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G9003 User's Manual - Nippon Pulse Motor Taiwan

Contents

1. opecify OUT output puise details 0 to 2 OUT output DIR output OUT output DIR output UU ee eee wd 0 to 2 i to LIRE PRIUS Ew ped the process to occur when the EL input is turned ON 0 Immediate amp w Be 1 Deceleration stop Note 1 2 m Specify the process to occur when the SD T is turned ON 0 Deceleration only 1 Deceleration and stop Specify the latch function of the SD input 0 OFF 1 ON SDLT Turns ON when the SD signal width is short When the SD input is OFF while starting the latch signal is reset The latch signal is also reset when SDLT is O 6 SDL Specify the SD signal input logic 0 Negative logic 1 Positive logic ER Specify the ORG signal input logic 0 Negative logic 1 Positive logic amm Specify the process to occur when the ALM input is turned ON 0 Immediate stop 1 Deceleration stop EN ALML Specify the ALM signal input logic 0 Negative logic 1 Positive logic 1 Automatically outputs an ERC signal when the axis is stopped immediately by a EL EL ALM or ZEMG input signal However the ERC signal is not EROE output when a deceleration stop occurs on the axis When the EL signal is specified for a normal stop by setting MOD 010X000 feed to the EL position in the RMD register the ERC signal is output if an immediate stop occurs zs 1 Automatically output the ERC signal when the axis completes an origin EDEN return Specify the pul
2. 138 13 10 Data communication 2 Read a register in a PCL device G90093 sssesseusss 139 13 11 Data communication 3 Start the PCL device G9003 ooooocccconoccncococcnnccnonononononnononcnnnonanennnnonons 140 14 EternatcaimersloFiS sssvendeberts O A Le Ub ada XN Ma iN De VP CUT Rin 142 FlanalingdreeauUoliSus ouaavenaad eiua dac u tea Dant Pu addu kw QUU UR RETRO Dua TUER Zac NL du a dbT vate Fu du LACER Du V CDD Md 143 T Design Precautions sco attt a Ie Lite tu A af C M ELE cw Ida ds 143 2 Precautions for transporting and storing LSIS ooonnciccconcncccocnnccnncnnonnnconconnnnnnononnnnonnnnnnonanennnnnncons 143 9 Precautions for MOUNT A ace cation ee eestiass 143 2 her brecQquollS cotta nn ee ee eee eee ee ee ee eee 144 Outline This LSI is an axis control device for the Motionnet system On receiving a command from the center device G9001A it can output high speed pulses to drive stepper motors and servomotors Using a variety of speed patterns including constant speed linear acceleration deceleration and S curve acceleration deceleration this device affords control of various actions including continuous feeding positioning and origin return operations If all of the devices connected to a center device are PCL devices G9003 the system can be constructed to control up to 64 axes while reducing the needed wiring Using routine communications the system allows you to check the op
3. 38 1000 Origin return operation 8 Stop immediately deceleration stop when ELM 1 and reverse direction by turning ON the EL signal Then stop immediately deceleration stop when feeding at high speed when counting the EZ signal COUNTER reset timing When counting the EZ signal 1001 Origin return operation 9 After executing origin return operation 0 move back to the zero position operate until COUNTER2 0 0 to 3 ORMO to 3 1010 Origin return operation 10 After executing origin return operation 3 move back to the zero position operate until COUNTER2 0 1011 Origin return operation 11 After executing origin return operation 5 move back to the zero position operate until COUNTER2 0 1100 Origin return operation 12 After executing origin return operation 8 move back to the zero position operate until COUNTER2 0 Specify the EZ count up value that is used for origin return operations RAUM 0000 1st count to 1111 16th count Select the input count source for COUNTER2 mechanical position 00 EA EB input 8 to 9 CI20 to 21 01 Output pulse 10 PA PB input Select the input count source for COUNTERS3 deflection counter Output pulse EA EB input PA PB input a Sones lee 1 4096 clock of internal reference clock Output pulse and EA EB input deflection counter Output pulse and PA PB input deflection counter EA EB input and PA PB input deflection counter 1 Reset COU
4. 6 Simultaneous start timing STA N TsraBsv BSY Inital output pulse 7 Output port change timing SOEH Response of cyclic communication TsoEPRT A PO to 7 X 122 11 Communication example 11 1 PCL device G9003 line transceiver and pulse transformer Use RS 485 line transceivers and pulse transformers 1000 uH or equivalent to make serial communication connections Connect the line transceivers as shown below Connect terminating resistors which match the cable impedance at both ends of the transmission line The terminating resistors can be either before or after the pulse transformer The same effect will be obtained at either position When using a 5 V line driver receiver ICs such as a level shifter are needed to assert signals on lines such as SO SOEH and SI 1 Circuit example for a single local device VDD Line transceiver Local device 3 3 V DI Terminating Device number DE resistor Pulse transformer RO Y re inm Z A uiva Na A s Serial line HDN 5 0 B M Nota 2 j Note 1 Make the wiring as straight and short as possible circuit on a circuit board GND 123 2 Circuit example for multiple local devices Using the connections shown below the address of the local device above will be the address of the local device underneath it Line transceiver 3 3 V DI DE Pulse transformer Terminating RO resistor Serial line L
5. jPowerspplyiput 33V LT vop__ __ Power supply input 333 V E cOOc n gt LI NERIS IE PARA T poaa 14 DNSM l Devicenumberseimode Possible is soe m Positive Enable sera output 16 SOEL O Negative Enable serial output 17 SOEH 0O Positive Enable serial output 18 SO O Positive Seralouput 19 GND GND E 20 S j Positive Seralinpt 21 GND OND v 22 VDD Powersupplyimput 83WV_ 23 VDD Powersupply input 33 3V 24 EA lu Encoder A phase signal Possible 25 EB_ 1 lu Encoder B phase signal Possible 27 PA_ lu Manual pulser A phase signal Possible o enue pulser B phase signal Possible GND 30 ERC gr Request to clear a OA counter in Possible Yo driver EINER dL 32 DR O JJ jFeeddreton 1 1 1 Possible 33 VDD JgPowersupyinpt 33V 34 CP1 O Negative Comparator 1 output Possible 35 CP2 O Negative Comparator2ouput Possible 36 CP3 O Negative Comparator3ouput Possible HERES Start positioning control Possible meow EAT E CTA Negative end limi Negative end limit 5V interface GENEVE ade By Generatpurose 10 terminal 0 Possible CIO A 53 P1
6. read all of the data received this bit returns to 0 131 Note 1 The details of an error that occurred due to an attempt to communicate a type of information to an I O device that is different from that called for in the PMDO to 2 settings can be checked by reading the interrupt status When errors occur on more than one device only the device number where the last error occurred would be shown 13 5 Interrupt status For details see the user s manual for the center device ISTW ISTB1 ISTBO y LNRV 0 EDNS EDN4 EDN3 EDN2 EDN1 DNO t Symbol tbwes Tero the device number of the device with an EDTE 1 or ERAE D to 5 EDNOI0S to5 1 error from receiving I O data that is different from the setting of PMD These details are stored until the next time an error occurs Not defined Always 0 Always O S O When a local device is not receiving data this bit is 1 When the data communication or system communication terminates with an error EDTE 1 only when receiving attribute information LNRV and if a local device cannot receive data from the center device this bit becomes 1 When the local device has received the data this bit returns to O This condition is stored until the next time an error occurs These are identification codes for received data processing errors on a local device The code is stored until the next time an error occurs 8 to 11 ERAO to 3 0001 Received I O data is different fro
7. 3 3 When RUS gt RDS 1 Set up a small linear acceleration deceleration range When RMV lt RFH REL x RFH REL x RUR RDR 2 2x RUS x RUR 1 2x RDS x RDR 1 y RMG 1 x 50000 and RMV gt RUS RFL x RUS x 2 x RUR RDR 3 RDS x RDR 1 x 4 RMG 1 x 50000 Then Rem ee RUR RDR 2 However A RUS x RUR 1 RDS x RDR 1 B RMG 1 x 50000 x RMV 2 x A x RFL RUR RDR 2 x REL x RUR RDR 2 ii Eliminate the linear acceleration section and set up a small linear deceleration range When RMV lt RUS RFL x RUS x 2 x RUR RDR 3 RDS x RDR 1 x 4 and RMG 1 x 50000 E RDS RFL x RDS x RUR RDR 2 x 8 RMG 1 x 50000 Change to S curve acceleration deceleration without any linear acceleration RUS 0 RDS gt 0 A A B ee Qu 2 x RUR RDR 3 However A RDS x RDR 1 B RMG 1 x 50000x RMV 2 x Ax RFL 2 x RUR RDR 3 x RFL x 2 x RUR RDR 3 iii Eliminate the linear acceleration deceleration range RUS RFL x RUS x RUR RDR 2 x 8 lt A MS RMG 1 x 50000 Change to S curve acceleration deceleration without any linear acceleration deceleration RUS 0 RDS 0 op RMG 1 x 50000 x RMV pp RFH RUR RDR 2 x2 RMV Positioning amount RFL Initial speed RFH Operation speed RUR Acceleration rate RUS S curve acceleration range RDS S curve deceleration range RDR Deceleration
8. Set the mask on the stop interrupt lt SEDM bit 27 in RENV1 gt RENV1 WRITE 0 Enable stop interrupts reflected to SINT 37 24 1 Mask the stop interrupt change only the SEND status mERBFEBEN Set to reset when a stop interrupt occurs lt SEDR bit 28 in RENV1 gt RENV1 WRITE 1 Reset the stop interrupt bit SEND when an interrupt occurs 31 24 Reset the stop interrupt lt INTRS Control command Reset the SEND bit stop interrupt Read the cause of the error interrupt lt RREST Read out command Copy the data in the REST register error interrupt cause to BUF O hi Read the event interrupt cause lt RRIST Read out command Read command d Read the data in the RIST register event interrupt cause to BUF DOF3h Set the event interrupt cause lt WRIRQ Control command Write command Write the FIFO data to the RIRQ register event interrupt cause OOACh 115 Error interrupt causes Detail of REST The cause of an interrupt makes the corresponding bit 1 gt ESC1 When the counter value is latched by an ORG input When the SD input is turned ON When the ZSTA input is turned ON 116 9 How to calculate the communication cycle time The calculations of the communication cycle time can be classified as follows K Communication speed figure Communication speed Mbps A OA o 10 20 10 MEA 5 2 5 N Number of local devices connected B Number of bytes of data to send w
9. When Ruy lt AREHTREL x REF RFEL x RUR RDR 2 2 x RUS x RUR 1 2xRDSx RDR 1 gt y RMG 1 x 50000 and rav gt ARDS PREL x RDS x RUR 2 x RDR 3 RUS x RUR 1 x4 RMG 1 x 50000 RFH lt OASJA B RUR RDR 2 However A RUS x RUR 1 RDS x RDR 1 B RMG 1 x 50000 x RMV 2 x Ax RFL RUR RDR 2 x REL x RUR RDR 2 ii Eliminate the linear acceleration deceleration range and set up a small linear acceleration section When RMV lt RDS RFL x RDS x RUR 2x RDR 3 RUS x RUR 1 x 4 bs D RMG 1 x 50000 RMV gt RUS RFL x RUS x RUR RDR 2 x 8 RMG 1 x 50000 Change to S curve acceleration deceleration without any linear acceleration deceleration RUS gt 0 RDS 0 A A B lt A e i RUR 2x RDR 3 However A RUS x RUR 1 B RMG 1 x 50000 x RMV 2x Ax RFL RUR 2 x RDR 3 x RFL x RUR 2 x RDR 3 iii Eliminate the linear acceleration deceleration range RUS RFL x RUS x RUR RDR 2 x 8 lt A A A e A rs A a E AC RMG 1 x 50000 Change to S curve acceleration deceleration without any linear acceleration deceleration RUS 0 RDS 0 x RMG 1 x 50000 x RMV 2 Seo 7 RUR RDR 2 x2 RPL RMV Positioning amount RFL Initial speed RFH Operation speed RUR Acceleration rate RDR Deceleration rate RMG Speed magnification rate RUS S curve acceleration range RDS S curve deceleration range 77
10. Bu Generarpurposel Oterminal1__ Possible 54 P2 Bu s Generakpurposel Oterminal2 Possible 55 P3 Bu Generakpurposel Oterminal3 Possible 56 P4 Bu JGenerakpurposel Oterminal4 Possible 57 P5 Bu Geenerral purpose Oterminal5 Possible 58 P6 Bu Generakpurposel Oterminal Possible A 1 3 a VO terminal 7 PO rm Power supply input 3 3V Power supply E IV HBSY PH1 I iesus Operation in progress signal Possible Positive Excitation sequence output 1 62 SFUP PH2 Negative Acceleration monitor output Excitation Possible Positive sequence output 2 63 EDW PH3 Negative Deceleration monitor output Excitation Possible Positive sequence output 3 64 MVCIPH4 Negative Constant speed monitor output Possible Positive Excitation sequence output 4 c db LAA a m SetiELinputlogic a D S 67 MSEL Negative em LOW for a certain interval while E poseiBis chip is sending receiving data Goes LOW for a certain interval when ZMRER an abnormal communication has been Possible received 69 ZTOUT O Negative Watchdog timer output Possible 70 BRK lp Positive Break frame send request Possible mpe e lia ree watchdog timer signal 72 TD l Watchdog timer setting Possible 73 VDD Powersupply input 3 3V 74 JCK I Reference clock O Z 75 GND OE GND 76 CKSL l
11. C1S0 to 2 C280 to 2 C350 to 3 Comparator Comparison counter 901 Om 001 O 0001 regardless of count direction Comparator Comparison counter 010 o 010 O 0010 Count up only Comparator Comparison counter 011 o 041 O 0011 count down only Comparator Comparison counter O 100 0100 Comparator Comparison counter Que 101 0101 IDX synchronous signal output regardless of counting direction count up only count down only O O Use for software limits 110 O 110 A O O 103 O Comparison possible Blank Comparison not possible Comparator 3 must not have C350 to 3 set to a value of 0111 Setting any of the values may result in failing to satisfy the comparison conditions When C3S0 to 3 1000 to 1010 for Comparator 3 IDX synchronous signal output gt select COUNTERS general purpose deflection for use as the comparison counter Other counters cannot be used for this function Enter a positive value for the comparator setting When using the comparator function as a software limit Comparator 1 will be the positive limit value Then the PCL device G9003 looks for the Comparator Comparison counter Comparator 2 will be the negative limit value Then the PCL device G9003 compares Comparator Comparison counter Select COUNTER1 command position as the comparison counter Choose the comparison data from C 1CO to 2 bits 2 to 4 C2
12. COUNTER reset timing When counting the EZ signal 0011 Origin return operation 3 When feeding at constant speed movement on the axis stops immediately by counting the EZ signal after the ORG input is turned ON When feeding at high speed the axis will decelerate and stop by counting the EZ signal after the ORG input is turned ON COUNTER reset timing When counting the EZ signal 0100 Origin return operation 4 Stops immediately deceleration stop when feeding at high speed by turning the ORG input ON and feeds in the reverse direction at RFA constant speed Stops immediately by counting the EZ signal COUNTER reset timing When counting the EZ signal 0101 Origin return operation 5 Stop immediately deceleration stop when feeding at high speed and reverse direction when the ORG input is turned ON Then stop immediately when counting the EZ signal COUNTER reset timing When counting the EZ signal 0110 Origin return operation 6 Stop immediately deceleration stop when ELM 1 by turning ON the EL input and reverse at RFA constant speed Then stop immediately by turning OFF the EL input COUNTER reset timing When EL input is OFF 0111 Origin return operation 7 Stop immediately deceleration stop when ELM 1 by turning ON the EL input and reverse direction at RFA constant speed Then stop immediately by counting the EL signal COUNTER reset timing When stopped by counting the EL input 0to3 ORMO to 3
13. Motionnet Remotel O amp RemoteMotion 9003 PCL device User s Manual NPM Nippon Pulse Motor Co Ltd Preface Thank you for considering our super high speed serial communicator LSI the G9000 To learn how to use the G9000 read this manual to become familiar with the product The handling precautions for installing this LSI are described at the end of this manual Make sure to read them before installing the LSI What the Motionnet is As a next generation communication system the Motionnet can construct faster more volume large scale wire saving systems than conventional T NET systems conventional LSI product to construct serial communication system by NPM Further it has data communication function which the T NET does not have so that the Motionnet can control data control devices such as in the PCL series pulse train generation LSI made by NPM The Motionnet system consists of one center device connected to a CPU bus and maximum 64 local devices and they are connected by using cables of two or three conductive cores Cautions 1 Copying all or any part of this manual without written approval is prohibited 2 The specifications of this LSI may be changed to improve performance or quality without prior notice 3 Although this manual was produced with the utmost care if you find any points that are unclear wrong or have inadequate descriptions please let us know 4 We are not respo
14. Operation 1 Operation 2 Operation 3 6 4 1 7 Origin return operation 6 ORM 0110 O Constant speed operation Sensor EL EL Operation 1 Stop when EL is OFF 2 EDEN gt be ee 2 O Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for the origin stopping position Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is O the LSI will output an ERC signal at positions marked with an asterisk 2632 6 4 1 8 Origin return operation 7 ORM 0111 O Constant speed operation Sensor EL EZ EZD 0001 EZ EL Operation 1 EZ EL Operation 1 T FA speed 6 4 1 9 Origin return operation 8 ORM 1000 O Constant speed operation Sensor EL EZ EZD 0001 EZ EL Operation 1 EZ EL Operation 1 6 4 1 10 Origin return operation 9 ORM 1001 E High speed operation Sensor EL ORG ORG EL Operation 1 Operation 2 in Emergency stop i E t Operation 3 2 ao 7 mergency Stop Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for the origin stopping position Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is 0 the LSI will output an ERC signal at positions marked with an asterisk 64 6 4 1 11 Origin return operation 10 ORM 1010 Bi High speed operation Sensor
15. When feeding at low speed after the ORG signal turns ON movement on the axis stops immediately when the EZ counter finishes counting up When feeding at high speed after the ORG signal turns ON the axis decelerates and stops immediately when the EZ counter finishes counting up COUNTER reset timing When the EZ counter finishes counting up 0100 Origin return operation 4 Movement on the axis stops immediately decelerate and stop when feeding at high speed when the ORG input is turned ON Next the direction of movement is reversed at RFA low speed Then it stops immediately when the EZ counter finishes counting up COUNTER reset timing When the EZ counter finishes counting up 58 Origin return operation 5 Movement on the axis stops immediately and is reversed decelerates RENV3 WRITE and stops when feeding at high speed when the ORG input is turned 0 ON Then all movement stops immediately decelerates and stops l l l lnl n n nl when feeding at high speed when the EZ counter finishes counting up COUNTER reset timing When the EZ counter finishes counting up Origin return operation 6 Movement on the axis stops immediately decelerates and stops when ELM is 1 when the EL signal turns ON and it reverses at RFA low speed Then all movement stops immediately when the EL signal is turned OFF COUNTER reset timing When the EL signal is turned OFF Origin return operation 7 Movement on the axis stops i
16. 0x4028h Finally place a start command for the PCL device G9003 in the FIFO and send it to the G9003 using data communication When the G9003 receives the data correctly the PCL device G9003 should start NO Check the EDTE bit to see if the device communication was successful or not YES EE sir NO Dev Sts Inpw 0x0000h End 14 External dimensions 80 pin LQFP Unit mm 0 25 TYP a 12 0 1 14 02 0 145 Er 0 420 Wen Vt M T I f i e 0 45 min 0 75 max 0 to 10 142 Handling Precautions 1 Design precautions 1 Never exceed the absolute maximum ratings even for a very short time 2 Take precautions against the influence of heat in the environment and keep the temperature around the LSI as cool as possible 3 Please note that ignoring the following may result in latching up and may cause overheating and smoke Do not apply a voltage greater than 3 3V greater than 5V for 5V connectable terminals to the input output terminals and do not pull them below GND Make sure you consider the input timing when power is applied Be careful not to introduce external noise into the LSI Hold the unused input terminals to 3 3 V or GND level Do not short circuit the outputs Protect the LSI from inductive pulses caused by electrical sources that generate large voltage surges and take appropriate precautions against static electricity 4 Provide external circuit
17. 10 Electrical Characteristics 10 1 Absolute maximum ratings Vss 0V Symbol Power supply voltage NK HN 0 3 to 75 0 UM Input voltage Vw 0 3 to Vpp 0 3 Input voltage 5V I F IR v Input current ie 10 Storage temperature 40 to 125 10 2 Recommended operating conditions Vss 0V Power supply voltage V 3010 36 V Input voltage Vw Vp Input voltage 5V VF Vw 1055 v m eer 40 to 85 EUM 10 3 DC characteristics Symbol Condon Mi Max Uni Current consumption de CLK 80 MHz Output 6MHz EE SEA Output leakage current lo o J j 100 10 M Input capacitance E IO 1 68 pF LOW input current l l With a DINEM MM up resistor HIGH input current lu With a ais a guida down resistor LOW input current i CLK terminal o a Terminals other than 20 HIGH input current CLK CiKterminal Vox08 V LOW ouibutveltags Ww Hae 7 1 A Ve sank E X Nowoupuesunent HE i Bi directional I F Va 0 4V 1 8 mA HIGH output current lou MONA Ay mA Bi directional I F Voy 2 4W 8 mA Internal pull up resistance Ryp 3 1 25 500 Kom lt x i i lt i 118 10 4 AC characteristics 10 4 1 System clock Tex 1 When setting CKSL L Frequency fax _ 40 MHz Cyce Tax 25 ns HIGH duration LOW duration 2 Wh
18. 138 13 10 Data communication 2 Read a register in a PCL device G9003 The example of data communication below shows how to read a register that is integrated in the PCL device G9003 Assume that the local devices to be used are as follows Assume you want to read the register value in the PCL device G9003 Device type Configuration item Configuration data PCL device 40 28h Write a read command from the PCL device G9003 Outpw 0x0006h Ox00DOh register to the FIFO Register access command of the PCL device G9003 is specified in the 5 Description of software Have data communication with the specified device Outpw 0x0000h 0x4028h Amber A PCL device G9003 that received this communication returns the specified register data to the center device The returned data is stored in the Dev Sts Inpw 0x0000h Read status NO l Waits until the data communication will complete This process may be waiting for an interrupt YES YES Error processing Com Inpw 0x0006h Read the data in the receiving FIFO Data L Inpw 0x0006h The data details and order are specified in 5 Description Data H Inpw 0x0006h of software p Since 3 words of return data are specified the communication is completed by reading the FIFO three times If the number of words in the return data is not known read the status in the center device Keep reading the receiving FIFO until th
19. EL ORG EZ EZD 0001 ORG EZ EL Operation 1 Operation 2 Operation 3 6 4 1 12 Origin return operation 11 ORM 1011 il High speed operation Sensor EL ORG EZ EZD 0001 ORG EZ EL Operation 1 Operation 2 Operation 3 6 4 1 13 Origin return operation 12 ORM 1100 il High speed operation Sensor EL EZ EZD 0001 EZ EL Operation 1 Note Positions marked with Q reflect the ERC signal output timing when Automatically output an ERC signal is selected for the origin stopping position Also when EROE bit 10 is 1 in the RENV1 register and ELM bit 3 is O the LSI will output an ERC signal at positions marked with an asterisk 65 6 4 2 Leaving the origin position operations 6 4 3 After writing a start command the axis will leave the origin position when the ORG input turns ON Make sure to use the Constant speed start command 0050h 0051h when leaving the origin position When you write a start command while the ORG input is OFF the LSI will stop the movement on the axis as a normal stop without outputting pulses Since the ORG input status is sampled when outputting pulses if the PCL device G9003 starts at constant speed while the ORG signal is ON it will stop operation after outputting one pulse since the ORG input is turned OFF Normal stop MOD 12h Leave the origin position in the positive direction 1Ah Leave the origin position
20. STEP 0 1 2 3 0 PHi H H L L H PH2 JL IH PHIL IL PH LPL PETE IL Operation direction Operation direction Change the timing of the excitation sequence OUT negative logic PH1 to4 X X 111 Selection of the ZBSY PH1 FUP PH2 FFDW PH3 MVC PH4 terminal output Set MPH bit 20 in the RMD gt 0 Output actual ZBSY FUP ZFDW and MVC signals 1 Output actual PH1 PH2 PH3 and PH4 signals Mask PH1 PH2 PH3 and PH4 signals Set MMPH bit 21 in the RMD gt 0 Output LOW level from PH1 PH2 PH3 and PH4 1 Output actual PH1 PH2 PH3 and PH4 signals Select the excitation method using PH1 PH2 PH3 and PH4 signals Set MMPH bit 22 in the RMD gt 0 Output excitation sequence for 2 phase unipolar 1 Output excitation sequence for 2 phase bipolar Select the excitation method using PH1 PH2 PH3 and PH4 signals Set MMPH bit 22 in the RMD gt 0 Output excitation sequence for full step 1 Output excitation sequence for half step Read the excitation sequence signal Set SPH1 to 4 bits 24 to 27 in the RSTS gt SPH1 1 PH1 is ON SPH2 1 PH2 is ON SPH3 1 PH3 is ON SPHA 1 PHA is ON HIGH status HIGH status HIGH status HIGH status 112 RMD WRITE 23 1 RMD WRITE 23 1 RMD WRITE 23 1 RMD WRITE 23 1 RSTS READ 31 2 8 15 General purpose I O terminals PO to P7 Although these ports are set as input ports by defa
21. The counter range of COUNTERS will be 0 to the value set in RCMP3 Max 32 767 If counting down from O the lower limit will be the value set in RCMP3 and if counting up from the value set in RCMP3 the limit will be O The input for COUNTER3 can be set to CI30 to CI32 in RENV3 Set COUNTERS deflection Set CI30 to 32 bits 10 to 12 in RENV3 gt RENV3 WRITE 000 Output pulse 15 8 001 EA EB input ni nl nl 010 PA PB input PERL 011 1 4096 division of the internal reference clock CLK 40 MHz 100 Count deflection using output pulses and the EA EB input 101 Count deflection using output pulses and the PA PB input 110 Count deflection using the EA EB PA PB inputs Select Comparator 3 comparison counter Set C3CO to 1 bits 16 to 17 in RENV4 WRITE RENV4 gt 23 16 00 COUNTER1 command position Lo 01 COUNTER2 machine position gt 1 1 Imln 10 COUNTER3 general purpose deflection 11 Always treated as no comparison conditions specified Set the comparison method for comparator 3 Set C350 to 3 bits 18 to 21 RENV4 WRITE in RENV4 gt 23 16 0001 RCMP3 data Comparison data regardless of count direction InE n ml ol l 0010 RCMP3 data Comparison data while counting up 0 nj nf nl 0011 RCMP3 data Comparison data while counting down 0100 RCMP3 data gt Comparison counter 0101 RCMP3 data Comparison counter 0111 Prohibited 1000 Use as an IDX synchronous sig
22. When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect it to VDD 4 4 31 CLR Reset the specified counter COUNTER 1 to 3 by inputting a signal can be used to reset more than one counter Software can be used to change the input logic of this terminal This terminal has a built in pull up resistor to prevent floating When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect it to VDD 16 4 4 32 4 4 33 4 4 34 4 4 35 4 4 36 4 4 37 4 4 38 4 4 39 4 4 40 LTC Latch the specified counter COUNTER 1 to 3 by inputting a signal can latch more than one counter Software can be used to change the input logic of this terminal This terminal has a built in pull up resistor to prevent floating When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect it to VDD ERC Outputs a one shot pulse to clear a deflection counter for a servo driver The output logic and pulse length can be set using software A level output is also possible If this terminal is not used leave it open BSY PH1 When BSY is selected the PCL device G9003 outputs a LOW while the motor is operating When PH1 is selected the PCL device G9003 outputs an excitation sequen
23. While in high speed operation the axis will decelerate to FL speed when the SD signal is turned ON and then stop If the SD signal is turned OFF during deceleration the axis will accelerate to FH speed If the SD signal is turned ON after writing a start command the axis will complete its operation without another start Generates an interrupt when stopped J constant speed operation constant speed operation oe speed operation pem to FL d a to FH lt again when SD signal is turned off while decelerating I I t uiu i SD signal OFF ON OFF ON SD signa OFF ON _ OFF ON SD signal OFF on OFF OFF ON OFF 87 4 Latched deceleration stop SDM bit 4 1 SDLT bit 5 1 in RENV1 gt If the SD signal is turned ON while in constant speed operation the axis will stop If the SD signal is turned ON while in high speed operation the axis will decelerate to FL speed and then stop Even if the SD signal is turned OFF during deceleration the axis will not accelerate If the SD signal is turned ON while writing a start command the axis will not start moving and the operation will not be completed Generate an interrupt when stopped FL constant speed operation FH constant speed operation Hign speed operation f f f 4 Decelerate to FL FH FH SD signal is turned OFF while decelerating t t t SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF The input logic of the SD sig
24. the axis will remain stopped For safety keep the EL signal ON until the axis reaches the end of the stroke If the EL signal is ON when writing a start command the axis cannot start moving in the direction of the particular EL signal that is ON By setting ELM in the RENV1 environment setting 1 register the stopping pattern for use when the EL signal is turned ON can be set to immediate stop or deceleration stop high speed start only However when the deceleration stop is selected keep the EL input ON until the motor stops If the EL signal goes ON during a deceleration stop operation and this signal is not held ON until the motor stops the PCL device G9003 will treat it as a normal stop The minimum pulse width of the EL signal is 160 reference clock cycles 4 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is 4 reference clock cycles 0 1 usec The EL signal can be monitored by reading RSTS extension status By reading the REST register you can check for an error interrupt caused by the EL signal turning ON When in the timer mode this signal is ignored Even in this case the EL signal can be monitored by reading RSTS extension status The input logic of the EL signal can be set for each axis using the ELL input terminal Set the input logic of the EL signal lt ELL input terminal gt L Positive logic input H Negative logic input Stop method to when the EL signal turns
25. 2 RMG 1 x 50000 RMG 1 x 50000 x RMV 2 lt S a AAA A ARS K RUR RDR 2 as 2 S curve acceleration without linear acceleration MSMD 1 in the RMD register and the RVS register 0 RDS registers 0 When RMV lt RFH RFL x RUR RDR 2 x2 RMG 1 x 50000 RMG 1 x 50000 x RMV 2 lt EN A A A A sis K RUR RDR 2 x2 3 S curve acceleration deceleration with linear acceleration deceleration MSMD 1 in the RMD register and the RUS register gt 0 RDS register gt 0 3 1 When RUS RDS 1 Set up a small linear acceleration range When RFH REL x RFH RFL 2 x RUS x RUR RDR 2 A A AA A A A A ee o i2 RMG 1 x 50000 ang RUS RFL x RUS x RUR RDR 2 x 8 ida RMG 1 x 50000 RMG 1 x 50000 x RMV RFH RSU RUS RFL RUR RDR 2 ii Eliminate the linear acceleration deceleration range RUS RFL x RUS x RUR RDR 2 x 8 n NA A AA AN E a A ANS RMG 1 x 50000 Change to S curve acceleration deceleration without a linear acceleration deceleration range RUS 0 RDS 0 RMG 1 x 50000 x RMV lt NA ES AAA ee c eet ARNI Jes RDR 2 x2 TOS RMV Positioning amount RFL Initial speed RFH Operation speed RUR Acceleration rate RDR Deceleration rate RMG Speed magnification rate RUS S curve acceleration range RDS S curve deceleration range 76 3 2 When RUS RDS i Set up a small linear acceleration deceleration range
26. AAA DIS O da 13 Bea PI RR 13 AA IN a Mare a leo o ee a eat nate 13 de E OI A A eU ALI 14 nei quos A EEEE C RC E A T E n ES 14 JA AO Mic rim m E T EET 14 qoi EEE A E E E TST Ros dM dur le M IE MA M LEM ER IM meteee 14 A me PEE TP E 14 dq d S A O cosa abeat Rusia Adrien sm OREL A M Mti o oe etUR M dE 14 o A A eRe ee cb 14 A Meet iue c eue uum MU LU LR MU MM C MU OI PM MUN M EU M MM LIEU 14 A A A A 14 A m OW A UR M DU NM EEUU ER M ME MU E E DE T CN 15 A a Selec iad 15 gae AE E E dec ML ME UC CT POURRAIS 15 Maa 2 2 sete ZI a 15 AZ e case ental E 15 JAZA cT ne eee o A eee eee eee 15 JAZ OAE Ni MT E 15 AO OUT DIR arekin e aiia 16 LE AM E o a netaaeeeakunactdeteicantialietseredt sicpangusaddawieces 16 MeO Os EA EB JEZ o a a a a acus cte oE pique 16 ELM a Der 16 dds ONE A A teredecemat used aniece 16 E GIO S Ner cU 16 aei oM M cS TEE O A 17 AN A EE te tes A 17 4 094 EE ON Me Edict daete Mns ett deum tatione idt ute qu e CO m te ea cine ALD LEE LED c ase 17 E A ES 17 A A O taa EUM LL ED e aise 17 FA STe R MVO E HA ie O upE e t Reha ug o MEE 17 dq ORG A ceu md heu m Iu eee aM a 17 mic Meg v TER 17 MAAC E A CN 17 3 Description of the SonWal e RETE ET DLE 18 cum OUUINE OF COMM l e c a A aa 18 9 1 1 COMMUNICATION CONT bem 18 5 1 2 Communication type sisina ai ra ia T
27. CLR signal 15 8 Counter reset command lt CUN1R to CUNAR Control command Control command 20h Reset COUNTER1 command position 020 21h Reset COUNTER2 mechanical position 22h Reset COUNTER3 general purpose deflection Note When the count up down timing and reset timing match the counter will be set to O 100 8 10 3 Latch the counter and count condition All the counters can latch their counts using any of the following methods The setting is made in RENVA environment setting 4 register The latched values can be output from the RLTC1 to 3 registers 1 Turn ON the LTC signal 2 Turn ON the ORG signal 3 When the conditions for Comparator 2 are satisfied 4 When the conditions for Comparator 3 are satisfied 5 When a command is written The current speed can also be latched instead of COUNTERS general purpose deflection Items 1 to 4 above can also be latched by hardware timing The LTC input timing can be set by in RENV1 environment setting 1 An interrupt can be generated when a counter value is latched by turning ON the LTC signal or the ORG signal This allows you to identify the cause of an event interrupt Specify the latch method for a counter 1 to 4 Set LTMO to 1 bit 24 to 25 in RENV4 WRITE RENV4 gt 37 2 00 Turn ON the LTC signal hele Pate sn 01 Turn ON the ORG signal BHBBBET 10 When the conditions for Comparator 4 are satisfied 11 When the conditions for Comparator 5
28. COUNTER3 data When the LTFD is 1 the register latches the current speed When the LTFD is 1 and movement on the axis is stopped the latched data will be O Data range when LTFD is 0 32 768 to 32 767 Data range when LTDF is 1 O to 100 000 When the PCL device G9003 latches COUNTERS3 data LTFD bit 26 in the RENVA is 0 bits shown as and 96 will have the same sign extension as bit 15 When the PCL device G9003 latches the current speed data LTFD bit 26 in the RENVA is 1 bits shown as will become 0 and the lower 17 bits with 96 will contain the current speed data WaT Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 46 5 4 2 18 RSTS register The extension status can be checked un d 18 14 13 12 11 10 T 6 9 4 2 1 SERC SPCS SEMG SSTP SSTA SDIN SSD SORG SMEL SPEL SALM SDIR CND3 CND2 CND1 CNDO 24 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 O O 0 0 SPH4 SPH3 SPH2 SPH1 SPLS SCP3 SCP2 SCP1 SINP i SLTC SCLR SEZ Bit Bitnam 1 BDescipion Reports the operation status 0000 Under stopped condition 1000 Accelerating 0001 Waiting for STA input 1001 Feeding at FH constant 0010 Waiting for a completion of ERC speed timer 1010 Decelerating Oto
29. Final pulse Negative pulse Set the time RT FT Enter a value x 1 6 us when the internal reference clock is 40 MHz 5 4 2 8 RCUN1 register This is a register used for COUNTER1 command position counter 31 30 29 28 27 26 25 24 2322 21 20 19 18 17 16 15141312 111098 7654 3210 BE Be ee eee AI This is a counter used exclusively for command pulses Setting rage 134 217 728 to 134 217 727 5 4 2 9 RCUN2 register This is a register used for COUNTER2 mechanical position counter 31 30 29 28 27 26 25 24 23 22 21 2019181716 15141312 111098 7654 3210 HECER It can count three types of pulses Command pulses encoder signals EA EB input pulsar inputs PA PB input Setting range 134 217 728 to 134 217 727 5 4 2 10 RCUNS register This is a register used for COUNTER3 deflection counter 31 30 29 28 27 26 25 24 23 22 21 20 1918 17 1615141312 111098 7654 3210 amp 1 amp 8 amp 8 amp 18 8 8 R ie hha eral 5 o 0 p ts 1335 1215 It can count three types of deflections between command pulses and encoder signals between command pulses and pulsar signals and between encoder signals and pulsar signals Setting range 32 768 to 32 767 The PCL G9003 device will not count values exceeding the setting and it shows the maximum value Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will
30. If you want to drive these terminals using an open collector you must connect pull up resistors 5 10K ohms externally Input terminals that are not used and which have internal pull up pull down resistors can be left open However we recommend pulling these unused terminals up to 3 3 V externally or connect them directly to the 3 3 V or GND terminals Note 5 Leave the unused output terminal s open Note 6 Negative and Positive in the logic column mean negative logic and positive logic In addition a means that the terminal s logic can be changed with software A 7o means hat the terminal s logic setting can be changed by another terminal The logic shown in the table is the default condition The DIR terminal logic shown is when it is used in Two pulse mode 4 2 Terminal allocation diagram Q o az Cae re eg PR kG e Y GO 53 57 Es 53 154 Es 87 F7 Eo STA VDD A ALM ORG SD EL FEL EMG amp GND BSY PH1 INP FUP PH2 CLR FDW PH3 LTC MVC PH4 PCS ELL CP3 GND 66 CP2 MSEL CP1 MRER 68 VDD TOUT 69 XXXX DIR BRK m OUT TUD JAPAN 9 9 9 9 9 9 9 9 ERC TMD GND SE G9003 CLK PA GND EZ CKSL EB SPDO EA SPD1 VDD GND VDD RST 80 GND 11121131 4115116 71181 9 160 11 12 13 14 15 16 17 18 19 20 n 2 Zz Z Z X 60 OQ OQ oz BU i Z 8888887 25565222399 9 Note As you can see in the figure above pin number 1
31. OFF EL signal SMEL 1 Turn ON EL signal ano Setting the EL input filter lt Setthe FLTR bit 25 in RENV1 gt RENV1 WRITE 0 Apply a filter to the EL ORG input 24 After applying a filter signals shorter than 4 usec will be ignored TT TIA 67 6 5 1 6 5 2 6 6 Feed until reaching an EL or SL position This mode is used to continue feeding until the EL or SL soft limit signal is turned ON and then the operation stops normally When a start command is written on the position where the EL or SL signal is turned ON the LSI will not output pulses and it will stop the axis normally When a start command is written to the axis while the EL and SL signals are OFF the axis will stop when the EL or SL signal is turned ON Normal stop MOD 20h Feed until reaching the EL or SL position 28h Feed until reaching the EL or SL position Leaving an EL or SL position This mode is used to continue feeding until the EL or SL software limit signal is turned OFF When a start command is written on the position where the EL and SL signals are turned OFF the LSI will not output pulses and it will stop the axis normally When starting an operation while the EL input or SL signal is ON the PCL will stop operation normally when both the EL input and SL signal are OFF MOD 22h Leave from a EL or SL position 2Ah Leave from a EL or SL position EZ count operation mode This mode is used to count EZ signal of th
32. Operation 3 ORG EL Operation 1 Emergency stop energy Operation 3 ee 6 4 1 3 Origin return operation 2 ORM 0010 Constant speed operation Sensor EL ELM 0 ORG EZ EZD 0001 ORG EZ EL Operation 1 Operation 2 peraan 3 ORG EZ EL Operation 1 Operation 2 E uis 312 Operation 3 3Emegency stop Note Positions marked with Q reflect ERC signal output timing when Automatically output an ERC signal is selected for the origin stopping position 61 6 4 1 4 Origin return operation 3 ORM 0011 O Constant speed operation Sensor EL ORG EZ EZD 0001 ORG EZ EL Operation 1 ORG EZ EL Operation 1 Operation 2 Operation 3 6 4 1 5 Origin return operation 4 ORM 0100 O Constant speed operation lt Sensor EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 FA speed E High speed operation Sensor EL ORG EZ EZD 0001 gt ORG EZ EL Operation 1 Operation 2 Emegency stop Operation 3 Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for the origin stopping position A 6 4 1 6 Origin return operation 5 ORM 0101 O Constant speed operation Sensor EL ORG EZ EZD 0001 ORG EZ EL Operation 1 Operation 2 Operation 3 B High speed operation Sensor EL ORG EZ EZD 0001 ORG EZ EL
33. RSTS in sub status 1 Decelerates deceleration stop by turning ON the input 0 Delay using an INP input will be possible Checking can be done with RSTS in sub MINP status 1 Completes operation by turning ON the INP input MU EN Specify an acceleration deceleration type for high speed feed 0 Linear 10 MSMD Jjaccel decel 1 S curve accel decel Specify the operation complete timing 0 End of cycle 1 End of pulse When using the vibration reduction function select End of pulse Specify the ramping down point for high speed feed Effective during positioning operations 0 Automatic setting 1 Manual setting Enable or disable PCS input 1 When positioning the PCL G9003 device controls the number of pulses after the PCS input turns ON Override 2 for the target position After writing a start command the PCL device G9003 can delay the start until some other event occurs 0 Starts immediately 1 Starts when the ZSTA input is supplied or with the simultaneous start command 0006h 002Ah 1 Decelerate and stop or stop the motor immediately when the ZSTP input is supplied When the ZSTP input is active because of an error stop on another axis or because the external ZSTP signal is present the motor will stop at the same time 1 Outputs an ZSTP simultaneous stop signal when stopping due to an error 19 MINT 1 ipe interrupt output SINT The interrupt status will continue to chang
34. WRITE 01 Start by inputting a STA signal 15 8 Specify the input specification for the STA signal Set STAM bit 18 in RENV1 gt RENV1 WRITE 0 Level trigger input for the ZSTA signal 1 Edge trigger input for the ZSTA signal Read the ZSTA signal lt SSTA bit 11 in RSTS gt 0 The ZSTA signal is OFF 1 The STA signal is ON Read the operation status CND bits O to 3 in RSTS gt 0001 Waiting for STA input Set an event interrupt cause Set IRSA bit 12 in RIRQ 1 Generates an interrupt when the ZSTA input is ON Reading the event interrupt cause lt ISSA bit 12 in RIST gt 1 When the STA signal is ON 15 8 Simultaneous start command lt CMSTA Operation command Operation command Output a one shot pulse 16 reference clock cycles long from the ZSTA terminal The STA terminal is bi directional It can receive signals output from other PCL devices G9003 Local axis only simultaneous start command lt SPSTA Operation command gt Operation command Used the same way as when a FSTA signal is supplied for a local axis only 002Ah 8 8 External stop simultaneous stop 0006h This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the FSTP terminal Set MSPE bit 15 1 in the RMD register operation mode to enable a stop from a ZSTP input The axis will stop immediately or decelerate and stop when the STP terminal is LOW However a deceleration stop is o
35. aa Ea ara a i aia aia 18 5 2 Functional settings for the PCL device G9003 oocccccccccccccnccocncccocnncononononononnnnnnnnnnnnnnnnononenononnnnnos 20 A A O A 20 5 3 Commands Operation commands 8 Control commands coooccncncoccnnccnncnnnnnncnnononnnnnnnnnoncnnarenonanens 22 9 371 Operation command Serra A ads 22 5 32 leise COMMANG o E D e ado 24 9 3 9 IxegIster control Comimarids iege ciao eat adu o Dati Pint bed det eet oc pidas 25 O A git MEIN P MINIMI i EM ane ORE 36 28 5 4 1 Speed setting TegiStelS toute etd intuei atra bat eb teta ede Oeo uarie Moda AOI oet stants 28 5 4 2 Environment settiong registers ooocccccnccocnccocnoconnnccnnnanconannonnncnnnnnnnnnonannonanonannnnnnnnnnnanananenons 31 D Peraleda 50 6 1 Continuous operation mode using command CONtTOl oo ooccccccooccnnococcnnccnnnonononennnnnnnnncnnanenonnonons 50 6 2 POSINONING Ope rall OM MOJO e em 50 6 2 1 Positioning operation specify a target position using an incremental value MOD 41h 50 6 2 2 Positioning operation specify the absolute position in COUNTER1 MOD 42h 50 6 2 3 Positioning operation specify the absolute position in COUNTER2 MOD 43h 51 6 2 4 Command position O return operation MOD 44h oocccoccnccoccncccccnccocnnococnncnanccnnnncnnncnononononos 51 6 2 5 Machine position O return operation MOD 45h ssseesssseseeeeeeennnennm 51 6 2 6 One p
36. and ORG signals can be changed using software Digital servomotor I F The following three signals can be used as an interface for each axis 1 INP Input positioning complete signal that is output by a servomotor driver 2 ERC Output deflection counter clear signal to a servomotor driver 3 ALM Regardless of the direction of operation when this signal is ON movement on this axis stops immediately deceleration stop When this signal is ON no movement can occur on this axis The input logic of the INP ERC and ALM signals can be changed using software The ERC signal is a pulsed output The pulse length can be set 12 usec to 104 msec Alevel output is also available Emergency stop signal FEMG input When this signal is turned ON movement on both axes stops immediately While this signal is ON no movement is allowed on any axes 3 Specifications 3 1 Device specifications General purpose input output ports 1 port 8 bits Individual bits can be set for input or output Dataxcommunicatom ms When using 3 word communication written to one register in the PCL device G9003 19 3 us General purpose input output Data communication Transient transfer 3 2 Communication system specifications Note 1 When to transfer data with 20 Mbps speed and if the clock duty can be maintained to ideal 90 50 condition the center device can be operated by inputting 40 MHz clock signal The above ideal conditions m
37. be better for LAN cables Cable connections Do not connect one cable to another cable using connectors etc In a multi drop system the number of cables increases as the number of local devices increase However connecting a cable just to extend the line should be avoided Processing of excess cable Excess cable left over after making all the runs should be eliminated Unneeded cable length may restrict the line overall usable length and may introduce electrical noise Circuit board substrate Create circuits on a substrate with 4 or more layers to prevent the introduction of noise 128 13 Software example This Chapter outlines software for the center device G9001A using flow charts In the flow charts required variables are used for convenience 13 1 Environment and precautions used for the descriptions The descriptions below assume that I F mode 3 is selected Therefore a 16 bit data bus is used Also these descriptions are based on the assumption that the wiring connections around the center device have been properly prepared and that the connected local devices are turned on And of course we presume that connections to the serial line and the termination resistances are all correct 13 2 Commands used We will use the following two commands to access the address map in the center device 1 Write command to the center device Outpw Address Data Address Value corresponding to the address map in the
38. be the same value as the upper most bit among bits having no marks when read Sign extension e CON 5 4 2 11 RCMP1 register Specify the comparison data for Comparator 1 31 30 29 28 27 2625 24 23 22 21 20 19 18 17 16 15141312 111098 7 654 3210 amp amp i amp r amp 5i i poi i i goi i i qo d bl i iilgjiii iidg Setting range 134 217 728 to 134 217 727 5 4 2 12 RCMP2 register Specify the comparison data for Comparator 2 31 30 29 28 27 2625 24 23 22 21 20 19 18 17 16 15141312 111098 7654 32 1 0 amp i amp i amp r amp i i i i i p dod d Pii dd fd iid d iilo Setting range 134 217 728 to 134 217 727 5 4 2 13 RCMP3 register Specify the comparison data for Comparator 3 31 30 29 28 27 26 25 24 232221 20 1918 17 16 15141312 11109 8 7654 3210 BE Be ee ee tico tics pits Setting range 134 217 728 to 134 217 727 Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read Sign extension 44 5 4 2 14 RIRQ register Enables event interruption cause Bits set to 1 that will enable an event interrupt for that event 15 14 13 12 11 10 9 8 f 6 9 4 3 2 1 0 31 30 29 28 2 26 25 24 23 22 21 20 19 18 17 16 O IREN JgStoppngnormaly o 2 IRUE When ending acceleration Z
39. buffer counter deflection adjustment 16 bit counter for pulsar input and output pulse overflows This can be monitored by the REST error interrupt factor register FP lt speed input I F phase value PMG setting value 1 PD setting value 2048 PD setting value 0 FP lt speed input I F phase value PMG setting value 1 PD setting value Examples of the relationship between the FH FL speed pps and the pulsar input frequency FP pps gt PA PB input method PMG setting value PD setting value Usable range 0 2 pulse input FP cycle PE qp Note When the PA PB input frequency fluctuates take the shortest frequency not average frequency as Frequency of FP above 53 Setting relationship of PA PB input Specify the PA PB input Set to PIMO to 1 bit 14 to 15 in RENV2 RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 15 8 01 90 phase difference 2x 11 2 sets of up or down input pulses DEBEBEEN Specify the PA PB input count direction Set to PDIR bit 16 in RENV2 gt 0 Count up when the PA phase is leading Or count up on the rising edge of PA 1 Count up when the PB phase is leading Or count up on the rising edge of PB Enable disable PA PB input Set POFF bit 18 in RENV2 gt 0 Enable PA PB input 1 Disable PA PB input Set PA PB input filter Set PINF bit 13 in RENV2 gt 1 Insert a filter on PA PB input
40. by command 2 Continuous operation and positioning operation using PA PB inputs manual pulsar 3 Origin return operation 4 Positioning operation using commands 5 Hardware start of the positioning operation using STA input 6 Change the target position after turning ON the PCS Delay control Variety of origin return sequences 1 Feeds at constant speed and stops when the ORG signal is turned ON 2 Feeds at constant speed and stops when count up EZ signals 3 Feeds at constant speed reverses when the ORG signal is turned ON and stops when an EZ signal is received 4 Feeds at constant speed and stops when the EL signal is turned ON Normal stop 5 Feeds at constant speed reverses when the EL signal is turned ON and stops when an EZ signal is received 6 Feeds at high speed decelerates when the SD signal is turned ON and stops when the ORG signal is turned ON 7 Feeds at high speed decelerates when the ORG signal is turned ON and stops when an EZ signal is received 8 Feeds at high speed decelerates and stops after the ORG signal is turned ON Then it reverse feeds and stops when an EZ signal is received 9 Feeds at high speed decelerates and stops by memorizing the position when the ORG signal is turned ON and stops at the memorized position 10 Feeds at high speed decelerates to the position stored in memory when an EZ signal is received after the ORG signal is turned ON Then returns to the memorized position
41. counter RPLS The positioning counter counts down with each pulse output and when the positioning counter value reaches zero it stops operation If the RMV register value is made equal to the COUNTER2 value and the positioning operation is started the PCL device G9003 will immediately stop operation without outputting any command pulses Also this operation does not use feedback control So if encoder signals are input to COUNTER2 the value of COUNTER2 at the completion of the feed may be different from the target position Command position O return operation MOD 44h This mode continues operation until the COUNTER1 command position value becomes zero The direction of movement is set automatically by the sign for the value in COUNTER 1 when starting This operation is the same as when positioning specify the absolute position in COUNTER 1 by entering zero in the RMV register however there is no need to specify the RMV register Machine position O return operation MOD 45h This mode is used to continue operations until the value in COUNTER2 mechanical position becomes zero The number of output pulses and feed direction are set automatically by internal calculations based on the COUNTER2 value when starting This operation is the same as when positioning specify the absolute position in COUNTER2 by entering zero in the RMV register However there is no need to specify the RMV register One pulse operation MOD 46h 4
42. execute a PUSH POP on FIFO buffer Note 2 While processing in steps 1 to 4 above it is possible that another interrupt may occur on an axis whose process has completed After the CPU has recovered from an interrupt read the Main Status and check if an interrupt has occurred with the PCL device G9003 Then end the interrupt routine Note 3 The I O port with the Main Status bit that is used for the interrupt is refreshed by the cyclic transfer It is also refreshed by the transient transfer of data communications The Main Status bit O SINT can be masked by setting the RMD operation mode register When masked MINT 1 in the RMD even though the status changes bit O SINT in the Main Status will remain O and will not change to 1 When an interrupt occurs if the output mask is turned OFF MINT 0 in the RMD bit O SINT in the Main Status will change to 1 114 Read the interrupt status SINT bit0 SEND 1 SERR bit 2 SEVT 3 in MSTBO READ MSTBO gt 7 0 SINT bit 0 1 Set to 1 when SEND 1 or SERR 1 or SEVT 1 ol ol ol SEND 1 Set to 1 when stopped Set to O by an interrupt reset command nini n n 0008h SERR 1 Becomes 1 when an error interrupt occurs Becomes 0 by reading REST SIVT 1 Becomes 1 when an event interrupt occurs Becomes 0 by reading RIST Set the interrupt mask lt MINT bit 19 in RMD gt RMD WRITE 1 Mask SINT bit 0 in the Main Status 23 16
43. frame only 3 Start command with a feed amount Write a feed amount and a start command while stopped The feed amount is useful for positioning operations Lower Upper byte WRITE RMV REGISTER FL RMSTFL 0058h byte data c speed start Response frame only Lower Upper byte WRITE RMV REGISTER FH RMSTFH 0059h byte data en speed start Response frame only Lower Upper byte WRITE RMV REGISTER Response frame only RMSTUD 005Bh byte data High speed start Response frame only Note 1 If the command is sent without any data the RMV register will be set to O and the motor will be driven 0 feed amount 222 65 4 Simultaneous start command When several devices are waiting for an STA signal to arrive by setting the RMD registers write these commands to start multiple axes simultaneously CMSTA 0006h EMEN FSTA output simultaneous start Response frame only SPSTA 002Ah NEN NENNEN Substitute ZSTA input Response frame only 5 3 1 2 Speed change command If any of these commands are written while operating the operation speed will be changed If they are written while stopped the devices will ignore the command FCHGL 0040h ange eos li ce Response frame only immediately FCHGH 0041h Sane ier Constanl eses Response frame only immediately FSCHL 0042h a a Decelerate to Decelerate to FL speed Decelerate to FL speed Response Response frame only Response frame only FSCHH 0043h ENS MN Accelerate t
44. general purpose l O port MIOR bits 24 in RMD gt 37 2 0 Read the setting of the output bits on Port 2 latas ella 1 Regardless of the setting of the output bits the bits corresponding to Port 2 will be 0 Set the general purpose I O terminal data to be output Set IOPOB bits O PORT 3 WRITE to 7 on I O Port 3 7 0 0 LOW level when specified as output port Innnnnn nn 1 HIGH level when specified as output port Read the general purpose l O terminal input data Set IOPIB bits O to 7 PORT 2 READ on I O Port 2 7 0 0 LOW level 1 HIGH level nl ol ni ni n n n n 113 8 16 Interrupt output This LSI can output an interrupt There are 14 types of errors 14 types of events and change from operating to stop All of the error causes will always output an interrupt Each of the event causes can be set in the RIRQ register If any of the interrupts above occurs the Main Status bit 0 SINT changes from O to 1 When this happens the center device can generate an interrupt A stop interrupt SEND is a simple interrupt function which produces an interrupt separate from a normal stop or error stop For a normal stop interrupt to be issued the confirmation process reads the RIST register as described in the Cause of an Event section If your system needs to provide a stop interrupt whenever a stop OCCUIS it is easy to use the stop interrupt function The interrupt is output continuously until all
45. if an overrun occurs 11 Feeds at high speed reverses after a deceleration stop triggered by the EL signal and stops when an EZ signal is received Mechanical input signals The following four signals can be input 1 EL When this signal is turned ON while feeding in the positive direction movement on this axis stops immediately with deceleration When this signal is ON no further movement occurs on the axis in the positive direction The motor can be rotated in the negative direction 2 EL Functions the same as the EL signal except that it works in the negative direction 3 SD This signal can be used as a deceleration signal or a deceleration stop signal according to the software setting When this is used as a deceleration signal and when this signal is turned ON during a high speed feed operation the motor on this axis will decelerate to the FL speed If this signal is ON and movement on the axis is started the motor on this axis will run at the FL constant speed When this signal is used as a deceleration stop signal and when this signal is turned ON during a high speed feed operation the motor on this axis will decelerate to the FL speed and then stop 4 ORG Input signal for an origin return operation For safety make sure the EL and EL signals stay on from the EL position until the end of each stroke The input logic for these signals can be changed using the ELL terminal The input logic of the SD
46. immediately If a software limit is ON while writing a start command the axis will not start to move in the direction in which the software limit is enabled However it can start in the opposite direction Setting example RENV4 00003838h Use Comparator 1 as positive direction software limit Use Comparator 2 as negative direction software limit Set to stop immediately when the software limit is reached RCMP1 100 000 Positive direction limit value RCMP2 100 000 Negative direction limit value Negative direction limit position Positive direction limit position RCMP2 100 000 RCMP1 100 000 Normal operation zone Unable to feed in the lt E Able to feed in the Able to feed in the PUT gt Unable to feed in the negative direction l positive direction negative direction positive direction Operation from the negative direction limit position Operation from the positive direction limit position Setting the comparison method for Comparator 1 Set C1S0 to C1S2 bits 2 RENV4 WRITE to 4 in RENV4 gt 0 7 001 RCMP1 data Comparison data Regardless of count direction nl nl of l 010 RCMP1 data Comparison data While counting up gt nl ni of 011 RCMP1 data Comparison data While counting down 100 RCMP1 data gt Comparison counter 101 RCMP1 data lt Comparison counter 110 Use as a positive direction software limit RCMP 1 lt COUNTER 1 Others Always assumes that the compa
47. in the PRMD register to zero and use the cycle completion timing of the output pulse as the operation complete timing 51 6 3 Pulsar PA PB input mode This mode is used to allow operations from a pulsar input In order to enable pulsar input set POFF bit 18 in the RENV2 register to zero It is also possible to apply a filter on the PA PB input After writing a start command when a pulsar signal is input the LSI will output pulses to the OUT terminal Use an FL low speed start STAFL 0050h or an FH low speed start STAFH 0051h Four methods are available for inputting pulsar signals through the PA PB input terminal by setting the RENV2 environmental setting 2 register Supply a 90 phase difference signal 1x 2x or 4x Supply either positive or negative pulses Note The backlash correction function is available with the pulsar input mode However reversing pulsar input while in the backlash correction is unavailable Besides the above 1x to 4x multiplication the PCL has a multiplication circuit of 1x to 32x and division circuit of 1 to 2048 2048 For setting the multiplication from 1x to 32x specify the PMGO to 4 in the RENV5 and for setting the division of n 2048 specify the PDO to 10 in the RENV5 PA UP1 1 to 32x UP2 UP3 a pat 2048 o interna Itiplicat n e PB Input I O circuit EE mu Hass ion o eont reui control Fett DOWN2 DOWN 3 PIMO to 1 PMGO to 4 PDO to 10 The timing of the UP1
48. is to the lower left of the LSI model name marked on the chip 10 4 3 Entire block diagram CLK Internal CLK 40 MHz m CKSL Clock control Internal CLK2 20 MHz Communication control section SPDO 1 SO SI Communication SOEL SOEH BRK contro MSEL MRER SOEI Watchdog timer i TOUT 1 TMD l Time out control DNO to 5 Manage device i nUS number i Command register data Data control Port data WEM NM A AA 4 3 RST TE EE Sa MEE TE VDD Axis control section GND RFL RFH RUR RDR RUS RDS RFA ENE ar Acceleration Multiplication rate Pulse length Vibration control OUT DIR i deceleration division circuit control circuit 1 i pulse generation i i circuit i i FH correction Excitation circuit sequence circuit PHitoe BSY PHI 1 FDW PH3 CP1 to 3 MVC PH4 COUNTER 1 Comparator 1 Command EMG position counter 3 ot JP EA EB STP COUNTER 2 STA Comparator 2 Command position counter PCS Pulsar I F circuit PA PB Q I O 1 UO 1 ERC i S Comparator 3 J 9 I o Du g Division fc Current speed by 1 4096 de ALM Idling control Position Current speed administration RSDC i HER i counter i Comparator LTC Ramp down point i calculation circuit EZ i ensor inpu i nets EL EL SD ORG 11 4 4 Functions of terminals 4 4 1 4 4 2 4 4 3 4 4 4 CLK This is an inp
49. logic lalalala i FA Read the ALM signal lt SALM bit 5 in RSTS gt RSTS READ 0 The ALM signal is OFF 7 0 1 The ALM signal is ON NEEBERMN Reading the cause of a stop when the ALM signal is turned ON lt ESAL bit 5 in REST READ REST 0 1 Stop due to the ALM signal being turned ON APPIE _ mE Set the ALM input filter Set FLTR bit 25 in RENV1 RENV1 WRITE 0 Apply a filter to the ALM input 31 2 When a filter is applied pulses less than 4 usec pulse in width will be ignored BARAER mE 93 8 7 External start simultaneous start This LSI can start when triggered by an external signal on the STA terminals Set MSY bits 14 1 in the RDM register operation mode and the LSI will start feeding when the ZSTA goes LOW When you want to control multiple axes using more than one LSI connect the ZSTA terminal on each LSI and set the axes to waiting for STA input to start them all at the same time In this example a start signal can be output through the ZSTA terminal The input logic on the ZSTA terminals cannot be changed By setting the RIRQ register event interrupt cause an interrupt occurs together with a simultaneous start when the ZSTA input is ON By reading the RIST register the cause of an event interrupt can be checked The operation status waiting for STA input and status of the ZSTA terminal can be monitored by reading the RIST register How to make a simultaneous start S
50. of the causes of the interrupt have been cleared An interrupt caused by an error is cleared by writing a REST error cause register read command An interrupt caused by an event is cleared by writing a RIST event cause register read command A Stop interrupt is cleared by writing to the main status The stop interrupt is cleared by writing a reset command 0008h for the SEND interrupt By setting RENV1 Environment Setting Register 1 you can choose not to reflect the occurrence of SEND interrupts in the Main Status bit O SINT or to reset the SEND interrupt when starting an operation The causes of an interrupt can be evaluated as follows below 1 Read the main status of the X axis and check whether bits 1 2 or 3 is 1 2 If bit 1 SEND is 1 a Stop interrupt occurs Reset the device using reset command 0008h 3 If bit 2 SERR is 1 read the RESET register to identify the cause of the interrupt 4 If bit 3 SEVT is 1 read the RIST register to identify the cause of the interrupt With these procedures you can identify an interrupt cause and turn OFF the occurrence of the interrupt Note 1 Using the interrupt routine if the center device tries to read the register the contents of the FIFO buffer in the centerl device may change If an interrupt occurs while the main routine is reading or writing registers and the interrupt routine starts the main routine may produce an error Therefore the interrupt routine should
51. operation mode The following six zero position operation modes are available Operation mode Direction of movement Origin return operation Positive direction Origin return operation Negative direction Depending on the operation method the zero position operation uses the ORG EZ or EL inputs opecify the input logic of the ORG input signal in the RENV1 environment 1 register This register s terminal status can be monitored with an RSTS extension status command opecify the input logic of the EZ input signal in the RENV2 environment 2 register Specify the number for EZ to count up to for an origin return complete condition in the RENV3 environment 3 register This register s terminal status can be monitored by reading the RSTS register Specify the logic for the EL input signal using the ELL input terminals Specify the operation to execute when the signal turns ON immediate stop deceleration stop in the RENV1 register This register s terminal status can be monitored with an RSTS extension status command An input filter can be applied to the ORG input signal and EL input signal by setting the RENV1 register Set the ORG signal input logic Set ORGL bit 7 in RENV1 gt RENV1 WRITE 0 Negative logic 1 Positive logic Read the ORG signal SORG bit 8 in RSTS gt RSTS READ 0 Turn OFF the ORG signal 15 8 1 Turn ON the ORG signal IBEIEFEEE Set the EZ signal input logic Set EZL bit 12 in RENV2 gt 0 F
52. protection components so that overvoltages caused by noise voltage surges or static electricity are not fed to the LSI 2 Precautions for transporting and storing LSIs 1 Always handle LSIs carefully and keep them in their packages Throwing or dropping LSIs may damage them 2 Do not store LSIs in a location exposed to water droplets or direct sunlight 3 Do not store the LSI in a location where corrosive gases are present or in excessively dusty environments 4 Store the LSIs in an anti static storage container and make sure that no physical load is placed on the L Sls 3 Precautions for mounting 1 In order to prevent damage caused by static electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus with an appropriate resistance factor However do not allow work on a metal surface which can cause a rapid change in the electrical charge on the LSI if the charged LSI touches the surface directly due to extremely low resistance When picking up an LSI using a vacuum device provide anti static protection using a conductive rubber pick up tip Anything which contacts the leads should have as high a resistance as possible When using a pincer that may make contact with the LSI terminals use an anti static model Do not use a metal pincer if possible Store unused LSls in
53. rate RMG Speed magnification rate 78 7 4 Example of setting up an acceleration deceleration speed pattern Ex When the start speed 10 pps the operation speed 7110 kpps and the accel decel time 300 msec 1 Select the 2x mode for multiplier rate in order to get 110 kpps output RMG 99 63h 2 Since the 2x mode is selected to get an operation speed 110 kpps RFH 55000 D6D8h 3 In order to set a start speed of 10 pps the rate magnification is set to the 2x mode RFL 5 0005h 4 In order to make the acceleration deceleration time 300 ms set RUR 7 26 275 from the equation for the acceleration time and the RUR value RFH REL x RUR 1 x 8 Acceleration time s 40 000 000 55000 5 x RUR 1 x 8 0 3 40 000 000 Then _ 40 000 000 x 0 3 ae 55000 5 x 8 a RUR 26 275 However since only integers can be entered for RUR use 26 or 27 The actual acceleration deceleration time will be 297 msec if RUR 26 or 308 msec if RUR 27 An example of the speed pattern when RUR 27 Speed 110 kpps Operation speed 10 pps Start speed i 305ms i 305ms i 278 7 5 Changing speed patterns while in operation By changing the RFH RUR RDR RUS or RDS registers during operation the speed and acceleration can be changed on the fly However if the ramping down point was set to automatic MSDP 0 in the RMD register for the positioning mode do not change the values for
54. register 1 the PCL G9003 will perform positioning operations for the amount specified in the RMV register based on the timing of this command after the operation start after it starts outputting instruction pulses or on the ON timing of the PCS input signal A PCS input signal can change the input logic The PCS terminal status can be monitored using the RSTS register extension status Setting pulse control using the PCS input Set MPCS bit 13 in RMD gt RMD WRITE 1 Positioning for the number of pulses stored in the RMV starting from the time 45 8 at which the PCS input signal is turned ON mHEFEREEE Setting the PCS input logic Set PCSL bit 24 in RENV1 gt RENV1 WRITE 0 Negative logic 44 24 1 Positive logic EEREIBEBEP Reading the PCS signal SPCS bit 14 in RSTS gt RSTS READ 0 Turn OFF PCS 15 8 1 Turn ON PCS in PCS substitution input STAON Control command Control command Perform processes that are identical to those performed by supplying a PCS signal 0028h 82 8 3 Output pulse control 8 3 1 Output pulse mode There are four types of common command pulse output modes two types of 2 pulse modes and 90 phase difference 2 pulse mode Common pulse mode Outputs operation pulses from the OUT terminal and outputs the direction signal from the DIR terminal 2 pulse mode Outputs positive direction operation pulses from the OUT terminal and outputs nega
55. speed when the SD signal is turned ON After decelerating or while decelerating if the SD signal turns OFF the axis will accelerate to the FH speed If the SD signal is turned ON when the high speed command is written the axis will operate at FL speed When the SD signal is turned OFF the axis will accelerate to FH speed FL constant speed operation FH constant speed operation Hign speed operation f f Decelerate to FL FH FL FL Accelerate to FH t t SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 2 Latch and decelerate lt SDM bit 4 0 SDLT bit 5 1 in RENV1 register While feeding at constant speed the SD signal is ignored While in high speed operation decelerate to FL speed by turning the SD signal ON Even if the SD signal is turned OFF after decelerating or while decelerating the axis will continue moving at FL speed and will not accelerate to FH speed If the SD signal is turned ON while writing a high speed command the axis will feed at FL speed Even if the SD signal is turned OFF the axis will not accelerate to FH speed FL constant speed operation FH constant speed operation Hign speed operation f f f Decelerate to FL speed FL t t 0 7 SD signal OFF ON SD signal OFF ON SD signal OFF ON OFF 3 Deceleration stop lt SDM bit 4 1 SDLT bit 5 O in RENV1 register If the SD signal is turned ON while in constant speed operation the axis will stop
56. target is a data device it exchanges information such as device status By writing a cyclic communication start command the center device communicates only with devices whose device information bit is set to 1 This communication continues until a cyclic communication stop command is written This PCL device G9003 checks the status and input and output conditions of the general purpose I O ports using cyclic communications 3 Data communication In data communication the center device communicates with other data devices such as the PCL device G9003 Normally the center device executes cyclic communications continuously A data communication command from a CPU allows you to perform data communications by interrupting the cyclic communications After writing data to the data transmitting FIFO of the center device write a send data command The center device will start the data communication on an interrupt when the current cyclic communication is complete After a local device has received data it will ignore any further data received until it has read out all of the data received and it will not send any response to the center device while reading the data The center device will generate a no response error in this case and retry the communication 18 Conceptual communication diagram Center device G9001A PCL device G9003 UM Cyclic and data Status ports Port 1 data communication General purpose l O input dat
57. temperature at the leads must not be 260 C or less for more than 10 seconds and must not be 350 C or less for more than 3 seconds 4 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive gases or excessive amounts of dust we recommend applying a moisture prevention coating 2 The package resin is made of fire retardant material however it can burn When baked or burned it may generate gases or fire Do not use it near ignition sources or flammable objects 3 This LSI is designed for use in commercial apparatus office machines communication equipment measuring equipment and household appliances If you use it in any device that may require high quality and reliability or where faults or malfunctions may directly affect human survival or injure humans such as in nuclear power control devices aviation devices or spacecraft traffic signals fire control or various types of safety devices we will not be liable for any problem that occurs even if it was directly caused by the LSI Customers must provide their own safety measures to ensure appropriate performance in all circumstances 144 Notes Oct 6 2009 No DA70102 1 4E 145
58. the specified devices and copies the attribute information into the data receiving FIFO The device information area does not change The details of the data receiving FIFO are as follows Bits 0 to 4 Number of bytes for the longest piece of data 8 1 Bits 5 to 7 Not used not defined Bits 8 to 15 Device type code I O device 01h Data device 81h Bits 16 to 18 Set the I O port PMD terminal information when an I O device is selected Bit 19 Always 0 Bits 20 to 31 Data device type G9003 000h G9004A 001h 0011 0000 0000 0000 Start Cyclic communication 3000h Start Cyclic communication with devices that have a 1 in the device in use bit in the device information 3100h otop the current Cyclic communication 0100 0000 00772 HHT Data communication 4000h to 403Fh Sends data in the transmitting FIFO to the specified devices The data received in response will be stored in the receiving FIFO 0100 0001 0000 0000 Cancel data communication 4100h Halt the data communication and reset the transmitting FIFO This command will be ignored after the data has been sent 0101 0000 O xx Write to the Device information area 5000h to 507Fh The contents of the I O buffer are written into a word in the device information area As an example the relationship between the l O buffer details and the device information area are listed below 5000h BitOto7 07h 0 Bit8to15 079 gt 1 5004h BitOto7 O7An 2 Bit8
59. to 2 047 O7FFh As the magnification rate is increased the speed setting units will tend to be approximations Normally set the magnification rate as low as possible The relationship between the value entered and the magnification rate is as follows 40 000 000 Magnification rate RMG 1 x 200 000 Magnification rate setting example when the reference clock 40 MHz Output speed unit pps Setting Magnification Output speed Setting Magnification Output speed range rate range rate 1999 7CFh 0 1 to 10 000 0 39 27h 5 5to 500 000 19 13h 5 999 3E7h 0 2 to 20 000 0 10 to 1 000 000 0 5 399 18Fh 0 5 to 50 000 0 9 09h 20 20 to 2 000 000 199 0C7h 1 to 100 000 3 3h 50 to 5 000 000 99 63h 2 to 200 000 2 2h 66 6 66 6 to 6 666 666 6 RDP Ramping down point register 24 bits This register is used to set the ramp down point deceleration starting point Specify the value used to determine the deceleration start point for positioning operations that include acceleration and deceleration The meaning of the value specified in the RDP changes with the ramping down point setting method MSDP in the RMD register When set to manual MSDP 1 in the RMD register Set the number of pulses at which to start deceleration in the range of 0 to16 777 215 OFFFFFFh The optimum value for the ramping down point can be calculated as shown in the equation below 1 Linear deceleration MSMD 0 of
60. 3 CNDOto 3 0011 Waiting for a completion of direction 1011 Waiting for INP input change timer 1111 Others controlling start 0100 Correcting backlash 1100 Not defined 0101 Waiting for PA PB input 1101 Not defined 0110 Feeding at FA constant speed 1110 Not defined 0111 Feeding at FL constant speed SDIR SDI Onertion direction 0 Positive direction 1 Negative direction SALM Sette when fhe ALM input nel 6 ON e ie eei 6 SPEL _ Setto1 when the EL input signalis ON 8 SORG Setto1 when the ORG input signalis ON 9 SSD _ Setto1 when the SD input signal is ON SD latch status Note 1 Logical sum output of the OUT DIR signals When the 90 phase difference signal output is selected the PCL device G9003 monitors the original pulse output 47 5 4 2 19 REST register Used to check the error interrupt cause Read only The corresponding bit will be 1 when that item has caused an error interrupt This register is reset when read 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 ESPEESEE ESOR O ESNT ESPO ESSDIESEM ESSP ESAL ESMLIESPL ESC3 ESC2 ESCT 31 30 29 28 2f 26 20 24 23 22 21 20 19 18 17 16 0 0 0 50 0 0 0 0 D 0 0 0 0 0 0 0 0 ESC1 Stopped when Comparator 1 conditions were met SL 6 ESSP Stoppedbythe STPinputbeingturned ON o Z o 8 ESSD Decelerated and stopped by the SD input bein
61. 3 IRDS When startingdeceleration 4 IRDE When ending deceleration 5 IRC1 When Comparator 1 conditions are met 6 IRC2 When Comparator 2 conditions are met 8 IRCL When resetting the count value with a CLR signal input 9 IRLT When latching the count value with an LTC signal input 45 9 4 2 15 RLTC1 register Latched data for COUNTER1 command position Read only 31 30 29 28 27 26 25 24 2322 21 20 19 18 17 16 15141312 11109 8 7654 3210 amp i amp i amp t amp i5 P 2f iiri grids The contents of COUNTER1 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 9 4 2 16 RLTC2 register Latched data for COUNTER2 mechanical position Read only 31 30 29 28 27 26 25 24 2322212019 18 17 16 15141312 11109 8 7654 3210 SS 2 12 21 eee eee The contents of COUNTER2 are copied when triggered by the LTC an ORG input or an LTCH command Data range 134 217 728 to 134 217 727 5 4 2 17 RLTC3 register Latched data for COUNTER3 deflection counter or current speed Read only 31 30 29 28 27 26 25 24 2322 21 20 191817 16 15141312 11109 8 7654 3 2 1 0 9 9 98 98 9 8 8 9 isis sis is 965 5 5 c PP The contents of COUNTERS or the current speed are copied when triggered by the LTC an ORG input or an LTCH command When the LTFD in the RENV4 register is 0 the register latches the
62. 3 Port 2 3 Note The hexadecimal notation for the addresses above are written with the assumption that AO O 130 13 4 Center device status For details see the user s manual for the center device SISW w STSB1 STSBO 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 o jpesv RBSY sBSY o RDBB TDBB REF 0 CAER ERAE EDTE EIOE IOPC BRKF CEND Bit oymbol Description Becomes 1 when ready for data to be written to the transmitting FIFO buffer When the system communication or data communication is complete and the CEND next chunk of data can be sent to the transmitting FIFO buffer this bit becomes 1 and the center device outputs an interrupt signal INT Once the status of this bit is read it returns to O When the center device receives a break frame this bit becomes 1 and an 1 BRKF interrupt signal INT is output Once the status of this bit is read it returns to O Becomes 1 when any input port which had enabled the input change interrupt setting and that status changed The center device then outputs an interrupt 2 IOPC signal INT This signal is an OR of all 256 input port change interrupt flag bits When all the bits return to O this bit returns to O Becomes 1 when an Cyclic communication error occurs The center device then 3 EIOE outputs an interrupt signal INT This signal is an OR of all 64 Cyclic communication error flag bits When all the bits return to O this bit return
63. 6 cycles of reference clock By setting the filter the PCL device G9003 ignores signals shorter than 150ns Reading operation status CND bit O to 3 in RSTS gt RSTS READ 0101 wait for PA PB input 7 0 nl ni n n Reading PA PB input error lt ESPE bit 14 in REST ESPE bit 14 2 1 Occurs a PA PB input error Reading PA PB input buffer counter status ESPO bit 9 in REST ESPO bit 9 1 Occurs an overflow 15 8 BEBHEBEH n the descriptions in the right hand column refers to the bit position O refers to bit positions where it is prohibited to write any value iid zero and the bit will always be zero when read The pulsar input mode has the following 6 operation types The direction of movement for continuous operation can be changed by setting the RENV2 register without changing the wiring connections for the PA PB inputs Operation mode Direction of movement 01h Continuous operation using pulsar input Determined by the PA PB input absolute position EN 5 5 uu Ure COUNTER1 absolute position COUNTER values COUNTER2 absolute position COUNTER2 values point return operation using pulsar input COUNTERt1 point return operation using pulsar input COUNTER2 54 6 3 1 6 3 2 6 3 3 Continuous operation using a pulsar input MOD 01h This mode allows continuous operation using a pulsar input When PA PB signals are input after writing a start command the L
64. 7 26 25 24 22 0 0 0 0 0 IDC2 IDC1 IDCO ECZ3 ECZ2 ECZ1 ECZO 0to16 ASOto 16 Read the current speed as a step value same units as for RFL and RFH When stopped the value is O O 0 AS16 IDCO to 2 Not defined 5 4 2 23 RSDC register This register is used to check the automatically calculated ramping down point value for the positioning operation Read only 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15141312 11109 8 7654 32 1 0 oioioiojoioioio i ete ee tee a 49 6 Operation Mode opecify the basic operation mode using the MOD area bits O to 6 in the RMD operation mode register 6 1 Continuous operation mode using command control This is a mode of continuous operation A start command is written and operation continues until a stop command is written Operation method Direction of movement Continuous operation from a command Positive direction Continuous operation from a command Negative direction Stop by turning ON the EL signal corresponding to the direction of operation When operation direction is positive EL can be used When operation direction is negative EL is used In order to start operation in the reverse direction after stopping the motion by turning ON the EL signal a new start command must be written 6 2 Positioning operation mode The following seven operation types are available for positioning operations Direction of movement position Negative direct
65. 7 26 25 24 23 22 21 20 1918 17 16 15141312 11109 8 7654 3210 Set the speed to feed a specific amount FA speed during backlash correction within the range of 1 to 100 000 186A0h Values from 100 000 to 131 071 186Ah to 1FFFFh will all be treated as 100 000 The actual operation speed will be calculated from the RMG value This value can also be used for the reverse constant speed during an origin return operation Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension a 30 0 4 2 Environment setting registers The environment setting registers consist of registers used to set and monitor the operation mode counters comparators environment and interrupt controls Bit RENV2 Environment Register 2 TEO O 134 217 728 to 134 217 727 RCUN1 COUNTER Instruction position 28 R W 8000000h 7FFFFFFh 134 217 728 to 134 217 727 RCUN2 COUNTER2 Machine position 28 R W 8000000h 7FFFFFFh 32 768 to 32 767 RCUN3 COUNTERS General purpose 16 RIW Deflection 8000h 7FFFh 134 217 728 to 134 217 727 RCMP1 Comparison data for Comparator 1 28 RAW 8000000h 7YFFFFFFh 134 217 728 to 134 217 727 RCMP2 Comparison data for Comparator 2 28 RAW 8000000h 7YFFFFFFh 134 217 728 to 134 217 727 RCM
66. C signal Response frame only ERCRST 0025h i Reset the ERC signal Response frame only 5 3 2 6 PCS input command Has the same results as turning ON the PCS input 0028h a a Substitute pcs input Response frame only 5 3 2 7 LTC input counter latch command Has the same results as turning on the LTC input LTCH 0029h O Substitute LTC input Response frame only 24 5 3 3 Register control commands 5 3 3 1 Register write controls Lower byte data Upper byte data Write to the RFH register Response frame only weur mem Oa jWietoteRURregser Response tame ony RoR jme oaa fimeto te RDR register Response tame ony wame wem oaa eto mero rg Response tame ony wmus eem pam Witette RUS egsier Response fame ony wmps jw dae wiete RDS register Response tame ony A ll NER IEA NENNEN NE RENE NE WRCUNS ooASh Data __ Wit to the RCUNS register Response frame only Eo IO ee OOOO E eee eee eee gage 25 5 3 3 2 Register read controls Rv mom ST TT mar oon ReedtmeRELregsier SCARF ata mari ora PTS ata RRUR opa ReteR Rmaser RU RROR opa RedteRDRmaser ARO ala mmuG oos Redne RMG regs ARG ROP opa ReteRDPmose ARO Remo oom ReteRMDrgse ARM mmus opo RedteR Smose JARUScaa RROS ovan ReteRDSmoser AROS Rar eoe RedteRFAmoser ARFAdaa AAA dS RENA onc reeameRENVI regier ARENVi data RRENVZ ooon Reedte RENV2 register ARENV2 data ReiteREN
67. CO to 2 bits 10 to 12 and C3CO to 3 bits 18 to 21 in the RENVA Processing method when comparator conditions are satisfied The processing method that is used when the conditions are satisfied can be selected from the table below Processing method when the Comparator 1 Comparator 2 Comparator 3 conditions are met C1D0 to 1 C2D0 to 1 C3DO to 1 Do nothing oo 0 oo pre register data The bit assignments to select a processing method are as follows C1DO to 1 RENVA bits 5 to 6 C2DO to 1 RENVA bits 13 to 14 and C3DO to 1 RENV4 bits 22 to 23 Set an event interrupt cause Set IRC1 to 3 bit 5 to 7 in RIRQ gt RIRQ WRITE IRC1 bit 5 1 Generate an interrupt when the Comparator 1 conditions are satisfied 7 0 IRC2 bit 6 1 Generate an interrupt when the Comparator 2 conditions are satisfied EPPREERE IRC3 bit 7 1 Generate an interrupt when the Comparator 3 conditions are satisfied nini n L Read the event interrupt cause lt ISC1 to 3 bit 5 to 7 in RIST gt RIST READ IRC1 bit 5 1 When the Comparator 1 conditions are satisfied 7 0 IRC2 bit 6 1 When the Comparator 2 conditions are satisfied al al al D D IRC3 bit 7 1 When the Comparator 3 conditions are satisfied nl ni nf l l Read the comparator condition status lt SCP1 to 3 bits 20 to 22 in RSTS gt RSTS READ SCP1 bit 20 1 When the Comparator 1 conditions are satisfied 23 16
68. CU1B to 3B bit 24 to 26 in RENV3 gt RENV3 WRITE CU1B bit 24 1 Enable COUNTER1 command position 31 24 CU2B bit 25 1 Enable COUNTER2 mechanical position Cl nan CUAB bit 26 1 Enable COUNTER3 general purpose deflection 109 8 13 Vibration restriction function This LSI has a function to restrict vibration when stopping by adding one pulse of reverse operation and one pulse of forward operation shortly after completing a command pulse operation opecify the output timing for additional pulses in the RENV6 environment setting 6 register When both the reverse timing RT and the forward timing FT are non zero the vibration restriction function is enabled The dotted lines below are pulses added by the vibration restriction function An example in the positive direction Positive pulses BEUMNNJNJVJVUPO OO M E 2 Final pulse Negative pulses Specify the reverse operation timing Set RTO to 15 bits O to 15 in RENV6 gt RENV6 WRITE RT range 0 to 65 535 15 The units are 64x the reference clock frequency approx 1 6 usec when CLK 40 Callao al n n nf MHz COCO Settable range 0 to approx 0 1 sec Specify the forward operation timing lt Set FTO to 15 bits 16 to 31 in RENV6 gt RENV6 WRITE FT range 0 to 65 535 31 2 a are 64x the reference clock frequency approx 1 6 usec when CLK 40 Pal nl ni nln nl nn Settable range 0 to approx 0 1 sec 23 Note Th
69. DD ORG Input for an origin return signal Software can be used to change the input logic of this terminal This input has a latch function This terminal has a built in pull up resistor to prevent floating When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect itto VDD 4 4 25 ALM Input for an alarm signal Software can be used to change the input logic of this terminal When this signal turns ON the motor stops immediately or decelerates and stops depending on the conditions This terminal has a built in pull up resistor to prevent floating When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect it to VDD 15 4 4 26 OUT DIR While the PCL device G9003 is in the common pulse mode it sends feed pulses from the OUT terminal and supplies a direction signal from the DIR terminal While the PCL device G9003 is in the Two pulse mode it outputs positive direction feed pulses from the OUT terminal and negative direction feed pulses from the DIR terminal 4 4 27 PA PB Used to operate the motor from external pulses such as a manual pulsar 90 phase difference signals or Two pulses up pulse and down pulse can be supplied to these terminals The 90 phase difference signals can be multiplied by 2 or by 4 These terminals have built in pull up resis
70. Eh This mode outputs a single pulse This operation is identical to a positioning operation incremental target positioning that writes a 1 or 1 to the RMV register However with this operation you do need not to write a 1 or 1 to the RMV register Timer operation MOD 47h This mode allows the internal operation time to be used as a timer The internal effect of this operation is identical to the positioning operation However the LSI does not output any pulses they are masked Therefore the internal operation time using the constant speed start command will be a product of the frequency of the output pulses and the RMV register setting Ex When the frequency is 1000 pps and the RMV register is set to 120 pulses the internal operation time will be 120 msec Write a positive number 1 to 134 217 727 into the RMV register The EL input signal SD input signal and software limits are ignored These are always treated as OFF The ALM input signal ZSTP input signal and EMG input signals are effective The backlash slip correction vibration restriction function and when changing direction this timer function is disabled The LSI stops counting from COUNTER1 command position Regardless of the MINP setting bit 9 in the RMD operation mode register an operation complete delay controlled by the INP signal will not occur In order to eliminate deviations in the internal operation time set the METM bit 11
71. NTER3 general purpose deflection counter when the CLR input is xin turns ON Always set to 0 gt Not defined Always set to 0 24 CU1B 1 Operate COUNTER1 command position while in backlash slip correction mode 1 Operate COUNTER2 mechanical position while in backlash slip correction 25 CU2B mode 1 Operate COUNTER3 deflection counter while in backlash slip correction 26 CU3B mode Not defined Always set to 0 CU1H 1 Stop the counting operation on COUNTER1 command position CU2H 1 Stop the counting operation on COUNTER2 mechanical position dd 1 Stop the counting operation on COUNTERS general purpose deflection counter Not defined Always set to 0 39 5 4 2 5 RENV4 register This register is used for Environment 4 settings Set up comparators 1 to 4 15 14 13 12 11 10 9 8 7 6 5 4 d 2 1 0 0 C2D1 C2D0 C282 C281 C280 C2C1 C2C0 0 C1D1 C1DO C182 C181 C180 C1C1 C1CO 31 30 29 28 27 26 2b 24 23 22 21 20 19 18 17 16 0 0 O 0 LTOF LTFD LTM1 LTMO C3D1 C3DO C3S3 C3S2 C381 C380 C3C1 C3CO Select a comparison counter for comparator 1 Note 1 00 COUNTER1 command position Oto1 C1CO to 1 01 COUNTER2 mechanical position 10 COUNTER3 general purpose deflection counter 11 The comparison conditions were never met Select a comparison method for comparator 1 Note 2 001 RCMP1 data Comparison counter regardless of counting direction 010 RCMP1 data C
72. O device Device address 2 J Ec PCLdevice Device address 5 Note The port area configuration of the PCL device G9003 is always as follows fixed Description Main status MSTSBO lower 16 bits Main status MSTSB1 upper 16 bits Port 2 Input value from the general purpose I O port IOPIB Port 3 Output Output value to the general purpose l O port IOPIB 1 When the whole address map can be used Write data to the I O device G9002 output port If the system is in the middle of cyclic communication just write the data here and it will be sent automatically to the target I O device G9002 Ports 2 and 3 can be specified at the same time 16 bit CPU Outpw 0x0108h 0x1200h Outpw 0x010Ah 0x5634h Read stat Sts Inpw 0x0000h LE If you want to confirm whether the port data you wrote has been transferred use the following routine If you don t need to check it you don t need to use this routine Lm we eB eB BB eB eB A e el m Get the data input from I O device G9002 port 0 Data Inpw 0x0108h This area will be filled with data automatically by cyclic communication Discard the upper 8 bits Sts Inpw 0x0114h Read ports 0 and 1 at device address 5 This area might be automatically set as the status data for the PCL device G9003 This area will be filled with data automatically by cyclic communication End 137 13 9 Da
73. ON lt Set ELM bit 3 in RENV1 gt RENV1 WRITE 0 Immediate stop by turning ON the EL signal 7 0 1 Deceleration stop by turning ON the EL signal EREEEBEEHB Reading the EL signal lt SPEL bit 6 SMEL bit 7 in RSTS gt RSTS READ SPEL 0 Turn OFF the EL signal SPEL 7 1 Turn ON the EL signal 7 0 SMEL 0 Turn OFF the EL signal SMEL 1 Turn ON the EL signal EE ESEEIN Setting the EL input filter Set FLTR bit 25 in RENV1 gt RENV1 WRITE 0 Apply a filter to the EL and ORG input Apply a filter and any signals shorter than 4 usec pulse width are ignored TT TT Note 1 Operation after turning ON the EL signal may be different for the origin return operation 6 5 1 the zero search operation 6 5 3 and the EL or SL operation mode 6 6 See the description of each operation mode 8 5 2 SD signal If the SD signal input is disabled by setting MSDE in the RMD register operation mode the SD signal will be ignored If the SD signal is enabled and the SD signal is turned ON while in operation the axis will 1 decelerate 2 latch and decelerate 3 decelerate and stop or 4 latch and perform a deceleration stop according to the setting of SDM and SDLT in the RENV1 register environment setting 1 86 1 Deceleration lt SDM bit 4 0 SDLT bit 5 0 in RENV1 register While feeding at constant speed the SD signal is ignored While in high speed operation the axis decelerates to the FL
74. P3 Comparison data for Comparator 3 28 RAW 8000000h 7FFFFFFh 134 217 728 to 134 217 727 RCUN1 COUNTER1 latch data 28 R W 8000000h 7FFFFFFh 134 217 728 to 134 217 727 RCUN2 COUNTER2 latch data 28 R W 8000000h 7FFFFFFh 32 768 to 32 767 RCUNS3 COUNTER3 latch data 17 R W 8000h 7FFFh pepe Eon Vounte resaya 28 Oto 134 217 728 8000000h number of pulses to feed RSPD EZ counter current speed monitor 1to 100 000 186A0h and others OR Bspo A Omaicramp down pomni 24 Oto 16 777 215 OFFFFFFh calculated value 31 5 4 2 1 RMD registers These registers are used to set the operation mode 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 MSPE MSY MPCS MSDP METM MSMD MINP MSDE 0 PTITITIET MIOR MFH MUB MMPH MPH MINT MMSK MADJ MSPO Bits Bit name Description Setting basic operation mode oet operation mode 000 0000 00h Continuous positive rotation controlled by command control 000 1000 Oh Continuous negative rotation controlled by command control 000 0001 01h Continuous operation controlled by pulsar PA PB input 001 0000 10h Positive rotation origin return operation 001 1000 UM Negative rotation origin return operation 001 0010 12h Positive feed leaving from the origin position 001 1010 1Ah Negative feed leaving from the origin position 001 0101 15h Origin search in the positive direction 001 1101 1Dh Origin search in the negative direction 010 0000 20h Feed t
75. R When you want to set the auto ramp down point adjust it so that deceleration time lt acceleration time x 2 If the deceleration time acceleration time x 2 the motor may not be able to decelerate to the FL speed when stopping In this case select the manual ramp down point setting method MSDP 1 in the RMD register lt When deceleration time lt acceleration time x 2 using an automatic ramping down point gt Speed FH FL i i l i Time Acceleration Deceleration lt When deceleration time gt acceleration time x 2 using an automatic ramping down point gt Speed Stop without decelerating to FL speed gt e Acceleration Deceleration The relationship between the value entered and the deceleration time is as follows 1 Linear deceleration MSMD 0 in the RMD register RFH RFL x RDR 1 x 8 Deceleration time s 40 000 000 2 S curve deceleration without a linear range MSMD 1 in the RMD register and RDS register 0 B RFH RFL x RDR 1 x 16 Deceleration time s 40 000000 3 S curve deceleration with a linear range MSMD 1 in the RMD register and RDS register gt 0 RFH RFL 2 x RDS x RDR 1 x 8 Deceleration time s 40 000 000 ef 7s RMG Magnification rate register 11 bits This register is used to set the speed multiplication rate Specify the relationship between the RFL RFH and RFA settings and the speed in the range of 2
76. RFL RUR RDR RUS or RDS The automatic ramping down point function will not work correctly An example of changing the speed pattern by changing the speed during a linear acceleration deceleration operation opeed Time 1 Use a small RFH while accelerating or decelerating the axis until it reaches the correct speed 2 3 Change RFH after the acceleration deceleration is complete The axis will continue accelerating or decelerating until it reaches the new speed An example of changing the speed pattern by changing the speed during S curve acceleration deceleration operation opeed mec ru Time 1 Use a small RFH and if change speed lt speed before change and the axis will accelerate decelerate using an S curve until it reaches the correct speed 5 Usea small RFH and if change speed 2 speed before change and the axis will accelerate decelerate without changing the S curve s characteristic until it reaches the correct speed 4 Usealarge RFH while accelerating and the axis will accelerate to the original speed entered without changing the S curve s characteristic Then it will accelerate again until it reaches the newly set speed 2 3 If RFH is changed after the acceleration deceleration is complete the axis will accelerate decelerate using an S curve until it reaches the correct speed 80 8 Description of the functions 8 1 Reset After turning ON the power make sure to reset the LSI before be
77. SCP2 bit 21 1 When the Comparator 2 conditions are satisfied Cal alls stele SCP3 bit 22 1 When the Comparator 3 conditions are satisfied n n n Read the error interrupt cause lt ESC1 to 3 bits O to 2 in REST REST READ ESC1 bit 0 1 When stopped by a match of the comparator 1 conditions SL 7 0 ESC2 bit 1 1 When stopped by a match of the comparator 2 conditions SL nf lol ESC3 bit 2 1 When stopped by a match of the comparator 3 conditions nl nin 104 8 11 2 Software limit function A software limit function can be set up using comparators 1 and 2 Select COUNTER1 command position as a comparison counter for comparators 1 and 2 Use Comparator 1 for a positive direction limit and Comparator 2 for a negative direction limit to stop the axis based on the results of the comparator and the operation direction When the software limit function is used the following process can be executed 1 Stop pulse output immediately 2 Decelerate and then stop pulse output While using the software limit function if a deceleration stop is selected as the process to use when the comparator conditions are met C1D C2D when an axis reaches the software limit while in a high speed start command 0052h that axis will stop using deceleration When some other process is specified for use when the conditions are met or while in a constant speed start that axis will stop
78. SI The CLK terminal cannot be connected to 5 V Supply only a 3 3 V CMOS level signal to the CLK terminal HRST This is an input terminal for a reset signal By input L level signal the center device is reset As the center device synchronizes with a clock arrange a circuit so that it does not disconnect the clock while resetting Longer than 10 clock cycles is required during resetting CKSL Use to select clock rate L Connect 40 MHz clock frequency to the CLK terminal H Connect 80 MHz clock frequency to the CLK terminal Select this when the duty of the 40 MHz clock collapses a lot FDNO to ZDN5 Input terminals for setting device address Since these terminals use negative logic setting all the terminals to LOW calls up device address 3Fh There are two methods for entering a device address Select the input method using the DNSM terminal 3495 4 4 5 4 4 6 4 4 7 4 4 8 4 4 9 DNSM Select the input method for loading the device address 1 When the DNSM H Specify an address from 00h to 3Fh using the DNO to DN5 terminals 2 When the DNSM L Input a ZDNSO signal that is output by some other chip on the ZDNO terminal on this device When using this input method this chip has an address equal to the other chip s address plus one When using this method connect terminals DN1 to DN5 to GND When two sequential sets of serial data match the data is taken to be a device address DNSO The numer
79. SI will output pulses to the OUT terminal The feed direction depends on PA PB signal input method and the value set in PDIR PA PB input method PDIR Feeddirecion PA PBinpt is Positive direction When the PA phase leads the PB phase Signal Positive direction When the PB phase leads the PA phase 1x 2x and 4x ENS TI Negative direction When the PA phase leads the PB phase E direction PA input rising edge 2 pulse input of Negative direction PB input rising edge positive and eene direction PB input rising edge negative pulses Negative direction PA input rising edge The PCL device G9003 stops operation when the EL signal in the current feed direction is turned ON But the PCL device G9003 can be operated in the opposite direction without writing a restart command When stopped by the EL input no error interrupt INT output will occur To release the operation mode write an immediate stop command 0049h Note When the immediate stop command 0049h is written while the PCL device G9003 is performing a multiplication operation caused by setting PIM O to 1 and PMG 0 to 4 the PCL device G9003 will stop operation immediately and the total number of pulses that are output will not be an even multiple of the magnification When PSTP in RENV5 is set to 1 the PCL device G9003 delays the stop timing until an even multiple of pulses has been output However if PSTP 1 the PCL dev
80. TC bit 29 in the RENV1 register environment setting 1 the output pulse width can be set to make a constant duty cycle 50 Also when setting METM operation completion timing setting in the RMD register operation mode the operation complete timing can be changed 1 When METM 0 the point at which the output frequency cycle is complete in the RMD register Output pulse frequency 5 OUT Last pulse _ _ S BSY 2 When METM 1 when the output pulse is OFF in the RMD register A pene pulse width Last pulse BSY Setting the operation complete timing Set METM bit 11 in RMD gt RMD WRITE 0 At the end of a cycle of a particular output frequency 1 Complete when the output pulse turns OFF Setting the output pulse width Set PDTC bit 29 in RENV1 gt RENV1 WRITE 0 Automatically change between a constant output pulse and a constant duty 31 24 cycle approx 5096 in accord with variations in speed 1 Keep the output pulse width at a constant duty cycle approx 50 nl Hd B NE 84 8 4 Idling control When starting an acceleration or a deceleration operation it can be started after the output of a few pulses at FL speed idling output Set the number of pulses for idling in IDL of the RENV5 register environment setting 5 If you will not be using this function enter a value n of O or 1 The LSI will start the acceleration
81. TP terminals on LSIs are connected together each axis can still be stopped independently by using the stop command 1 Connect the terminals as follows for a simultaneous stop among different LSIs 5 k to 10 kohm 74LS06 etc Open collector output q L Stop signal As a stop signal supply a one shot signal 8 reference clock cycles or more in length approx 0 2 usec when CLK 40 MHz Setting to enable STP input lt Set MSPE bit 15 in RMD gt RMD WRITE 1 Enable a stop from the STP input Immediate stop deceleration stop 15 8 Auto output setting for the STP signal Set to MSPO bit 16 in the RMD gt RMD WRITE 1 When an axis stops because of an error the PCL device G9003 will output the 23 1 STP signal Output signal width 16 reference clock cycles n Specify the stop method to use when the STP signal is turned ON Set STPM bit RENV1 WRITE 19 in RENV1 gt 23 1 0 Immediate stop when the STP signal is turned ON PEEPRBEFNME 1 Deceleration stop when the 4STP signal is turned ON Read the STP signal lt SSTP bit 12 in RSTS gt RSTS READ 0 The ZSTP signal is OFF 15 8 1 The STP signal is ON EEBrEARS Read the cause of an error input lt ESSP bit 6 in REST gt REST READ 1 When stopped because the STP signal turned ON 7 0 Simultaneous stop command lt CMSTP Operation command gt Operation command Outputs a one shot pulse of 16 reference clock c
82. Vimgser ARENS data ead ie REN register ARENVA data Jet tie RENS regse ARENS data NN EE NK mE NN RRENV6 OOE1h Read the RENV6 register ARENV6 data AA A a ICI RRCUN1 OOE3h Read the RCUN1 register ARCUN data RRCUN2 00E4h Read the RCUNZ register ARCUN data NEN m a ana AA AD Runa oen um RRCMP1 OOE7h Read the RCMP1 register ARCMP1 data RRCMP2 00EB Read the RCMP2 register ARCMP2 data po dq ES A RRCMP3 00E9h Read the RCMP3 register ARCMP3 data mRRQ wEch Readine RIRQ register ARIRQda IRRLTC1 OOEDh Read the RLTC1 register ARLTC data RRLTC2 OOEh ReadtheRLTC2register ARLTC2 data RRLTC3 OOEFh jReadtheRDTC3register ARLTC3 data RRSTS Joon Readtne RSTS register JARSTS data RREST 00F2h Read the REST register ARESTdata RRIST 00F3h_ j ReadtheRISTregster ARIST data RRPLS O0Fdh ReadtheRPLS register ARPLS data RRSPD 00F5h Read the RSPD register ARSPD data RRSDC 00Fh Readthe RSDC register ARSDC data Note 1 If a register read command has 4 words of data attached the PCL device G9003 will not respond and the center device will generate a data communication error EDTE e 5 3 3 3 Response data from read commands ARUR 000 ma JO Red he RUR ets 16 Aror xps ma Jo Red He ROR agnor 16 Arme Xo bata o RemteRMGreose n arus 000 ma JO Read meRUS egt
83. a Cyclic communication General purpose l O AY A output data Data reception FIFO Paral ouis communication Data reception FIFO Data transmission FIFO Data transmission FIFO Port 2 data Port 3 data An example of how to write the data 01234567h to the RMV the feed amount register in a PCL device G9003 An example at the center device When using a 16 bit CPU 1 First write an RMV write command 0090h to the transmitting FIFO 006h 2 Next write the lower 16 bits data 4567h for the RMV register into the transmitting FIFO 006h 3 Finally write the upper 16 bits data 0123h to be sent to the RMV register into the transmitting FIFO 006h Details of the data transmitting FIFO 0090h 09H 4567h 0123h 19 5 2 Functional settings for the PCL device G9003 5 2 1 I O port There are four I O ports The highest port Port 3 is generally used for output Ports 0 1 and 2 are generally used for input As shown in the figure below they are arranged from the highest to the lowest port for use as a general purpose l O terminal output data for setting general purpose l O terminal input data for the main status upper byte and main status lower byte The general purpose l O terminals are set for input or output using register RENV2 Therefore the data settings for the general purpose I O output will only be effective when the general purpose I O terminals are set up as outputs The general purpose I O
84. a PC board storage box that is protected against static electricity and make sure there is adequate clearance between the LSIs Never directly stack them on each other as it may cause friction that can develop an electrical charge 2 Operators must wear wrist straps which are grounded through approximately 1M ohm of resistance 3 Use low voltage soldering devices and make sure the tips are grounded 4 Do not store or use LSls or a container filled with LSIs near high voltage electrical fields such those produced by a CRT 5 To preheat LSIs for soldering we recommend keeping them at a high temperature in a completely dry environment i e 125 C for 24 hours The LSI must not be exposed to heat more than 2 times 6 When using an infrared reflow system to apply solder we recommend the use of a far infrared pre heater and mid infrared reflow devices in order to ease the thermal stress on the LSIs 143 M APR PED RD gt Product flow direction Far infrared heater pre heater Mid infrared heater reflow heater Package and substrate surface temperatures must never exceed 260 C and 230 C for 30 to 50 seconds Temperature C 260 230 190 180 Time 30 to 50 seconds 60 to 120 seconds Recommended temperature profile of a far infrared heater hot air reflow 7 When using hot air for solder reflow the restrictions are the same as for infrared reflow equipment 8 If you will use a soldering iron the
85. al pulse width may not be normal lt can be triangular Motor drivers do not recognize triangle shaped pulses and therefore only the PCL device G9003 counter may count this pulse Deviation from the instructed position control Therefore after an emergency stop you must perform an origin return to match the instructed position with the mechanical position 97 8 10 Counter 8 10 1 Counter type and input method In addition to the positioning counter this LSI contains three other counters These counters offer the following functions Control command position and mechanical position Detect a stepper motor that is out of step using COUNTER3 general purpose deflection counter and a comparator The positioning counter is loaded with an absolute value for the RMV register target position with each start command regardless of the operation mode selected It decreases the value with each pulse that is output However if MPCS bit 13 of the RMD register operation mode is set to 1 and a position override 2 is executed the counter does not decrease until the PCS input is turned ON Input to COUNTER1 is exclusively for output pulses However COUNTERS2 to 3 can be selected as follows by setting the RENV3 register environment setting 3 COUNTER1 COUNTER2 COUNTER3 Command Mechanical General purpose Counter name in ee position position deflection Counter type Up down counter Up down counter Deflection counter Numbe
86. alling edge 1 Rising edge oet the EZ count Set EZDO to 3 bits 4 to 7 in RENV3 gt RENV3 WRITE opecify the number for EZ to count up to that will indicate an origin return 7 0 completion Enter the value the count minus 1 in EZDO to 3 Setting range O to 15 ini ni ni ni Read the EZ signal lt SEZ bit 16 in RSTS gt RSTS READ 0 Turn OFF the EZ signal 23 q 1 Turn ON the EZ signal lalala asta n Set the EL signal input logic lt ELL input terminal L Positive logic input H Negative logic input Specify a method for stopping when the EL signal turns ON Set ELM bit 3 in RENV1 WRITE RENV1 7 0 0 Immediate stop when the EL signal turns ON 1 Deceleration stop when the EL signal turns ON ES TEE Read the EL signal SPEL bit 6 SMEL bit 7 in RSTS gt RSTS READ SPEL 0 Turn OFF EL signal SPEL 1 Turn ON EL signal 7 0 SMEL 0 Turn OFF EL signal SMEL 1 Turn ON EL signal FERRAN n Applying an input filter to the EL and ORG inputs Set FLTR bit 25 in RENV1 gt IRENV1 WRITE 1 Apply a filter to the EL and ORG inputs 31 2 By applying a filter pulses shorter than 4 usec will be ignored ERE RR ERES 57 6 4 1 Origin return operation After writing a start command the axis will continue feeding until the conditions for an origin return complete are satisfied MOD 10h Positive direction origin return operation 18h Negative direction origin return ope
87. and DOWN signals will be as follows by setting of the PIMO to PIM1 in the RENV2 1 When using 90 phase difference signals and 1x input PIM 00 PA PB UP1 DOWN 1 2 When using 90 phase difference signals and 2x input PIM 01 PA PB up A DOWN1 A T S 3 When using 90 phase difference signals and 4x input PIM 10 PA PB LL upp JL ILE EE dE LLL DOWN4 SSS EEO 4 When using two pulse input PA a pe pp do Lo UP1 A AN O Y db ss 52 When the 1x to 32x multiplication circuit is set to 3x PMG 2 on the RENV5 operation timing will be as follows When the n 2048 division circuit is set to 512 2048 PD 512 on the RENV5 operation timing will be as follows The pulsar input mode is triggered by an FL constant speed start command 0050h or by an FH constant speed start command 0051h Pulsar input causes the PCL device G9003 to output pulses with some pulses from the FL speed or FH speed pulse outputs being omitted Therefore there may be a difference in the timing between the pulsar input and output pulses up to the maximum internal pulse frequency The maximum input frequency for pulsar signals is restricted by the FL speed when an FL constant speed start is used and by the FH speed when an FH constant speed start is used The LSI generates an interrupt as errors when both the PA and PB inputs change simultaneously or when the input frequency is exceeded or if the input output
88. annot be overridden by changing the COUNTER1 value But the target position can be overridden by changing the RMV value The direction of movement can be set automatically by evaluating the relative relationship between the RMV register setting and the value in COUNTERT At start up the difference between the RMV setting and the value stored in COUNTER1 is loaded into the positioning counter RPLS The positioning counter counts down with each pulse output and when the positioning counter value reaches zero it stops operation If the RMV register value is made equal to the COUNTER1 value and the positioning operation is started the PCL device G9003 will immediately stop operation without outputting any command pulses 50 6 2 3 6 2 4 6 2 5 6 2 6 6 2 7 Positioning operation specify the absolute position in COUNTER2 MOD 43h This mode only uses the difference between the RMV target position register setting and the value in COUNTER2 Since the COUNTER2 value is stored when starting a positioning operation the PCL device G9003 cannot be overridden by changing the value in COUNTER2 however it can override the target position by changing the value in RMV The direction of movement can be set automatically by evaluating the relationship between the RMV register setting and the value in COUNTER2 At start up the difference between the RMV setting and the value stored in COUNTER2 is loaded into the positioning
89. are satisfied Specify the latch method for the current speed Set LTFD bit 26 in RENV4 gt RENV4 WRITE 1 Latch the current speed instead of COUNTER 3 general purpose deflection opecify latching using hardware Set LTOF bit 27 in RENV4 gt 1 Do not latch 1 to 4 above with hardware timing opecify the LTC signal mode Set LTCL bit 23 in RENV1 0 Latch on the falling edge 1 Latch on the rising edge Set an event interrupt cause Set IRLT bit 9 and IROL bit 10 in RIRQ gt RIRQ WRITE IRLT 1 Generates an interrupt when the counter value is latched by the LTC 45 signal being turned ON IROL 1 Generates an interrupt when the counter value is latched by the ORG signal being turned ON Read the event interrupt cause lt ISLT bit 9 ISOL bit 10 in RIST gt ISLT 1 Latch the counter value when the LTC signal turns ON ISOL 1 Latch the counter value when the ORG signal turns ON Read the LTC signal lt SLTC bit 18 in RSTS gt 0 The LTC signal is OFF 23 1 The LTC signal is ON tara ella Counter latch command lt LTCH Control command Control command Latch the contents of the counters COUNTER 1 to 3 0029h 101 8 10 4 Stop the counter COUNTER1 command position COUNTER2 mechanical position and COUNTER3 general purpose deflection stop when the RENV3 environment setting 3 register can be set to stop COUNTER1 command position stops while in timer mode operation By se
90. arger than RFL The actual operation speed will be obtained from a calculation using the RMG value 40 000 000 FH speed pps RFH x RMG 1 x 200 000 RUR Acceleration rate setting register 16 bits This register is used to set the acceleration rate Specify the acceleration characteristic for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Relationship between the value entered and the acceleration time will be as follows 1 Linear acceleration MSMD 0 in the RMD register la _ RFH RFL x RUR 1 x 8 Acceleration time s 40 000 000 2 S curve without a linear range MSMD 1 in the RMD register and RUS register 0 E 2 RFH RFL x RUR 1 x 16 Acceleration time s 40000000 3 S curve with a linear range MSMD 1 in the RMD register and RUS register gt 0 RFH RFL 2 x RUS x RUR 1 x 8 Acceleration time s 40 000 000 ef RDR Deceleration rate setting register 16 bits This register is used to set the deceleration rate Normally specify the deceleration characteristics for high speed operations acceleration deceleration operations in the range of 1 to 65 535 OFFFFh Even if the ramping down point is set to automatic MSDP 0 in the RMD register the value placed in the RDR register will be used as the deceleration rate However when RDR 0 the deceleration rate will be the value placed in the RU
91. at the same time it begins outputting pulses Therefore the start speed obtained from an initial 2 pulse frequency will be faster than the FL speed To use this function enter a value n of 2 to 7 The LSI will start the acceleration by beginning its output on the n th pulse Therefore the start speed will be the FL speed and the FL speed can be set to start automatically at upper speed limit If this function is used with the positioning mode the total feed amount will not change Setting idling pulses and the acceleration start timing BSY Whenn 0 OUT 1 2 3 FUP A Start the acceleration from the O pulse When n 1 OUT 1 2 3 FUP A Start the acceleration from the O pulse FL speed cycle lt gt Whenn 3 OUT 1 2 3 FUP Start the acceleration from the 3rd pulseA Set the number of idling pulses Set IDLO to 2 bits 20 to 22 in RENV2 gt RENV2 WRITE Specify the number of idling pulses from O to 7 23 16 Start accelerating at FL speed after outputting the specified number of pulses anno Read the idling control counter value lt IDCO to 2 bits 24 to 26 in RSPD gt RSPD READ Read the idling control counter 31 24 85 8 5 Mechanical external input control 8 5 1 EL EL signal When an end limit signal a EL signal when feeding in the direction in the feed direction turns ON while operating the axis will stop immediately or decelerate and stop After stopping even if the EL signal is turned OFF
92. atic output Set EROR bit 11 in RENV1 gt RENV1 WRITE 0 Does not output an ERC signal when an origin return is complete 15 8 1 Automatically outputs an ERC signal when an origin return is complete mEERFERENH 59 6 4 1 1 Origin return operation O ORM 0000 O Constant speed operation Sensor EL ELM 0 ORG Starting from here O indicates constant speed operation and W indicates high speed operation OFF mur RN Emergency stop 7 Emergency stop m High speed operation Sensor EL ELM 0 ORG Even if the axis stops normally it may not be at the origin position However COUNTER2 mechanical position provides a reliable value i Emergency sto Operation 2 Ci 0 gency stop Oberon a g Emergency stop ORG EL Operation 1 Operation 2 Operation 3 EL m High speed operation Sensor EL ELM 1 ORG Even if the axis stops normally it may not be at the origin position However COUNTER2 mechanical position provides a reliable value ORG EL Operation 1 Operation 2 Operation 3 ORG Operation 1 Operation 2 Operation 3 Operation 4 Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC signal is selected for the origin stopping position 60 6 4 1 2 Origin return operation 1 ORM 0001 O Constant speed operation Sensor EL ELM 0 ORG ORG EL Operation 1 Operation 2
93. ations from the center device by using the following commands Two command types are available Commands without data and Commands with data If data is added to a command without data the PCL device G9003 will ignore the added data For commands with data if the attached data exceeds the number of effective bits the PCL G9003 ignores the data beyond the effective number of bits If a command with data is sent from the center device without attaching data the PCL G9003 will not refresh the respective data areas If more than 5 words of data are transferred the center device will generate a local side receive process error ERAE In this case the command will not be resent 5 3 1 Operation commands 5 3 1 1 Start command 1 Start command To start operating write one of these commands while stopped SIAFL 0050h pf FL constant speed start Response frame only ISTAFH 0051h NENNEN FH constant speed start Response Response frame only Response frame only STAUD 0053h dio fa uei Lu Sed Response frame only constant speed Deceleration 2 Residual amount start command If a positioning operation is halted without completing use these commands to drive the motor the residual number of pulses needed for the positioning operation CNTFL 0054h MO m BIER constant speeg Response frame only CNTFH 0055h rf brie em HOU E NEN ANE EPRE Response frame only CNTUD 0057h a 1 Residual amount high speed start Response
94. ce for a 2 phase stepper motor Select BSY PH1 using the RMD register If this terminal is not used leave it open FUP PH2 When F UP is selected the PCL device G9003 outputs a LOW while the motor is accelerating When PH2 is selected the PCL device G9003 outputs an excitation sequence for a 2 phase stepper motor Select FUP PH2 using the RMD register If this terminal is not used leave it open FDW PH3 When FDW is selected the PCL device G9003 outputs a LOW while the motor is decelerating When PH3 is selected the PCL device G9003 outputs an excitation sequence for a 2 phase stepper motor Select FDW PH3 using the RMD register If this terminal is not used leave it open MVC PH4 When MVC is selected the PCL outputs a LOW while the motor is fed at a constant speed When PH4 is selected the PCL outputs an excitation sequence for a 2 phase stepper motor Select MVC PH4 using the RMD register If this terminal is not used leave it open CP 1 When the conditions for Comparator 1 are met the PCL device G9003 outputs a LOW on F CP1 If this terminal is not used leave it open CP2 When the conditions for Comparator 2 are met the PCL device G9003 outputs a LOW on CP2 If this terminal is not used leave it open HCP3 When the conditions for Comparator 3 are met the PCL device G9003 outputs a LOW on CP3 If this terminal is not used leave it open aa 5 Description of the softwar
95. celeration operation range 1 to 65 535 OFFFFh 5 4 1 5 RDR Deceleration rate registers 16 bits These registers are used to specify the deceleration rate E SAA EE EUER RAM 15141312 11109 8 7654 32 1 Normally the deceleration characteristic of the high speed operation acceleration deceleration is set within 1 to 65 535 OFFFFh Even when an automatic ramp down point setting is selected MSDP 0 in the RMD register the value set in the RDR register will be used as the deceleration rate When the RDR 0 the deceleration rate will be the value placed in the RUR 5 4 1 6 RMG Multiplication rate register 11 bits These registers are used to set the speed magnification rate a eee SERE ue 2L LE LE 111098 7654 32 1 EOS the E between the REL RFH and RFA values and the operating speed within the range of 2 to 2 047 07FFh The higher the multiplication rate the coarser the speed steps that can be selected Normally use as small a multiplication rate as possible The operation speed PPS will be the product of multiplying the speed rate by the speed register setting 5 4 1 7 RDP Ramp down point register 24 bits These registers are used to set a ramping down point deceleration start point for positioning operations 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15141312 111098 76054 32 10 piss i i o oi ioo Jod od d dj oio d foi d j foi ig Sets the value used to determine the deceleration start
96. center device The lowest bit is fixed to O Data Data to write 16 bits Return value None 2 Read command from the center device Inpw Address Address Value corresponding to the address map in the center device The lowest bit is fixed to O Return value Read data 16 bits 129 13 3 Center device address map For details see the user s manual for the center device Interface mode I F mode 3 A1 to A8 Writing Reading 0 0000 000 000h Command bits O to 15 Status bits O to 15 0 0000 001 002h Invalid Interrupt status bits O to 15 0 0000 010 004h Input buffer bits O to 15 Output buffer bits O to 15 0 0000 011 006h Data transfer FIFO bits O to 15 Data receiving FIFO bits 8 to 15 0 a 100 ar Not defined 56 words Not defined 56 words Any data dsl here will be Always s read as 00h 0 T 011 n ignored d 0 0111 100 0 1011 011 Device information Device No 62 Device information Device No 62 63 63 O 1011 100 0 1011 111 O 1100 000 0 1101 111 Input change interrupt settings Input change interrupt settings Device No 60 to 63 Device No 60 to 63 0 1110 000 0 1111 111 Input change interrupt flags Device Input change interrupt flags Device No 60 to 63 No 60 to 63 1 0000 000 Port data No 0 Device No 0 Port Port data No 0 Device No 0 Port 1 0000 001 1 1111 110 1 1111 111 Port No 255 Device No 63 Port 2 Port data No 255 Device No 63
97. d position 01 COUNTER2 mechanical position 16 to 1 C3C0 to 1 40 COUNTER3 deflection counter 11 The comparison conditions were never met 40 18 to 21 C3S0 to 3 Select a comparison method for comparator 3 Note 3 0001 RCMP3 data Comparison counter regardless of counting direction 0010 RCMP3 data Comparison counter while counting up 0011 RCMP3 data Comparison counter while counting down 0100 RCMP3 data Comparison counter data 0101 RCMP3 data Comparison counter data 0111 Prohibited setting 1000 Use as an output for the IDX synchronous signal regardless of the count direction 1001 Use as an output for the IDX synchronous signal while counting up 1010 Use as an output for the IDX synchronous signal while counting down Others Always handle as though the comparison conditions are not met 22 to 23 C3DO to 1 Select a process to execute when the Comparator 3 conditions are met 00 None use as an INT terminal output 01 Immediate stop 10 Deceleration stop 24 to 25 LTMO to 1 Select latch timing of counter COUNTER 1 to 3 00 When LTC input goes ON from OFF 01 ORG input 10 When comparator 2 conditions are met 11 When comparator 3 conditions are met LTFD 1 Latch current speed data despite COUNTER 3 LTOF 1 Stop latching with a hardware timing Effective only for software 28 to 31 Not MAS Note 1 When COUNTERS deflection counter is selected as the compari
98. de and when it receives an external signal it will stop after outputting the specified number of pulses Triangle drive elimination FH correction function In the positioning mode when there are a small number of output pulses this function automatically lowers the maximum speed and eliminates triangle driving Simultaneous start function Multiple axes controlled by the same LSI can be started at the same time using an external signal Simultaneous stop function Multiple axes controlled by the same LSI can be stopped at the same time using an external signal Excitation sequence for 2 phase stepper motors This device can output excitation sequences for 2 phase stepper motors for both unipolar and bipolar systems A variety of counter circuits The following four counters are available separately for each axis Counter Input Output COUNTER1 28 bit counter for control of the command position Outputs pulses 28 bit counter for mechanical position control Outputs pulses COUNTER2 Can be used as general purpose counter EA EB input PA PB input 16 bit counter for controlling the deviation between Outputs pulses the command position and the machine s current EA EB input position or 16 bit general use counter with the PA PB input synchronous signal output function 1 4096 of reference clock COUNTER3 m pulses and EA EB Outputs pulses and PA PB input EA EB input and PA PB input All counters can be reset by writing a com
99. e Select the signal output for the following terminals ZBSY PH1 FUP PH2 ZFDW PH3 and MVC PH4 0 Output ZBSY FUP FDW and MVC signals 1 Output PH1 PH2 PH3 and PH4 signals Mask PH1 PH2 PH3 and PH4 signals 0 Outputs a LOW from PH1 PH2 PH3 and PH4 1 Outputs the PH1 PH2 PH3 and PH4 real time signals Select the excitation method fro the PH1 PH2 PH3 and PH4 signals 0 Output excitation sequence for a 2 phase unipolar motor 1 Output excitation sequence for a 2 phase bipolar motor Select the excitation sequence for the PH1 PH2 PH3 and PH4 signals 0 Output a full step excitation sequence 1 Output a half step excitation sequence Select a monitoring method for the general purpose l O port output setting bit This is used when you do not want the input change interrupt in the center device to function when an output port changes 0 Read the output bit status from port 2 1 Regardless of status of the output bit the respective bit on port 2 becomes Not 25 to 31 og Always set to 0 30 5 4 2 2 RENV1 register This register is used for Environment setting 1 This is mainly used to set the specifications for input output terminals 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ERCL EPW2 EPW1 EPWO EROR EROE ALML ALMM ORGL SDL SDLT SDM ELM PMD2 PMD1 PMDO 0 PDTC SEDR SEDM DTMF FLTR PCSL LTCL INPL CLR1 CLRO STPM STAM ETW1 ETWO Bits Bitname Description
100. e 5 1 Outline of control 5 1 1 Communication control The center device G9001A controls all the communication One communication cycle consists of a communication from the center device to the local devices and the communication from the local devices back to the center device The response from the local devices may include l O information and data This PCL device G9003 is a local device 5 1 2 Communication type System communications cyclic communications and data communications are the three communication types available 1 System communications With the system communications the center device automatically confirms the connection status device type and I O port settings of each local device By starting the system communication the center device polls all of the local devices device No 0 to 63 one by one and refreshes the device information area according to the response from the local devices 2 Cyclic communication In cyclic communication the center device communicates continuously to perform I O control of the I O devices This communication takes place in cycles Communication starts with the local device that has the lowest device number and proceeds through all the devices that are present When the communication with the device that has the highest number is complete the center device again starts to communicate with the local device that has the lowest device number If the communication
101. e G9003 operate for the number of pulses that are already input on PA PB Specifies the division ratio for pulses on the PA PB input The number of pulses are divided using the set value 2048 When 0 is entered the division 16 to 26 PDO to 10 uit will be OFF 2048 2048 Setting range 0 to 2 047 opecifies the magnification rate for pulses on the PA PB input The number 27 to 31 PMGO to 4 of pulses are multiplied by the set value 1 Setting range 0 to 31 5 4 2 7 RENV6 register This is a register for the Environment 6 settings lt is primarily used to enter the time for the vibration reduction function If both RT and FT data are other than zero the vibration reduction function is turned ON 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 RT15 RT14 RT13 RT12 RT11 RT10 RT9 RT8 RT7 RT6 RT5 RTA RT8 RT2 RT1 RTO 20 19 18 17 16 31 30 29 28 27 26 25 24 23 22 21 FT15 FT14 FT13 iFT12 FT11 FT 10 FTO FT8 FT7 FT6 FT5 FT4 FT3 FT2 FT1 FTO 0 to 15 IRTO to 15 Enter the FT time shown in the figure below Setting range 0 to 65 535 The units are 64 ticks of the reference clock approx 1 6 us 16 to 31 FTO to 15 Enter the FT time shown in the figure below Setting range 0 to 65 535 The units are 64 ticks of the reference clock approx 1 6 us SAD The dotted lines in the figure below are pulses added by the vibration reduction function Positive pulse EE
102. e G9003 will substitute the value calculated by RFH REL 2 and will operate using an S curve that does not have any linear sections If a value larger than RFH REL 2 is entered the PCL device G9003 will not reach the maximum acceleration speed and the acceleration time will not match the speed calculated using the formula Therefore enter a value smaller than RFH RFL 2 5 4 1 9 RDS Deceleration S curve range register 16 bits These registers are used to specify the S curve range of the S curve deceleration 31 30 29 28 27 2625 24 23 22 21 20 1918 17 16 15141312 11109 8 7654 3210 Specify the S curve deceleration value for an S curve acceleration deceleration operation within the range of 1 to 50 000 0C350h Values from 50 000 to 65 535 0C350h to OFFFFh will all be treated as 50 000 The S curve deceleration range Ssp will be calculated from the RMG value If 0 is entered the PCL device G9003 will substitute the value calculated by RFH REL 2 and will operate using an S curve that does not have any linear sections If a value larger than RFH REL 2 is entered the PCL device G9003 will not reach the maximum deceleration speed and the deceleration time will not match the speed calculated using the formula Therefore enter a value smaller than RFH RFL 2 5 4 1 10 RFA FA speed register 17 bits This register is used to set the constant speed for backlash correction 31 30 29 28 2
103. e RDBB bit goes LOW Data Inpw 0x0006h Dev_Sts Inpw 0x0000h When reading data while checking the RDBB RDBB 1 139 13 11 Data communication 3 Start the PCL device G9003 The data communication example below shows how to start pulse output by setting the registers in the PCL device G9003 The local devices are the same as in the previous section Assume that the data to place in the PCL device G9003 are as follows only the data needed to trigger the pulse output 00000000 NENNEN 00000200h 00C7h Multiplication rate 1 Outpw 0x0006h 0x0091h RFL setting Outpw 0x0006h 0x0100h Write a register write command and place the data in the Outpw 0x0006h 0x0000h FIFO Outpw 0x0000h 0x4028h Lastly issue a device communication command Dev Sis Inpw 0x0000h Check the EDTE bit to see if this data communication ended normally before starting the next data NO pen END 212 gt communication YES vo Outpw 0x0006h 0x0092h Outpw 0x0006h 0x0200h RFH setting Process the next set of data the same way Outpw 0x0006h 0x0000h Outpw 0x0000h 0x4028h Dev Sts Inpw 0x0000h END 17 gt YES Br gt x 140 Outpw 0x0006h 0x0095h Outpw 0x0006h 0x00C7h Outpw 0x0006h 0x0000h Outpw 0x0000h 0x4028h RMG setting Dev Sts Inpw 0x0000h NO TET YES DTE 1 7 YES r Outpw 0x0006h 0x0051h Outpw 0x0000h
104. e number EZD set value 1 written into the RENV3 register MOD 24h Feed until the EZ count is complete in positive direction 2Ch Feed until the EZ count is complete in negative direction After a start command is written the axis stops immediately or decelerates and stops when feeding at high speed after the EZ count equals the number stored in the register The EZ count can be set from 1 to 16 Use the constant speed start command 0050h 0051h for this operation When the high speed start command is used the axis will start decelerating and stop when the EZ signal turns ON so that the motion on the axis overruns the EZ position Specify logical input for the EZ signal in the RENV2 environment setting 2 register and the EZ number to count to in the RENV3 environment setting 3 register The terminal status can be monitored by reading the RSTS extension status register Setting the input logic of the EZ signal Set EZL bit 12 in RENV2 gt RENV2 WRITE 0 Falling edge 15 8 1 Rising edge EE ES ES ERES Setting the EZ count number Set EZDO to 3 bits 4 to 7 in RENV3 RENV3 WRITE Specify the EZ count number after an origin return complete condition 7 0 cum a value the number to count to minus 1 in EZD O to 3 Setting range 0 n nl nl nl Reading the EZ signal lt SEZ bit 16 in RSTS gt RSTS READ 0 Turn OFF the EZ signal 1 Turn ON the EZ signal 68 7 Speed patterns 7 1 Speed patte
105. e optimum values for RT and FT will vary with each piece of machinery and load Therefore it is best to obtain these values by experiment 110 8 14 Excitation sequence for stepper motors This LSI can generate 2 2 phase and 1 2 phase excitation sequences for 2 phase stepper motors to provide unipolar and bipolar driving The LSI uses the ZBSY FUP FDW and MVC signal terminals normally used for monitor operation status and the ZBSY PH1 FUP PH2 FDW PH3 MVC PH4 common terminals to output these signal sequences To change between monitor and output set MPH in the RMD operation mode register When the PH1 PH2 PH3 and PH4 are specified for use as excitation sequence output terminals the output can be masked set them all LOW using MMPH in the RMD register To change between unipolar and bipolar signals set MUB in the RMD register To change between 2 2 and 1 2 phase excitation set MFH in the RMD register While the LSI is producing an excitation signal for a single phase in 1 2 phase excitation steps 1 3 5 and in the table if you change to 2 2 phase excitation the LSI will change to 2 phase excitation status starting with the next output pulse By reading the RSTS extension status register you can monitor the excitation sequence status Unipolar excitation sequence 2 2 phase D 1 2 phase excitation STEP Operation direction Bipolar excitation sequence 2 2 phase excitation
106. e origin return operation modes see 6 5 Origin position operation mode ORG signal and EZ signal timing ORG AS i When t 2 2x Tek counts ii When Terk lt t lt 2 x Terk counting is EZ undetermined t iii When t lt Tex do not count 2 Terk Reference clock frequency Enabling the ORG and EZ signals Set MOD bits O to 6 in RMD gt RMD WRITE 001 0000 Origin return in the positive direction 7 0 001 0010 Leave origin position in the positive direction ol nln n al n nl n 001 0101 Origin position search in the positive direction 0 ni ni ni ni ni n n 010 0100 EZ counting in the positive direction 001 1000 Origin return in the negative direction 001 1010 Leave origin position in the negative direction 001 1101 Origin position search in the negative direction 010 1100 EZ count operation in the negative direction Set the origin return method Set ORMO to 3 bits O to 3 in RENV3 gt RENV3 WRITE See the RENV3 register description 7 0 Set the input logic for the ORG signal Set ORGL bit 7 in RENV1 gt RENV1 WRITE 0 Negative logic 1 Positive logic Read the ORG signal SORG bit 8 in RSTS gt 0 The ORG signal is OFF 1 The ORG signal is ON Set the EZ count number Set EZDO to 3 bits 4 to 7 in RENV3 gt WRITE Set the origin return completion condition and the EZ count number for counting EH the value the number to count to 1 in EZDO to 3 The setting range is O
107. ean that an oscillator and the PCL device G9003 are connected as 1 1 and close to each other Actually even these good conditions cannot establish 50 50 However a duty proximate to the ideal one will be established Even if the ideal duty is broken a little when signal lines are shorter and or the number of local devices is smaller the center device can operate without any trouble For the details see the section for the CLK terminal When the signal lines are longer and or the number of connected local devices is high and if it is difficult to warranty the clock duty you should take measures such as to prepare an 80 MHz signal or a 40 MHz clock proprietary to the PCL device G9003 To select a clock rate specify using the LSI terminal In either clock rate the maximum speed of 20 Mbps is the same Note 2 Select the communication speed using the LSI terminal Regardless of the selection of the communication speed the input clock remains the same Note 3 NPM recommends a system that uses a pulse transformer 3 3 Specifications for the axis control section Item Description Positioning control range 134 217 728 to 134 217 727 28 bit Ramping down point bio 16 777 215 24 bit setting range Uber OLTEgIS ene Heed Three for each axis FL FH and FA speed correction for setting speeds Speed magnification Multiply by 0 1 to 66 6 range Multiply by 0 1 0 1 to 10 000 0 pps Multiply by 1 1 to 100 000 pps Multipl
108. eleration Deceleration To avoid creating an overrun condition make sure that the deceleration time is less than two times the acceleration time or if the deceleration time is more than double the acceleration time make the ramping down point a manual setting Note 2 The position override is only effective during operation FL FH constant speed operation during accelerating decelerating or during backlash correction If the speed override is triggered just before the motor stops the speed override may not be accepted If you need to order a speed override just before a stop you must determine if the PCL device G9003 can accept the override or not by the rotation position of the motor when you trigger the override By using write override 0080h to the RMV register you can generate an interrupt when the PCL device G9003 fails to override In this case too you must determine whether the override is accepted or not by the stop position The cause of the interrupt can be read in the REST error interrupt cause register The PCL device G9003 generates an interrupt when an override is written 0080h to the RMV register while the PCL device G9003 is stopped That is it declares that an error has occurred If you try to write an override 0080h to the RMV register before the PCL device G9003 starts an interrupt error will also occur 8 2 2 Target position override 2 PCS signal By making MPCS in the RMD operation mode
109. en setting CKSL H Item Symbol Min Max Unit Frequency foLk 80 MHz Cycle TeLk 12 5 ns HIGH duration To J n LOW duration Ta _ J ns 10 4 2 Reset timing RST N Internal RST Item Symbol Reset length Turn 10 Clock cycles Delay time Tes Clock cycles Note 1 The PCL device G9003 is ready to use after the internal ZRST goes LOW Note 2 The reset signal must last at least 10 cycles of the system clock While resetting Make sure the clock signal is continuously available to the device If the clock is stopped while resetting the device cannot be reset normally 119 10 5 Operation timing Symbol Condtion Min Max Unit RST input signal width oe CLR input signal width EA EB input signal wilh 2 pulses Tox STi E EA EB input signal cr ai LEE ERN EA EB input signal EZ input signal width PA PB input signal PA PB input signal PA de input signal ALM am signal width Note 5 4 Tick INP input signal width Nee me IO m RENV1 bit 12 to 14 000 254 x2Tick 254x 2Tick RENV1 bit 12 to 14 001 254 x 16T cx 254 x 16Tic RENV1 bit 12 to 14 010 254 x 64Tick 254 x B4Ticx ERC output signal RENV1 bit 12 to 14 011 254 x 2561 cx 254 x 2561 cx width RENV1 bit 12 to 14 100 254 x 2048Tic 254 x 2048T cx RENV1 bit 12 to 14 101 254 x 81921 cx 254 x 81921 cx RENV1 bi
110. er 16 aros oom oas Jo RemteRDSmoser 15 A A AA EA O EOS ES SA CA NES AA E NA MA NE na ocn oaa JO RemeRROmgse 15 AREST orn Dua o RemeRESTe ose 15 arst xri Date o Red He RISTreghter 15 OT 5 4 Register The initial value of all the registers is 0 If the new value you want to set is the same as the current value you do not need to overwrite it 5 4 1 Speed setting registers These registers are used to set the operating speeds Please note that with some registers if a 0 is placed in the register it will be outside the allowed setting range For details about speed setting see 7 2 Setting speed patterns 5 4 1 1 RMV Positioning amount register 28 bits These registers are used to specify the target position for positioning operations 31 30 29 28 27 26 25 24 2322 21 20 19 18 17 16 15141312 111098 7654 3210 amp i amp i amp t amp a 24g The details for setting the register may vary with the operation mode Setting range 134 217 728 to 134 217 727 By changing the RMV register while in operation the feed length can be overridden 5 4 1 2 RFL FL speed registers 17 bits These registers are used to set the initial speed stop seed for high speed with acceleration deceleration operations 31 30 29 28 27 26 25 24 23 22 21 20 19 181716 15141312 11109 8 7654 3210 Set the speed for FL constant speed operation and the start speed for high speed operation acceleration decel
111. eration operation must be in the range of 1 to 100 000 186A0h Values from 100 000 to 131 071 186A0h to 1FFFFh will be treated as 100 000 The actual operation speed will be the value calculated using the RMG value 5 4 1 3 RFH FH speed registers 17 bits These registers are used to specify the operation speed 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15141312 11109 8 7654 321 0 By changing the RFH register during operation you can override the current speed Set the speed for FH constant speed and high speed operation acceleration deceleration operation must be in the range of 1 to 100 000 186A0h Values from 100 000 to 131 071 186A0h to 1FFFFh will be treated as 100 000 When you choose high speed operation acceleration deceleration operation use a value larger than the RFL value that is specified The actual operation speed will be the value calculated using the RMG set value Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 28 5 4 1 4 RUR Acceleration rate register 16 bits These registers are used to specify the acceleration rate 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15141312 11109 8 7654 3210 Sets the acceleration characteristics for high speed operation acceleration de
112. eration status and interrupt it with various conditions Features Communications Maximum transfer speed is 20 Mbps The system can control up to 64 axes If a communication error occurs it can stop outputting pulses and reset the output ports Power supply Single power supply voltage 3 3 V Interfaces with 5V ICs are possible except for clock input and communication related terminals Interrupt signal output An interrupt request can be output to the center device by various factors Acceleration Deceleration speed control Linear acceleration deceleration and S curve acceleration deceleration are available Linear acceleration deceleration can be inserted in the middle of an S curve acceleration deceleration curve Specify the S curve range The S curve range can specify each acceleration and deceleration independently Therefore you can create an acceleration deceleration profile that consists of linear acceleration and S curve deceleration or vice versa Speed override The feed speed can be changed in the middle of any feed operation Overriding target position 1 and 2 1 The target position feed amount can be changed while feeding in the positioning mode If the current position exceeds the newly entered position the motor will decelerate stop immediate stop when already feeding at a constant speed and then feed in the reverse direction for positioning 2 Starts operation the same as in the continuous mo
113. ermines whether it has stopped normally or not according to the stop timing Therefore if an error stop signal is input while decelerating with high speed positioning the PCL device G9003 may determine whether the stop was normal If a constant error stop signal is input the PCL device G9003 will not continue to the next operation and it will stop with an error Note 3 This value is used when the internal reference clock is 40 MHZ 35 0 4 2 3 RENV2 register This is a register for the Environment 2 settings Specify the function of the general purpose port EA EB input and PA PB input 15 14 13 12 11 10 9 8 T 6 5 4 3 2 1 0 P1M1 P1MO PINF EZL EDIR EIM1 EIMO EINF P7M P6M P5M PAM P3M P2M P1M POM 23 22 21 20 19 18 17 16 Specify the operation of the PO terminals POM 00 General purpose input 01 General purpose output Specify the operation of the P1 terminals 1 P1M 00 General purpose input 01 General purpose output Specify the operation of the P2 terminal 2 P2M 00 General purpose input 01 General purpose output Specify the operation of the P3 terminals 3 P3M 00 General purpose input 01 General purpose output Specify the operation of the P4 terminals 4 P4M 00 General purpose input 01 General purpose output MEJ Specify the operation of the P5 terminals P5M 00 General purpose input 01 General purpose output opecify the operation of the P6 terminals 00 General purpose inp
114. ern using the registers shown in the table below If the next register setting is the same as the current value there is no need to write to the register again Please note that with some registers a setting of 0 may be outside the allowable range Pre register Description E enam Setting range setting range m 134 217 728 to 134 217 727 RFL Initial speed 17 1to 100 000 186A0h Note2 RFH Operation speed 17 1to 100 000 186A0h Note2 110 65 535 OFFFFh RDR Decelerationrate Note 16 0to65535 0FFFFh RW RDP jRamping downpoint 24 Oto 16 777 215 OFFFFFFh RW 0 to 50 000 0C350h Note 3 0 to 50 000 0C350h Note 3 0 to 100 00 186A0h Note 2 Note 1 If RDR is set to zero the deceleration rate will be the value set in the RUR Note 2 All values from 186A0h to 1FFFFh will be treated as 186A0h Note 3 All values from 0C350h to OFFFFh will be treated as 0C350h Relative position of each register setting for acceleration and deceleration factors Acceleration rate Set in RUR Deceleration rate Set in RDR FH speed Set in RFH RMG gt V 4 7 EERCTTOX V S curve deceleration range Preset amount for positioning Set in RDS S curve acceleration range L operation Set in RMV SetinRUS i FL speed Set in RFL RMG Slow down point for positioning operation Set in RDP or set automatically 270 The number 40 000 000 used in the formula
115. et MSY bits 14 1 in the RMD register for the axes you want to start Write a start command and put the LSI in the waiting for ZSTA input status Then start the axes simultaneously by either of the methods described below 1 By writing a simultaneous start command the LSI will output a one shot signal of 16 reference clock cycles approx 0 4 usec when CLK 40 MHz from the ZSTA terminal 2 Input hardware signal from outside Supply a hardware signal by driving the terminal with open collector output 74L S806 or equivalent S TA signals can be supplied as level trigger or edge trigger inputs However when level trigger input is selected if STA Lor a start command is written the axis will start immediately After connecting the ZSTA terminals on each LSI each axis can still be started independently using start commands To release the waiting for STA input condition write an immediate stop command 0049h 1 To start axes controlled by different LSIs simultaneously connect the LSlIs as follows 33 V 5k to 10 kohm 2 To start simultaneously from an external circuit or use a single axis as an external start connect the LSIs as follows 5 k to 10 kohm 74LS06 etc Open collector output E Ll Start signal For start signal supply a one shot input signal with a pulse width of at least 8 reference clock cycles approx 0 2 usec when CLK 40 MHz 94 FSTA input lt MSY bits 14 in RMD gt RMD
116. g turned ON 9 ESPO An overflow occurred in the PA PB input buffer counter 5 4 2 20 RIST register This register is used to check the cause of event interruption Read only When an event interrupt occurs the bit corresponding to the cause will be set to 1 This register is reset when read 15 14 13 12 11 10 9 T 6 5 4 3 2 1 0 8 O ISNP O ISSA ISSD ISOL ISLT ISCL ISC3 ISC2 ISC1 ISDE ISDS ISUE ISUS ISEN O ISEN Stoppedautomatically 0 0 O 5 ISC1 Thecomparator condiions were met 6 ISC2 Thecomparator 2 conditions were met 8 ISCL Thecountvalue was reset by aCLRsignalinpu 9 ISLT Thecountvalue was latched by an LTC input 48 9 4 2 21 RPLS register This register is used to check the value of the positioning counter number of pulses left for feeding Read only 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15141312 111098 7 654 32 1 0 9 0 010 pee 1 Eg iriiri rii At the start this value will be the absolute value in the RMV register Each pulse that is output will decrease this value by one 5 4 2 22 RSPD register This register is used to check the EZ count value and the current speed Read only 15 14 13 12 11 10 9 8 T 6 9 4 3 2 1 0 AS15 AS14 AS13 AS12 AS11 AS10 AS9 AS8 AS7 AS6 AS5 ASA AS3 AS2 AST ASO 23 21 20 19 18 17 16 O0 31 30 29 28 2
117. ginning to use it To reset the LSI hold the ZRST terminal LOW while supplying at least 10 cycles of a reference clock signal After a reset the various portions of the LSI will be configured as follows Internal registers 0 J Control command 1 0 HIGH O OUT DIR terminals HIGH RC terminal HIGH BSY PH1 FUP PH2 FDW PH3 MVC PH4 terminals HIGH STA STP terminals HIGH E 8 2 Position override This LSI can override change the target position freely during operation There are two methods for overriding the target position 8 2 1 Target position override 1 By rewriting the target position data RMV register value the target position can be changed The starting position is used as a reference to change target position 1 If the new target position is further away from the original target position during acceleration or constant speed operation the axis will maintain the operation using the same speed pattern and it will complete the positioning operation at the position specified in the new data new RMV value t 2 If the new target position is further away from the original T Futher away target position during deceleration the axis will accelerate from the current position to FH speed and complete the positioning operation at the position specified in the new data new RMV value Assume that the current speed is Fu and when RFL F
118. gnals can be reversed The LSI can be set to sense an error when both the EA and EB input or both the PA and PB inputs change simultaneously and this error can be detected using the REST error interrupt cause register 98 Set the input signal filter for EA EB EZ Set EINF bit 8 in RENV2 gt RENV2 WRITE 0 Turn OFF the filter function 15 8 1 Turn ON the filter function Input signals shorter than 6 reference clock cycles Jal are ignored FEBESEB Setting the EA EB input Set EIMO to 1 bit 9 to 10 in RENV2 gt RENV2 WRITE 00 90 phase difference 1x 10 90 phase difference 4x 15 8 01 90 phase difference 2x 11 2 sets of up or down input pulses PEARSE Specify the EA EB input count direction lt Set to EDIR bit 11 in RENV2 gt RENV2 WRITE 0 Count up when the EA phase is leading Or count up on the rising edge of 45 EA 1 Count up when the EB phase is leading Or count up on the rising edge of EB Enable disable EA EB input lt Set EOFF bit 17 in RENV2 gt 0 Enable EA EB input 1 Disable EA EB input EZ input is valid Set the input signal filter for PA PB lt Set PINF bit 13 in RENV2 gt 0 Turn OFF the filter function 15 8 1 Turn ON the filter function Input signals shorter than 6 reference clock cycles l l 2 are ignored E Een s paese e Specify the PA PB input Set to PIMO to 1 bit 14 to 15 in RENV2 gt RENV2 WRITE 00 90 phase difference 1x 10 90 pha
119. he device information areas that correspond to each device number The device information contains the following Device in use O when no response and 1 when it responds Device type Reset to 1 when it is a data device O setting information 0001 0001 0000 0000 System communication to all devices except those devices excluded from 1100h cyclic communication After checking the device information area the center device polls all the devices whose device in use bit is set to 0 one by one and refreshes the device information areas that correspond to each device number The details are refreshed the same as by writing a command 1000h 0001 0010 002 System communication to specified devices 1200h to 123Fh The center device polls only the specified devices and refreshes the device information areas that correspond to each specified device number The details are refreshed the same as by writing a command 1000h Note For all bits marked with a the upper bits of the device address should be set in order starting from the left end of the bits For bits with marked with an amp when the port is O or 1 set the bit to 0 When the port is 2 or 3 set the bit to 1 For bits marked with an x either O or 1 may be used 133 0001 0011 0044 HHHH Obtain attribute information for the specified devices 1300h to 133Fh The polling response frame consists of device attribute information This command polls
120. he EA EB input Set EIMO to 1 bits 9 to 10 in RENV2 gt 00 90 phase difference 1x 01 90 phase difference 2x 10 90 phase difference 4x 11 2 pulse mode Specify the EA EB input count direction Set EDIR bit 11 in RENV2 gt 0 When the EA phase is leading or count up on the EA rising edge 1 When the EB phase is leading or count up on the EB rising edge Read the EA EB input error lt ESEE bit 13 in REST 1 An EA EB input error has occurred 15 8 Set the EA EB EZ input filter Set EINF bit 8 in RENV2 gt RENV2 WRITE 0 Turn OFF filter function 1 Turn ON the filter function Ignore input signals shorter than 6 CLK cycles PARE AE Enable disable EA EB input lt Set EOFF bit 17 in RENV2 gt RENV2 WRITE 0 Enable EA EB input 1 Disable EA EB input EZ input is left enabled mRERMEPFM Counter reset command CUNSR Control command Control command Clear COUNTERS general purpose deflection to zero 0022h Note The parts in bold face mean that the settings in the example above are allowed 107 8 11 4 IDX synchronous signal output function Using Comparator 3 and COUNTER3 general purpose deflection counter that was specified to general purpose counter the device can output signals to the ZCP3 terminal at specified intervals Setting C3CO and C3C1 to 10 COUNTER 3 and setting C3S0 and C3S3 to 1000 to 1010 the IDX output the PCL device G9003 can be used for IDX index operation
121. hen sending 2 bytes of data B 2 9 1 Time required for one cycle Required time us Communication time required per local device CT Cycle time CT 7 4 x N us Ex Calculating the cycle time with a communication speed of 20 Mbps and 30 local devices 7 7 x 1 7 4 x 30 453 us 9 2 Time required for one complete data communication There are two types of data communications as follows 1 When there is data in the response from a local device the data length is variable 2 When there is no data in the response from a local device Basic item Required time us Data sending time ST B x 0 6 3 25 x K Response time with data JT B x 0 6 5 65 x K Response time without data JT 5 05 x K One complete data communication cycle ST JT 7 4 us 9 3 Total cycle time including data communication The total time can be obtained by adding the data communication times to the ordinary communication cycle time Ex 1 Communication speed 20 Mbps 34 local devices are connected and on 4 occasions the data communication consisted of 2 bytes for sending and 6 bytes for receiving Cycle time Cyclic time Data communication time x Number of times of data communication 7 7 X 1 7 4 x 34 2 x 0 6 3 25 x 1 6 x 0 6 5 65 x 1 7 4 x 4 513 4 21 1x4 597 8 us Note The formula above contains some margin for error In actual operation a shorter total time can be obtained 117
122. hifter ooocccoccccccccccccnnnccnnnnonnnncnononononnnonannnonononnnnncnoncnnnnos 125 1159 Complete configurat OF yeas inst iastaa tonic mesas citada 126 12 Recommended environment its 127 E EE 6 aU eee I HO 127 zz EIN IMUM e SISIOE arcada oratorio E 127 12237 PUISe tran SO MET srta booteable bobada 127 PA 127 12 5 Parts used in our experimentaba ed 127 1220 Bi iei lea NET t o D ST 128 13 DOMWaAlE eC XGINDIC Moe o mm 129 13 1 Environment and precautions used for descriptions ccooccccccccnccccnnconnncnnnnnnoncnononcnnnnnnncnnncnonos 129 1322 OMMIMANG USCC p D Tre 129 13 3 Center device address map ccccceccccsesceceeeeceeeeeceaeeeceuceeseeesseeeessaeeeseaeeeseeesseeeesseeessgeeesangeesoas 130 13 4 Center device StAtUS ccc cccceccccccccccccecececececececececucuceneneueceneceueceuscuuucueucacauceaceeeeeuctaueuneaeauauauaeass 131 A m S R 132 13 6 Center device COMMANG ccccseeccccseseeccseseeecceseeccsuseecsuseeecsauseecsaseeessadeeessegeeesseuseessseeeesssageees 133 13 7 Start of the simplest cyclic communication occccooccnnccncccnnonononnnnnncnnonnnonnonanennnnnncnnnnnnrnnnonanennnnanons 136 13 8 Communication with port data port data and data device status sssssuse 137 13 9 Data communication 1 Put the value in the register of the PCL device G9003
123. horter than 6 reference clock cycles are ignored 257 5 4 2 4 RENV3 register This is a register for the Environment 3 settings Origin return methods and counter operation specifications are the main function of this register 15 14 13 12 11 10 9 8 T 6 5 4 BSYC C132 C131 CI30 C121 C120 3 2 1 0 EZD3 EZD2 EZD1 EZDO ORM3 ORM2 ORM1 ORMO 31 30 29 28 2f 26 25 24 23 22 21 20 19 418 17 16 0 CU3H CU2H CU1H O CU3B CU2B CU1B O CU3R CU2R CU1R 0 CU3C CU2C CU1C Bit Specify an origin return method 0000 Origin return operation O Stops immediately deceleration stop when feeding at high speed by changing the ORG input from OFF to ON COUNTER reset timing When the ORG input is turned ON 0001 Origin return operation 1 Stops immediately deceleration stop when feeding at high speed by changing the ORG input from OFF to ON and feeds in the opposite direction at RFA constant speed until ORG input is turned OFF Then feeds in the original direction at RFA speed While doing so it will stop immediately when the ORG input is turned ON again COUNTER reset timing When the ORG input is turned ON 0010 Origin return operation 2 When feeding at constant speed movement on the axis stops immediately by counting the EZ signal after the ORG input is turned ON When feeding at high speed movement on the axis decelerates when the ORG input is turned ON and stops immediately by counting the EZ counts
124. ic equivalent of the address on DNO to DN5 1 will be output after being converted into a serial bit stream Connect this output to another local device s DNO terminal make all the other DNSM terminals of that local device LOW so that other devices can get the address and pass it along to the next data sending device Please note that the next address after 3Fh DN 5 0 000000 is OOh In the case that continuous address by DNSO signal is set it is necessary to have at least approximately 50 us until the next address is confirmed SPDO SPD1 Set the communication speed All of the devices on the same communication line must be set to the same speed SPD1 SPDO Communication speed 20 Mbps TUD A watchdog timer is included on the chip to assist in administration of the communication status see the TMD terminal section When the data transmission interval from a center device to this device exceeds the set time the watchdog timer times out This terminal is used to set output conditions when the watchdog timer times out When TUD HIGH The LSI keeps its current status When the TUD LOW Reset I O port output and immediately stops pulse output stop operation TMD Specify the time for the watchdog timer The watchdog timer is used to administer the communication status When the interval between data packets sent from a center device is longer than the specified interval the watchdog timer t
125. ice G9003 maintains the stop command latched status regardless of the operation mode selected When SBSY 0 the stop command will be disabled When using PA PB input operation and PSTP 1 check the main status before writing a stop command When SBSY 0 return PSTP to 0 and write the stop command However after a stop command is sent by setting PSTP to 1 check the MSTS If SBSY is O set PSTP to 0 When SBSY is 0 while PSTP is 1 the PCL device G9003 will latch the stop command Positioning operations using a pulsar input MOD 51h The PCL device G9003 positioning is synchronized with the pulsar input by using the RMV setting as incremental position data The feed direction is determined by the sign in the RMV target position register When the RMV register value is loaded to the position counter at start and PA PB signals are input the LSI outputs pulses and the positioning counter counts down When the value in the positioning counter reaches zero movement on the axis will stop and another PA PB input will be ignored Set the RMV register value to zero and start the positioning operation The LSI will stop movement on the axis immediately without outputting any command pulses Positioning operation using pulsar input specify absolute position to COUNTER1 MOD 52h The PCL device G9003 positioning is synchronized with the pulsar input by using the RMV setting as the absolute value for COUNTER1 The direction of m
126. ime will be different from the calculated value Therefore enter a value smaller than RFH REL 2 RDS S curve deceleration range setting register 16 bits This register is used to specify the S curve range in an S curve deceleration Specify the S curve deceleration range for S curve acceleration deceleration operations in the range of 1 to 50 000 0C350h Settings from 50 000 to 65 535 0C350h to OFFFFh will all be treated as 50 000 The S curve acceleration range Ssp will be calculated from the value placed in RMG 40 000 000 Ssp pps RDS X RMG 1 x 200 000 In other words speeds between the FL speed and FL speed Ssp and between FH speed Ssp and the FH speed will be S curve deceleration operations Intermediate speeds will use linear deceleration However if zero is specified RFH RFL 2 will be used for internal calculations and the operation will be an S curve deceleration without a linear component If the minimum value 1 is specified the PCL device G9003 operates with nearly linear acceleration If a larger value than RFH RFL 2 is specified the motor will not reach the maximum deceleration speed and the deceleration time will be different from the calculated value Therefore enter a value smaller than RFH RFL 2 74 RFA FL speed setting register 17bits This register is used to set the constant speed during backlash correction Set the correction speed feed amount f
127. imes out the timer restarts its count at the end of each data packet received from a center device The time out may occur because of a problem on the communication circuit such as disconnection or simply because the center device has stopped communicating The time used by the watchdog timer varies with communication speed selected Watchdog timer setting ToS 20Mbps 10Mbps 5Mbps 2 5Mbps 40 ms a 4 4 10 TOUT Once the watchdog timer has timed out this terminal goes LOW 4 4 11 SO 4 4 12 4 4 13 4 4 14 4 4 15 4 4 16 4 4 17 4 4 18 Serial output signal for communication Positive logic tri state output SOEH SOEL Output enable signal for communication The difference between the SOEH and SOEL is that the logic is inverted When sending SOEH HIGH and ZSOEL LOW SOEI When using more than one PCL device connect the SOEH signal of the other PCL device G9003 to this terminal By being wire OR ed with the output enable signal from this PCL device G9003 the device outputs an enable signal to SOEH or ZSOEL SI Serial input signal for communication Positive logic MRER Monitor output used to check communication quality When the PCL device G9003 receives an error frame such as a CRC error this terminal goes LOW for exactly 128 CLK cycles 3 2 us By timing this interval using a counter you can check the quality of the communication MSEL Communication status
128. in the negative direction Origin search operation This mode is used to add functions to a origin return operation It consists of the following possibilities 1 A Origin return operation is made in the opposite direction to the one specified 2 A Leaving the origin position using positioning operations is executed in the opposite direction to the one specified 3 A Origin return operation is executed in the specified direction Operation 1 If the ORG input is turned ON after starting movement on the axis will stop normally Operation 2 If the ORG input is already turned ON when starting the axis will leave the origin position using positioning operations and then begin a origin return operation Operation 3 If movement on the axis is stopped by an EL signal while operating in the specified direction the axis will execute a origin return operation ORM 0000 and a leaving the origin position by positioning in the opposite direction Then it will execute an origin return operation in the specified direction When leaving the origin position by positioning the axis will repeat the positioning operation for the number of pulses specified in the RMV target position register until the origin position has been left Enter a positive number 1 to 134 217 727 in the RMV register MOD 15h Origin search operation in the positive direction 1Dh Origin search operation in the negative direction 6 4 3 1 Origin return operati
129. ion when RMV lt 0 Em operation specify the absolute position in COUNTER1 Negative direction when RMV COUNTER1 p MA operation specify the absolute position in COUNTER2 Negative direction when RMV COUNTER2 a Positive direction when COUNTER1 s 0 44h Return to command position 0 COUNTER 1 Negative direction when COUNTER1 gt 0 Positive direction when COUNTER2 s 0 45h Return to machine position 0 COUNTER2 ones PES direction when COUNTER gt 0 46h One pulse operation Positive direction 4Eh One pulse operation Negative direction 47h Timeroperation OOOO 6 2 1 Positioning operation specify a target position using an incremental value MOD 41h This is a positioning mode used by placing a value in the RMV target position register The feed direction is determined by the sign set in the RMV register When starting the RMV register setting is loaded into the positioning counter RPLS The positioning counter counts down with each pulse output and the PCL device G9003 stops feeding when the counter reaches 0 When you set the RMV register value to zero to start a positioning operation the LSI will stop outputting pulses immediately 6 2 2 Positioning operation specify the absolute position in COUNTER1 MOD 42h This mode only uses the difference between the RMV target position register value and COUNTER1 Since the COUNTER1 value is stored when starting to move the PCL device G9003 c
130. ite to the input change interrupt flag area The contents of the I O buffer are written into a word in this area Use this function when you want to reduce the number of addresses used in this device Write to the port data area The contents of the I O buffer are written into a word in this area Use this function when you want to reduce the number of addresses used in this device Read the device information area The contents of the word in this area are copied to the I O buffer Use this function when you want to reduce the number of addresses used in this device Read the Cyclic communication error flag area The contents of the word in this area are copied to the I O buffer Use this function when you want to reduce the number of addresses used in this device Read the input change interrupt setting area The contents of the word in this area are copied to the I O buffer Use this function when you want to reduce the number of addresses used in this device Read the input change interrupt flag area The contents of the word in this area are copied to the I O buffer Use this function when you want to reduce the number of addresses used in this device Read the port data area The contents of the word in this area are copied to the I O buffer Use this function when you want to reduce the number of addresses used in this device left end of the bits For bits with marked with an amp when the port is O
131. itten The CLR input timing can be set in RENV1 environment setting 1 As an event interrupt cause an interrupt can be generated when inputting the CLR Action when the CLR signal turns ON Set CU1C to 3C bit 16 to 18 in the RENV3 WRITE RENV3 23 1 CU1C bit 16 21 Reset COUNTER1 command position of nl nfo CU2C bit 17 1 Reset COUNTER2 mechanical position 1 0 ni nin CU3C bit 18 21 Reset COUNTER3 general purpose deflection Action when an origin return is complete Set CU1R to 3R bit 20 to 22 in RENV3 WRITE RENV3 23 1 CUR bit 20 21 Reset COUNTER1 command position ol n nl nl CU2R bit 21 1 Reset COUNTER2 mechanical position ol nf of gt gt gt CU3R bit 22 1 Reset COUNTER3 general use deflection Action for the CLR signal lt Set CLRO and 1 bit 20 to 21 in RENV1 gt RENV1 WRITE 00 Clear on the falling edge 10 Clear on a LOW level 23 4 01 Clear on the rising edge 11 Clear on a HIGH level EFFREEFE Reading the CLR signal SCLR bit 17 in RSTS gt RSTS READ 0 The CLR signal is OFF 23 1 1 The CLR signal is ON EFBBENPF Set event interrupt cause Set IRCL bit 8 in RIRQ gt RIRQ WRITE 1 Generate an interrupt signal when resetting the counter value by turning the 45 8 CLR signal ON lalala Stella Read the event interrupt cause ISCL bit 8 in RIST gt RIST READ 1 When you want to reset the counter value by turning ON the
132. lts may not be the same Cable Commercially available LAN cables were used CAT5 Category 5 CAT6 Category 6 We used these LAN cables because they are high quality inexpensive and easy to obtain Lower quality cables such as cheap instrument cables may significantly reduce the effective total length of the line LAN cables normally consist of several pairs of wires Make sure to use wires from the same pair for one set of communication lines Even when using cables with the same category and rating the performance of each cable manufacturer may be different Always use the highest quality cables in the same category Terminating resistor Select resistors that match the impedance of the cable used Normally a 100 ohm resistor is recommended Therefore we used terminating resistors with this value Adjusting this resistor value may improve the transmission line quality Pulse transformer We recommend using pulse transformers in order to isolate the GND of each local device By isolating the GNDs the system will have greater resistance to electrical noise If pulse transformers are not used the transmission distance may be less We used 1000 uH transformers in our experiments I F chip We selected I C chips with specifications better than the RS485 standard In the experiment we used 5 V line transceivers When 5 V line transceivers are used level shifters are needed to make the connections Parts used in our experimen
133. m the PMD settings 0010 An l O device received a data communication frame 0011 A data device received frames larger than the receiving buffer capacity These are access error codes from a CPU The code is stored until the next time an error occurs 0001 The device number was zero and a cyclic communication start command was written 0010 Tried to write data with a start sending command without any 12 to 15 CAEO to 3 data to send 0011 While the DBSY 1 a device tried to do one of the following 1 Reading or writing to the transmitting or receiving FIFO 2 Wrote a system start command or a data communication start command 0100 Tried to send data to a device that is not is in use When the ERA code is 0010 or 0011 the device number is not available in the EDN 132 13 6 Center device command For details see the user s manual for the center device COMW COMB1 COMBO AAA AA _ 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Note Write to the 8 bit CPU I F IFO H 1F1 1 in the following order COMBO then COMB1 0000h Invalid command 0100h Resets the center device This is the same function as the RST input 0200h Resets only the data transmitting FIFO 0300h Resets only the data receiving FIFO 0001 0000 0000 0000 System communication to all devices 1000h Polls all of the devices device Nos O to 63 one by one and refreshes t
134. mand or by providing a CLR signal The counter data can also be latched by writing a command or by providing an LTC or ORG signal COUNTER3 counters can be used as a ring counter that repeats counting through a specified counting range by using IDX synchronous signal output function Comparator There are three comparator circuits for each axis They can be used to compare target values and internal counter values The counter to compare can be selected from COUNTER1 command position counter COUNTER2 mechanical position counter COUNTER3 deflection counter Comparators 1 and 2 can also be used as software limits SL SL Software limit function You can set software limits using 2 comparators circuits When the mechanical position approaches the software limit range the LSI will instruct the motors to stop immediately or to stop by deceleration After that these axes can only be moved in the direction opposite their previous travel Backlash correction function The LSI has a backlash correction function Each time the feed direction is changed the LSI applies a backlash correction Synchronous signal output function The LSI can output pulse signals at the specified intervals Vibration restriction function Specify a control constant in advance and add one pulse each for reverse and forward feed just before stopping Using this function vibration can be decreased while stopping Manual pulsar input function By ap
135. mmediately decelerates and stops when ELM is 1 when the EL signal turns ON and reverses at RFA low speed Then all movement stops immediately when the EZ counter finishes counting up COUNTER reset timing When the EZ counter finishes counting up Origin return operation 8 Movement on the axis stops immediately decelerates and stops when ELM is 1 when the EL signal turns ON and reverses Then it stops immediately decelerates and stops when feed at high speed when the EZ counter finishes counting up COUNTER reset timing When the EZ counter finishes counting up Origin return operation 9 After the process in origin return operation O has executed it returns to zero operates until COUNTER2 0 Origin return operation 10 After the process in origin return operation 3 has executed it returns to zero operates until COUNTER2 0 Origin return operation 11 After the process in origin return operation 5 has executed it returns to zero operates until COUNTER2 0 Origin return operation 12 After the process in origin return operation 8 has executed it returns to zero operates until COUNTER2 7 0 Settings after a origin return complete Set CU1R to 3R bits 20 to 22 in RENV3 WRITE RENV3 gt 23 16 CUAR bit 20 1 Reset COUNTER1 command position anna CU2R bit 21 1 Reset COUNTER2 mechanical position CU3R bit 22 21 Reset COUNTER3 general purpose deflection counter Setting the ERC signal for autom
136. monitor output When the PCL device G9003 receives a frame intended for this device and everything is normal when communication MFER is OFF this terminal goes LOW for exactly 128 CLK cycles 3 2 us This can be used to check the cyclic communication time BRK By providing HIGH pulses that are longer than the specified interval the PCL device G9003 will be made to wait for a break frame When the PCL device receives a break frame send request from a center device it immediately sends a break frame The break frame is 60 bits long A pulse at least 3200 usec long is needed in order to be seen as the BRK input pulse positive logic PO to P7 Using software these terminals can be set to function as general purpose input or output terminals These terminals have built in pull up resistors to prevent floating When not used they can be left open However if you want to improve the noise resistance of the chip pull them up 5 to 10 K ohms 14 4 4 19 4 4 20 4 4 21 4 4 22 4 4 23 4 4 24 STA STP If you want to start multiple LSI devices simultaneously connect the STA terminals of all the LSI devices together If you want to stop multiple LSI devices simultaneously connect the STP terminals of all the LSI devices together These terminals have built in pull up resistors to prevent floating When not used they can be left open However if you want to improve the noise resistance of the chip p
137. munication lines so that the center device is effectively at the end of each line Center device SIB SIA E D SO 2 o SOEH z a D 3 lt D g Local device 3 3 SI 2 a 90 z 2 lt SOEH If needed construct the same a 2 configuration on this side E S Local device 4 E S a SI 2 us S 88 o SOEH Terminating resistors are T needed at the ends of the line Insert them either before or after the pulse transformer to get the same effect Terminating resistors are not needed anywhere except for the ends of the line 1 a A YA J9UJJOJSUEJ JOAISOSUEJ SUIT Local device Bee y D SI 5 y o g SO O D O 3 5 126 12 Recommended environment 12 1 12 2 12 3 12 4 12 5 Shown below are the results of our experimental communication results and the environment used for the experiment These results can be used to design your own system However other system configurations are possible The example below is only for your reference Conditions Results 1 Conditions Results Transmission Number of Cable Terminating Pulse Max I F chip rate local devices used resistor transformer length 20 Mbps EN CAT5 100 ohm 1000 uH RS485 20 Mbps CAT5 100 ohm 1000 uH RS485 50 m 10 Mbps AE CAT6 100 ohm 1000 uH RS485 Note In the figures above the maximum length figures are results from ideal conditions in a laboratory In actual use the resu
138. nal can be changed If the latched input is set to accept input from the SD signal and if the SD signal is OFF at the next start the latch will be reset The latch is also reset when the latch input SDLT of the RENV1 is set to zero The minimum pulse width of the SD signal is 160 reference clock cycles 4 0 usec when the input filter is ON When the input filter is turned OFF the minimum pulse width is 4 reference clock cycles 0 1 usec When CLK 40 MHz The latch signal of the SD signal can be monitored by reading RSTS extension status The SD signal terminal status can be monitored by reading RSTS extension status By reading the REST register you can check for an error interrupt caused by the SD signal turning ON Enable disable SD signal input Set MSDE bit 8 in RMD gt RMD WRITE 0 Disable SD signal input 15 8 1 Enable SD signal input ales Pala Input logic of the SD signal lt Set SDL bit 6 in RENV1 gt RENV1 WRITE 0 Negative logic 7 0 1 Positive logic aaa Set the operation pattern when the SD signal is turned ON Set SDM bit 4 in RENV1 RENV1 WRITE 0 Decelerates on receiving the SD signal and feeds at FL constant speed 1 Decelerates and stops on receiving the SD signal FL FL Select the SD signal input type Set SDLT bit 5 in RENV1 gt 0 Level input 1 Latch input To release the latch turn OFF the SD input when next start command is written or select level input Reading the latch stat
139. nal output regardless of count direction 1001 Use as an IDX synchronous signal output while counting up 1010 Use as an IDX synchronous signal output while counting down Others Always treated as no comparison conditions specified Note The parts in bold face mean that the settings in the example above are allowed Output example Regardless of the feed direction the PCL device G9003 will output the IDX signal using negative logic for the output pulses Counting range O to 4 Settings RENV3 00000000h RENV4 00220000h RCMP4 4 DIR A OUT CP3 COUNTERS 0 X 1 X2X3X4X0X1X2X3X_4 _ X3X2X1X0X4 A3A2A1AXO 108 8 12 Backlash correction This LSI has backlash correction functions This function outputs the number of command pulses specified for the correction value in the speed setting in the RFA correction speed register The backlash correction is performed each time the direction of operation changes The correction amount and method is specified in the RENV5 environment setting 5 register The operation of the counter COUNTER 1 to 3 can be set using the RENV3 environment setting 3 register Enter the correction value BRO to 11 bits 0 to 11 in RENV5 gt RENV5 WRITE 15 Backlash correction amount value 0 to 4 095 n n n n Set the correction method lt ADJ bits 12 in RENV5 gt O Turn the correction function OFF 1 Backlash correction Action for backlash slip correction
140. nly used for a high speed start When the axis is started at constant speed the signal on the ZSTP terminal will cause an immediate stop The input logic of the ZSTP terminal cannot be changed When multiple L Sls are used to control multiple axes connect all of the ZSTP terminals from each LSI and input the same signal so that the axes which are set to stop on a ZSTP input can be stopped simultaneously In this case a stop signal can also be output from the ZSTP terminal When an axis stops because the ZSTP signal is turned ON an interrupt occurs By reading the REST register you can determine the cause of an error interrupt You can monitor STP terminal status by reading the RSTS register extension status How to make a simultaneous stop Set MSPE bit 15 1 in the RMD register for each of the axes that you want to stop simultaneously Then start these axes Stop these axes using either of the following 3 methods 1 By writing a simultaneous stop command the ZSTP terminal will output a one shot signal 16 reference clock cycles in length approx 0 4 usec when CLK 40 MHz 2 Supply an external hardware signal Supply a hardware signal using an open collector output 74L S06 or equivalent 3 The ZSTP terminal will output a one shot signal for 16 reference clock cycles approximately 0 4 usec when CLK 40 MHz when a stop caused by an error occurs on an axis that has MSPO 1 in the RMD register 95 Even when the ZS
141. nsible for any results that occur from using this LSI regardless of item 3 above Descriptions of indicators 1 When describing register bits n refers to the bit position and O refers to a bit position that can only be written with a O It also means the bit will always be read as 0 2 Unless otherwise described the timing for clocks discussed in this manual is a CLK speed of 40 MHz 3 Terminal names and signal names that start with a use negative logic Ex 4CS means that the CS terminal uses negative logic This has the same meaning as CS AAPP LM ue Ent EM EE I uem 1 Mc P C P C ON 1 AS URL lux CMM e xU dM E Ett NE 5 S DEVICE SC Cll Gall OMS ose A c E Ut 5 3 2 Communication system specifications csseeesssssseseseeee eene nnne nnne nnnm nnne nenne nnns 5 3 3 Specifications for the axis control SectiON oocccconcocccnnccocnnconnnnnonnnnonnnnononnnononnnonnnnnonnnnnonnnnnnonennnonos 6 Hardware ES A a ed Do T A AS termirials nene see ioe others a a E iene eee T 4 2 Tenmninalalocationdiagi aM ee E E RS 10 4 3 3E Dtire DIOGK CIagFalPTYs esi cquo ato ana a la 11 4 4 Functions of terminals io tx A dietus cu eden Rodin 12 ged mH qu PCR 12 LALA DS oui pi eee aaa alee eka eee a a ee ene E aid 12 2 4 9 KS eiii adi E laa i oss aes Ree tne ee awed en er tes 12 AAR mper BJ T M 12 44420 DN lr dl 13 A A PE A 13
142. o EL or SL position 010 1000 28h Feed to EL or SL position 010 0010 SAN Move away from the EL or SL position 010 1010 2Ah Move away from the EL or SL position 010 0100 24h Feed in the positive direction for a specified number of EZ counts 010 1100 2Ch Feed in the negative direction for a specified number of EZ counts 0 to 6 100 0001 41h Positioning operation specify the incremental target position 100 0010 42h SES operation specify the absolute position in COUNTER1 100 0011 43h co operation specify the absolute position in COUNTER2 100 0100 reine Zero return of command position COUNTER 100 0101 45h Zero return of mechanical position COUNTER2 100 0110 46h Single pulse operation in the positive direction 100 1110 4Eh Single pulse operation in the negative direction 100 0111 47h Timer operation 101 0001 51h Positioning operation controlled by pulsar PA PB input 101 0010 52h Positioning operation is synchronized with PA PB specify the absolute position of COUNTER1 101 0011 53h Positioning operation is synchronized with PA PB specify the absolute position of COUNTER2 101 0100 54h Zero return to the specified position controlled by pulsar PA PB input 101 0101 55h Zero return to a mechanical position controlled by pulsar PA PB input Not A Always set to 0 defined Optical setting items EM MSDE 0 SD input will be ignored Checking can be done with
143. o FH speed Response frame only 5 3 1 3 Stop command 1 Stop command Write one of these commands to stop the operation STOP 0049h MEM ae Immediate stop Response frame only SDSTP 004Ah i i Decelerate and stop Response frame only 2 Simultaneous stop command When this command is input the device stops any axis whose ZSTP input stop function is enabled by setting the RMD register CMSTP 0007h EE EE FSTP output simultaneous stop Response frame only 3 Emergency stop command otop the motor in an emergency CMEMG 0005h Ld Emergency stop Response frame only is 5 3 2 Control commands Commands to control various items such as resetting the counters 5 3 2 1 NOP do nothing command 0000h D wq Invalid command Response frame only 5 3 2 2 SEND interrupt reset command INTRS 0008h EE MEN Interrupt output main status bitO Response frame only 5 3 2 3 Software reset command Reset the registers and commands stored in this device oe for communication related items SRST 0004h MEINEN Reset the software Response frame only 5 3 2 4 Counter reset command Set the specified counter to O CUN1R 0020h no POSSES mane Response frame only position CUN2R 0021h A ESA ASS Response frame only position CUNS3R 0022h O TER Response frame only general purpose deflection 5 3 2 5 ERC output control command Control the ERC signal using commands ERCOUT 0024h PA T Output an ER
144. ocal dezvice Note 1 Make the wiring as straight and short as possible circuit on a circuit board VDD SO EET SI SOEL DNSO Note3 In the case that continuous address by ZDNSO is SOEI e f set it is necessary to have at least approximately Device number E DN 5 0 50 us until the next address is confirmed DNSM Local device GND Note 1 When connecting the serial lines to line transceivers make the path as short and straight as possible Running these lines on a PC board could deteriorate the communication performance Note 2 Pull down resistors to GND should be 5 to 10 k ohms s424 11 2 A connection example of a level shifter When using a 5 V line transceiver a level shifter is needed Shown below is an example of the connections for a level shifter Tl SN74LVC244A and a line transceiver Tl SN75LBC180A SN75LBC180A Pulse transformer SN74LVC244A ESS SSS I I l i Communication line G9000 series If the pulse transformer is at the end of the communication line insert a terminating resistor either GND before or after the pulse transformer Note 1 The pull down resistor to GND should be 5 to 10 k ohms 125 11 3 Complete configuration We recommend a configuration with the center device at one end of the line and the local devices at the other end as shown below If you want to place the center device in the middle of the line use two com
145. omotor immediately the deflection counter in the servo driver must be cleared This LSI can output a signal to clear the deflection counter in the servo driver This signal is referred to as an ERC signal The ERC signal is output as one shot signal or a logic level signal The output type can be selected by setting the RENV1 register environment setting 1 If an interval is required for the servo driver to recover after turning OFF the ERC signal HIGH before it can receive new command pulses the ERC signal OFF timer can be selected by setting the RENV1 register Write start command Motor Eum R operating topping Next operation start Still Bsv operating Stopping ERC m O l l l l I I l l l l I I I Set EPW 0 to 2 Set ETW O to 1 B di 5 UL In order to output an ERC signal at the completion of an origin return operation set EROR bit 11 1 in the RENV1 register environment setting 1 to make the ERC signal an automatic output For details about ERC signal output timing see the timing waveform in section 6 4 1 Origin return operation In order to output an ERC signal for an immediate stop based on the EL signal ALM signal or ZEMG signal input or on the emergency stop command 0005h set EROE bit 10 1 in the RENV register and set automatic output for the ERC signal In the case of a deceleration stop the ERC signal cannot be output even when set for automatic output The ERC signal can be o
146. omparison counter while counting up 011 RCMP1 data Comparison counter while counting down eng e lee 100 RCMP1 data gt Comparison counter data 101 RCMP1 data lt Comparison counter data 110 Use as positive end software limit RCMP1 COUNTER1 Others Treats that the comparison conditions are not satisfied Select a process to execute when the Comparator 1 conditions are met 5to6 C1DO to 1 00 None use as an INT terminal output 01 Immediate stop 10 Deceleration stop Always set to 0 Select a comparison counter for Comparator 2 Note 1 00 COUNTER1 command position 8to9 C2COto 1 01 COUNTER2 mechanical position 10 COUNTER3 general purpose deflection counter 11 The comparison conditions were never met Select a comparison method for Comparator 2 Note 2 001 RCMP2 data Comparison counter regardless of counting direction 010 RCMP2 data Comparison counter while counting up 011 RCMP2 data Comparison counter while counting down Moe eo Tod 100 RCMP2 data Comparison counter data 101 RCMP2 data Comparison counter data 110 Use as negative end software limit RCMP22COUNTER 1 Others Treats that the comparison conditions do not meet Select a process to execute when the Comparator 2 conditions are met 13 to 14 C2DO to 1 00 None use as an INT terminal output 01 Immediate stop 10 Deceleration stop Not Select a comparison counter for Comparator 3 Note 1 00 COUNTER1 comman
147. omparison methods and 3 processing methods that can be used when the conditions are met opecify the comparator conditions in the RENV4 environment 4 registers By using these comparators you can perform the following Generate an interrupt and output the comparison result externally Immediate stop and deceleration stop operations Software limit function using Comparators 1 and 2 Detect out of step stepper motors using COUNTER3 deflection and a comparator Output a synchronous signal IDX using COUNTER3 general purpose and a Comparator 3 9 9 9 Comparison data Each comparator can select the data for comparison from the items in the following table Comparison data Comparator 1 Comparator 2 Comparator 3 COUNTER1 command position O oo O 0 Oi O0 COUNTER2 mechanical position COUNTERS deflection l Ld Out of step detection Major application SL IDX output O Comparison possible SL SL are used for software limits f COUNTERS deflection that was specified as deflection counter is selected as comparison counter the LSI will compare the absolute value of the counter with the comparator data Absolute value range 0 to 32 767 Choose the comparison data from C1CO to 1 bits O to 1 C2CO to 1 bits 8 to 9 and C3CO to 1 bits 16 to 17 Comparison method Each comparator can be assigned a comparison method from the table below Com MEE Comparator 1 Comparator 2 Comparator 3 p
148. on 0 ORM 0000 O Constant speed operation Sensor EL ORG ORG EL Operation 1 Operation 2 Operation 3 gt RMV setting value 66 B High speed operation Sensor EL ORG Even if the axis stops normally it may not be at the origin position However COUNTER2 mechanical position provides a reliable value ORG EL Operation 1 Operation 2 Operation 3 B RMV setting value 6 5 EL or SL operation mode The following four modes of EL or SL soft limit operation are available To specify the EL input signal set the input logic using the ELL input terminal Select the operation type immediate stop deceleration stop when the input from that terminal is ON in the RENV1 Environment setting 1 register The status of the terminal can be monitored using the RSTS extension status register For details about setting the SL software limit see section 8 11 2 Software limit function Select the EL signal input logic ELL input terminal L Positive logic input H Negative logic input Select the stop method to use when the EL signal is turned ON Set ELM RENV1 WRITE bit 3 in RENV1 gt 7 0 0 Stop immediately when the EL signal turns ON FEEEPERBNM 1 Decelerates and stops when the EL signal turns ON Reading the EL signal lt SPEL bit 6 SMEL bit 7 in RSTS gt RSTS READ SPEL 0 Turn OFF EL signal SPEL 1 Turn ON EL signal 7 0 SMEL 0 Turn
149. onoconcnncnnnnnnononcnnonnnnonnnnncnnnnoncnnnnnrnnnnnnncnrnnnnnens 90 oodd ue 90 0 0 2 ERC SIG Nall eem 91 9 559 JA LEVES ION Sian O O 93 8 7 External start simultaneous start o oocococcoconcnconcncnncnnnncnnnnonrnnonnn nono nn nn nn n nn nr nr e heme ene rese renean 94 8 8 External stop simultaneous StOP cccocccccocncococnccoconononnnonononononnononnnononnnonnnnonannnonannnnnnnnnnnannnnnananonas 95 S S Ermerdency SLO Draai ea Ore 2R UC Da D Fd SNO RE Eb E 97 SOU EOI errem 98 8 10 1 Counter type and input Method ccooocccccocncocccncoccnnconcnnncncnncnnnnonanononannnonnnnnnnnnnononnnonannnenannnss 98 9 T10 2 COUPE OSO aic dte eee it itta bostes lema iia 100 8 10 3 Latch the counter and count condition esses 101 931054 SOMO COUME sortida oca 102 S GOD dto ee tecta rtt deti Mauern set Mop xtate Lud URS 103 8 11 1 Comparator types and functions ccccocccccccncocccnncncncccnnncnnnnnononnnonannnonannnonannnnnnnnnnnnnononnnonaness 103 911220 Ware IMC ins is co 105 8 11 3 Out of step detection function for stepper MOTOFS occcccoccncccccoconcnonocnnonannnnnnnnononnnnnnnnonononos 107 8 11 4 IDX synchronous signal output function oocccccccccnnononcnnccnncononnnnnnnnnnnnnonnannnnonanennnnnnnnnnnnos 108 9 12 IB AC Kl AGC Ol TOC Du A A E 109 9 13 Vibration restriction TUACHON is es tenet duy E ne ee bv Od On eee 110 8 14 Excita
150. or 1 set the bit to 0 When the port is 2 or 3 set the bit to 1 For bits marked with an x either O or 1 may be used If all of the address map byte 512 bytes requested by the center device are allocated so that a CPU can see them the commands from 5000h and after as shown above are not needed If the resources controlled by a CPU are limited and only 8 bytes are available for addresses the commands from 5000h and up can be used to access to all of the addresses owned by the center device 135 13 7 Start of the simplest cyclic communication The simplest example is to issue a system communication command let the center device automatically collect data from the local devices and then start cyclic communication Send a system communication command SUP TODO to all ioc devices Read status Sts Inpw 0x0000h Waits for completion of the system communication Without a completion signal the center device cannot start the next operation Outpw 0x0000h 0x3000h Start cyclic communication End 136 13 8 Communication with port data port data and data device status This section describes data exchange using the l O port on an l O device G9002 and how to obtain the status of a data device Assume that the local devices to be used are as follows Only an example of how to read the status is given for the PCL device G9003 Device type Item to configure Configuration data Output data I
151. or use during backlash within the range of 1 to 100 000 186A0h Numbers from 100 000 to 131 071 186A0h to 1FFFFh will all be treated as 100 000 The actual operating speed will be the value calculated using the RMG setting This register value is also used for the reverse constant speed during zero position return 40 000 000 FA speed pps RFA X RMG 1 x 200 000 7 3 Manual FH correction When the FH correction function is turned ON MADJ 0 in the RMD register and when the feed amount is too small for a normal acceleration and deceleration operation the LSI will automatically lower the FH speed to eliminate triangle driving However if values in the RUR and RDR registers are set so that the deceleration time gt acceleration time x 2 do not use the FH correction function In order to eliminate triangle driving without using the FH correction function MADJ 1 in the RMD register lower the FH speed before starting the acceleration deceleration operation When using idling control enter a value for RMV in the equation below after deducting the number of idling pulses The number of idling pulses will be 1 to 6 when IDL 2 to 7 in RENV2 pps FH correction function sec Automatic correction of the maximum speed for changing the feed amount 75 lt To execute FH correction manually 1 Linear acceleration deceleration speed MSMD 0 in the RMD register When RMV lt RFH RFL x RUR RDR
152. output data terminals can be reset when the watchdog timer times out The output status can be checked by reading the general purpose I O input data terminals General purpose General purpose I O Main status upper Main status lower output data input data byte byte IOPOB IOPIB MSTSB1 MSTSBO 5 2 1 1 Main status MSTSB1 MSTSBO Description SINT rs to 1 when an interrupt occurs Goes to 1 when bit 1 2 or 3 becomes SEND a an operation stops the device generates an interrupt and this bit is setto 1 This bit is returned to O by the Interrupt Reset command 0008h Set to 1 when an error interrupt occurs It is set back to O by reading the SERR RESET 3 oet to 1 when an event interrupt occurs It is set back to O by reading the SEM RIST Not defined Always set to 0 SBSY Set to 1 when the LSI starts to output pulses It is set back to 0 by stopping operation 9to 15 Notdefined Always set to 0 5 2 1 2 General I O terminal input data IOPIB IOPIB 7 6 5 4 3 2 1 0 IP7 i IP6 IP5 IP4 IP3 IP2 IP1 IP O to 7 Read the status of terminals PO to P7 0 LOW 1 HIGH e 5 2 1 3 General I O terminal output data IOPOB IOPOB 7T 6 5 4 3 2 1 09 OP7 OP6 OP5 OP4 OP3 OP2 OP1 OPO OP 0 to 7 Set the output status of terminals PO to P7 0 LOW 1 HIGH 2 5 3 Command Operation commands amp Control commands The PCL device G9003 control axes through data communic
153. ovement is determined by the relationship between the value in RMV and the value in COUNTER1 When starting the difference between the values in RMV and COUNTERT is loaded into the positioning counter When a PA PB signal is input the PCL device G9003 outputs pulses and decrements the positioning counter When the value in the positioning counter reaches 0 the PCL device G9003 ignores any further PA PB input If you try to start with RMV COUNTER the PCL device G9003 will not output any pulses and it will stop immediately 55 6 3 4 Positioning operation using pulsar input specify the absolute position in COUNTER2 MOD 53h The operation procedures are the same as MOD 52h except that this function uses COUNTER2 instead of COUNTER1 Command position zero return operation using a pulsar input MOD 54h This mode is used to feed the axis using a pulsar input until the value in COUNTER1 command position becomes zero The number of pulses output and the feed direction are set automatically by internal calculation using the COUNTER1 value when starting Set the COUNTER 1 value to zero and start the positioning operation the LSI will stop movement on the axis immediately without outputting any command pulses Mechanical position zero return operation using a pulsar input MOD 55h Except for using COUNTER2 instead of COUNTER1 the operation details are the same as for MOD 54h 56 6 4 Origin position
154. plying manual pulse signals PA PB you can rotate a motor directly The input signals can be 90 phase difference signals 1x 2x or 4x or up and down signals In addition to the magnification rates above the LSI contains an integral pulse number magnification circuit which multiplies by 1x to 32x and a pulse quantity division circuit which is divided by 2048 1 2048 to 2048 2048 EL signal and software limit settings can be used and the LSI stops the output of pulses It can also feed in the opposite direction Out of step detection function This LSI has a deflection counter which can be used to compare command pulses and encoder signals EA EB It can be used to detect out of step operations and to confirm a position by using a comparator Output pulse specifications Output pulses can be set to a Common pulse or Two pulse mode The output logic can also be selected dling pulse output function This function outputs a preset number of pulses at the self start frequency FL before a high speed start acceleration operation Even if value near to the maximum starting pulse rate is set during the acceleration this function is effective in preventing out of step operation for stepper motors Operation mode The basic operations of this LSI consists of continuous operation positioning and origin return By setting the optional operation mode bits you can use a variety of operations Examples of the operation modes 1 Start stop
155. point in an acceleration deceleration or positioning operation Bits with a symbol are ignored when written and change their setting when read according to the setting of MSDP bit 12 in the RMD register Offset for automatically set values When a positive value is entered the PCL device G9003 will start deceleration earlier and the FL speed range will be used longer When a negative value is entered the PCL device G9003 will start deceleration later and will not reach the FL speed Same as bit 23 q When number of pulses left drops to less than a set value the motor on that axis starts to decelerate Note 1 Bits marked with an asterisk will be ignored when written and are O when read Note 2 Bits marked with an amp symbol will be ignored when written and will be the same value as the upper most bit among the non marked bits Sign extension 20 5 4 1 8 RUS Acceleration S curve range register 16 bits These registers are used to specify the S curve range of the S curve acceleration 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15141312 11109 8 7654 3210 I I I I I I I I I I I I Specify the S curve acceleration value for an S curve acceleration deceleration operation within the range of 1 to 50 000 0C350h Values from 50 000 to 65 535 0C 350h to OFFFFh will all be treated as 50 000 The S curve acceleration range Ssu will be calculated from the RMG value If 0 is entered the PCL devic
156. r of bits Output pulse Available Available Available ncoder EA EB input Available Available AAA Pulsar PA PB input Available Available 14096 of reference clock Available Note When using pulsar input use the internal signal result after multiplying or dividing Specify COUNTER2 mechanical position input CI20 to 21 bit 8 to 9 in RENV3 WRITE RENV3 gt 15 8 00 EA EB input lol 2 nln 01 Output pulses 10 PA PB input Set COUNTER3 deflection input lt CI30 to 32 bit 10 to 12 in RENV3 gt RENV3 WRITE 000 Output pulses 15 8 010 PA PB input LL fn of of 011 1 4096 division of the internal reference clock CLK 40MHz 100 Measure the deflection between output pulses and EA EB input 101 Measure the deflection between output pulses and PA PB input 110 Measure the deflection between EA EB input and PA PB input The EA EB and PA PB input terminal that are used as inputs for the counter can be set for one of two signal input types by setting the RENV2 environment setting 2 register 1 Signal input method Input 90 phase difference signals 1x 2x 4x Counter direction Count up when the EA input phase is leading Count down when the EB input phase is leading 2 Signal input method Input 2 sets of positive and negative pulses Counter direction Count up on the rising edge of the EA input Count down on the falling edge of the EB input The counter direction or EA EB and PA PB input si
157. ration When an origin return is complete the LSI will reset the counter and output an ERC deflection counter clear signal The RENV3 register is used to set the basic origin return method That is whether or not to reset the counter when the origin return is complete Specify whether or not to output the ERC signal in the RENV1 register For details about the ERC signal see 8 6 2 ERC signal Set the origin return method Set ORMO to 3 bits O to 3 in RENV3 gt RENV3 WRITE 7 0 0000 Origin return operation O ninia Stop immediately deceleration stop when feeding at high speed when the ORG signal turns ON COUNTER reset timing When the ORG input signal turns ON Origin return operation 1 Stop immediately deceleration stop when feeding at high speed when the ORG signal turns ON Next feed in the reverse direction at RFA low speed until the ORG signal turns OFF Then the axis moves back in the original direction at RFA speed and stops immediately when ORG turns ON again COUNTER reset timing When the ORG input signal turns ON Origin return operation 2 When feeding at low speed after the ORG signal turns ON movement on the axis stops immediately when the EZ counter finishes counting up When feeding at high speed after the ORG signal turns ON the axis decelerates and stops immediately when the EZ counter finishes counting up COUNTER reset timing When the EZ counter finishes counting up Origin return operation 3
158. rgency stop command MEMG Operation command Operation command Output an ERC signal 0005 ERC signal output command ERCOUT Control command Control command Turn ON the ERC signal 024 ERC signal output reset command lt ERCRST Control command Control command Turn OFF the ERC signal 0025 92 8 6 3 ALM signals Input alarm ALM signal When the ALM signal turns ON while in operation the axis will stop immediately or decelerate and stop To stop using deceleration keep the ALM input ON until the axis stops operation However the axis only decelerates and stops on an ALM signal if it was started with a high speed start If the ALM signal is ON when a start command is written the LSI will not output any pulses The minimum pulse width of the ALM signal is 160 reference clock cycles 4 usec if the input filter is ON If the input filter is OFF the minimum pulse width is 4 reference clock cycles 0 1 usec When CLK 40 MHz The input logic of the ALM signal can be changed The signal status of the ALM signal can be monitored by reading RSTS extension status Stop method when the ALM signal is ON Set ALMM bit 8 in RENV1 gt RENV1 WRITE 0 Stop immediately when the ALM signal is turned ON 15 8 1 Deceleration stop high speed start only when the ALM signal is turned ON HERB I n Input logic setting of the ALM signal Set ALML bit 9 in RENV1 gt RENV1 WRITE 0 Negative logic 15 8 1 Positive
159. rison conditions are not met Specify the process to use when the Comparator 1 conditions are met lt Set RENV4 WRITE C1DO to C1D1 bits 5 to 6 in RENV4 gt 7 0 01 Immediate stop BEDEHEEEB 10 Deceleration stop nf nl gt Specify the comparison method for Comparator 2 Set C2S0 to C2S2 bits RENV4 WRITE 10 to 12 in RENV4 gt 15 8 001 RCMP2 data Comparison data Regardless of count direction _ nl nl of l 010 RCMP2 data Comparison data While counting up 0 nf nl gt 011 RCMP2 data Comparison data While counting down 100 RCMP2 data gt Comparison counter 101 RCMP2 data Comparison counter 110 Use as a negative direction software limit RCMP 2 gt COUNTER 1 Others Always assumes that the comparison conditions are not met 105 Specify the process to use when the Comparator 2 conditions are met Set RENV4 WRITE C2DO to C2D1 bits 13 to 14 in RENV4 gt 15 8 10 Desierto pm nj nf Hob Note The parts in bold face mean that the settings in the example above are allowed 106 8 11 3 Out of step stepper motor detection function for stepper motors If the deflection counter value controlled by the motor command pulses and the feed back pulses from an encoder on a stepper motor exceed the maximum deflection value the LSI will declare that the stepper motor is out of step The LSI monitors stepper motor operation using COUNTER3 general purpose deflec
160. rns Speed pattern Positioning operation mode FL constant speed 1 Write an FL constant speed start 1 Write an FL constant speed start command operation command 0050h 0050h f 2 Stop feeding by writing an immediate 2 Stop feeding when the positioning counter stop 0049h or deceleration stop reaches zero or by writing an immediate 004Ah command stop 0049h or deceleration stop 004Ah command FH constant speed 1 Write an FH constant speed start 1 Write an FH constant speed start operation command 0051h command 0051h f 2 Stop feeding by writing an immediate 2 Stop feeding when the positioning counter stop command 0049h reaches zero or by writing an immediate stop 0049h command t When the deceleration stop command 004Ah is written to the register the PCL device G9003 starts deceleration High speed operation 1 Write high speed command 2 1 Write high speed start command 0053h 0053h 2 Start deceleration when a ramping down FH 2 Start deceleration by writing a point is reached or by writing a deceleration stop command deceleration stop command 004Ah 004Ah When the automatic ramp down point setting is set to manual MSDP 1 in the RMD and When the deceleration stop the ramp down point value RDP is set to 0 command 0049h is written to the the PCL device G9003 immediately stops register the motor NO PI E os 69 7 2 Speed pattern settings Specify the speed patt
161. s 68 6 5 2 Leaving an EL or SL position a 68 6 6 EZ count operation mode rica 68 AS Dane a T M N Mm MIU E Ed 69 ES Mele CG PAM HB c NO E AA 69 792 Speed pattern SEUNG Sussie totus no aaa a ia a da iaia bonus ta sos Loss ch S xtd malto sa uus 70 Fs Mantel trl COMO CIO Messe too el bdo escri 15 7 4 Example of setting up an acceleration deceleration speed pattern ssse 79 7 5 Changing speed patterns while in operation oocccccoccncccccncccoccncconnncnnnnncnnnnnnnnnnnnnnnnnnnnnononenononcnnnns 80 8 DESGCHPUON OF INE TUMCHONS EU E OO 0 SD a a 81 Oe PSO e TETUER 81 9 2 FOSINIOM OVER i nico 81 8 2 1 Target position override 1 cccccesececeseccceseeccseeceeseecascecsaeeessueceteueeesageeesseesaueesseseessasseesegeeess 81 8 2 2 Target position override 2 PCS signal cooocccccconcncccccccnnonononnononcononnnnnnononcnnonnnnnnnnnnrrnnonancnnnnnns 82 S25 OUTPUT DUISE COMM Olas orect sce cece s 83 225 1 QUIPuEpuU SS MOE RE E E mo o DO LLL RET 83 8 3 2 Control the output pulse width and operation complete tiMiNJ occcooccccoccnccccnncconcnconnnnnas 84 gA o ps COMO rc A 85 8 5 Mechanical external input CONTFOl ocoooccconcconcconccocncocnconccocnnononononanocanocanonanncnnnonnnnnnnnnnnnnnnnnnnnos 86 Bele TEL EL SOM nd tas 86 OOZ DS O A PA o IN 86 9 53 OR OEZ SON lali 89 8 6 Servomotor I F Case in digital SErvO occooonccncoconc
162. s here is the frequency in Hz of the internal reference clock RMV register 28 bits This register is used to set the target position for positioning operations The details for setting it may vary with the operation mode selected Setting rage 134 217 728 to 134 217 727 By changing the RMV register during operation you can override the feed amount RFL FL speed setting register 17 bits This register is used to set the initial speed and stopping speed in a high speed operation with acceleration opecify the speed for FL constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 100 000 186A0h All values from 100 000 to 131 071 186A0h to 1FFFFh will be treated as 100 000 The actual operation speed will be obtained from a calculation using the RMG value 40 000 000 FL speed pps RFL x RMG 1 x 200 000 RFH FH speed setting register 17 bits This register is used to set the operation speed The speed can be changed in the middle of an operation by changing the RFH register setting Specify the speed for FH constant speed operations and the start speed for high speed operations acceleration deceleration operations in the range of 1 to 100 000 186A0h All values from 100 000 to 131 071 186A0h to 1FFFFh will be treated as 100 000 When used for high speed operations acceleration deceleration operations specify a value l
163. s to O Becomes 1 when a data or system communication error occurs The center 4 EDTE device then outputs an interrupt signal INT Once the status of this bit is read it returns to 0 Becomes 1 when a local device reception processing error occurs The center device then outputs an interrupt signal INT 5 ERAE Once the status of this bit is read it returns to 0 Then the device number and details where the reception processing error occurred can be checked by reading the interrupt status A CPU access error occurred When there is a problem accessing a CPU such as a data send command being CAER written when there is no data to send this bit becomes 1 The center device then outputs an interrupt signal INT Once the status of this bit is read it returns to 0 The details of the error can be checked by reading the interrupt status Not defined Always O When there is not yet sent output port data this bit becomes 1 EM Write a 1 to the output port area When cyclic communication to all the ports has EXE this bit returns to O When there is data to send in the transmitting FIFO this bit becomes 1 After data is written to the transmitting FIFO this bit becomes 1 Once a data 1085 send command or a transmitting FIFO reset command is written this bit returns to O When data has been received in the receiving FIFO this bit becomes 1 10 RDBB When receiving data from a data device this bit becomes 1 After a CPU has
164. se difference 4x 15 8 01 90 phase difference 2x 11 2 sets of up or down input pulses ele Specify the PA PB input count direction lt Set to PDIR bit 16 in RENV2 gt RENV2 WRITE 0 Count up when the PA phase is leading Or count up on the rising edge of 23 4 PA 1 Count up when the PB phase is leading Or count up on the rising edge of PB Enable disable PA PB input Set POFF bit 18 in RENV2 gt RENV2 WRITE 0 Enable PA PB input 23 1 1 Disable PA PB input EBBEFER Reading EA EB PA PB input error lt ESEE bit 13 ESPE bit 14 in the REST REST X READ ESEE bit 13 1 An EA EB input error occurred 15 8 ESPE bit 14 1 A PA PB input error occurred nln l l l l When EDIR is 0 the EA EB input and count timing will be as follows For details about the PA PB input see section 6 3 Pulsar input mode 1 When using 90 phase difference signals and 1x input JEMEN EB ood ooo Luo ooo EL COUNTER nA n 1 Xn 2 When using 90 phase difference signals and 2x input EA S ooo EB od ooo bdo EL 99 3 When using 90 phase difference signals and 4x input EA laa EB PS ooo SLM o E 4 When two pulses are input counted on the rising edge EA I EB A O E o Lo 8 10 2 Counter reset All the counters can be reset using any of the following three methods 1 When the CLR input signal turns ON set in RENV3 2 When an origin return is executed set in RENV3 3 When a command is wr
165. se width of the ERC output signal 12 to 14 EPWO to 2 000 12 usec 001 102 usec 010 409 usec 011 1 6 msec 100 13 msec 101 52 msec 110 104 msec 111 Level output ERCL Specify the ERC signal output logic 0 Negative logic 1 Positive logic Specify the ERC signal OFF timer time 16 to 17 ETWO to 1 00 O usec 10 1 6 msec 01 12 usec 11 104 msec ES STAM Specify the HSTA signal input type 0 Level trigger 1 Edge trigger Specify a stop method using ZSTP input Immediate stop 1 STPM Deceleration stop Specify a CLR input 20 to 21 CLRO to 1 00 Clear on the falling edge 10 Clear on a LOW 01 Clear on the rising edge 11 Clear on a HIGH Specify the INP signal input logic 0 Negative logic 1 Positive logic Specify the PCS signal input logic 0 Negative logic 1 Positive logic PE Apply a filter to the EL EL SD ORG ALM or INP inputs When a filter is applied signal pulses shorter than 4 usec are ignored Turn OFF the E change timer 0 2 msec function Note 3 Note1 When a deceleration stop ELM 1 has been specified to occur when the EL input turns ON the axis will start the deceleration when the EL input is turned ON Therefore the axis will stop by passing over the EL position In this case be careful to avoid collisions of mechanical systems Note 2 When deceleration stop is selected this bit remains ON until the PCL device G9003 decelerates and stops The PCL device G9003 det
166. son counter the LSI compares the counted absolute value and the comparator data Absolute value range 0 to 32 767 Note 2 When you specify C150 to 2 110 positive software limit or C2S0 to 2 110 negative software limit select COUNTER1 specified position as the comparison counter When the software limit is set the motor will stop regardless of the settings on C1D0 to D1 and C2D0 to D1 When deceleration stop is selected the motor will decelerate to a stop when it is started by the high speed start command Note 3 When C3S0 to 3 is set to 1000 to 1010 synchronous signal output select COUNTER3 general purpose for the comparison counter The other counters cannot be selected To set the comparator select a positive value 41 0 4 2 6 RENV5 register This is a register for the Environment 5 settings It is primarily used to set feed amount correction data 15 14 13 12 11 10 9 8 T 6 o 4 3 2 1 0 PSTP 0 O ADJ BR11 BR10 BR9 BR8 BR7 BR6 BR5 BR4 BR3 BR2 BR1 BRO 31 30 29 28 27 26 20 24 23 22 21 20 19 18 17 16 PMG4 PMG3 PMG2 PMG1 PMGO PD10 PD9 PD8 PD7 PD6 PD5 PD4 PD3 PD2 PD1 PDO Oto 11 BRO to 11 Enter a backlash correction amount or a slip correction amount 0 to 4095 Select a feed amount correction method 12 ADJ 00 Turn OFF the correction function 01 Backlash correction 13 to 14 Not defined Always set to 0 PSTP 1 Even if a stop command is written the PCL devic
167. t 12 to 14 110 254 x 16384 T cx 254 x 16384T cx RENV1 bit 12 to 14 111 LEVEL output EL EL input signal A ES ns SD input signal width Noe5 4Tex y J ns ORG input signal width LE H PCS input signal width J O a ns LTC input signal width an IE Emo HDA Input signal 10T width ICK Output signal pC HSTP width Input signal width BSY signal ON delay TsoePLs Start delay time tows Tstapis Output port delay time Note 1 Tick in the table above means one cycle 25 nS of the internal clock 40 MHz Note 2 The actual CLK input signal is 10 cycles longer while the RST terminal is LOW Note 3 If the input filter is ON lt EINF bit 18 1 in RENV2 gt the minimum time will be 6T cx Note 4 If the input filter is ON lt PINF bit 19 1 in RENV2 gt the minimum time will be 6T cx Note 5 If the input filter is ON lt FLTR bit 26 1 in RENV1 gt the minimum time will be 160Tc x 120 1 When the EA EB inputs are in the 2 pulse mode TEAB TEAB TEAB c lt gt TEAB TEAB TEAB TEAB 2 When the EA EB inputs are in the 90 phase difference mode 3 When the PA PB inputs are in the 2 pulse mode TPAB TPAB TPAB sm EOM AA 4 When the PA PB inputs are in the 90 phase difference mode 5 Start timing by commands SOEH Response of start command TsoeBsY HBSY TsoePLs C OUT Initial output pulse 121
168. ta communication 1 Put the value in the register of the PCL device G9003 The data communication example below shows data being placed in a register that is integrated in the PCL device G9003 Assume that the local devices to be used are as follows Assume that 00123456h will be placed in the RMV register of the PCL device G9003 Device type Configuration item PCL device 40 28h Store the data in the receiving FIFO in the following order 1 Write the command to the PCL device G9003 Outpw 0x0006h 0x0090h Lets iod Outpw 0x0006h 0x3456h 2 Write the data lower 16 bits Outpw 0x0006h 0x0012h 3 Write the data upper 16 bits For details about the write order for the FIFO in the PCL device G9003 and the access command see Chapter 5 Software description A PCL device G9003 that receives this Outpw 0x0000h 0x4028h communication will write the data to the register specified in the data details e a Waits until the data communication is complete This process may be waiting for an interrupt YES Error processing En Check the EDTE bit If the data communication failed take the defined steps Note that the EDTE bit will be cleared by reading the status The EDTE bit changes with the same timing as the CEND bit A data communication command is constructed as follows 15 14 13 12 11 10 9 ropTi1o oloro oro oloT amp T T T T amp S Specify the address in these
169. the RMD register E RFH RFL x RDR 1 Optimum value Number of pulses RMG 1 x50000 1 x 50 000 However the optimum value for a triangle start without changing the value in the RFH register while turning OFF the FH correction function MADJ 1 in the RMD register will be calculated as shown the equation below When using idling control modify the value for RMV in the equation below by deducting the number of idling pulses from the value placed in the RMV register The number of idling pulses will be 1 to 6 when IDL 0 to 7 in RENV2 _ RMV x RDR 1 Optimum value Number of pulses R R RDR 2 2 S curve deceleration without a linear range MSMD 1 in the RMD register and the RDS register 0 RFH RFL x RDR 1 x 2 Optimum value Number of pulses RMG 1 x 50 000 3 S curve deceleration with a linear range MSMD 1 in the RMD register and the RDS register gt 0 RFH REL x RFH REL 2 x RDS x RDR 1 Optimum value Number of pulses RMG 1 x 50 000 Start deceleration at the point when the positioning counter value RDP set value 273 When set to automatic MSDP 0 in the RMD register This is an offset value for the automatically set ramping down point Set in the range of 8 388 608 800000h to 8 388 607 7FFFFFh When the offset value is a positive number the axis will start deceleration at an earlier stage and will feed at the FL speed after decelera
170. ting When a negative number is entered the deceleration start timing will be delayed If the offset is not required set to zero When the value for the ramping down point is smaller than the optimum value the speed when stopping will be faster than the FL speed On the other hand if it is larger than the optimum value the axis will feed at FL constant speed after decelerating RUS S curve acceleration range register 16 bits This register is used to specify the S curve range in an S curve acceleration opecify the S curve acceleration range for S curve acceleration deceleration operations in the range of 1 to 50 000 0C350h Settings from 50 000 to 65 535 0C 350h to OFFFFh will all be treated as 50 000 The S curve acceleration range Ssu will be calculated from the value placed in RMG 40 000 000 Ssu pps RUX RMG 1 x 200 000 In other words speeds between the FL speed and FL speed Ssu and between FH speed Ssy and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified RFH RFL 2 will be used for internal calculations and the operation will be an S curve acceleration without a linear component If the minimum value 1 is specified the PCL device G9003 will operate with nearly linear acceleration If a larger value than RFH RFL 2 is specified the motor will not reach the maximum acceleration speed and the acceleration t
171. tion counter and a comparator The process which takes place after an out of step condition is detected can be selected from the table Processing method to use when the comparator conditions are satisfied For this function use an encoder with the same resolution as the stepper motor COUNTER3 general purpose deflection can be cleared by writing a set command to the deflection counter There are two methods for inputting a feedback signal Input 90 phase difference signals 1x 2x 4x on the EA EB terminals input two sets of positive and negative pulses When both the EA and EB signals change at the same time the device generates an interrupt Setting example RENV3 00001000h Set COUNTERS as an EA EB deflection counter RENVA 00560000h Satisfy the conditions of Comparator 3 lt COUNTER3 deflection Stop immediately when the conditions are satisfied RCMP3 32 The maximum deflection value is 32 pulses RIRQ 00000080h Generate an interrupt when the comparator 3 conditions are met Set COUNTERS deflection input Set CI30 to 32 bits 10 to 12 in RENV3 gt RENV3 WRITE 000 Output pulse 15 8 001 EA EB input _ n nl nl 010 PA PB input lelin nf nf 011 1 4096 division of the internal reference clock CLK 40 MHz 100 Count deflection using output pulses and the EA EB input 101 Count deflection using output pulses and the PA PB input 110 Count deflection using the EA EB PA PB inputs Specify t
172. tion sequence for stepper motors occccooccnccccccccccncconcncconnnononcnononnnonnnnnnnnnnnnnnnnonnnnnnnnnnnnnncnns 111 8 15 General purpose I O terminals PO to P7 onccccconnnncccocnnccccnnnconoconononnnnnonannnnononcnnnnnannnnnnannnnnnnns 113 6 16 1 Wa 81 9 Wa 61 6 Wi de E 114 9 How to calculate the communication cycle TIME cc ccceccceeeeeseeeeeeeeeeseeeesaaeeeceeeeseueeeseueesaeeeesaneesanees 117 9 1 Time FSQUIFSd Tor ONG CY Cle Peu EE 117 9 2 Time required for one complete data COMMUNICATION ccccoccncccccnncccnnccnnnnconnnnnnnnnnonnnnnonnnononenonos 117 9 3 Total cycle time including data communication occccooccnnnoconcnnccnonnncnnnnnnonanennnnnncnnonnncnnnonanennnnnnos 117 jM ISICCIFIGAl CRANACICIISUICS RENTE TE 118 10 1 ADSOlUte TaXxImuliTir alirigS 2uussixeunn a cs Lud ecd ic Guia nai ii 118 10 2 Recommended operating CONdItIONS cccooncncoccnconcnnnoncncnoncnonnncnnnnncnnonnnnnnnnnnnncnnnnnrnnnnnrnnnnnnnnnns 118 NOES DC chiaracterslle S ciis contu aeta tooo 118 104 AC Characters UC Si E 119 So o A tec sem d Eten EE Set a EMI SUI M peat t A DU SUM IR Etude 119 103492 RESE PUMIN uoesitiossei A auc musst du cds CIN RUIN MENTI UNE T itt 119 A A E eee coU eR dU 120 Comunicate amo Me bote as cete mU MD Nee od Lu lio Rede 123 11 1 PCL dvice G9003 line transceiver and pulse transformer ccccceeeceeceeeeeeeeeeeeeesaeeeeenaeeees 123 11 2 A connection example of a level s
173. tive direction operation pulses from the DIR terminal 90 phase difference pulse mode This mode is used to output 90 phase difference pulses through the OUT and DIR terminals One 90 phase difference is equivalent to one pulse in the ordinary and bi directional pulse modes The output mode for command pulses is set in PMD bits O to 2 in RENV1 environment setting 1 If motor drivers using the common pulse mode need a lag time since the direction signal changes until receiving a command pulse use a direction change timer When DTMP bit 28 in the RENV1 environment setting 1 is set to O the operation can be delayed for one direction change timer unit 0 2 msec after changing the direction identification signal Setting the pulse output mode Set PMDO to 2 bits O to 2 in RENV1 RENV1 WRITE PMDO When feeding in the When feeding in the 7 0 to 2 positive direction negative direction al al ol OUT output DIR output OUT output DIR output RENV1 WRITE 31 24 88 8 3 2 Control the output pulse width and operation complete timing In order to increase the stopping speed this LSI controls the output pulse width When the output pulse speed is slower than 1 16384 of reference clock approx 2 4 Kpps when 40 MHz the pulse width is constant and is 8192 cycles of the reference clock approx 200 usec when 40 MHz For faster pulse speeds than this the duty cycle is kept constant approx 50 By setting PD
174. to 15 07Bh 3 5008h BitOto7 o7ch 4 Bit8to15 07Dh 5 500Ch BitOto7 o7Eh 6 Use this function when you want to reduce the number of addresses used in the center device Note For all bits marked with a the upper bits of the device address should be set in order starting from the left end of the bits For bits with marked with an amp when the port is O or 1 set the bit to 0 When the port is 2 or 3 set the bit to 1 For bits marked with an x either O or 1 may be used G9002 I O device G9003 PCL device 134 0101 0001 Ox xxxx 5100h to 517Fh 0101 0010 OHHH dox 5200h to 527Fh 0101 0011 OHH xxx 5300h to 537Fh 0101 0100 OHHH HHS 5400h to 547Fh 0110 0000 044 THEXx 6000h to 607Fh 0110 0001 OZ Zx xxxx 6100h to 617Fh 0110 0010 O xxx 6200h to 627Fh 01100 11 OHHH xxx 6300h to 637Fh 0110 0100 OHHH HERR 6400h to 647Fh Note For all bits marked with a the upper bits of the device address should be set in order starting from the Write to the Cyclic communication error flag area The contents of the I O buffer are written into a word in this area Use this function when you want to reduce the number of addresses used in this device Write to the input change interrupt setting area The contents of the I O buffer are written into a word in this area Use this function when you want to reduce the number of addresses used in this device Wr
175. to n nl ni nl Specify the input logic of the EZ signal Set EZL bit 12 in RENV2 gt RENV2 WRITE 0 Falling edge 15 8 1 Rising edge Eee Pals sen Read the EZ signal SEZ bit 16 in RSTS gt RSTS READ 0 The EZ signal is OFF 23 1 1 The EZ signal is ON RRA Apply an input filter to EZ Set EINF bit 8 in RENV2 gt RENV2 WRITE 0 Apply a filter to the EZ input 15 8 By applying a filter input signal shorter than 6 cycles of the CLK input will be lalo ignored 89 8 6 Servomotor I F Case in digital servo 8 6 1 INP signal The pulse strings input to accepting servo driver systems have a deflection counter to count the difference between command pulse inputs and feedback pulse inputs The driver controls to adjust the difference to zero In other words the effective function of servomotors is to delete command pulses and even after the command pulses stop the servomotor systems keep feeding until the count in the deflection counter reaches zero This LSI can receive a positioning complete signal INP signal from a servo driver in place of the pulse output complete timing to determine when an operation is complete When the INP signal input is used to indicate the completion status of an operation the BSY signal when an operation is complete the main status bit O to 3 and 8 of the MSTS stop condition and the extension status CNDO to 3 of RSTS operation status will also change
176. tors to prevent floating When not used they can be left open If you want to improve the noise resistance of the chip pull them up 5 to 10 K ohms or connect them to VDD 4 4 28 EA EB EZ Use these terminals to control the current position using an encoder 90 phase difference signals or Two pulses up pulse and down pulse can be input on these terminals The 90 phase difference signals can be multiplied by 2 or by 4 The EZ input is used for origin return operations Software can be used to change the input logic of these terminals These terminals have built in pull up resistors to prevent floating When not used they can be left open If you want to improve the noise resistance of the chip pull them up 5 to 10 K ohms or connect them to VDD 4 4 29 PCS The PCL device G9003 starts positioning control Override 2 of the target position when a signal is applied to this terminal Software can be used to change the input logic of this terminal This terminal has a built in pull up resistor to prevent floating When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect it to VDD 4 4 30 INP Input for a positioning complete signal from a servo driver The output of the INT can be delayed until this signal is input Software can be used to change the input logic of this terminal This terminal has a built in pull up resistor to prevent floating
177. ts Show below is a list of the parts used in the interface circuits of our experiments Use of other parts may change the system s response This list is only for your reference CAT5 Oki Wire Co Ltd F DTI C5 SLA CAT6 Oki Wire Co Ltd DTI C6X Pulse transformer Nippon Pulse Motor Co Ltd NPT102F TEXAS INSTRUMENTS SN75LBC180AP Level shifter TEXAS INSTRUMENTS SN74LVC244ADB 127 12 6 Other precautions Cables When you are planning long distance transmission cable quality will be the single most important factor opecialized cables designed for use as field busses such as those by CC Link and LONWORKS have guaranteed quality and may be easier to use Pulse transformers Needless to say the pulse transformers should handle 20 Mbps 10 MHz without becoming saturated The transformer s inductance is also important Since up to 64 pulse transformers may be connected the actual working specifications of these devices must be very similar We used 1000 uH pulse transformers However in order to obtain better response characteristics you may want to try pulse transformers with a larger reactance Line transceivers We used TEXAS Instruments chips for the experiments Other possibilities are available from MAXIM and LINEAR TECHNOLOGY who offer very high performance transceivers Connectors If possible the connectors should match the cable characteristics Although we did not use them modular type connecters will
178. tting the RENV3 register you can stop counting pulses while performing a backlash correction COUNTERS general purpose can be set to count only during operation FBSY low using the RENV3 register By specifying 1 4096 of the CLK reference clock signal the time after the start can be controlled Specify the counting operation for COUNTERS 1 to 3 Set CU1H to 3H bits 28 RENV3 WRITE to 30 in RENV3 gt 31 24 CU1H bit 28 1 Stop COUNTER1 mechanical position Tal nl nl CU2H bit 29 1 Stop COUNTER2 deflection Ln ni ni EE CU3H bit 30 1 Stop COUNTERS3 general purpose deflection Setting the counters for backlash correction Set CU1B to 3B bits 24 to 26 in RENV3 WRITE RENV3 gt 31 24 CU1B bit 24 1 Enable COUNTER1 command position i nl CU2B bit 25 1 Enable COUNTER2 mechanical position BHHEHB n n nl CU4B bit 26 1 Enable COUNTER3 general purpose deflection Specify the counting conditions for COUNTER3 lt Set BSYC bit 13 in RENV3 gt RENV3 WRITE 1 Enable COUNTER3 general purpose deflection only while operating 15 8 BSY L lalalala 102 8 11 Comparator 8 11 1 Comparator types and functions This LSI has 3 circuits of 28 bit comparators It compares the values set in the RCMP1 to 3 registers with the counter values Comparators 1 to 3 can be used as comparison counters and can be assigned as COUNTERS 1 to 3 There are many c
179. u Select clock rate 1 Possible SPDO lu _ Communication speed setting 0 SPD1 lu Communication speed setting 1 Ly9 GND GOND 4 o 80 RST Negative Note 1 I in the I O column expresses input O as output and B as both directions Note 2 All the inputs including bi directional signals can be interfaced with 5 V lines They can be connected to 5 V CMOS 3 3 V CMOS TTL and LVTTL devices All the outputs except the outputs related to communications including bi directional signals can be interfaced with 5 V lines They can be connected to 3 3 V CMOS TTL and LVTTL devices To connect a 5 V CMOS device connect pull up resistors 5 10K ohms to 5 V Note 3 Inputs that can be interfaced with 5 V are not equipped with an overvoltage prevention diode for the 3 3 V lines If overvoltage is possible due to a reflection linking or to inductive noise recommend inserting a diode to protect against overvoltage Note 4 Ij and By in the table indicate lines Without an E overvoltage gt protection A Pull up resistor 1 l ooge Level shifter we terminals with a pull up resistor to prevent floating Ip indicates terminals with a pull down resistor to prevent floating The inputs that can be connected to 5 V lines are not connected directly to pull up pull down resistors a few 10K ohms to a few 100 k ohms They are connected after a level shifter
180. u a curve of next acceleration will be equal to a normal acceleration curve Futher away 7 t 3 If the axis has already passed over the new target position or the target position is changed to a position that is closer than f the original position during deceleration movement on the axis will decelerate and stop Then the movement will reverse and complete the positioning operation at the position specified in the new data new RMV value Already passed position The axis accelerates decelerates only when starting in high speed The target position data RMV register value can be rewritten any number of times until the positioning operation is complete 81 Note1 If the ramping down point is set to automatic and the deceleration time gt acceleration time x 2 it may be the case that the axis cannot reduce the speed to the FL level as shown below In this case if the target position is set closer than original position and the axis is decelerating the axis will decelerate along the deceleration curve to the new override position and then slow to the FL speed and finally stop Then it will start moving to the new position Therefore the axis will overrun the original target position during deceleration shaded area Speed Target position chang Normally thePCL stops feeding 74 without decelerating to FL speed When an override is specified N the PCL will decelerate to FL speed Time gt m Acc
181. ull them up 5 to 10 K ohms HEMG This is the emergency stop input terminal While this is set LOW the PCL device G9003 prohibits operation If this signal goes LOW while the motor is operating the motor will stop immediately This terminal has a built in a pull up resistor to prevent floating When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect it to VDD ELL This terminal is used to set the input logic of the EL and EL signals When this terminal is LOW the respective signal is set for positive logic EL EL Provide the stroke end signals to these terminals Their input logic can be changed using the ELLn terminals When this signal for the feed direction turns ON the motor stops immediately or decelerates and stops depending on the conditions These terminals have built in pull up resistors to prevent floating When not used they can be left open If you want to improve the noise resistance of the chip pull them up 5 to 10 K ohms or connect them to VDD SD Input for the deceleration signal decelerate and stop Software can be used to change the input logic of this terminal This input has a latch function This terminal has a built in pull up resistor to prevent floating When not used it can be left open However if you want to improve the noise resistance of the chip pull it up 5 to 10 K ohms or connect it to V
182. ulse operation MOD 46h 4EN esses nnnm nnne nnn nnns 51 6 2 7 Timer operation MOD 47H ie ete o A 51 6 3 Pulsar PAJPB Input ImOd6 2 iiti bd Eum dvi pct utet uta e rom ee apes tire E en 52 6 3 1 Continuous operation using a pulsar input MOD 01h ooccccoccncccccnccccnnconcncnocnncnncnnnnncnononononos 55 6 3 2 Positioning operation using a pulsar input MOD 51h ooooccccoccnnccnnccnconononnnnncnncnnanoncnnanencnnonons 55 6 3 3 Positioning operation using a pulsar input specify the absolute position in COUNTER1 MOD D211 a3 utet resta tace teme MIU EI M IIS IL M MD SU DM MIC RU Ei EM IUE 55 6 3 4 Positioning operation using a pulsar input specify the absolute position in COUNTER2 MOD SSD ues tio 56 6 3 5 Command position zero return operation using a pulsar input MOD 54h 96 6 3 6 Mechanical position zero return operation using a pulsar input MOD 54h 96 6 4 Origin position Operation Mode ii ia 57 6 41 ON Fetul OPC FAO ca A riui ein pui Cut vidas buiRaun 58 6 4 2 Leaving the origin position operations ooccccccnccccncccnoconnnonnnoncnnnncnonannnnnnnnnnnnonnnonanonnnnnnnninonenos 66 624 3 Ondin search OPCTANOM ii O tuv te x uc aes sa 66 6 5 EL or SLOP Salon mode tao ocecaseeto e A Care L LM LU 67 6 5 1 Feed until reaching an EL or SL position occccooccnncccccnconoccnnononnnnnonanonnononennnnnnnonnnnnnrnnnnncnnnnnnn
183. ult by setting POM to P7M bits O to 7 in RENV2 they can be set individually for input or output The internal arrangement of these terminals is roughly as shown below Although they are used primarily as input terminals they can be set to act as a latched output circuit If they are changed to function as output terminals the LSI will output a latched status The initial status of the latch output in the figure below is Q LOW 3S t Buffer gt lt gt PO to P7 terminals Port 3 output data Port 2 input data When they are set for use as output ports among writing data to Port 3 of the I O port their corresponding bits are set to 1 will go HIGH The terminal status can be checked by reading Port 2 The status data can be masked when the output port is selected using MIOR bit 24 in the RMD To enable the input change interrupt on the center device G9001A using Port 2 set MIOR O Then even if the output port status is changed the corresponding port 2 bit will also change so that an interrupt occurs When MIOR is 1 if the output port status changes the corresponding port 2 bit will be left at 0 Setting the general I O terminals POM to P7M bits O to 7 in RENV2 gt RENV2 WRITE 0 Make the terminal that corresponds to the bit an input terminal 7 0 1 Make the terminal that corresponds to the bit an output terminal Innnnnn nn Select the monitoring method for the output setting bits in a RMD WRITE
184. us of the SD signal SSD bit 9 in RSTS gt 0 The SD latch signal is OFF 1 The SD latch signal is ON Reading the SD signal lt SDIN bit 10 in the RSTS register 0 The SD signal is OFF 1 The SD signal is ON Reading the cause of an interrupt when stopped by the SD signal ESSD bit 8 in RESET 1 Deceleration stop caused by the SD signal turning ON Apply an input filter to SD Set FLTR bit 25 in RENV1 gt RENV1 WRITE 0 Apply a filter to the SD input 31 By applying a filter signals with a pulse width of 4 usec or less will be ignored a kelataa 88 8 5 3 ORG EZ signals These signals are enabled in the origin return modes origin return leave origin position and origin position search and in the EZ count operation modes Specify the operation mode and the operation direction using the RMD register operation mode The PCL device G9003 latches the ORG signal on the rising edge of the output pulse negative logic The minimum pulse length of the ORG signal is one cycle period of the output pulses Since the ORG signal input is latched internally there is no need to keep the external signal ON The ORG latch signal is reset when stopped The input logic of the ORG and EZ signals can be changed using the RENV1 environment 1 register and RENV2 environment 2 registers respectively By reading the RSTS extension status register you can monitor the status of the ORG and EZ terminals For details about th
185. ut 01 General purpose output cw ms the operation of the P7 terminals 00 General purpose input 01 General purpose output Apply a noise filter to EA EB EZ input Note 1 O Apply a noise filter to EA EB EZ input Note 1 n opecify the EA EB input operation 00 Multiply a 90 phase difference by 1 Count up when the EA input phase is ahead 9 to 10 EIMO to 1 01 peri phase difference by 2 Count up when the EA input phase 10 Multiply a 90 phase difference by 4 Count up when EA input phase is ahead E Count up when the PA signal rises count down when the EB signal falls EDIR 1 Reverse the counting direction of the EA EB inputs Spec EZ signal input logic 0 Falling edge 1 Rising edge PINF 0 Apply a noise filter to the PA PB input Note 1 Specify the PA PB input operation 00 Multiply a 90 phase difference by 1 Count up when the PA input phase is ahead 14 to 15 PIMO to 1 01 pia de phase difference by 2 Count up when the PA input phase 10 Multiply a 9 phase difference by 4 Count up when PA input phase is ahead 11 Count up when the PA signal rises count down when the PB signal falls 16 POIR t Reverse the counting direction of the PA PB inputs EOFF 1 Disable EA EB input POFF Disable PA PB input 36 Not Always set to O Cha 20 to 22 IDL 0 to 2 Set the number of idling pulses 0 to 7 pulses Not Always set to 0 23 to 31 defined l y Note 1 Signals s
186. ut terminal of the reference clock By setting the CKSL terminal either of the following clock rate signals can be connected CKSL L 40 MHz CKSL H 80 MHz By selecting either of these clock rates the serial communication transfer rate does not change This clock rate selection affects communication precision For a small scale serial communication and transfer rate below 10 Mbps use of the center device with 40 MHz does not give any restriction With 20 Mbps transfer speed however a longer communication line or a large number of connected local devices may deteriorate communication precision due to collapse of signals on the circuit This deterioration of communication quality can be corrected inside the LSI if the deterioration level is not much In order to improve correction precision however evenness of the clock duty is required In other words if the duty is ideal 50 50 the capacity to correct collapse of the signals in the communication lines can be improved On the contrary if the duty is not ideal the center device cannot cope with collapses of the communication line As a result if the duty is close to ideal the center device can be used with 40 MHz When connecting more than one oscillator the duty will not be ideal In this case select 80 MHz The center device divides the frequency inside and creates 40 MHz frequency If you do not want to use 80 MHz frequency you may prepare a separate 40 MHz oscillator for this L
187. utput by writing an ERC output command 0024h The output logic of the ERC signal can be changed by setting the RENV1 register Read the RSTS extension status register to monitor the ERC signal A ERC pulse width ERC sigmal OFF timer 91 Set automatic output for the ERC signal Set EROE bit 10 in RENV1 gt RENV1 WRITE 1 Does not output an ERC signal when stopped by EL ALM or ZEMG 15 8 input 1 Automatically outputs an ERC signal when stopped by EL ALM or BIEREERBE 4 EMG input Set automatic output for the ERC signal Set EROR bit 11 in RENV1 gt RENV1 WRITE 0 Does not output an ERC signal at the completion of an origin return 15 8 operation 1 Automatically outputs an ERC signal at the completion of an origin return l l l ln operation oet the ERC signal output width Set EPWO to 2 bits 12 to 14 in RENV1 gt RENV1 WRITE 000 12 usec 100 13 msec 45 8 001 102 101 52 010 409 ieee 110 imee ln nf ml l l 011 1 6 msec 111 Logic level output Select output logic for the ERC signal lt Set ERCL bit 15 in RENV1 gt RENV1 WRITE 0 Negative logic 15 8 1 Positive logic WERE aa opecify the ERC signal OFF timer time Set ETWO to 1 bits 16 to 17 in RENV1 WRITE RENV1 gt 23 4 00 O usec 10 1 6 msec 01 12 usec 11 104 msec malla la all Read the ERC signal lt SERC bit 15 in RSTS gt RSTS READ 0 The ERC signal is OFF 15 8 1 The ERC signal is ON ERES Eme
188. when the INP signal is input The input logic of the INP signal can be changed The minimum pulse width of the INP signal is 160 reference clock cycles 4 usec when the input filter is ON If the input filter is OFF the minimum pulse width will be 4 reference clock cycles 0 1 usec When CLK 40 MHz If the INP signal is already ON when the PCL device G9003 is finished outputting pulses it treats the operation as complete without any delay The INP signal can be monitored by reading the RSTS register extension status Set the operation complete delay using the INP signal Set MINP bit 9 in RMD gt RMD WRITE 0 No operation complete delay waiting for the INP signal 15 8 1 Operation complete status BSY delay until the INP signal turns ON mEBERB I EA Input logic of the INP signal lt Set INPL bit 22 in RENV1 gt RENV1 WRITE 0 Negative logic 23 1 1 Positive logic BST i HA Reading the INP signal lt SINP bit 19 in RSTS gt RSTS READ 0 The INP signal is OFF 23 1 1 The INP signal is ON Coed ea eal 2a alle la Set the INP input filter lt FLTR bit 25 in RENV1 gt RENV1 WRITE 0 Apply a filter to the INP input 31 By applying a filter pulses less than 4 usec in width are ignored mEFEFE n 90 8 6 2 ERC signal A servomotor delays the stop until the deflection counter in the driver reaches zero even after command pulses have stopped being delivered In order to stop the serv
189. y by 50 50 to 5 000 000 pps characteristics speed separately using Linear and S curve acceleration deceleration Acceleration rate setting 1 to 65 535 16 bit range Ex 1 100 000 pps acceleration time 80 msec set 1 to 2621 sec set 65535 Deceleration rate setting 1 to 65 535 16 bit range Ramping down point Automatic setting within the range of deceleration time lt acceleration time x 2 automatic setting FH correction function If the feed amount is too small the PCL device G9003 has to start decelerating Eliminates triangle before it has completed the acceleration and this will create a triangular shaped pattern driving speed pattern In order to eliminate this triangular speed pattern this function automatically reduces the operation speed so that the triangle speed pattern will be avoided Counter COUNTER1 Command position counter 28 bit COUNTER2 Mechanical position counter 28 bit COUNTERS Deflection counter 16 bit Note 1 Values above 100 000 cannot be entered Even if a value over 100 000 is entered the register value will only be 100 000 4 Hardware description 4 1 A list of terminals 5V interface 1 VD Powersupply 3 3 V AAA 2 DNO lu Negative Device number bit O Common with the Possible serial input 6 DN4 lu Negative Device number bit4 Possible 8 vbD Powersupply input 3 3V_ 9 VDD Powersupply input 3 3V_ 10 VDD X9
190. ycles in length from the STP 0007h terminal The STP terminal is bi directional It can receive signals output from other PCL devices G9003 96 8 9 Emergency stop This LSI has an EMG input terminal for use as an emergency stop signal While in operation if the EMG input goes LOW or if you write an emergency stop command all the axes will stop immediately While the EMG input remains LOW no axis can be operated The logical input of the EMG terminal cannot be changed When the axes are stopped because the EMG input was turned ON the LSI will generate an interrupt By reading the REST register the cause of the error interruption can be determined The status of the EMG terminal can be monitored by reading the RSTS register extension status Read the EMG signal lt SEMG bit 13 in RSTS gt RSTS READ 0 The EMG signal is OFF 15 7 1 The EMG signal is ON pelaje tee le Read the cause of an error interrupt lt ESEM bit 7 in REST gt REST READ 1 Stopped when the 4EMG signal was turned ON 7 0 Set the input signal filter for ZEMG RENV1 WRITE 0 Turn ON the filter function Input signals shorter than 4 reference clock cycles are ignored 31 24 Emergency stop command CMEMG Operation command Operation command The operation is the same as when an EMG signal is input 0005h Note In a normal stop operation the final pulse width is normal However in an emergency stop operation the fin

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