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Melec C-875, Instruction Manual

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Melec C-875 Instruction Manual Download Page 90

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16-2.INITIALIZE Program Example

Execute this program at POWER ON/RESET as needed.
This program is developed based on the following specifications.

(1) DRIVE Specification

DRIVE TYPE＝L, LIMIT STOP TYPE＝fast stop, MOTOR TYPE＝Stepping motor and RDYINT＝Not output in any case
shall be specified.

(2) PULSE COUNTER and Comparator Specification

The PULSE COUNTER is supposed to operate with drive pulse from the MCC05v2, and the COMPARE REGISTER1
output on the conferred matching is to output to the CNTINT. Address of the COMPARE REGISTER1 detection
shall be 10000(2710 ), and the deceleration-to-stop shall be selected for the COMP STOP TYPE.

Ｈ

(3) Address Specification

Motor current address shall be defined as 1000(3E8 ), and 1000(3E8 ) shall also be preset for the pulse

Ｈ

Ｈ

counter.

/*-----------------------------------*/
/*

X-AXIS MCC05 INITIALIZE

*/

/*-----------------------------------*/
void

xmcc05inz( void )

{

/** SPEC INITIALIZE1 COMMAND **/
xmccrdy();

/* X-AXIS MCC05 RDY WAIT */

outp(XMCCDT1 ,0x28);

/* DRIVE SPEC DATA OUT */

outp(XMCCCOM ,0x01);

/* SPEC INITIALIZE1 COMMAND OUT */

/** PULSE COUNTER INITIALIZE COMMAND **/
xmccrdy();

/* X-AXIS MCC05 RDY WAIT */

outp(XMCCDT1 ,0x01);

/* COUNTER SPEC DATA1 OUT */

outp(XMCCDT2 ,0x20);

/* COUNTER SPEC DATA2 OUT */

outp(XMCCDT3 ,0x00);

/* COUNTER SPEC DATA3 OUT */

outp(XMCCCOM ,0x02);

/* PULSE COUNTER INITIALIZE COMMAND OUT */

/** ADDRESS INITIALIZE COMMAND **/
xmccrdy();

/* X-AXIS MCC05 RDY WAIT */

outp(XMCCDT1 ,0x00);

/* ADDRESS MSB OUT */

outp(XMCCDT2 ,0x03);
outp(XMCCDT3 ,0xe8);

/* ADDRESS LSB OUT */

outp(XMCCCOM ,0x03);

/* ADDRESS INITIALIZE COMMAND OUT */

/** COUNTER PRESET COMMAND **/
outp(XCNTDT1 ,0x00);

/* COUNTER MSB OUT */

outp(XCNTDT2 ,0x03);
outp(XCNTDT3 ,0xe8);

/* COUNTER LSB OUT */

outp(XCNTCOM ,0x00);

/* COUNTER PRESET COMMAND OUT */

/** COUNTER REGISTER1 SET COMMAND **/
outp(XCNTDT1 ,0x00);

/* COMPARE REGISTER1 MSB OUT */

outp(XCNTDT2 ,0x27);
outp(XCNTDT3 ,0x10);

/* COMPARE REGISTER1 LSB OUT */

outp(XCNTCOM ,0x01);

/* COUNTER REGISTER1 SET COMMAND OUT */

}

Note: At POWER ON/RESET, above settings are all initialized their specific specification.

Thus, the above processing shall be done only when a modification is needed.
For details of the initial specifications, see Chapter 10.

Summary of Contents for C-875

Page 1: ...r C 875 Instructions Manual For designers use PR0815 1 Please ensure to read and understand this Instructions Manual before using the Product Please keep this Instructions Manual at hand so that it is always available for reference ...

Page 2: ...ge of your properties may be caused by incorrect handling Before use This product is not designed for use in the equipment related to nuclear power aerospace equipment vehicles marine vessels medical equipment directly in touch with human body equipment anticipated to give a serious impact to properties and other equipment required to provide high reliability This product is provided with a LIMIT ...

Page 3: ... 17 IN10 PORT Additional I O １９ 4 18 IN20 PORT Additional I O １９ 4 19 IN30 PORT Additional I O １９ 4 20 IN40 PORT Additional I O １９ 4 21 OUT10 PORT Additional I O ２０ 4 22 OUT20 PORT Additional I O ２０ 4 23 OUT30 PORT Additional I O ２０ ５ ＤＥＴＡＩＬＳ ＯＦ ＤＲＩＶＥ ＦＵＮＣＴＩＯＮＳ 5 1 JOG DRIVE Function ２１ 5 2 SCAN DRIVE Function ２１ 5 3 INDEX DRIVE Function ２２ 5 4 Drive Speed Change Function ２２ 5 5 Machine Origin Det...

Page 4: ...IGIN FLAG RESET Command ４４ 6 22 ORIGIN Command ４５ 6 23 SRATE SET Command ４５ 6 24 SLSPD SET Command ４６ 6 25 SHSPD SET Command ４６ 6 26 SSRATE ADJUST Command ４７ 6 27 SERATE ADJUST Command ４７ 6 28 SCSPD1 ADJUST Command ４８ 6 29 SCSPD2 ADJUST Command ４８ 6 30 S RATE SCAN Command ４９ 6 31 S RATE INCREMENTAL INDEX Command ４９ 6 32 S RATE ABSOLUTE INDEX Command ４９ 6 33 ERROR STATUS READ Command ５０ 6 34 SPEED ...

Page 5: ...1 3 Interrupt Request Signal by Input Signals of the Additional I O ６９ 11 4 Interrupt Pin Arrangement ６９ 11 5 Precautions on Using Interrupts ６９ １２ ＴＩＭＩＮＧ 12 1 JOG DRIVE Timing ７０ 12 2 SCAN DRIVE S RATE SCAN DRIVE Timing ７０ 12 3 INDEX DRIVE S RATE INDEX DRIVE Timing ７０ 12 4 ORIGIN DRIVE Timing ７０ 12 5 SPEED CHANGE TIMING ７１ 12 6 DEND Signal Confirmation Timing ７２ 12 7 SLOW STOP Timing ７２ 12 8 FAST...

Page 6: ...6 6 ORIGIN DRIVE Program Example ９３ 16 7 PULSE COUNTER Read Program Example ９４ ９５ １７ ＴＲＯＵＢＬＥＳＨＯＯＴＩＮＧ １８ ＤＡＴＡ ＴＡＢＬＥＳ 18 1 L TYPE RATE Data Table ９７ 18 2 M TYPE RATE Data Table ９７ 18 3 H TYPE RATE Data Table ９７ 18 4 RATE Curve Graph ９７ ９９ １９ ＳＡＦＥＴＹ ＤＥＳＩＧＮ ＰＲＥＣＡＵＴＩＯＮＳ ２０ Ｃ ８７０ｖ１ ＡＬＬ ＣＯＭＭＡＮＤ ＴＡＢＬＥＳ 20 1 DRIVE Command Table １００ 20 2 Special Command Table １０１ ２１ ＭＡＩＮＴＥＮＡＮＣＥ 21 1 Maintenance and Inspecti...

Page 7: ...roller to count feedback pulses from a servo driver as well as detecting step out of a stepping motor with the encoder Since the C 875 are provided with the 4 independent axes the first axis the second axis the third axis and the fourth axis are called X axis Y axis Z axis and A axis respectively As a rule the following description will be given about only the X axis ２ ＢＡＳＩＣ ＣＯＮＦＩＧＵＲＡＴＩＯＮ 2 1 Func...

Page 8: ...he DIFFERENTIAL COUNTER is used for counting deviation of these pulses This block allows to read a counting any time as needed preset a count or interrupt at any counting or deviation level 4 General purpose I O block This block is provided with 4 inputs and 4 outputs isolated by photo coupler Because of a 24V coupler interface it can control relays and solenoid valves The host controls this block...

Page 9: ...AN Continuous drive until a stop command is input INDEX Positioning drive up to the specified number of pulses or the specified address ORIGIN A series of drive until machine origin detection 9 type detection type S RATE SCAN The same as SCAN Drive with S shaped acceleration and deceleration S RATE INDEX The same as INDEX Drive with S shaped acceleration and deceleration SCAN DRIVE and INDEX DRIVE...

Page 10: ... and CCW clocks 10 Function for fast slow stop by LIMIT STOP Two stop types using the LIMIT signal namely fast and slow are available and can be specified by user program 11 Function for the servo driver A function for the END signal and deviation COUNTER RESET signal of the servo driver is provided 12 Interrupt generating function An interrupt can be generated for the PCI bus master RDYINT interr...

Page 11: ...parator Detecting Condition Select Function It enables to select detecting method of the DIFFERENTIAL COUNTER comparator1 and 2 from or 6 DIFFERENTIAL COUNTER Compare Resistor Setup Switching Function It enables to select an absolute value or signed value for the comparison made between the DIFFERENTIAL COUNTER and the COMPARE REGISTER 7 Acceleration Deceleration Time Constant Parameter Setting Fu...

Page 12: ...ensor fails to make detection during that range of pulse number 19 PO Input Function This function offers origin detection utilizing PO excitation output signal from stepping motor drivers When PO input is enabled ANDing of PO signal and ORG signal is output as ORG signal 20 AUTO DRST Output Function This function automatically outputs DRST signal as the machine origin detection completed 21 Speci...

Page 13: ...０ DRIVE COMMAND BOARD ID ７０ Board identifier R Ｈ Ｈ １１ DRIVE DATA1 Ｈ W １２ DRIVE DATA2 Ｈ r １３ DRIVE DATA3 Ｈ i １４ COUNTER COMMAND Ｈ t １５ COUNTER DATA1 Ｈ Ｙ Axis e １６ COUNTER DATA2 Ｈ Ｖ２ MCC05 １７ COUNTER DATA3 Ｈ １０ STATUS1 Ｈ １１ DRIVE DATA1 Ｈ １２ DRIVE DATA2 R Ｈ １３ DRIVE DATA3 e Ｈ １４ STATUS2 a Ｈ １５ STATUS3 d Ｈ １６ STATUS4 Ｈ １７ STATUS5 Ｈ ２０ DRIVE COMMAND Ｈ ２１ DRIVE DATA1 Ｈ W ２２ DRIVE DATA2 Ｈ r ２３ DRIVE DATA...

Page 14: ... The following sketch shows the example where the board is set to 2 ０ ９ １ ２ ８ ３ ７ ６ ４ ５ 4 3 DRIVE COMMAND PORT Used to write a drive command For the details of commands refer to Chapter ６ 4 4 DRIVE DATA1 2 3 PORT WRITE Various data are written by each drive command 4 5 DRIVE DATA1 2 3 PORT READ Used to read various data When reading data by the ADDRESS READ command SET DATA READ command and ERROR ...

Page 15: ...escription of the error using the ERROR STATUS READ Command This bit is reset by writing the next command MAN BIT This bit is not used on this product 0 is output Note3 LSEND BIT When DRIVE BIT 1 it indicates a valid CWLM or CCWLM signal has been entered When DRIVE BIT 0 it indicates pulse output has been stopped by CWLM or CCWLM signal includes the output stopped by an applied function SOFT LIMIT...

Page 16: ...as matched the COMPARE REGISTER5 Note PLS OVF BIT Indicates that the PULSE COUNTER has overflowed DFL COMP1 BIT Indicates the DIFFERENTIAL COUNTER DFL COMPARE REGISTER1 excessive deviation Note DFL COMP2 BIT Indicates the DIFFERENTIAL COUNTER DFL COMPARE REGISTER2 positioning complete Note Note In the initial state there bits are reset after this status has been read except for when the following ...

Page 17: ...UT3 output signals The user can freely use this general purpose I O These signals are active low When each of them is in the active state the LED on the board come on 1 Input port The input port consists of an input data division and an output data division as shown below The external input IN0 to IN3 states are read into the input data division The output data division reads the current output po...

Page 18: ...sing edge At Input OFF 0 1 4 15 IN10_20INT STATUS PORT Additional I O This is a port to read the interrupt generation status by the additional I O input signals IN10 IN20 D D D D D D D D Each of the bits becomes 1 in the active state ７ ６ ５ ４ ３ ２ １ ０ IN10INT BIT Unused ０ Unused ０ Unused ０ IN20INT BIT Unused ０ Unused ０ Unused ０ Indicates that an interrupt is generated by signal Note IN10INT BIT IN10...

Page 19: ...f the bits becomes 1 in the active state ７ ６ ５ ４ ３ ２ １ ０ at ON IN20 IN21 IN22 IN23 IN24 IN25 IN26 IN27 4 19 IN30 PORT Additional I O This is a port to read the status of the additional I O input signals IN30 IN37 D D D D D D D D Each of the bits becomes 1 in the active state ７ ６ ５ ４ ３ ２ １ ０ at ON IN30 IN31 IN32 IN33 IN34 IN35 IN36 IN37 4 20 IN40 PORT Additional I O This is a port to read the statu...

Page 20: ...s the contents of the following bits to OUT20 OUT27 It also reads the current output status previous data output to this port D D D D D D D D It becomes active state ON at setting 1 ７ ６ ５ ４ ３ ２ １ ０ OUT20 OUT21 OUT22 OUT23 OUT24 OUT25 OUT26 OUT27 The output port is put into the OFF output NOT ACTIVE state at POWER ON RESET 4 23 OUT30 PORT Additional I O This is a port to set ON OFF of the additiona...

Page 21: ...ting drive by the SCAN command The drive is stopped by one of the methods described in 5 10 5 11 and 5 12 Example of X axis Hz HSPD LSPD URATE DRATE t Drive by SCAN command XCWP XCCWP Drive by SCAN command XCWP XCCWP The data required for SCAN DRIVE are as follows Data name Setting command HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET URATE acceleration time constant RATE SET DRATE deceleration...

Page 22: ...D and URATE DRATE are specified the timing up to a pulse output is different from that of URATE DRATE For details refer to Chapter １２ Timing For this reason please use the same data unless specially required 5 4 Drive Speed Change Function Using the SPEED CHANGE command allows you to change speed of the SCAN or INDEX DRIVE currently taking place note that this command is valid only for these two d...

Page 23: ...IVE is as follows Data name Setting command HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET CSPD CONSTANT SPEED CSPD SET URATE acceleration time constant RATE SET DRATE deceleration time constant RATE SET OFFSET PULSE OFFSET PULSE SET LDELAY LIMIT DELAY TIME ORIGIN DELAY SET SDELAY SCAN DELAY TIME ORIGIN DELAY SET JDELAY JOG DELAY TIME ORIGIN DELAY SET 5 6 Machine Origin Detecting Function Using ...

Page 24: ...T SRATE acceleration deceleration time constant for S RATE DRIVE SRATE SET Note When SLSPD SHSPD is specified constant speed drive is performed with SHSPD 5 8 S RATE INDEX DRIVE Function S shaped accelerating decelerating drive is performed with the specified number of pulses or up to the target address by the S RATE INCREMENTAL INDEX command or S RATE ABSOLUTE INDEX command The acceleration decel...

Page 25: ...ote1 When DRIVE TYPE is the fixed mode the initial value of SSRATE may be a nonexistent value in the rate data table depending on the SRATE value Even if the eightfold value of SRATE does not exist in the rate data table the eightfold value of SRATE is adopted as an initial value of SSRATE Note2 When the SRATE value is large the SSRATE value cannot exceed the maximum settable rate value The maximu...

Page 26: ...n DRIVE TYPE has been changed by the SPEC INITIALIZE1 command the SCSPD1 value is reset to the initial value 4 SCSPD2 Explanation of data Indicates the linear rate end speed or linear rate start speed by SRATE Between SCSPD1 and SCSPD2 the time constant indicates a linear rate characteristic because the SRATE value is fixed Initial value Set to the value represented by the following expression by ...

Page 27: ...signal when the pulse output is in the CW direction or by the CCWLM signal when the same output is in the CCW direction After the pulse output is stopped in the above way LSEND becomes 1 The LIMIT stop type can be switched between fast stop and slow stop by the SPEC INITIALIZE1 command Fast stop is selected at POWER ON RESET 5 13 Function for Servo Driver The target motor can be switched by the SP...

Page 28: ...cription of PULSE DEFERENTIAL COUNT COMPARE function in DETAILS OF COUNTER FUNCTION in Chapter 8 5 16 Speed Data Hz Unit Setting Function Speed data HSPD LSPD CSPD SHSPD SLSPD and HSPD1 to 10 when an applied function is used can be set as 3 byte data in Hz The data setting range is 1 to 3 333 333 so the speed can be set in the range of 1Hz to 3 3MHz Speed setting example When 10000 002710 has been...

Page 29: ...ange 1 0ms 1000Hz 0 05ms 1000Hz 0 005ms 1000Hz 0 004ms 1000Hz Speed difference 51Hz STEP 1kHz STEP 10kHz STEP 51Hz STEP Note1 62Hz STEP 4kHz STEP 68kHz STEP 68kHz STEP Note1 The speed difference indicates a speed difference between before and after speed change at acceleration deceleration This speed difference is rather small at a low speed and gradually increases as the speed is accelerated 5 18...

Page 30: ...１４ INCREMENTAL INDEX Note2 0 0 0 1 0 1 0 1 １５ ABSOLUTE INDEX Note2 １６ １７ Setting is disabled １８ １９ Setting is disabled Note3 0 0 0 1 1 0 1 0 １Ａ CSPD SET MAX 55μs 0 0 0 1 1 0 1 1 １Ｂ OFFSET PULSE SET MAX 20μs 0 0 0 1 1 1 0 0 １Ｃ ORIGIN DELAY SET MAX 25μs 0 0 0 1 1 1 0 1 １Ｄ ORIGIN FLAG RESET MAX 25μs 0 0 0 1 1 1 1 0 １Ｅ ORIGIN Note2 0 0 0 1 1 1 1 1 １Ｆ Setting is disabled ２０ ５Ｆ Setting is disabled Note3...

Page 31: ...RESS COUNTER PORT SELECT MAX 200ns 1 1 1 1 1 0 1 0 ＦＡ DFL COUNTER PORT SELECT MAX 200ns 1 1 1 1 1 1 0 0 ＦＣ PULSE COUNTER PORT SELECT MAX 200ns 1 1 1 1 1 1 0 1 ＦＤ SPEED PORT SELECT MAX 200ns 1 1 1 1 1 1 1 0 ＦＥ SLOW STOP Note 1 1 1 1 1 1 1 1 ＦＦ FAST STOP Note Note The execution time cannot be specified Refer to Chapter １２ Timing 6 3 NO OPERATION Command COMMAND 00 Function No function Ｈ However DREN...

Page 32: ...ER ON RESET 1 DRIVE TYPE D D １ ０ Specifies DRIVE TYPE D D DRIVE TYPE １ ０ 0 0 L TYPE 0 1 M TYPE 1 0 H TYPE Note For the arithmetic mode refer to 1 1 Arithmetic mode Note the User s Manual Applied Functions Part 2 LIMIT STOP TYPE D ２ Specifies the type of LIMIT STOP by the CWLM and CCWLM signals 0 Fast stop 1 Slow stop 3 MOTOR TYPE D ３ Specifies the target motor 0 SERVO 1 STEPPING 4 RDYINT TYPE D D ...

Page 33: ...Slow stop 2 CNTINT OUTPUT TYPE D １ This bit is used for specifying a CNTINT output specification on the PULSE COUNTER The same specification is selected for the COMPARE REGISTER1 to 5 0 Latches and outputs detection done on each comparator executing the STATUS3 READ resets the latch 1 Detection done on each comparator is output without being latched Note Selecting 1 outputs the comparator detectio...

Page 34: ...xternal input clock count method ０ D D Count pattern Input clock type ２ １ 0 0 Count by multiplying the XEA and XEB inputs by 1 90ﾟ phase 0 1 Count by multiplying the XEA and XEB inputs by 2 difference clock 1 0 Count by multiplying the XEA and XEB inputs by 4 1 1 Count up by XEA and count down by XEB Independent clock for each direction 3 AUTO CLEAR ENABLE D ３ Sets the AUTO CLEAR function 0 No AUT...

Page 35: ...ut the match output XCNTINT of COMPARE REGISTER3 0 XCNTINT is not output 1 XCNTINT is output 4 COMP3 STOP TYPE D ３ Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER3 0 Not put into stop 1 Put into stop 5 COMP4 INT ENABLE D ４ Determines whether or not to output the match output XCNTINT of COMPARE REGISTER4 0 XCNTINT is not output 1 XCNTINT is output...

Page 36: ...ollows N BUSY 0 in STATUS1 DATA1 PORT DATA2 PORT DATA3 PORT ７ ０ ７ ０ ７ ０ D D D D D D Y Ｈ COMMAND 04 WRITE ABSOLUTE ADDRESS 0 FFFFFF Ｈ N BUSY 0 in When ADDRESS is negative it is represented in 2 s complement form STATUS1 Output example of ADDRESS ADDRESS decimal DATA1 PORT DATA2 PORT DATA3 PORT Ｈ Ｈ Ｈ Y 8 388 607 7F FF FF Ｈ Ｈ Ｈ DATA1 PORT Note 10 00 00 0A Ｈ Ｈ Ｈ READ 0 00 00 00 Ｈ Ｈ Ｈ 10 FF FF F6 Ｈ Ｈ Ｈ...

Page 37: ...bserved URATE No Set in a hexadecimal value Ｈ WRITE Once the RATE SET command has been executed it does not need to be set again unless the contents must be changed Each No is 9 100ms 1000Hz at POWER ON RESET 6 10 LSPD SET Command COMMAND 07 Function Sets LSPD LOW SPEED required for drive Ｈ Execution sequence LSPD is set in DRIVE DATA1 PORT DRIVE DATA2 PORT and DRIVE DATA3 PORT in 3 byte data in H...

Page 38: ...ATUS1 DATA1 PORT DATA2 PORT DATA3 PORT ７ ０ ７ ０ ７ ０ Y D D D D D D DATA1 PORT WRITE The order DATA2 PORT may not HSPD DATA WRITE be observed The HSPD DATA setting range is 1 1 to 3 333 333 32DCD5 Note Ｈ Ｈ DATA3 PORT WRITE Once the HSPD SET command has been executed it does not need to be set again unless the contents must be changed COMMAND 08 HSPD is 3000Hz at POWER ON RESET Ｈ WRITE Note The upper ...

Page 39: ...the same specification applies to the COMPARATORs1 and 2 0 Fast stop 1 Slow stop 2 DFLINT OUTPUT TYPE D １ This bit is used for selecting the DFLINT output type on the DIFFERENTIAL COUNTER the same specification applies to the COMPARATORs1 and 2 0 Detection of each COMPARATOR is latched then output executing the STATUS3 READ resets the latch 1 Detection of each COMPARATOR is output as it is without...

Page 40: ...plying the XEA and XEB inputs by 2 difference clock 1 0 Count by multiplying the XEA and XEB inputs by 4 1 1 Count up by XEA and count down by XEB Independent clock for each direction Note Output pulse from the MCC05v2 is counted down with the CW clock and counted up with CCW clock The following illustrates 90 phase difference clock counting pattern See Section 12 11 for the detail EA Count up EB ...

Page 41: ...B MARGIN TIME SET Ｈ Ｈ 06 RATE SET Note2 2C PEAK PULSE SET Ｈ Ｈ 07 LSPD SET 2D SEND PULSE SET Ｈ Ｈ 08 HSPD SET 2E SESPD SET Ｈ Ｈ 09 DFL COUNTER INITIALIZE 2F SPEC INITIALIZE4 Ｈ Ｈ 0B CW SOFT LIMIT SET 50 DEND TIME SET Ｈ Ｈ 0C CCW SOFT LIMIT SET 51 EXTEND ORIGIN SPEC SET Ｈ Ｈ 0E DFL DIVISION DATA SET 52 CONSTANT SCAN MAX PULSE Ｈ Ｈ 18 END PULSE SET 53 CHANGE POINT DATA SET Ｈ Ｈ 19 ESPD SET 54 CHANGE DATA SE...

Page 42: ...r of output pulses and the direction are specified in DRIVE DATA1 PORT DRIVE DATA2 PORT and DRIVE DATA3 PORT N BUSY 0 in The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows STATUS1 DATA1 PORT DATA2 PORT DATA3 PORT ７ ０ ７ ０ ７ ０ Y D D D D D D DATA1 PORT WRITE The order DATA2 PORT may not Number of output pulses 0 FFFFFF Ｈ WRITE be observed When set to CCW direction the number of outpu...

Page 43: ... 7F FF FF Ｈ Ｈ Ｈ WRITE 10 00 00 0A Ｈ Ｈ Ｈ 0 00 00 00 Ｈ Ｈ Ｈ 10 FF FF F6 Ｈ Ｈ Ｈ 8 388 607 80 00 01 6 18 CSPD SET Command COMMAND 1A Function Sets CSPD constant speed required for machine origin Ｈ detection drive Execution sequence CSPD is set in DRIVE DATA1 PORT DRIVE DATA2 PORT and DRIVE DATA3 PORT in 3 byte data in Hz N BUSY 0 in The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows STA...

Page 44: ...LIMIT DATA2 PORT SCAN DELAY TIME 50ms 0A Ｈ Y Delay time when the direction is reversed in the CONSTANT DATA1 PORT SCAN and SCAN DRIVE processes WRITE DATA3 PORT JOG DELAY TIME 20ms 04 Ｈ The order Delay time per pulse in the JOG DRIVE process DATA2 PORT may not WRITE be observed In each port the value in parentheses is set at POWER ON RESET DATA3 PORT Each data is 00 to FF and set in units of 5ms Ｈ...

Page 45: ...FSEND is set to 1 the machine origin has not been detected If a detect is interrupted by the RESET entered during a drive all bits in the STATUS1 are set to 0 00 Ｈ 6 23 SRATE SET Command COMMAND 60 Function Sets SRATE acceleration deceleration time constant Ｈ required for S RATE DRIVE Execution sequence SRATE is set in DRIVE DATA3 PORT in No of data table N BUSY 0 in STATUS1 The contents of DRIVE ...

Page 46: ...D2 are reset to the initial values Be careful about this point after SCSPD1 and SCSPD2 are compensated 6 25 SHSPD SET Command COMMAND 62 Function Sets SHSPD high speed required for S RATE DRIVE Ｈ Execution sequence SHSPD is set in DRIVE DATA1 PORT DRIVE DATA2 PORT and DRIVE DATA3 PORT in 3 byte data in Hz N BUSY 0 in The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows STATUS1 DATA1...

Page 47: ...IZE1 command Note2 The SSRATE adjusting range is SSRATE SRATE When SSRATE SRATE SSRATE becomes equal to SRATE 6 27 SERATE ADJUST Command COMMAND 64 Function Adjusts SERATE at an end of acceleration or at a start of Ｈ deceleration required for S RATE DRIVE Execution sequence SERATE is set in DRIVE DATA3 PORT in No of data table N BUSY 0 in The contents of DRIVE DATA3 PORT are as follows STATUS1 DAT...

Page 48: ...specified SCSPD1 becomes equal to SLSPD When SCSPD1 SCSPD2 is specified SCSPD1 becomes equal to SCSPD2 6 29 SCSPD2 ADJUST Command COMMAND 66 Function Adjusts SCSPD2 linear RATE end speed or linear RATE Ｈ start speed required for S RATE DRIVE Execution sequence SCSPD2 is set in DRIVE DATA1 PORT DRIVE DATA2 PORT and DRIVE DATA3 PORT in 3 byte data in Hz N BUSY 0 in The contents of DRIVE DATA1 PORT t...

Page 49: ... the number of output pulses DATA3 PORT Output pulse decimal DATA1 PORT DATA2 PORT DATA3 PORT Ｈ Ｈ Ｈ WRITE 8 388 607 7F FF FF Ｈ Ｈ Ｈ 10 00 00 0A Ｈ Ｈ Ｈ Ｈ COMMAND 72 0 00 00 00 Ｈ Ｈ Ｈ WRITE 10 FF FF F6 Ｈ Ｈ Ｈ 8 388 607 80 00 01 6 32 S RATE ABSOLUTE INDEX Command COMMAND 73 Function Performs S RATE INDEX DRIVE with absolute specified Ｈ Execution sequence The absolute address of the target location is spe...

Page 50: ...the PART PULSE PART No error in the PART RATE PART No error in the SERIAL INDEX CHECK 0A The INDEX CHANGE has not been executed because the drive is ended Ｈ 0D DEND ERROR and ORIGIN ERROR have occurred Ｈ Those errors indicated with asterisks are relevant to applied functions For details see the User s Manual Applied Functions Part As it is so with a STATUS1 PORT ERROR BIT an error code can be clea...

Page 51: ...s used for enabling or disabling masking of output of the detection from the PULSE COUNTER COMPARATOR3 0 Not masked 1 Masked 4 PLS COMP4 INT MASK D ３ This bit is used for enabling or disabling masking of output of the detection from the PULSE COUNTER COMPARATOR4 0 Not masked 1 Masked 5 PLS COMP5 INT MASK D ４ This bit is used for enabling or disabling masking of output of the detection from the PUL...

Page 52: ...mand is valid until another port select command is executed At POWER ON RESET the DRIVE DATA1 2 and 3 PORTs are set as the special port for reading count data on the PULSE COUNTER If one of the following commands is written the DRIVE DATA1 2 and 3 PORTs temporarily output data required by the command then restore once selected the port function Reading the DRIVE DATA3 PORT restores them the preced...

Page 53: ...DATA2 PORT and DRIVE DATA3 PORT If this sequence is not observed the data will not be guaranteed 6 40 SPEED READ COMMAND None Function Reads speed data of a drive currently taking place Execution sequence After the SPEED PORT SELECT Command has been executed this command is used for reading current speed data from the DRIVE DATA1 2 and 3 PORTs Note1 DRIVE 1 in N The contents of DRIVE DATA1 PORT to...

Page 54: ...ated by the ADDRESS INITIALIZE command the machine near origin address is also update so the physical location is stored in memory The machine near origin address depends on the ORG type In the ORG 0 to ORG 3 ORG 11 and 12 types the machine near origin address is the location of machine origin detection end position OFFSET PULSE In the ORG 4 5 types the machine near origin address is the location ...

Page 55: ...ａ of the XORG signal is detected The ORG sensor is one that holds a single pulse or the CCW side level 7 3 ORG 1 Type CCW LIMIT CW LIMIT ａ XORG HSPD HIGH SPEED CSPD CONSTANT SPEED ＨＳＰＤ LD LIMIT DELAY TIME SD SCAN DELAY TIME ＳＤ ＣＳＰＤ Detection start position Detection end position ＨＳＰＤ ＬＤ ＨＳＰＤ ＣＳＰＤ ＳＤ ＳＤ ＣＳＰＤ ＨＳＰＤ ＣＳＰＤ ＳＤ ＳＤ ＣＳＰＤ This type uses a single sensor The CCW side edge point a of the XORG s...

Page 56: ...a of the XORG signal is detected The ORG sensor is one that holds a single pulse or the CCW side level 7 5 ORG 3 Type CCW LIMIT CW LIMIT ａ XORG HSPD HIGH SPEED CSPD CONSTANT SPEED ＨＳＰＤ LD LIMIT DELAY TIME SD SCAN DELAY TIME ＳＤ ＣＳＰＤ JD JOG DELAY TIME Detection start position ＣＳＰＤ ＳＤ Detection end position ＪＤ ＨＳＰＤ ＬＤ ＨＳＰＤ ＣＳＰＤ ＳＤ ＪＤ ＨＳＰＤ ＣＳＰＤ ＳＤ ＪＤ This type uses a single sensor The CCW side edge po...

Page 57: ... XORG ＣＳＰＤ ＳＤ ＳＤ ＣＳＰＤ ＪＤ ＣＳＰＤ ＳＤ ＪＤ This type uses two sensors After the CW side edge point a of the XNORG signal is detected the CW side edge point b of the XORG signal is detected The NORG sensor is one that holds a single pulse or the CCW side level and the ORG sensor is one that generates a signal such as rotary axis slit cyclically 7 7 ORG 5 Type The NEAR ORG process is performed first Next t...

Page 58: ...at generates a signal such as rotary axis slit cyclically 7 8 ORG 10 Type CCW LIMIT CW LIMIT ａ XNORG HSPD HIGH SPEED ｂ CSPD CONSTANT SPEED XORG LD LIMIT DELAY TIME SD SCAN DELAY TIME ＨＳＰＤ Detection start position No DELAY TIME Detection end position ＣＳＰＤ ＨＳＰＤ ＬＤ ＨＳＰＤ ＣＳＰＤ ＳＤ Note Note Detection has been started with both XNORG signal and XORG signal ON This type uses two sensors The CW side edge p...

Page 59: ...hat it will not be turned active 7 10 ORG 12 Type The drive is stopped at the Slow Stop irrespective of type of the LIMIT stop CAUTION So there may be a collision with the limit position of the mechanical device before stop This may lead to machine or workpiece damage Note that the stop point will be changed if RATE HSPD etc are changed CCW LIMIT CW LIMIT ａ XCCWLM HSPD HIGH SPEED Note1 CSPD CONSTA...

Page 60: ... and point b and the distance between point a and point c should be N pulses or more in terms of the number of pulses N 0 005 CSPD Hz Example When CSPD 5KHz N 0 005 5000 25 Minimum value of Accordingly the distance should be 25 pulses or more N is 1 Practically give some allowance to it 3 Each of the XORG and XNORG signals should have no chattering When photo sensors are used this does not matter ...

Page 61: ...TIALIZE Command Count data INT CONTROL 24BIT COMPARATOR 5ch XCNTINT OUTPUT PULSE COUNTER INITIALIZE Command 24BIT COMPARE REGISTER 5ch COMP1 5 REG SET COUNTER Command DFL COUNTER DFL COUNTER PRESET INITIALIZE Command COUNTER Command ADRS DFL PULSE COUNTER PORT SELECT Command 24BIT DIFFERENTIAL COUNTER COUNT PATTERN TYPE DFL COUNTER INITIALIZE Command DRIVE Differential data SELECTOR DATA1 2 3 READ...

Page 62: ...Detection of matching between the counter and comparator is done with the STATUS signal or interrupt request signal You can select the through mode detection done by the comparator is output as it is or the latch mode holds the detection for the STATUS and interrupt request signals In the latch mode you can reset the STATUS signal or interrupt request signal by reading the STATUS3 PORT And you can...

Page 63: ... available for detection of the count in absolute value REGISTER1 excessive deviation and the COMPARATOR2 is used for detecting the count in absolute value REGISTER2 positioning complete REGISTER1 REGISTER2 Deviation counted ｔ REGISTER2 REGISTER1 COMPARATOR1 COMPARATOR2 b Each of above detection is implemented by the STATUS signal or interrupt request signal You can select the through mode detecti...

Page 64: ...n or off by the PULSE or DFL COUNTER INITIALIZE Command INT OUTPUT TYPE Switch Circuit This circuit is used for selecting whether the COMPARATOR detection is to be output as it is through or after latch The output type selected commonly applies to the five comparators on the PULSE COUNTER Likewise the selected type commonly applies to the two comparators on the DIFFERENTIAL COUNTER You can differe...

Page 65: ...Initializes the count value of the PULSE COUNTER to Ｈ a specified value Execution sequence Preset data is specified in COUNTER DATA1 PORT COUNTER DATA2 PORT Note COUNTER DATA1 and COUNTER DATA3 PORT PORT WRITE The order may not The contents of COUNTER DATA1 PORT to COUNTER DATA3 PORT are as follows COUNTER DATA2 be observed PORT WRITE DATA1 PORT DATA2 PORT DATA3 PORT ７ ０ ７ ０ ７ ０ D D D D D D COUNTE...

Page 66: ...fer to 4 1 9 4 PULSE COUNTER COMPARE REGISTER2 SET Command COMMAND 02 Function Sets a specified value in COMPARE REGISTER2 Ｈ The execution sequence is the same as that of the COMPARE REGISTER1 SET command 9 5 PULSE COUNTER COMPARE REGISTER3 SET Command COMMAND 03 Function Sets a specified value in COMPARE REGISTER3 Ｈ The execution sequence is the same as that of the COMPARE REGISTER1 SET command 9...

Page 67: ...NTER DATA3 PORT WRITE COMPARE DATA 0 7FFFFF Ｈ COUNTER COMMAND 07 WRITE This bit must be set to 0 Note 2 Ｈ At POWER ON RESET it is set to 0 Note1 Note that the DATA and COMMAND PORTs described in this chapter are special ports for the counters and their port addresses are different from that of the DRIVE PORTs For the port address refer to 4 1 Note2 When the signed value detection an applied functi...

Page 68: ... into stop all of COMP1 to 5 AUTO CLEAR function Not available PULSE COUNTER INITIALIZE RELOAD function Not available PLS COMP STOP TYPE Fast stop CNTINT OUTPUT TYPE Detection of each comparator is latched and output CNTINT LATCH TRIGGER TYPE Level latch DIFFERENTIAL COUNTER Difference between MCC05v2 output pulse operating clock and an external clock DIFFERENTIAL COUNTER Clock with 90ﾟphase diffe...

Page 69: ...errupt carefully confirm the User s Manual for your initiator system and the interrupt controller specifications 2 When you want to use the interrupt insert the short circuit socket an accessory into the JP6 to JP9 in the above sketch in response to the interrupt request to be used So it is not inserted at the time of shipment Interrupt cannot be used in that state For the position on the board re...

Page 70: ...100μs t1 150ns t2 34μs 42μs t5 23μs 31μs t2 43μs 75μs Note t3 36μs 44μs t6 35μs 43μs t3 63μs 95μs Note Note 1 3ms when URATE DRATE is specified 12 3 INDEX DRIVE S RATE INDEX DRIVE Timing Example Drive in CW direction for a stepping motor IOW 1 When URATE DRATE is specified Indicates that a command is written t1 150ns t4 35μs 44μs XCWP t2 71μs 79μs t5 20μs t3 93μs 101μs DRIVE in STATUS1 2 When URAT...

Page 71: ...400μs H TYPE t1 t3 t2 22μs t2 t3 12 5 SPEED CHANGE Timing IOW Indicates that a command is written CHANGE BUSY in STATUS5 t1 200ns 51μs t2 53ms t1 t2 Note t2 is determined by the specified RATE In the Fixed mode t2 becomes shorter as a specified RATE No increases and in the Arithmetic mode it becomes shorter as the RATE data becomes smaller in both cases speed change rate is increased If however a ...

Page 72: ...ng motor 12 7 SLOW STOP Timing 12 8 FAST STOP Timing 1 Example Drive in CW direction when the Example DRIVE in CW direction when target is a stepping motor the target is a stepping motor Note1 Note1 IOW IOW Note2 Note2 XCWP FSSTOP DRIVE in Note3 STATUS1 XCWP BUSY in DRIVE in STATUS1 STATUS1 BUSY in STATUS1 t1 t2 t1 t2 t3 t1 38μs 42μs t1 400μs t2 20μs t2 38μs 46μs or Ｔ Note4 t3 20μs Note1 Indicates...

Page 73: ...Note4 When T represents 1 2 of the pulse cycle as the drive is stopped t2 takes the indicated value or T which ever is longer 12 10 LIMIT STOP Timing 1 When the LIMIT stop type is slow stop Example DRIVE in CW direction when the target is a stepping motor XCWLM Note1 XCWP DRIVE in STATUS1 BUSY in STATUS1 t1 t2 t3 t1 600μs t2 38μs 42μs t3 20μs Note1 The number of pulses to be output after receipt o...

Page 74: ... the multiplier is 4 XEA XEB 2 When independent clocks for each direction are input Counted at the edge marked XEA t1 150ns PULSE COUNTER t 330ns PULSE COUNTER ｃｙｃ XEB t1 200ns DIFFERENTIAL COUNTER t1 t1 t1 t1 t 430ns DIFFERENTIAL COUNTER ｃｙｃ ｃｙｃ ｃｙｃ t t 12 12 RDYINT Timing INTA BUSY in BUSY in STATUS1 STATUS1 IOW Or IOR RDYINT RDYINT t1 t2 t3 t4 t1 50ns t3 50ns t2 150ns t4 100ns Indicates that a ...

Page 75: ... IOR XCNTINT COMP1 to 5 in STATUS3 COMP1 5 in STATUS3 COMPARE REGISTER SET Command causes writing of the interrupt generating counter value As the counter value reaches the level specified in above XCNTINT is output CNTINT output is maintained until the STATUS3 PORT is accessed reading the STATUS3 PORT clears XCNTINT even when the counter value is in agreement with the COMPARE REGISTER 3 When CNTI...

Page 76: ...DFLINT and DFL COMP1 in STATUS3 DFL COMP1 in STATUS3 COMPARE REGISTER SET Command causes writing of the interrupt generating counter value As the counter value reaches the level specified in above XDFLINT is output Output of XDFLINT is maintained until the STATUS3 PORT is accessed reading the STATUS3 PORT clears XDFLINT output even if the counter value meets the detect condition 3 When the DFLINT ...

Page 77: ...d IN10_20INT STATUS IN10INT IN20INT in IN10_20INT STATUS Indicates is ON IN10 Generates IOINT output after the IN10 is ON in The IOINT output is retained until the IN10_20INT STATUS PORT is accessed The IOINT is cleared by reading the IN10_20INT STATUS PORT 12 16 RESET Timing RESET XCWP XCCWP XDRST XRDYINT XCNTINT XDFLINT BUSY in STATUS1 t1 t3 t4 t5 t2 t1 5ms Note 500ns t4 10 6ms t2 5ms Note 5 0μs...

Page 78: ... internal timing PCI CLK C BE 3 0 2h BE AD 31 0 A I N V A L I D D A T A D FRAME IRDY TRDY DEVSEL BCLK CS ADDRESS DATA IOR WRITE TIMING denotes the internal timing PCI CLK C BE 3 0 3h BE AD 31 0 A D FRAME IRDY TRDY DEVSEL BCLK CS ADDRESS DATA IOW ...

Page 79: ... Y axis near origin signal 57 input ANORG A axis near origin signal 8 input YORG Y axis origin signal Note1 58 input AORG A axis origin signal Note1 9 input ZSENSOR Z axis sensor signal for 59 input ASENSOR A axis sensor signal for SENSOR INDEX Drive Note3 SENSOR INDEX Drive Note3 10 input IN0 General purpose input 60 output OUT0 General purpose output 11 input IN1 General purpose input 61 output ...

Page 80: ...5V 82 output COM COMMON for ACWP ACCWP 5V 33 output YCWP Y axis CW direction 83 output ACWP A axis CW direction positive logic output pulse positive logic output pulse 34 output YCWP Y axis CW direction 84 output ACWP A axis CW direction negative logic output pulse negative logic output pulse 35 output YCCWP Y axis CCW direction 85 output ACCWP A axis CCW direction positive logic output pulse posi...

Page 81: ...ditional INPUT11 74 input IN31 Additional INPUT31 25 input IN12 Additional INPUT12 75 input IN32 Additional INPUT32 26 input IN13 Additional INPUT13 76 input IN33 Additional INPUT33 27 N C Using is disabled 77 N C Using is disabled 28 input IN14 Additional INPUT14 78 input IN34 Additional INPUT34 29 input IN15 Additional INPUT15 79 input IN35 Additional INPUT35 30 input IN16 Additional INPUT16 80 ...

Page 82: ...GH IN10 IN47 6V or less LOW at EXTV 24V IN0 IN3 HIGH level 1 3mA or less LOW level 7 0mA or more Max15mA axis 20V or more HIGH XDRSTCOM 3V or less LOW at EXTV 24V OUT0 OUT3 HIGH level High impedance XDRST LOW level 2 0V or less OUT10 OUT37 at SINK50mA EXTVGND LOW level 0 6V or less at SINK30mA XEA XEB XZORG HIGH level 0 8mA or less LOW level 9 4mA or more XEA XEB XZORG 0 7V or less HIGH 3 2V or mo...

Page 83: ...15SQ or more 17 XCWP CW 18 XCWP CW 19 XCCWP CCW 20 XCCWP CCW C 875 side Terminal base connector DRIVER side 2 Connection example of the X axis to a stepping motor 23 XPO P O P O C 875 side Terminal base connector 24VGND DRIVER side When connecting to a stepping driver XDRST XZORG and XZORG must be disconnected When excitation output is not used XPO must be disconnected too 3 Connection example of ...

Page 84: ... 2 XCCWLM 24VP S 48 FSSTOP Coupler power supply C 875 side Note The FSSTOP input signal and LIMIT input signal are an ACTIVE OFF input Note that when there signal are not connected the signal becomes active and no pulse is output 2 Connection example of the X axis when LIMIT is used CCW direction CW direction Recommendable sensors O O ON when light enters J1 SUNX PM K53B 14 EXTV PM L53B 1 PM T53B ...

Page 85: ...XZORG C 875 side 3 For Servo driver ORG 4 and ORG 5 types X axis Encoder CCW direction CW direction SERVO DRIVER NORG sensor O Z Z Recommendable sensors J1 NORG sensor OFF when light enters 14 SUNX PM K53 EXTV PM L53 3 XNORG PM T53 4 OMRON EE SPX301 XORG Never connect XORG 24VP S EE SX670 series Coupler power supply etc 29 XZORG 30 For line driver XZORG C 875 side 4 For ORG 10 type X axis CCW dire...

Page 86: ...5 3 3V B14 reserved B45 AD 14 A15 RST A46 AD 13 B15 GND B46 GND A16 5V I O A47 AD 11 B16 CLK B47 AD 12 A17 GNT A48 GND B17 GND B48 AD 10 A18 GND A49 AD 09 B18 REQ B49 GND A19 reserved A50 Key B19 5V I O B50 Key A20 AD 30 A51 Key B20 AD 31 B51 Key A21 3 3V A52 C BE 0 B21 AD 29 B52 AD 08 A22 AD 28 A53 3 3V B22 GND B53 AD 07 A23 AD 26 A54 AD 06 B23 AD 27 B54 3 3V A24 GND A55 AD 04 B24 AD 25 B55 AD 05...

Page 87: ... ０ １ １ ５ IN0 ７ IN1 ８ IN2 IN3 Ｃ Ｊ１ Ｊ２ Product Name Unit mm S1 Board identifier rotary switch JP1X JP1Y JP1Z JP1A Speed initial setting jumper JP6 JP7 JP8 JP9 Interrupt setting jumper RDYINT CNTONT DFLINT IOINT X Y Z A RDY RDY LED Light on during ready IN0 IN1 IN2 IN3 IN LED Light on at active OUT0 OUT1 OUT2 OUT3 OUT LED Light on at active Jumpers and connectors except above have been reserved So do...

Page 88: ... YMCCDT1 iobase 0x11 Y AXIS MCC05 DATA1 PORT define YMCCDT2 iobase 0x12 Y AXIS MCC05 DATA2 PORT define YMCCDT3 iobase 0x13 Y AXIS MCC05 DATA3 PORT define YCNTCOM iobase 0x14 Y AXIS COUNTER COMMAND PORT define YCNTDT1 iobase 0x15 Y AXIS COUNTER DATA1 PORT define YCNTDT2 iobase 0x16 Y AXIS COUNTER DATA2 PORT define YCNTDT3 iobase 0x17 Y AXIS COUNTER DATA3 PORT define YMCCST1 iobase 0x10 Y AXIS MCC05...

Page 89: ...define IN30 iobase 0x6A IN30_37 PORT define IN40 iobase 0x6B IN40_47 PORT define OUT10 iobase 0x6C OUT10_17 PORT define OUT20 iobase 0x6D OUT20_27 PORT define OUT30 iobase 0x6E OUT30_37 PORT void xmcc05inz void void xjog void void xscan void void xabsindex void void xorg void Frequently used MCC05v2 RDY check is coded as macroinstruction so that the program may be simplified define xmccrdy while i...

Page 90: ...MCCDT1 0x28 DRIVE SPEC DATA OUT outp XMCCCOM 0x01 SPEC INITIALIZE1 COMMAND OUT PULSE COUNTER INITIALIZE COMMAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT1 0x01 COUNTER SPEC DATA1 OUT outp XMCCDT2 0x20 COUNTER SPEC DATA2 OUT outp XMCCDT3 0x00 COUNTER SPEC DATA3 OUT outp XMCCCOM 0x02 PULSE COUNTER INITIALIZE COMMAND OUT ADDRESS INITIALIZE COMMAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT1 0x00 ADDRE...

Page 91: ...TE No OUT outp XMCCDT3 drate DOWN RATE No OUT outp XMCCCOM 0x06 RATE SET COMMAND OUT LSPD SET COMMAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT1 UC lspd 2 LOW SPEED DATA MSB SET outp XMCCDT2 UC lspd 1 outp XMCCDT3 UC lspd LOW SPEED DATA LSB SET outp XMCCCOM 0x07 LSPD SET COMMAND OUT HSPD SET COMMAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT1 UC hspd 2 HIGH SPEED DATA MSB SET outp XMCCDT2 UC hspd 1...

Page 92: ...MAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT1 UC lspd 2 LOW SPEED DATA MSB SET outp XMCCDT2 UC lspd 1 outp XMCCDT3 UC lspd LOW SPEED DATA LSB SET outp XMCCCOM 0x07 LSPD SET COMMAND OUT HSPD SET COMMAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT1 UC hspd 2 HIGH SPEED DATA MSB SET outp XMCCDT2 UC hspd 1 outp XMCCDT3 UC hspd HIGH SPEED DATA LSB SET outp XMCCCOM 0x08 HSPD SET COMMAND OUT ABSOLUTE IND...

Page 93: ...TA LSB SET outp XMCCCOM 0x08 HSPD SET COMMAND OUT CSPD SET COMMAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT1 UC cspd 2 CONSTANT SPEED DATA MSB SET outp XMCCDT2 UC cspd 1 outp XMCCDT3 UC cspd CONSTANT SPEED DATA LSB SET outp XMCCCOM 0x1a CSPD SET COMMAND OUT OFFSET PULSE SET COMMAND xmccrdy X AXIS MCC05 RDY WAIT outp XMCCDT3 offset OFFSET PULSE DATA OUT outp XMCCCOM 0x1b OFFSET PULSE SET COMMAND O...

Page 94: ... long a outp XMCCCOM 0xfc PULSE COUNTER PORT SELECT COMMAND OUT UC a 2 inp XMCCDT1 COUNTER MSB IN UC a 1 inp XMCCDT2 UC a inp XMCCDT3 COUNTER LSB IN if UC a 2 0x80 0 SIGN BIT ON UC a 3 0xff else UC a 3 0x00 return a Note The PULSE COUNTER PORT SELECT is valid only when other counter ports or the speed port is selected It is not needed when the PULSE COUNTER PORT is already selected ...

Page 95: ...ss is remote The above causes are probable In this case DRIVE will stop before long ５ Pulse output was terminated However Is SERVO MOTOR set Isn t the DEND signal at HIGH LEVEL BUSY BIT in STATUS1 does not become 0 BUSY BIT in STATUS1 becomes 0 by causing this signal to go to the low level ６ Machine origin detection ORG DRIVE Is the sensor logic ON when light enters or OFF when cannot be performed...

Page 96: ...OUNTER INITIALIZE command １０ Output pulse speed deviates from In the high speed area there can be a conflict between the specified value the actual and specified speeds For details see Section 5 16 １１ The acceleration deceleration constant Is DRIVE TYPE different from the contents of the specified seems to be different from the set data Note that the contents of the data set in RATE URATE DRATE va...

Page 97: ...3 10 3 1 0 4 400 4 7 5 4 0 75 5 300 5 5 0 5 0 50 6 200 6 3 0 6 0 30 7 150 7 1 5 7 0 15 8 125 8 1 0 8 0 10 9 100 9 0 5 9 0 05 10 75 10 0 3 10 0 03 11 50 11 0 2 11 0 02 12 30 12 0 1 12 0 01 13 20 13 0 075 13 0 0075 14 15 14 0 05 14 0 005 15 10 16 7 5 17 5 0 18 4 0 19 2 0 20 1 5 21 1 0 Note ms 1000Hz is the mean time required for the acceleration or deceleration of 1000Hz 18 4 RATE CURVE GRAPH 1 Ｌ ＴＹ...

Page 98: ... 98 2 Ｍ ＴＹＰＥ 3 Ｈ ＴＹＰＥ ...

Page 99: ...n also be adversely affected by failure on a circuit connected to the system 3 Entry of the FSSTOP signal Entering the FSSTOP saves data stored on the MCC05v2 The function for stopping the pulse output can also be adversely affected by failure on a circuit connected to the system 4 Entry of the LIMIT signal This input signal also stops the pulse output Its reliability however is lower than the abo...

Page 100: ...ENTAL INDEX ４２ 0 0 0 1 0 1 0 1 １５ ABSOLUTE INDEX ４３ １６ １７ Setting is disabled ４１ 0 0 0 1 1 0 0 0 １８ END PULSE SET ４１ 0 0 0 1 1 0 0 1 １９ ESPD SET ２１ 0 0 0 1 1 0 1 0 １Ａ CSPD SET ４３ 0 0 0 1 1 0 1 1 １Ｂ OFFSET PULSE SET ４４ 0 0 0 1 1 1 0 0 １Ｃ ORIGIN DELAY SET ４４ 0 0 0 1 1 1 0 1 １Ｄ ORIGIN FLAG RESET ４４ 0 0 0 1 1 1 1 0 １Ｅ ORIGIN ４５ 0 0 0 1 1 1 1 1 １Ｆ Setting is disabled ４２ 0 0 1 0 0 0 0 0 ２０ SPEC INITIALI...

Page 101: ... 0 0 1 0 ６２ SHSPD SET ４６ ２１ 0 1 1 0 0 0 1 1 ６３ SSRATE ADJUST ４７ ２１ 0 1 1 0 0 1 0 0 ６４ SERATE ADJUST ４７ ２１ 0 1 1 0 0 1 0 1 ６５ SCSPD1 ADJUST ４８ ２１ 0 1 1 0 0 1 1 0 ６６ SCSPD2 ADJUST ４８ ６７ ６Ｅ Setting is disabled ６２ 0 1 1 0 1 1 1 1 ６Ｆ SRATE DOWN POINT SET 0 1 1 1 0 0 0 0 ７０ S RATE SCAN ４９ 0 1 1 1 0 0 0 1 ７１ S RATE SCAN ４９ 0 1 1 1 0 0 1 0 ７２ S RATE INCREMENTAL INDEX ４９ 0 1 1 1 0 0 1 1 ７３ S RATE ABSOLUTE ...

Page 102: ...dity and the internal 10 80 RH Hygrometer humidity of the system appropriate non condensing Haven t dusts gathered There should be no dust Visual check Installation Is the product firmly fixed There should no loose parts Visual check Condition Are connectors inserted perfectly There should be no loose or Visual check disconnected parts Is there any cable going to be disconnected There should be no...

Page 103: ...s and Service TEL 042 664 5384 FAX 042 666 2031 URL http www melec inc com Melec Inc Control equipment marketing department 516 10 Higashiasakawa cho Hachioji shi Tokyo 193 0834 Japan This Operating Manual is subject to change without prior notice for the purpose of product improvement Cﾛﾛﾛﾛ ...

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