3 AX1_Do2 P07 21 AX1_Do1 P06 20 AX1_Do0 P05 fp P04 18 AX1_Di3 47 uF P03 17 A AX1_Di2 Power supply unit roe 16 A AX1_Dit p01 15 AX1_Di0 P00 14 BPS1 BPSO SA5 SA4 SA3 SA2 SA1 SAO DIP Swo 717 717 Cs Laminated ceramic 2 2 uF Fig 3 11 Example of MKY44 MC02A Circuit Connection 3 20 TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 8 Electrical Ratings Table 3 6 lists the absolute maximum ratings of the MK Y44 MC02A Table 3 6 Absolute Maximum Ratings Ta 25 C Vss 0 V Parameter Power supply voltage 0 3 to 4 6 Input voltage Vss 0 3 to 3 6 Output voltage Vss 0 3 to 3 6 Peak output current 10 Total output current of all pins 60 Allowable power dissipation Ta 85 C 240 Operating temperature 40 to 85 Storage temperature 55 to 125
110. l position coordinates 0x000000 Physical Position Coordinates Physical position coordinates Ox000000 Now Speed Current speed 0x000000 COMmand Operation instruction Pattern Number General purpose Do 0x000000 Target Position Coordinates Target position coordinates Relative Absolute Distance Distance Lower Speed The data of pattern memory No 0 corresponding to the axis read from the flash ROM is set as the initial value Lower speed Upper Speed Upper speed ACCeleration Acceleration Synchronization Command Synchronization command 0x000000 Synchronization Trigger Setup Synchronization trigger condition Plus Limit Coordinates Plus limit coordinates Minus Limit Coordinates Minus limit coordinates The setting when a instruction to save a file in the flash ROM was issued is read from the flash ROM Speed range and set as the initial value Speed transition curve Peak Keep Time Do3 watchdog timer Property Group 1 Property Group 2 Write Assist Assist data 0x000000 The value of registers TPC RAD LS US ACC which are parameters directly necessary for axis operation are read into the pattern memory corresponding to the axis from the flash ROM installed in MK Y44 MC02A Then the No 0 data of the pattern memory corresponding to the axis 1s set as the initial value Since the pattern Selection of v
111. l set Ox3F in the entire area of all MAWs This notifies the user application that it has just returned from a rest This is called reset warning state MK Y44 MC02A maintains the reset warning state until the entire area of all MCWs becomes 0x3F If MKY44 MCO02A recognizes that the entire area of all MCWs is set Ox3F it will set the ASB Answer Status Byte of all MAWs to 0x00 and transition to the state showing the AXS Axis Status register of AXO In this way user applications using MK Y44 MC02A needs to cancel the reset warning state when starting the system Also after canceling the reset warning state the user applications can use MK Y44 MC02A based on normal register access 2 6 Exceptional Operation 2 9 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 2 1 5 2 CUnet Line Return Warning and How to Cancel It If a once opened CUnet line is disconnected and later recovers MK Y44 MC02A will set the entire area of all MAWs Motion Answer Words to Ox3E and indicate the recovery of the line This is called the CUnet line return warning state This state occurs only when all the memory sharing targets cease to exist from the viewpoint of MK Y44 MCO02A that is upon return after CUnet says Station Not Found For example it will occur if only the communication line of MK Y44 MC02A is disconnected and later connected again e g in hot swap when three or more CUnet devices are
112. lect bit Di23FS D12 3 Function Select bit and Do2FS Do2 Function Select bit of the PG2 Property Group 2 register The factory default settings are general purpose input and general purpose output Table 1 14 General Purpose I O Pins and Convertible Functions Function 1 Function 2 Function 3 EZ Encoder Zero sensor Stop signal input General purpose input Plus stop sensor Manual positive direction SW Minus stop sensor Manual negative direction SW General purpose output Axis operation signal Watchdog timer output 1 9 3 Output Signal Indicating Axis Operating An axis operating signal can be output to the general purpose output pin Do2 The signal shows 0 when the axis is stopped and 1 when it is operating To use this function set the Do2FS Do2 Function Select bit of the PG2 register The pulse output signal will not transition in the 20 us before and after transition of this signal If axis operating signal is selected the Do2 bit data of 4 bit data that is output to the general purpose Do pin will not be written to the Do2 pin 1 32 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 9 4 Do3 Watchdog Timer Function Some user applications may continue to supply electric current maintain excitation to a stopped stepping motor If it is neglected like this for a long time the motor can be overheated unnecessarily In such a
113. me format see 1 2 4 Setting Acceleration Required Time Format The value of this register can be changed at any time However only if the axis is operating when the STS Stop Type Select bit of the PG2 Property Group 2 register is 1 the ACC register will be write protected and cannot be changed This will guarantee operation when deceleration stop is suddenly issued by a limit sensor or such The value of this register will be checked when MK Y44 MCO72A receives an axis operation instruction If the check result is not appropriate an error will occur This register is subject to the parameter auto correction function By selecting the parameter auto correction function you can avoid or reduce errors in this register setting For details on the parameter auto correction function see 1 2 5 Parameter Auto Correction Function 2 21 TEP ST ECHNICA CO LTD MKY44 MCO2A User s Manual 2 2 3 10 Description of Register SCom Register SCom Synchronization Command sets synchronization commands see Figure 2 5 The command to synchronize is written in the SCom bits When synchronization becomes ready SR Synchronization Ready has 1 For the details of synchronization instructions SCom see 2 3 5 Synchronization Commands Other bits are read only Table 2 3 MS AS SR TPS DOM3 to DOMO and DIM3 to DIMO have the same data as registers AXS and COM PN is the same as register COM Table 2 3 Description of
114. mended to set the values of register PG2 in an initial stage such as system startup or operation start Regarding the initialization of this register see 2 2 4 Initial Values of Registers For the factory default setting values see Table 2 7 Table 2 6 Settings of PG2 Parameter automatic correction function Parameter Auto Correction Pattern reduction Pattern Reduction Enable Stop notification function Stop Notification Disable Enable 0 OFF ON 1 2 5 Parameter Auto Correction Function 1 3 8 Pattern Reduction Function 2 1 5 4 Stop Notification Optional Rotation direction signal logical invert Invert Motion Direction Normal Invert 1 9 5 Logical Inversion Function for Pins InvPPD Physical coordinate direction input logical invert Invert Physical Pulse Direction Normal Invert 1 9 5 Logical Inversion Function for Pins Automatic start enable Auto Start Enable Overscale enable OverScale Enable Disable Enable Disable Enable 1 3 9 Usage Specifying Only Distance 1 3 1 Move Instruction to Specify Distance Do3 start condition Start Condition with Do3 Stop type Stop Type Select 0 Normal with Do3 0 Stop immediately Deceleration stop 1 9 4 Do3 Watchdog Timer Function 1 5 Stop Functions Synchronization type selection Sync Type Shared data synchronization External signal synchronization 1 7 1
115. mmediate stop is selected the stop position may slightly exceed the limit coordinate because of the distance and the speed 1 26 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 6 Pattern Memory and File MK Y44 MC02A has static RAM inside The following set of parameters that comprise a pattern can be saved in this static RAM for up to 32 sets per axis 64 sets for two axes in total 1 Target position coordinate For MKY44 MC02A this memory is called 2 Distance pattern memory Pattern memories are 3 Lower speed numbered as 0 to 31 0x00 to 0x1F Using 4 Upper speed these numbers a set of parameters can be read 5 Acceleration plus acceleration and minus acceleration and the contents can be updated MK Y44 MC02A also has flash ROM Only when two axes are stopped pattern memories for two axes can be saved in flash ROM as one file by giving instructions to MK Y44 MC02A see Figure 1 22 Parameters comprising the pattern of 1st axis Pattern memory 1 Target position coordinate Read and update 2 Distance using instructions 3 Lower speed 4 Upper speed gt 5 Acceleration A Flash ROM Set No 0 data when returning from reset Save using instructions Parameters comprising the pattern of 2nd axis Read the file when returning from reset and set the data in all pattern memories 1 Target position coordinate Read and update 2 Distanc
116. nction is selected because the transition width is too narrow However when the speed transition width is less than 32 in pattern move instructions described later an error will not occur if parameter auto correction function is selected This is because the operation will be corrected automatically to the move instruction without speed transition by lower speed Turn ON or OFF the parameter auto correction function using the PAC Parameter Auto Correction bit of the PG2 Property Group 2 register For details on error codes see 2 4 Errors and Error Notification The parameter auto correction function is ON in the factory default setting 1 2 6 Selecting Speed Transition Curve In MK Y44 MC02A a straight line or S curve can be selected for the speed transition of acceleration and deceleration see Figure 1 3 The speed transition curve needs to be selected while stopped It is generally recommended to select it at the initial setting of the system In MKY44 MC02A it is not possible to set acceleration and deceleration differently e g straight line for acceleration and S curve for deceleration Set the speed transition using the CS Curve Select bit of the PG1 Property Group 1 register Speed Linear Speed S curve Passage of time Fig 1 3 Curve Selection 1 7 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 2 7 256 Levels of Speed Transition The speed change between upper speed
117. nect the minus hard limit sensor signal of AXO MKY44 MC02A F recognizes that the sensor is active when the Low level is input to this pin AX1 ORG e An input pin to connect the origin sensor signal of AXI MKY44 MC02A recognizes that the sensor is active when the Low level is input to this pin AX1 PHL Messe An input pin to connect the plus hard limit sensor signal of AXI MKY44 MC02A recognizes that the sensor is active when the Low level is input to this pin AX1 MHL e An input pin to connect the minus hard limit sensor signal of AX1 MKY44 MC02A HAXO Di0 to HAXO_Di3 27 to 30 Negative recognizes that the sensor is active when the Low level is input to this pin General purpose input pins of AX0 When the Low level is input to this pin 1 is shown in DIM bit in the register AX0 Do0 to AX0 Do3 31 to 34 Positive General purpose output pin bits of AX0 If the option to assign to the output of logical inversion or other functions is not set this pin will output the High level when 1 is set in the DOP bit of the COM register AX0 PPC Positive A clock input pin to count the PPC Physical Position Coordinates of AX0 PPC is counted when this pin transitions from Low level to High level AX1_PPC Positive A clock input pin to count the PPC Physical Position Coordinates of AX1 PPC is counted when this pin transitions from Low level to High level AX0_PPCDIR AX1_PPCDIR 38
118. nge these values set the initial values Regarding writing of registers see 2 2 1 Register Structure for Motion Control and 2 2 2 Write Protected Registers 2 4 Initializing the Application Device The functions for motion control of MK Y44 MC02A such as setting parameters to instruct operation or calling a pattern from pattern memory to instruct operation can be used from this step If you need initializing operation that 1s unique to the application device such as finding the origin and moving the arm to the origin 1t is recommended to execute this step For some applications the initialization of the coordinate system in MK Y44 MC02A can be done only in this step Execute initializing operation suitable for the user application If an error or a warning occurs along the way execute a process suitable for the application according to the process described in 2 1 5 Warnings and Notifications from MKY44 MC02A 2 5 Normal Operation Access the registers for motion control and perform normal operation suitable for the user application by setting parameters to instruct operation or calling patterns from pattern memory to instruct operation If an error or a warning occurs along the way execute a process suitable for the application according to the process described in 2 1 5 Warnings and Notifications from MKY44 MC02A 2 6 Exit Operation The values of LPC Logical Position Coordinates and P
119. nnccconncccconanococoncnnnnnronnnaronnnaronnnnrrrnnnnrnnnnas 1 23 Sensors and Signals of Stop SySteMinscnioniiimananntoaiai ii ii 1 24 Up Down Counter Comprising Physical Position Coordinates ccssccssseeeeeeeeeeeees 1 26 A E E EE a 1 27 Example of Operation Instruction sassassnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen 1 28 Continue Mode and Single MOde cccccssseeeeeseeeeeeeeeeeeseeseeseeseeeseseeeneeeeaeneseeenenseaneeseneeess 1 30 TIMING O DONA si E 1 35 UST IMAGE minar 2 4 HOW LO NG insistir eta 2 6 Extended INterra Osses iii ice aar aE dRaad Aaa rinib recien 2 12 Register Numbers and Registers saimsisnmicaa iio 2 14 Register Structure for Motion Control cccccessseceseeeeeeeeeeeeeeeeeeseaneeseeneesenneesseenesseeneeseanes 2 15 Data Format of Remote ROS CU osicicvscionctisvecoseiccuieiaucccevetonncncudanauctsevaucarsnendsiouecudvasboxcueedseoustains 2 34 Block Diagram of MKY44 MCOZA invariantes 3 3 Pin electrical characteristics in I O circuit types of MKY44 MCO2A ssseesssseeseeenees 3 7 Signal Assignment of MKY44 MCO2A PiDS ooocccocccccoccccocnnononnncnccnnnanonnnnncnnnnnrnnnnnronnnrennanennnas 3 8 Connection of DIP SW and Read Only LSI Hexadecimal Setting Specifications 3 10 Connection of DIP SW and Read only LSI Decimal Setting Specifications 3 11 Recommended Network Connection ooocccconcccconcncccnnccononanononano
120. nnnanronnnnrennnnnroranareranarernanarenanas 3 12 Example Output Circuit to Ensure Initial Low level oooccconcconcconocccnccccncncnrcnncnnnronannos 3 15 Motion Control Output Signal of Positive Negative Rotation cccccsssesssseeeeeseeenenees 3 16 Example of Circuit Conversion for CW and CCW Pulse Format c ccssscsseseeseeeeeeeeees 3 16 Example of Circuit Conversion from Phase Signal Format cc ssscsesseeesssseeseneeenenees 3 17 Example of MKY44 MC02A Circuit COnNectiON ooncconccccncocncccnconoconancnnnccnnrnnnnronnrnnnronarenancnns 3 20 TEP ST ECHNICA CO LTD Table 1 1 Table 1 2 Table 1 3 Table 1 4 Table 1 5 Table 1 6 Table 1 7 Table 1 8 Table 1 9 Table 1 10 Table 1 11 Table 1 12 Table 1 13 Table 1 14 Table 1 15 Table 1 16 Table 2 1 Table 2 2 Table 2 3 Table 2 4 Table 2 5 Table 2 6 Table 2 7 Table 2 8 Table 2 9 Table 2 10 Table 2 11 Table 2 12 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 3 6 Table 3 7 MKY44 MC02A User s Manual Tables MOVE INSTITUCION S asesinos cido 1 3 Parameters Required for Basic INStructiONS oocconccconnniccnncccnnoconnncnnnccnnnrennnnonnarenannnnnnrennns 1 4 Speed Range and Corresponding Speed onccconnccocnciccncccnncccnnccnnnnccnnanonnnronnnronanrnnnarernnnenanass 1 5 A o e 1 5 Example of Setting Acceleration Using Required Time Format ccsscessseeseeeeeeee 1 6 Combinations of Basic Operation
121. nnnrnnnrrnnrrnanenos 1 8 Driving by Combination of Basic Instructions ocooncccconiciconcnncconanocnnancnnnnnnonnnnronnnaronnnnnrnnannnos 1 8 Examples of Intentional Triangular Drive ooccconnnciccnnnncconcnnccocanoconarononaronennncnnnnarornnarerrnanennnnns 1 10 Triangular Drive Prevention with Peak Keep Time ccccccecseeeeeeeeeeseeeeeeeeeeeneeeeeeesenensaes 1 10 DIVINO Ide Table srine ec rra 1 12 Up Down Counter Comprising Logical Position CoordinatesS oooccconncccnnicocnccncanconanonnnnos 1 12 Examples of Move Instructions Specifying Distance ccccccssseeeeeseeseeeeeeeeeeeeeeeneenenees 1 13 Examples of Move Instructions Specifying Target cccccssseecssseeseeseeseeeeeseeseeeeeeeeessnees 1 14 Move Instructions to Maintain Constant Speed cccccceeeceeeeeeeeeneeeeeeeeneseeeeeeeeseneeeneees 1 16 Trapezoidal Speed Control iii idas 1 17 Relationships between Distance and Patterns occocccononcncncccoconnconnononnnenaronancnnaronarenarenannos 1 18 Patern FC CRUG IOI sissien iea Eia Ea Eain 1 19 Speed Transition of Origin Search s ssssssssssnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn add 1 21 Stop by Detecting the Sensor of Origin Search 1 occonnccccnnncccccncocnconconnancnnnnnnnonnnnrenanarennnanos 1 22 Stop by Detecting the Sensor of Origin Search 2 ccccccceeseeeeeeeeeeeeeeeeeeeseeeseeneeeeeneeseennees 1 22 Usage Example of Origin Search Instruction ooccco
122. nts or to get recommended components visit our Web site at www steptechnica com 3 12 TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 5 2 Connection and Displayed States of LED Indicator Pins MK Y44 MC02A has four output signals for LEDs MON LCARE MCARE and DONA These pins have 2 mA current drive capability If an LED can light up with 2 mA current or less it must be connected in such a way that it will light up when in Low level It is recommended to connect green LED parts indicating stable operation to the MON pin and DONA pin To the LCARE pin it is recommended to connect an orange LED part indicating a gentle warning To the MCARE pin it is recommended to connect a red LED part indicating a definite warning Table 3 4 shows the state of MK Y44 MC02A indicated by the LED indicators Since FF means a pin name representing negative logic it is recommended not to put when impressing the LED name on the board or the device The state in which MON and DONA light up is when normal operation is possible Table 3 4 States of MKY44 MC02A Displayed by LED Indicators Indicates the state of power off the state when the Reset pin is active or the state when no CUnet device is linked after returning from hardware reset Although a link is established with at least one CUnet device there is no party device of station address set by DOSA that issues operation instructions to MK Y44 MC02A
123. o the error notification state by setting 0x3D in the ASB Answer Status Byte For more on the error notification state and its cancellation see 2 1 5 3 Error Notification Table 2 11 shows the error codes that are set in the most significant byte of Read Data in the error notification state Table 2 11 List of Error Codes Code Error description None The command cannot be received because the register has no bit to be written The command cannot be received because deceleration stop is selected in the STS Stop Type Select bit of PG2 and the write 1s to a register that is write protected while the axis is operating The command cannot be received because the value of LS Lower Speed register 1s inappropriate for the speed range The command cannot be received because the value of US Upper Speed register 1s inappropriate for the speed range The command cannot be received because the difference between the LS Lower Speed register value and US Upper Speed register value speed transition width is less than the specified value of 32 pps The command cannot be received because the difference between the NS Now Speed register value and US Upper Speed register value speed transition width is less than the specified value of 32 pps The command cannot be received because the difference between the NS Now Speed register value and LS Lower Speed register value speed transition wi
124. ococcnncocnnoocanoccnnononancnnnronannonnnronnnrennnrnnnnnnnnnannns 1 32 1 9 2 General Purpose Input Pins General Purpose Output PINS ooccoccccncccnnccnnnconacinaronanono 1 32 1 9 3 Output Signal Indicating Axis Operating oocccconnncccocncocononononanconnnnronnnnnronnnaronnnnrrrnnnnrennnas 1 32 1 9 4 Do3 Watchdog Timer Function casio 1 33 1 9 5 Logical Inversion Function for PINS ucraniano 1 34 1 9 6 Addressing DONA and Network Failure ooccccconocccconccnconcnnoncnnnonancnnnennnrnnnananrenenanarnnnas 1 35 1 10 Registers for Motion Control cocinada mnnn 1 36 Chapter 2 How to Use MKY44 MC02A 2 1 How to Access CUnet Interface and Registers ccoonoccconncccconocococonoconnnnonnnnronnnanrnnananrenannrenananenas 2 4 2211 How t Read Registers crias A a Roa 2 5 2 1 2 How to Write to Registers sesosinnianiaraiaanorstcc recital neriaicniis 2 6 2 1 3 Cautions in Write OD ALON nicas csi 2 7 2 1 4 Cautions in Read OperallON scsi iii 2 8 2 1 5 Warnings and Notifications from MKY44 MCOBZA cccccccsseeeeeeeeeeeseeeeeeeeneeseaseeeseeneeseeaes 2 9 2 1 5 1 Reset Warning State and How to Cancel lt cooonccconnciconcncococoroconanonnncaronnnnrnnnnannos 2 9 2 1 5 2 CUnet Line Return Warning and How to Cancel It occcconnccconnccccnccconocaronncnnnonnnos 2 10 ALS Error NOUMCAMON suscitar ai a 2 10 2 1 5 4 Stop Notification Optional incio nimadundeomnneecsnecnsaecs 2 11 2 1 5 5 Cautions for Warnings and Notific
125. on during movement gt Upper speed 3 Passage of time The distance of constant speed period by lower speed is the same as the value of lower speed The coordinate 0 position is the center Fig 1 16 Speed Transition of Origin Search Reference E The movement for origin search can be intentionally set to a constant speed from beginning to end In order to do this set the difference between the parameter values of upper speed and lower speed 31 or less This causes movement at the constant lower speed without performing speed transition by trapezoidal speed control 1 21 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 4 2 Three Origin Search Instructions and Their Detection Sensors MKY44 MCO02A has three origin search instructions Although the move methods of these instructions are all the same the target sensor and detecting method are different These three origin search instructions immediately stop if the target sensor is detected while moving see Table 1 10 Table 1 10 Origin Search Instructions and Target Sensors Target for detection Origin Search 1 OriginSearchl OFF gt ON Origin Sensor ON gt OFF EZ sensor D10 OFF gt ON Origin Search 2 OriginSearch2 Origin Search 3 OriginSearch3 Movement by the Origin Search 1 OriginSearchl instruction immediately stops when the origin sensor transitions from OFF status to ON status see Fig
126. onnrononnronnnnnnrenannrenannrernannrnnans 2 21 2 2 3 9 Description of Register ACC viviana oi 2 21 2 2 3 10 Description of Register SCOM ssssssssnnsnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn mennene 2 22 2 2 3 11 Description of Register STS susan 2 22 2 2 3 12 Description of Registers PLC and MLC ooooccconnnciconociconccoconcncoconanonenanconnnnnnrnanarenanarennnns 2 23 Vi TEP MKY44 MC02A User s Manual DTECHNICA Co LTD 2 2 3 13 Description of Register POT asics scensassessindntecazesnsxseasueewonsansedunnaetuueniuesansdnsexvansuanenennnadenenss 2 23 2 2 3 14 Description of Register PG2 cccccccceesseeeeeeeeeeeseeeeeeeeseeneeeseseeeseaaeeseeseeseaneeseesnessneaes 2 24 2 2 4 Initial Valles of Register S nciiovitaii lis 2 26 2 3 Commands of MKY44 MCOZA vrccciccccccecedicsndscesececeestecemenaxeesaceeusseeueeidusseeusseduendeesseucunseceunmcesscenexs 2 27 2 3 1 Commands to Control MOotioOn s sasssassennnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ennnen nnna 2 28 2 3 2 Commands to Set Data in General Purpose Output PINS cconccocnconccccnncnnnconaronanonanonan 2 28 2 3 3 Data Setting Commands for Write Protected Registers sccccssseeseseeeeeeeeeseeenensees 2 28 2 3 4 Operation Commands of Pattern Memory occconnccconcncononococonccocononononanronnnnaronnnancnnnnnrrnanarenas 2 29 2 3 5 Synchronization COMMANGS score 2 30 2 4 Errors and Error Notification ei ceece sees fen
127. ontrolling motor precisely and sensitively Ifthe lower speed acceleration rate and distance coordinates are maintained it is preferred not to return errors but to operate accurately to some extent MKY44 MC02A has an optional function that operates reasonably adjusting the patterns without returning errors when it receives pattern move instructions with less distance than the distance required for pattern formation This function is called Pattern Reduction function The pattern reduction function of MK Y44 MC02A is not an equal ratio reduction of geometric graphics It adjusts the upper speed and upper speed period while maintaining the parameter values of lower speed and acceleration Figure 1 15 shows the reduction examples when the distance required for pattern formation is set to 80 60 40 20 10 and 5 The pattern reduction function can be used regardless of the type of speed curve the difference between acceleration rate and deceleration rate and enabling disabling of the triangular drive prevention function Reduction when a line is selected Reduction when S curve is selected Passage of time Fig 1 15 Pattern Reduction If either of the following two reasons apply the pattern reduction function of MK Y44 MC02A will conclude that the formation of trapezoidal speed control is inappropriate and perform the movement at the lower speed without speed transition This is only when the reduction rate becomes very high w
128. op according to the stop type set in the STS Stop Type Select bit of the PG2 register However during distance specification upper speed movement DS_UFlat or target specification upper speed movement TS_UFlat it will immediately stop even if the STS bit is set to deceleration stop If the Do012C Do012 Clear bit of the PG2 register is set to 1 0 will be set in bits DOPO to DOP2 of the COM register which contains the general purpose output data of pins Do0 Dol and Do2 upon transition to the DONA state Even if there is a transition to the DONA state while an axis is being operated manually manual operation will not stop immediately However you cannot start new manual operation during DONA state Do0 Dol and Do2 clear by DONA is OFF 1 35 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 10 Registers for Motion Control In MK Y44 MC02A there are 16 registers for motion control for one axis as shown in Table 1 16 Each parameter for motion control described in this chapter is stored in these registers User applications control motion by performing read write access to these registers Abbreviation Table 1 16 Registers for Motion Control Register name AXis Status Logical Position Coordinates Physical Position Coordinates Target function Axis status etc Logical position coordinates Physical position coordinates Usage and overview Show the state of axis sensor and general pur
129. operating normally MK Y44 MC02A maintains the CUnet line return warning state until the entire area of all MCWs becomes Ox3E If MK Y44 MC02A recognizes that the entire area of all MCWs is set Ox3E it will set the ASB Answer Status Byte of all MAWs to 0x00 and transition to the state showing the AXS Axis Status register of AX0 FAS T Caution If disconnection of the CUnet line and reset of MKY44 MC02A occur simultaneously only a reset warning will be issued 2 1 5 3 Error Notification If an error comes from receiving an operation instruction from user application MKY44 MC02A will set 0x3D in the ASB Answer Status Byte of the MAW that is targeted for echo back Then it will report an error to the user application This is called the error notification state The contents of an error will be shown in the most significant byte of Read Data by the code The lower two bytes left in Read Data will be shown as 0x00 MKY44 MC02A maintains the error notification state until the ACB Access Control Byte of the MCW becomes 0x3D If MKY44 MCO2A recognizes that the ACB is set as 0x3D it will set 0x00 in the ASB Answer Status Byte of the MAW reporting the error and will transition to the normal state showing the AXS Axis Status register of AXO SS Caution The error notification state is reflected in MAWSs that are targeted for echo back So an error from a command from MCWO occur
130. pecify Distance oooccconnccccnnccococonoconanonnnnnronnnaronnnnnronnnnronnanrrrnanrrenanans 1 13 1 3 2 Move Instruction to Specify Target ccccccsccsssseeeseseeeesseeesseneesseeneeseaneeseeneessonaeesenneesenaes 1 14 1 3 3 Parameters of Move Instructions cccconcccconnncccncncocncnroconnnonnnnnrononnnrrnnnnrnnnnnrornnnrrrnanrrnnannns 1 15 1 3 4 Timing to Receive Move INStructions ccccccesceeeseeeeeeeeseeeeseeneeeeneesenesseeesseenseeeneneenensaes 1 16 1 3 5 Operation of Move Instructions to Maintain Constant Speed ooccconncconnciccnccccncicncnonananons 1 16 1 3 6 Trapezoidal Speed Control and Pattern cccccccecceseeceeeeeseeceeeeeneeceseseneeenesenseseneneaeees 1 17 1 3 7 Relationship OF Patterson 1 18 1 38 Pattern Reduction FUNCtiON ooonccnnnciccnciconcccnncnonnnnonnnronanronnnrrnnnn rra nrnnnn rra nrrnanrrnnnrrnanrenarenans 1 19 1 39 Usage Specifying Only Distance oonccconnccconociccnoncccncncocncnnonnonncononaronnnnnrrnnnnronnnarernnarennnaness 1 20 14 Origin Dete clon minas dica 1 21 1 4 1 Origin Search Instruction and Speed Transition ccccccsseceseseeessseeesseeeeneesseeseeneesenees 1 21 1 4 2 Three Origin Search Instructions and Their Detection Sensors c cssceeseeeeeeeeeeees 1 22 1 43 Usage Example of the Origin Search Instruction and Initialization of Logical Coordinate Value 1 23 1 5 SOD FUNCION eee enn ee en ee er ee ee ne ee eee ne eee 1 24 A UE ol a ARCA RA A E E
131. perated by access through CUnet as an interface The foundation of MK Y44 MC072A is to instruct operations by setting parameters Specific operations for setting parameters and instructing operations are performed by setting the data in the MK Y44 MC02A registers via the CUnet interface Likewise specific operations for user applications to acquire MK Y44 MC02A s status or the coordinate data of axes are performed by reading the MK Y44 MC02A registers via the CUnet interface This chapter first explains how to access the CUnet interface and its registers and then describes the registers inside MK Y44 MC02A This chapter is designed to target readers who already have an understanding of CUnet For the details of CUnet refer to the related manuals Since the internal structure of CUnet is fundamentally little endian the internal structure and data structure of MK Y44 MC02A are also little endian 2 3 TEP DTECHNICA CO LTD MKY44 MC02A User s Manual 2 1 How to Access CUnet Interface and Registers Figure 2 1 illustrates how to access the CUnet interface and its registers in order to use MK Y44 MC02A The Global Memory GM of CUnet is composed of 64 Memory Blocks MB One MB has 8 bytes MK Y44 MC02A recognizes the MB that is set as DOSA as TMC area To Motion Controller This TMC is the area in which the user application operating MK Y44 MC02A writes the data MK Y44 MC02A recognizes the MB that is set as SA as FM
132. pose Di Do and the events of operation start or stop Show the coordinate corresponding to the output pulse count 8 388 608 to 8 388 607 Show the input coordinate from encoder etc 8 388 608 to 8 388 607 Now Speed Current speed Show the speed of output pulse 0 to 12 500 pps COMmand Command The register to issue instructions to the axis Data setting to pattern memory number and general purpose also use this register Target Position Coordinates Relative Absolute Distance Target position coordinates Distance Set the target position coordinate 8 388 608 to 8 388 607 Set the relative distance 8 388 608 to 8 388 607 or absolute distance 0 to 16 777 215 Lower Speed Lower speed Set the lower speed Valid values are 10 to 12 500 pps Upper Speed Upper speed Set the upper speed Valid values are 10 to 12 500 pps ACCeleration Acceleration Individually set plus acceleration acceleration to increase the speed and minus acceleration deceleration to decrease the speed using rate format or time format Synchronization Command Synchronization command Set the instructions to synchronize Synchronization Trigger Setup Synchronization trigger condition Set the trigger conditions for shared data synchronization Plus Limit Coordinates Minus Limit Coordinates Plus limit coordinates Minus limit coordinates Set the plus limit coordinate
133. ps BPS1 BPSO OFF ON 6 Mbps BPS1 BPSO ON OFF 3 Mbps BPS1 BPSO ON ON This setting is disabled OMS dId Set SA value in hexadecimal recognizing ON state as 1 Regarding SA value see 2 1 How to Access CUnet Interface and Registers 3 10 TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 4 4 Connection of Signal for Hardware Setting Decimal Setting Specifications ST44SW has a mode that can change SA setting and DOSA setting to decimal oo setting specification Figure 3 5 shows the De aon A of ST44SW for decimal setting MKY44 MCO2A Ta BPS1 specifications gt ss BPSO Connect the HMODE pin of ST44SW to 15 R DIP SW GND It is recommended to connect a 2 digit Rpd eN decimal rotary DIP SW to an ST44SW of aa 5 DOSAx10 decimal setting specification for SA and p DOSA It is also recommended to connect SY en a 4 bit DIP SW to an ST44SW of decimal Powersupply E SENA setting specification for HOPT1 0 and BPS1 0 eee ah me settings 47 uF da 441 To the DIP_ ON pin of ST44SW connect the 717 re pene output signal of the DIP_ ON pin of MK Y44 LG MODE Lo gt MC02A pulled down by 10 kQ resistance To the DIP_RX pin of MK Y44 MC02A connect the signal output by the DIP_TX pin of ST44SW For details on ST44SW refer to the separate volume ST44SW User s Manual Fig 3 5 Connection of DIP SW and Read only LS
134. quency bypass in parallel for decoupling of the power supply Generally it is recommended to connect a capacitor of about 47 uF for decoupling in view of the allowable load for I O pins Between the pin 3 DECluF and Vss connect a capacitor whose capacitance is more than 1 uF and a 0 1 uF ceramic capacitor for high frequency bypass in parallel for DC stabilization Or connect laminated ceramic capacitor of around 2 2 uF with a property that capacitance reduction is about 20 even in DC bias Reference 3 The DEC 1uF pin has 1 8 V direct voltage Generally the types of capacitors to connect to this pin which TE have 1 uF capacitance or more include electrolytic capacitors and tantalum capacitors Laminated ceramic capacitors can be also used However since they are used in DC bias state their effective capacitance as capacitors differs from their rated value Especially when using a laminated ceramic capacitor it is recommended to select one with at least twice 2 uF the rated value anticipating capacitance reduction caused by DC bias state and thermal properties For the performance of capacitors and usage in DC bias state refer to the documents of the capacitor vendor TEP Chapter 3 MKY44 MC02A Hardware SFECHN ICA CO LTD 3 4 Connection of Basic I O Signals This section describes basic I O signal connection of MK Y44 MC02A 3 4 1 Supply of Drive Clocks MK Y44 MC02A requires two clocks Connect a 4 MHz crystal oscillator betwe
135. rating it will immediately stop regardless of the operating direction and coordinate position 1 5 4 Stop Using Stop Sensors and Hardware Limits MKY44 MCO0O2A has plus and minus hardware limit input pins for each axis These input pins are always enabled The stop sensors are enabled when the option to use the general purpose input pins Di2 and Di3 which is equipped in each axis as the input pins to connect the stop sensors is selected in the Di23FS D12 3 Function Select bit of the PG2 register The stop sensors and hardware limits function if the plus side transitions to be active while an axis is operating towards the positive direction or if the minus side transitions to be active while an axis is operating towards the negative direction When a stop sensor functions it will stop using the stop style set in the STS Stop Type Select bit of the PG2 register When a hardware limit functions it will immediately stop general purpose input stop signal input is disabled Since the Di2 and Di3 pins are also set for general purpose input these two stop sensors are disabled 1 25 TEP DTECHNICA CO LTD MKY44 MCO2A User s Manual 1 5 5 Physical Position Coordinate MKY44 MCO02A has a signed 24 bit up down counter which can receive signals from encoders and generate position coordinates see Figure 1 21 The value of this counter is called Physical Position Coordinates PPC y The coordinate values handled by Physica
136. s in MAWO and an error from a command from MCW1 occurs in MAW1 2 10 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 1 5 4 Stop Notification Optional If the option to report stop is selected in the SN Stop Notification bit of the PG2 Property Group 2 register it will report a stop to the user application by setting 0x3C in the ASB Answer Status Byte of the MAW Motion Answer Word when the operating axis stops This is called the stop notification state The stop notification of axis AXO is reflected in MAWO and the stop notification of AX1 is reflected in MAW1 The stop factor in this case is shown as the motion event ME codes of 0x10 to Ox1F to the most significant byte of Read Data The lower two bytes left in Read Data will be shown as 0x00 For more information on motion event codes see 2 5 Motion Events MK Y44 MC02A maintains the stop notification state until the ACB Access Control Byte of MCW Motion Control Word becomes 0x3C In user applications it is recommended to cancel the stop notification state after recognizing the stop notification MK Y44 MC02A will set 0x00 in the ASB Answer Status Byte of the MAW issuing notification and will transition to the normal state showing the AXS Axis Status register of AXO 2 1 5 5 Cautions for Warnings and Notifications For user applications it is difficult to identify the timing of the occurrence of reset warnin
137. ser s Manual 1 3 2 Move Instruction to Specify Target The other type of move instruction 1s Target Specification TS which specifies Target Position Coordinates This type of instruction includes the following three movements 1 Target specification pattern movement TS_Pattern Pie nunereal vales hates be handled 2 Target specification lower speed movement TS_LFlat by Target Position Coordinates TPC are 3 Target specification upper speed movement TS_UFlat the same as Logical Position Coordinates 8 388 608 to 8 388 607 0x800000 to Ox7FFFFF Since rotation direction is naturally determined in move instructions specifying the target there is no need to set the rotation direction The usage of instructions specifying target is illustrated in Figure 1 11 Target Specification 1 1 600 gt Target position coordinate 2 Execute a move instruction specifying the target gt 6000 5000 4000 3000 2000 1000 0 1000 2000 3000 4000 5000 6000 3 4 000 Target position coordinate 4 Execute a move instruction specifying the target 6000 5000 4000 3000 2000 1000 0 1000 2000 3000 4000 5000 6000 5 3 800 gt Target position coordinate 6 Execute a move instruction specifying the target 6000 5000 4000 3000 2000 1000 0 1000 2000 3000 4000 5000 6000 Fig 1 11 Examples of Move Instructions Specifying Target 1 14 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO
138. set Signal cccccessecessseeeseeeeeseeseeseesseeseenseeeenseseeeneseeseeeseseessoees 3 9 3 4 3 Connection of Signal for Hardware Setting Hexadecimal Setting Specifications 3 10 3 4 4 Connection of Signal for Hardware Setting Decimal Setting Specifications 3 11 3 5 Connection of CUnet related I O SignalS oonccconnncccnnncococncoconanononnnrononanonnnanrrnnaaronenarernnanns 3 12 3 5 1 Recommended Network Connection ccccccccesseeseseeeeeeseeeeseeeeeseesseneesenseessasseseneneeseas 3 12 3 5 2 Connection and Displayed States of LED Indicator PinS ccooccconccinnnccccnnincncnnannnnnanos 3 13 Sided PING SICA e o ia 3 14 AAA e E E EAEEREN 3 14 3 6 VO Signal of Axis Control UNI siii A A ci iii 3 15 3 6 1 Connection of Motion Control Output SignalS ooocccnnnniconicccccconococanccnananonnnanoonannronananonas 3 15 3 6 2 Input Signal Connection for Physical Position Coordinates ooccconnccconncciccnanococanoonananonas 3 17 3 6 3 Input Signal OF Sensors unicidad 3 18 3 6 4 General Purpose Input Di0 to Di3 o0ccoonoccconnccccnnocococonccnnnnnconnnronnnnnconannrnnnnnnrnnannrenananenas 3 18 3 6 5 General Purpose Output Do0 to DoB ooccoonoccconiciconcocicococccoccocconnonononanconanaronananernnnnronananenas 3 19 3 7 Example of Connection Circ lentillas 3 20 39 Electrical Rangs siriani anie aE AAEE EEES 3 21 ii e TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 39 e AA PP e EL O ERARA TE
139. speed lower speed plus acceleration minus acceleration acceleration deceleration curve selection and triangular drive prevention function Only the origin search instruction can make the pattern reduction function work even if the pattern reduction function option is OFF Similarly only the origin search instruction can make the parameter auto correction function work even if parameter auto correction function option is OFF This can reduce burdens such as sensitive attention to parameters when issuing origin search instructions The origin search instruction causes movement for the absolute distance of current logical coordinate position lower speed 2 with speed transition just like a pattern move instruction After decelerating to the lower speed it will stop after traveling at the lower speed the same absolute distance as the value of lower speed According to this speed transition a pattern that moves while maintaining the lower speed for 0 5 seconds before and after logical coordinate 0 will be formed see Figure 1 16 If the distance between the current logical coordinate position and 0 is smaller than the value of lower speed 2 1t will move to the opposite position lower speed 2 at the lower speed This range is the same as a pattern move instruction of absolute distance of current logical coordinate position lower speed 2 Speed a e Immediate stop upon corresponding sensor 1 second detecti
140. ssist Assists with initialization of registers and write to registers that cannot be written to directly 0x21 to 0x24 Chip Code Read as MKY44MC02Ann the chip code and version number 0x25 to 0x3B Ma Maker Reserved Area reserved by manufacturer Do not access 0x3C to 0x3F SysU System Use Perform system scale operations such as reset communication line disconnection and error setting and release Fig 2 4 Register Numbers and Registers OU oxi2 Peo o8 us l oxtA_ SCom om sts oxic ete om mo ode pot 3 TEP STECHNICA CO LTD Chapter 2 How to Use MKY44 MC02A 2 2 1 Register Structure for Motion Control Figure 2 5 shows the register structure for motion control P xs assas Ows o rro NS O to 12 500 0x30D4 on TPC 8 388 608 to 8 388 607 0x800000 to Ox7FFFFF mo omance ascos 2838000701 177 216 orreen as tnersseea __ 101800 noon 0000 us vepeesees Dawson aco Acceleration Down Rate or Up Rate UR MESE ascom Synchronization trigger SD 0 to 0XEF 12 1110 9 8 7 6 5 4 3 2 1 0 DOM3 to DOMO DIM3 to DIMO Bit 12 Minus Limit Coordinates Over MLCO Bit 11 Plus Limit Coordinates Over PLCO Bit 10 Minus Limit Sensor Reaction MLSR Bit 9 Plus Limit Sensor Reaction PLSR Bit 8 Origin Sensor Reaction OSR bit 23 22 21 20 19 18 17 16 15 14 13 Motion Status MS Bit 23 Direction Bit 1 CCW Counter ClockWise 0 CW
141. stop operation after the time necessary for forming Peak Keep Time is inserted even if the Deceleration Stop instruction is received or the limit coordinate set as the start position of deceleration stop is reached while accelerating or at the upper speed after acceleration Also an error will occur if the Accelerate instruction is received before the end of Peak Keep Time after deceleration stop Therefore it is recommended not to set Peak Keep Time unnecessarily long Table 1 7 Combinations of Basic Instructions when Triangular Drive Function is ON While At upper speed While While decelerating by At lower speed accelerating decelerating deceleration SS stop instruction Lower Speed Upper Speed Decelerate Deceleration Stop o Can be executed o Stop as soon as deceleration ends already decelerating x An error will occur and the instructions will not be executed A If the time at constant speed is shorter than the time set for Peak Keep Time at the point in time when a instruction is received it will start accelerating after inserting enough time to form Peak Keep Time V If the time at constant speed is shorter than the time set for Peak Keep Time at the point in time when a instruction is received it will start decelerating after inserting enough time to form Peak Keep Time TEP DTECHNICA CO LTD MKY44 MC02A User s Manual 13 Move Instructions This section describ
142. t 50 ms when the LCARE signal occurs and when it returns from hardware reset This pin may also output the Low level when indicating hardware errors including setting mistakes For details see 3 5 2 Connection and Displayed States of LED Indicator Pins Negative Positive A pin to output the MON signal which is a standard function of CUnet This pin will retain the Low level while there is stable link establishment with CUnet devices other than itself An output pin to send CUnet packets Connect this pin to a drive input pin such as of a driver CU RXD Positive 58 Negative A pin to output the High level while CUnet packets are output Connect this pin to the enable input pin of the driver A pin to input CUnet packets Connect this pin to the output pin of the receiver AX1_ Di0 to AX1 Di3 59 to 62 Negative A general purpose input pin of AX1 When Low level is input to this pin 1 is shown in DIM bit in the register Power pin Supply 3 3 V 7 8 13 14 16 21 22 63 64 Power pin Connected to 0 V Do not connect to other signals keep them open Note Pins prefixed with are negative logic active Low 3 5 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 3 2 Electrical Ratings of Pins Table 3 2 shows the electrical ratings of the pins Table 3 2 Electrical Ratings of MKY44 MC02A AX0 ORG Z O I O O Name AX0 Do2 B AX0 Do3
143. t confirms the connection of MK Y44 MC02A To reset MK Y44 MCO02A remotely write the specified 8 byte data in the TMC area To Motion Controller specified by DOSA as shown in Figure 2 6 For more information about TMC area To Motion Controller see 2 1 How to Access CUnet Interface and Registers TMC relative address 0 1 2 3 4 5 6 7 mamos as own oa oF on oh 005 oar Fig 2 6 Data Format of Remote Reset After performing hardware reset MK Y44 MC02A transitions to the operation described in 2 1 5 1 Reset Warning State and How to Cancel It Use the remote reset of MK Y44 MC02A only when it is intended by the user application such as in system initialization 2 34 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 7 Operation Procedure of MKY44 MC02A It is recommended to use MK Y44 MC02A by the following operation procedure 1 Process after power on and return from reset 2 Confirming chip codes 3 Initializing the registers for motion control of each axis 4 Initializing the application device 5 Normal operation 6 Exit operation 2 7 1 Process after Power on and Return from Reset Power on MK Y44 MC02A after confirming that peripheral hardware and the communication line of CUnet are properly connected MK Y44 MC02A enters the reset warning state when returning from the reset state due to power on or hardware reset User applications need to cancel the state after conf
144. t from the CU_TXE pin Therefore design the transceiver so that when the CU_TXE pin becomes High level the enable pin of the driver becomes active and the serial pattern of packets output from the CU_TXD pin can be sent to the network In MKY44 MC02A the maximum signal speed of CU_TXD and CU_RXD is 12 Mbps signal width is about 83 ns Connect transceiver parts that can follow this signal Figure 3 6 shows the recommended network connection The transceiver components consists of an RS 485 based driver receiver and a pulse transformer Recommended network cables include Ethernet LAN cable LOBASE T Category 3 or higher and shielded network cables Use one twisted pair cable in the network cable Equivalent to ADM3078 MKY44 MCO2A LSI driven at 3 3 V N One twisted pair cables with impedance of 100 Q Pulse transformer Network cable FS Da HD O Z Connect a 100 Q termination resistor to the end of the network cables Fig 3 6 Recommended Network Connection Reference Depending on the TRX configuration in half duplex mode signals output from the CU_TXD pin may be oe output directly to the CU_RXD pin while the MK Y44 MC02A transmits packets However the MK Y44 MC02A is designed not to receive any packet transmitted by itself while the CU_TXE pin is High so there is no problem Background information to help build a network are described in CUnet Technical Guide For more information about how to select compone
145. te trapezoidal speed control for acceleration from the lower speed to the upper speed a period at the upper speed and then deceleration to the lower speed and stop see Figure 1 13 1 Distance specification pattern movement DS_ Pattern Most stepping motors cannot start from upper 2 Target specification pattern movement TS_Pattern speed A PER Or ECR TAT Therefore it is common to use trapezoidal speed control for driving a stepping motor The part corresponding to the graphical area of trapezoidal speed control in a pattern move instruction is the distance This distance matches the pulse count output by the pulse output pin of MK Y44 MC02A Trapezoidal speed control comes into effect when the target position coordinates or the parameters of distance lower speed upper speed and acceleration plus and minus acceleration are all available With MKY44 MC02A a set of these parameters or the figure of speed transition formed by a set of parameters is called a pattern Basic trapezoidal speed control Upper speed Lower speed Passage of time 3 Upper speed Acceleration period Deceleration Fig 1 13 Trapezoidal Speed Control 1 17 TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual 1 3 7 Relationship of Patterns In basic trapezoidal speed control see Figure 1 14 A conceptually there is no rules for the time to maintain the upper speed Therefore the minimum distance
146. ter auto correction function see 1 2 5 Parameter Auto Correction Function If the most high performance parameter available in the application environment is set and all the options of auto start enable function pattern reduction function and parameter auto correction function are enabled the user application can easily control the motion by just setting the distance or the target position coordinate parameters Set the auto start enable function using the ASE Auto Start Enable bit of the PG2 Property Group 2 register ON and the auto start enable function is OFF 1 20 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 4 Origin Detection This section describes origin detection Since the application for controlling distance controls using logical coordinates the logical coordinate itself requires some sort of control point In most applications using stepping motors an origin sensor is set up and the position detected by the sensor is set as a control point where the value of logical coordinate is 0 1 4 1 Origin Search Instruction and Speed Transition MK Y44 MC02A has an origin search instruction This instruction causes movement for the absolute distance of current logical coordinate position lower speed 2 from the current logical coordinate position to the direction of logical coordinate 0 The origin search instruction causes movement according to the current parameters of upper
147. the pattern memory of the specified number If the patternSave 0x1F command is issued to COM register MK Y44 MC02A will save the pattern memories for two axes in the flash ROM as one file The file includes the data of registers STS PLC MLC PG1 and PG2 Thus saving the file in the flash ROM with the patternSave 0x1F command requires the time of approximately l second Other functions of MK Y44 MC02A will stop during the process Therefore this instruction will not be received while the axis is operating MK Y44 MC02A does not have commands to read the file saved in the flash ROM The file saved in the flash ROM is read from the flash ROM when MK Y44 MCO02A returns from the reset state due to power on or such The file read from it is used to set the data of pattern memory and registers STS PLC MLC PG1 and PG2 of each axis For details see 2 2 4 Initial Values of Registers LSS Y Caution While MKY44 MC02A is saving a file in flash ROM physical position coordinates also cannot be controlled Therefore it is recommended to save the file when you can confirm that the input signal of physical position coordinates is also static 2 29 TEP ST ECHNICA CO LTD MKY44 MCO2A User s Manual 2 3 5 Synchronization Commands User applications can synchronize the basic instructions and move instructions shown in Table 2 10 The codes and commands shown in Table 2 10 are the same as the codes 0x00 to 0x0C shown in Table 2 9
148. this pin is active an error saying that it will not receive instructions will occur 1 5 2 DONA Stop DONA DO Not Arrival stop functions on both two axes of MK Y44 MC02A If there is no source to issue an operation instruction to MK Y44 MCO1A Do Not Arrival state of CUnet a function to stop the operating axis can be selected using the DONAS DONA Stop bit of the PG2 Property Group 2 register This stop style is executed using stop styles set in the STS Stop Type Select bit of the PG2 register However during distance specification upper speed movement DS_UFlat or target specification upper speed movement TS_UFlat it stops immediately even if deceleration stop is selected in the STS bit This DONA stop function can improve the security and reliability of the system For details on DONA see 1 9 6 Addressing DONA and Network Failure 1 5 3 Stop Using Origin Sensor EZ Sensor and Stop Signal Input The origin sensor is enabled when Origin Search Instruction 1 or Origin Search Instruction 2 is executed The EZ Encoder Zero sensor is enabled when Origin Search Instruction 3 is executed For details see 1 4 Origin Detection Stop signal input is enabled when the option to use the general purpose input pin Dil which is equipped in each axis as the stop signal input pin is selected in the DilFS Dil Function Select bit of the PG2 register If stop signal input transitions to be active while the axis is ope
149. ting method is easy to use for changing speed gently within a predetermined range such as for flow control including air and water flows Table 1 5 Example of Setting Acceleration Using Required Time Format When the acceleration is from 500 pps lower speed to 8 5 kpps upper speed 500 to 8 5 kpps A8 000 pps 40 95 seconds 4 095 OxFFF When the acceleration is from 160 pps lower speed to 12 5 kpps upper speed 160 to 12 5 kpps A12 340 pps 40 95 seconds 4 095 OxFFF Reference indication pps 10 ms pps sec O 40 95 seconds 4 095 OxFFF 40 95 seconds 4 095 OxFFF 40 00 seconds 16 00 seconds 1 600 0x640 8 00 seconds 800 0x320 4 000 OxFAO 40 95 seconds 4 095 OxFFF 40 95 seconds 4 095 OxFFF 24 68 seconds 2 468 0x9 A4 12 34 seconds 1 234 0x4D2 4 00 seconds 400 0x 190 6 17 seconds 617 0x269 1 60 seconds 160 Ox0A0 0 80 seconds 80 0x050 0 4 seconds 400 ms 40 0x028 2 47 seconds 247 0x0F7 1 23 seconds 123 0x07B 0 62 seconds 620 ms 62 0x03E 0 16 seconds 160 ms 16 0x010 0 25 seconds 250 ms 25 0x019 0 08 seconds 80 ms 8 0x008 0 12 seconds 120 ms 12 Ox00C 0 08 seconds 80 ms 8 0x008 154 2 K 154 3 K up When the upper speed is lower than or equal to 11 kpps 7 70 ms 0 07 seconds can be set as the minimum time When the upper speed is lower than or equal to 8 kpps 6 6
150. tions of shared data synchronization see Figure 2 5 Set the data for the synchronization trigger in the lower 8 bits of STD Synchronization Trigger Data and set the address 0x000 to 0x1FF for the synchronization trigger in the register bits 8 to 16 of STA Synchronization Trigger Address In the upper reserved bits bits 23 to 17 0 is shown The synchronization trigger has the address in which the head of Global Memory GM CUnet s shared memory is 0x000 For details on synchronization triggers see 1 7 Synchronization of Operation Instructions This register 1s write protected The STSwrite instruction can write the data stored in register WA to register STS For this register as long as the axis is stopped the STSwrite instruction will be received Regarding the initialization of this register see 2 2 4 Initial Values of Registers This register has no effect if shared data synchronization is not selected by the SyncT Sync Type bit of the PG2 Property Group 2 register 2 22 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 2 3 12 Description of Registers PLC and MLC PLC Plus Limit Coordinates is a 24 bit width register to set plus limit coordinates and MLC Minus Limit Coordinates 1s a 24 bit width register to set minus limit coordinates The coordinate values of 8 388 608 to 8 388 607 0x800000 to Ox7FFFFF can be set in these registers see Figure 2 5 For details
151. trol Output Signals Connect the signals output from the POUT pin and DIR pin of MK Y44 MC02A after converting them into electrical signals suitable for the motor drivers of the user application device The POUT signal output from the axis control unit normally retains the Lo signal when it is not active However the POUT pin enters a high impedance state during hardware reset of MK Y44 MC072A see Figure 3 2 Type B The DIR pin also enters a high impedance state during hardware reset Therefore ensure a level in which the MKY44 MC02A circuit connected to the exterior would not AX0_ POUT become active during hardware reset by To pulse input pin connecting pull down resistance or pull 0i olot caer up resistance to the pin Figure 3 7 shows an example of a circuit that retains Low level during hardware reset The speed of the pulse signal to be AXO_DIR 2 2 To DIRECTION input output from the POUT pin is 12 5 kHz a af moler a at a maximum The minimum width specification of High level pulse is 39 us 77 777 see Figure 3 8 Use an external circuit to connect to the POUT pin that can address this speed Fig 3 7 Example Output Circuit to Ensure Initial Low level The DIR pin outputs the Low level in the positive direction and the High level in the negative direction If the InvMD bit of the PG2 Property Group 2 register is set to 1 the levels will be inverted If the Do2FS bit of the PG2 register is set to 1
152. ttern Target specification pattern movement 1 3 2 Move Instruction to Specify TS_LFlat Target specification lower speed movement Target TS_UFlat Target specification upper speed movement OriginSearch _ Origin search 1 OriginSearch 2 Origin search 2 1 4 Origin Detection OriginSearch_3 Origin search 3 CW Plus direction 1 2 Basic Instructions Minus direction 0x12 DoWrite Do data write 1 9 2 General Purpose Input Pins General Purpose Output Pins NA LPCwrite EPC 2 2 3 2 Description of Register LPC PPCwrite PPC 2 2 3 3 Description of Register PPC STSwrite STS 2 2 3 11 Description of Register STS PLCwrite PLC Register write WR 2 2 3 12 Description of Registers PLC MLCwrite MLC and MLC PGI write PGI 2 2 3 13 Description of Register PG1 PG2write PG2 0x1D patternRead Read from pattern memory patternWrite Write in pattern memory 1 6 Pattern Memory and File 2 2 3 14 Description of Register PG2 patternSave Save pattern in file TEP ST ECHNICA CO LTD MKY44 MC02A User s Manual User applications can issue commands by writing the code shown in Table 2 9 in bits 20 to 16 of the COM register see Figure 2 4 Figure 2 5 and Table 2 2 You can write 0x00 to the command code MKY44 MC02A will not operate for the command code 0x00 The command codes from 0x13 to 0x15 are manufacturer reserved User applications s
153. two sets of a MCW Motion Control Word and a MAW Motion Answer Word MK Y44 MC02A can extend its TMC area To Motion Controller and FMC area From Motion Controller to the size of two memory blocks see Figure 2 3 This is done by setting HOPTO Hardware OPTion 0 to ON In this case MK Y44 MC0O2A refers to two omasse EIRE memory blocks one selected by DOSA and one right after it to receive data from network Also MKY44 MC02A occupies two memory blocks one selected by SA and one right after it Fig 2 3 Extended Interface The user application can simultaneously perform four sets of access MCWO lt gt MAWO0 MCW1 MAWI MCW2 MAW 2 and MCW3 lt gt MAW3 The estimated time required for the read resulting from CUnet characteristics is the same whether you perform four accesses at the same time or only one The user application using MK Y44 MC02A can use these four sets specialized as in the example below Example MCWO0 lt MAWO for AXO operation MCW1 lt MAW1 for AX1 operation MCW2 lt gt MAW2 for monitoring logical coordinate of AX0 MCW3 lt gt MAW3 for monitoring logical coordinate of AX1 2 12 TEP Chapter 2 How to Use MKY44 MC02A SFECHN ICA CO LTD 2 1 7 Processing Order of Access MK Y44 MC02A processes the accesses by the MCW Motion Control Word and MAW Motion Answer Word starting from lower addresses For example if there is a instruction specifying the target coordinate of AXO as 5000
154. ure 1 17 Therefore if the origin sensor is ON when this instruction is received it will say so with an error Movement by the Origin Search 2 OriginSearch2 instruction immediately stops when the origin sensor transitions from ON status to OFF status see Figure 1 18 This instruction starts operation regardless of the origin sensor status at the point of receiving the instruction A Origin sensor A Origin sensor oe A Origin sensor A Origin sensor Operation is disabled if it is already ON Operation is enabled even if it is already ON A Origin sensor Origin sensor Fig 1 17 Stop by Detecting the Sensor Fig 1 18 Stop by Detecting the Sensor of Origin Search 1 of Origin Search 2 Movement by the Origin Search 3 OriginSearch3 instruction immediately stops when the EZ Encoder Zero sensor transitions from OFF status to ON status Therefore if the EZ sensor is ON when this instruction is received it will say so with an error and will not operate The input pin of the EZ sensor is shared with the general purpose input pin Di0 MK Y44 MC02A recognizes the input of the D10 pin as the EZ sensor only when the Origin Search 3 instruction is executed Thus the EZ sensor should be connected to the Di0 pin for user applications using the EZ sensor 1 22 TEP Chapter 1 Functions for Motion Control ST ECHNICA CO LTD 1 4 3 Usage Example of the Origin Search Instruction and Initialization of Logical Coordinate Value Figure 1 1

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