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NOVA electronics Inc. MCX514 -

145

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145

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3.10

Multichip Interpolation

This is the function that performs multiple axes linear interpolation by using multiple IC chips.

Fig. 3.10-1 shows the connection example of 12 axes linear interpolation with 3 chips. Since the main chip plays a role to send the

synchronous pulse for interpolation driving, set the interpolation speed parameter to the main axis in the main chip.

As shown in the figure, 8 signals for multichip interpolation (MPLS,MCLK,MERR,MINP,MDT3

～

0) are each connected among

chips, and pull up with impedance of about

3.3KΩ. These signals cannot be used as general purpose input because they are shared

with the general purpose input signals (PIN7

～

0).

Fig. 3.10-1 The Connection Example of Multichip Axes Interpolation

Each signal works as follows.

Table 3.10-1 Operation of Each Signal in Multichip Interpolation

Signal (Pin No.)

Signal Function

Direction

Shared General

Purpose Input Signal

MPLS(132)

Synchronous pulse of interpolation drive

Main

→

Sub

PIN7

MERR(133)

Error occurred / Stop of main chip

Main

←→

Sub

PIN6

MINP(134)

In-position waiting

Main

←

Sub

PIN5

MCLK(135)

Clock of data transfer for MDT3

～

Main

←→

Sub

PIN4

MDT3

～

0(136

～

139)

Transfer data of finish point in each chip

Main

←→

Sub

PIN3

～

+3.3V

From

OSC

16MHz

Host CPU

37
38

YPP
YPM

XPP

XPM

UPP
UPM

ZPP

ZPM

MPLS

MI NP

MERR

MCLK

MDT3
MDT2

MDT1

MDT0

CLK

D15

～

CSN

RDN

WRN

RESETN

MCX514

Main

Sub1

Sub2

First axis drive pulse

Second axis drive pulse

Third axis drive pulse

Fourth axis drive pulse

39
40

41
42

43
44

132
133
134
135
136

137

138
139

37
38

YPP
YPM

XPP

XPM

UPP
UPM

ZPP

ZPM

MPLS

MI NP

MERR

MCLK

MDT3
MDT2

MDT1

MDT0

CLK

D15

～

CSN

RDN

WRN

RESETN

MCX514

Fifth axis drive pulse

Sixth axis drive pulse

Seventh axis drive pulse

Eighth axis drive pulse

39
40

41
42

43
44

132
133
134
135
136

137

138
139

37
38

YPP
YPM

XPP

XPM

UPP
UPM

ZPP

ZPM

MPLS

MI NP

MERR

MCLK

MDT3
MDT2

MDT1

MDT0

CLK

D15

～

CSN

RDN

WRN

RESETN

MCX514

Ninth axis drive pulse

Tenth axis drive pulse

Eleventh axis drive pulse

Twelfth axis drive pulse

39
40

41
42

43
44

132
133
134
135
136

137

138
139

3.3K

×8

Summary of Contents for MCX514

Page 1: ...4 Axes Motor Control IC with High Functions MCX514 User s Manual 2014 08 01 Ver 1 0 2014 12 15 Ver 2 0 2015 02 01 Ver 3 0 2015 04 17 Ver 4 0 2015 10 15 Ver 5 0 2015 12 09 Ver 6 0 NOVA electronics...

Page 2: ...n 31 2 2 6 Pulse Width and Speed Accuracy 33 2 3 Position Control 34 2 3 1 Logical Position Counter and Real position Counter 34 2 3 2 Position Comparison 34 2 3 3 Software Limit 34 2 3 4 Position Cou...

Page 3: ...2 9 1 Timer Operation 91 2 9 2 Timer Setting 92 2 9 3 Timer Start Timer Stop 92 2 9 4 Timer and Synchronous Action 92 2 9 5 Timer Operating State and Current Timer Value Reading 92 2 9 6 Interrupt by...

Page 4: ...Pattern Interpolation 124 3 4 1 Designation of Interpolation Axis 125 3 4 2 Interpolation Speed Setting 125 3 4 3 Bit Pattern Data Writing 125 3 4 4 Issue of Interpolation Driving Command 126 3 4 5 T...

Page 5: ...148 3 10 5 Examples of Multichip Interpolation 149 4 I2C Serial Bus 153 4 1 Pins used in I2C Bus Mode 153 4 1 1 Pull up Resistor Rp 153 4 1 2 I2CRSTN Reset 154 4 2 I2C Bus Transmitting and Receiving 1...

Page 6: ...Point Setting 193 7 2 9 Circular Center Point Setting 194 7 2 10 Logical Position Counter Setting 194 7 2 11 Real Position Counter Setting 194 7 2 12 Software Limit Setting 194 7 2 13 Software Limit S...

Page 7: ...ading 213 7 4 8 Multi Purpose Register 3 Reading 214 7 4 9 Current Timer Value Reading 214 7 4 10 Interpolation Finish point maximum value Reading 214 7 4 11 Current Helical Rotation Number Reading 21...

Page 8: ...ing 225 7 6 9 4 Axis Bit Pattern Interpolation Driving 225 7 6 10 CW Helical Interpolation Driving 225 7 6 11 CCW Helical Interpolation Driving 225 7 6 12 CW Helical Calculation 226 7 6 13 CCW Helical...

Page 9: ...tics 252 10 1 DC Characteristics 252 10 2 AC Characteristics 253 10 2 1 Clock 253 10 2 2 Read Write Cycle 253 10 2 3 CLK Output Signal Timing 254 10 2 4 Input Pulses 254 10 2 5 General Purpose Input O...

Page 10: ...ix 13 2 Standard Installation Conditions by Soldering Iron 261 13 3 Standard Installation Conditions by Solder Reflow 261...

Page 11: ...a range 7 4 22 Drive Pulse Number Finish Point Setting Value Reading data range Correction of the following error 5 2 Signal Description VDD Pin No 4th edition 2015 04 17 Correction of the following e...

Page 12: ...site http www novaelec co jp eng Please also feel free to contact us directly for any inquiries or questions Operating Precautions Before using the MCX514 please read this manual thoroughly to ensure...

Page 13: ...of deceleration 2 s complement 2 s complement is used to represent negative numbers in binary Example In 16 bit length 1 is FFFFh 2 is FFFEh 3 is FFFDh 32768 is 8000h Creep In deceleration of acceler...

Page 14: ...nd circular interpolation Helical interpolation operates to move another axis in synchronization with the circular interpolation in the XY plane orthogonal coordinates The figure shown below is an exa...

Page 15: ...e average driving time of 8 segments including Seg3 is longer than setting time of position data for next segment continuous interpolation can be performed Fig 1 1 3 Example of Continuous Interpolatio...

Page 16: ...f X 30 pulses and Y 26 pulses 2 Axis High Accuracy Constant Vector Speed Mode Vector speed is the driving speed of the tip of a locus performing interpolation driving and it is also called Head speed...

Page 17: ...pps to high speed such as 1 Mpps during the driving Time V 1 000 000pps 163 927pps 7pps Fig 1 1 7 Speed Range Free Easy and High Accuracy Speed Setting Since there is no need to set multiples of spee...

Page 18: ...ing Time V Rapid Deceleration Time V Time V Time V Slow Acceleration P 400000 P 200000 P 100000 P 50000 Time V Rapid Acceleration S l o w D e c e l e r a t i o n Manual Deceleration Trapezoidal Accele...

Page 19: ...signal is input during the driving Outputs N split pulses from a specified position to the external during the driving Fig 1 1 10 Synchronous Action Four Multi Purpose Registers MCX514 has four 32 bit...

Page 20: ...r pulses can be output for a servo motor driver In addition the timer between steps which sets stop time among each step is available and the operation for a home search of a rotation axis is provided...

Page 21: ...eleration status of accelerating constant speed driving decelerating acceleration increasing acceleration constant acceleration decreasing and a timer can be read in real time CPU Interface This IC ha...

Page 22: ...and Data Interpretation Process Section Pulse X axis Control Section Separate 2 axis 3 axis 4 axis AX1P AX1P AX2P AX2P AX3P AX3P AX1P AX1P AX2P AX2P XP XP YP YP ZP ZP UP UP XP XP YP YP ZP ZP UP UP X a...

Page 23: ...us Action Section Jerk Generator Multi purpose Register MR3 0 Timer Split Pulse Generator 31bit STOP 2 0 PIO 7 0 Compare Register A B Selector A B C General Output OUT 7 0 Drive Status Output Synchron...

Page 24: ...ange 1 pps sec 536 870 911pps sec Acceleration Increasing Decreasing Rate Range 1 pps sec2 1 073 741 823 pps sec2 1 Acceleration Deceleration Curve Constant speed Symmetrical non symmetrical linear ac...

Page 25: ...ous Action Number of Sets 4 sets per axis 7 Activation Factor When multi purpose register comparison changed Comparative object logical real position counter value current drive speed current timer va...

Page 26: ...Input Output Signal Number of Signals 8 signals per axis Synchronous input pins share the input pin for driving by external signals Synchronous action output multi purpose register comparison output p...

Page 27: ...number can be changed for the same direction in only relative position driving The drive speed cannot be changed during continuous interpolation driving 5 Logical position counter counts output pulse...

Page 28: ...drive pulse number Current position direction direction To the direction 20 000 pulses To the direction 20 000 pulses TP 20 000 TP 20 000 Fig 2 1 1 Setting Example of Drive Pulse Number TP in Relative...

Page 29: ...ation Deceleration AC DC No need to set deceleration when acceleration and deceleration are equal Initial speed SV Drive speed DV Drive pulse number Finish point TP Set the destination point by absolu...

Page 30: ...less than the number of pulses already output the driving stops immediately Fig 2 1 8 In S curve acceleration deceleration driving if the drive pulse number TP is changed during deceleration the S cur...

Page 31: ...will increase at the termination of deceleration If a negative value is set for the offset output may stop prematurely before the speed reaches the initial speed see Fig 2 1 9 Offset Pulse Speed time...

Page 32: ...ll be immediately applied And if during acceleration deceleration driving the drive speed increases decreases to a specified drive speed 15k 25k 30k 40k DV 40 000 setting DV 30 000 setting DV 15 000 s...

Page 33: ...g Trapezoidal acceleration deceleration driving linear acceleration deceleration Symmetry Non symmetry linear acceleration deceleration S curve acceleration deceleration driving S curve acceleration d...

Page 34: ...ecome less than the pulses at acceleration Deceleration continues in the primary line with the same slope as that of acceleration until the speed reaches the initial speed and then driving will stop a...

Page 35: ...acceleration and deceleration exceeds 1 2 of the total number of output pulses during acceleration this IC stops acceleration and keeps that driving speed and then decelerates automatically Therefore...

Page 36: ...leration Rate DV 30k SV 1k 0 8 1 2 1 4 Acceleration Rate AC 36 25kpps sec Speed pps time sec Initial Speed Drive Speed Fig 2 2 6 Non Symmetrical Linear Acceleration Driving acceleration deceleration D...

Page 37: ...se a problem solve the problem by increasing the initial speed or setting a minus value to the acceleration counter offset Example of Parameter Setting As shown in Fig 2 2 6 parameter setting of relat...

Page 38: ...symmetrical when the rest of output pulses becomes less than the number of pulses that were utilized at acceleration deceleration starts automatic deceleration Section d e Also in deceleration the sp...

Page 39: ...2 at v t a coefficient related to speed Therefore the total number of pulses p t utilized during the time from 0 to t is the integral of the speed v t from the time 0 to t 3 at 3 1 p t This value indi...

Page 40: ...cceleration deceleration fixed pulse driving if the drive pulse number is changed during deceleration the S curve profile cannot be exactly tracked c In S curve acceleration deceleration fixed pulse d...

Page 41: ...he result where the speed reaches a half DV SV 2 of the drive speed DV from the initial speed SV within a half 5 2 of the acceleration time t 0 4sec Use the following expression to find a value of JK...

Page 42: ...ncreases on a straight line from 0 to the acceleration setting value and the speed curve forms a secondary parabolic curve When the acceleration reaches the acceleration setting value the acceleration...

Page 43: ...t parabolic acceleration Therefore the acceleration at 0 2 seconds is 10k 2 0 2 100kpps sec and the jerk is 100k 0 2 500kpps sec2 Fig 2 2 13 Example of Partial S curve Acceleration Deceleration Drivin...

Page 44: ...on Driving To perform non symmetry S curve acceleration deceleration driving bits D2 to 0 of WR3 register and the following parameters must be set Table 2 2 8 Mode Setting Non symmetry S curve Acceler...

Page 45: ...e number of output pulses from the start of driving to the start of deceleration in fixed pulse driving In relative position driving it should be the value calculated by subtracting the number of puls...

Page 46: ...tandard 16MHz the user had better drive the pulse speed in an exact multiple of CLK period 62 5nsec However in this case the frequency speed of driving pulse can only be generated by an exact multiple...

Page 47: ...al Block Diagram 2 3 2 Position Comparison MCX514 has four multi purpose registers per axis which can be used to compare with the current position of the logical and real position counters The compari...

Page 48: ...e of the logical real position counter can be set to any value within the range of 1 2 147 483 647 1 7FFF FFFFh To use the variable ring function set the logical position counter maximum value LX by l...

Page 49: ...ression to the comparative object can be selected from Logical Position Counter Real Position Counter 32bit 32bit compare Multi Purpose Register 4 MR3 0 32bit Current Speed Current Timer 31bit Selecto...

Page 50: ...as follows WR6 A120h WR7 0007h MR0 Set 500 000 WR0 0110h WR6 0000h D3 D2 0 0 Comparison condition D1 D0 0 0 Comparative object Logical position counter LP WR0 0120h Writes multi purpose register mode...

Page 51: ...ion Activation Synchronous action can be activated according to the comparison result of a multi purpose register When the comparison result of a multi purpose register changes to meet a specified com...

Page 52: ...n when an interrupt is enabled an interrupt does not occur at that time After it returns the state not to meet a specified comparison condition if the comparison result of a multi purpose register aga...

Page 53: ...ich the user wants to use by executing synchronous action SYNC3 0 setting command 26h 27h 28h 29h And the synchronous action set which the user wants to use must also be enabled by synchronous action...

Page 54: ...arch has various operations according to the detection signal that is used As shown in the following examples there are some cases of a home search such as using two sensors a near home signal and a h...

Page 55: ...on stops by deceleration Fig 2 5 3 Operation of Step 1 Irregular operation A specified detection signal is already active before Step 1 starts Proceeds with Step 2 When nSTOP0 or nSTOP1 is specified a...

Page 56: ...ts Behavior The motor drives the axis in the direction opposite to a specified search direction at the drive speed DV until nSTOP1 signal becomes active When nSTOP1 signal becomes active the motor dri...

Page 57: ...encoder Z phase signal nSTOP2 and the home signal nSTOP1 can be applied to stop driving Other operations in Step 3 When the encoder Z phase signal nSTOP2 changes to active it is possible to clear the...

Page 58: ...p 2 or Step 3 and next step starts after the completion of deviation counter clear nDCC pulses output 2 5 3 Timer Between Steps Each step for an automatic home search has the setting which reverses th...

Page 59: ...and then writing automatic home search mode setting 1 command 23h into WR0 register It specifies execution non execution of each step detection signal search direction deviation counter clear output...

Page 60: ...WR2 register see chapter 6 6 Deviation counter clear output and real logical position counter clear setting In Step2 and Step3 when a specified detection signal rises from inactive to active the user...

Page 61: ...D11 D10 D9 D8 D3 D2 D1 D0 HTM0 HTM1 HTM2 HTME DCP0 DCP1 DCP2 DCPL RCLR LCLR SAND WR6 The logical level of deviation counter clear nDCC output pulse and pulse width For when deviation counter clear sig...

Page 62: ...nd of automatic home search At the end of an automatic home search real logical position counter clear can be set To clear the real position counter set D1 bit RCLR to 0 Non clear 1 Clear To clear the...

Page 63: ...L D15 D14 D13 D12 D11 D10 D9 D8 D3 D2 D1 D0 RR2 SLMT SLMT HLMT HLMT ALARM EMG HOME For more details of each error factor see chapter 6 13 D14 D9 bits HSST5 0 of RR3 register Page0 indicate the automa...

Page 64: ...operation of the device is difficult and such failures are not applicable to these cases described below These symptoms may occur due to a logical setting error or signal wiring error at the developm...

Page 65: ...search of Step 3 the function stops search driving when the Z phase signal nSTOP2 changes from inactive to active Therefore the Step 3 starting position that is Step 2 stop position must be stable and...

Page 66: ...operation stops After that it drives at a low speed of 500pps in the direction specified by Step 2 and if nSTOP1 signal becomes Low level again operation stops Fig 2 5 14 Operation of Example 1 Automa...

Page 67: ...1 Step detection signal STOP1 D1 1 Step search direction direction D0 1 Step execution non execution Execution WR0 0123h Write Writes a command Automatic home search mode setting 2 WR6 0000h Write D15...

Page 68: ...rive Execution direction 20 000pps The operation from Step 1 to Step 4 is the same as the operation using a home signal nSTOP1 described above When the automatic home search starting position is in po...

Page 69: ...e WR0 0114h Write Offset pulse setting WR6 0DACh Write Offset driving pulse count 3500 WR7 0000h Write WR0 0106h Write Starts execution of automatic home search WR0 015Ah Write Note1 The bits in WR2 r...

Page 70: ...he line receiver or the high speed photo coupler is appropriate to the interface circuit for a rapid response Table 2 5 14 Automatic Home Search Example 3 Operation Step Operation Execution Non execut...

Page 71: ...on non execution Execution D3 2 0 1 Step detection signal STOP1 D1 1 Step search direction direction D0 1 Step execution non execution Execution WR0 0123h Write Writes a command Automatic home search...

Page 72: ...s passing through the position 15 000 nPIO0 Output the pulse signal to the external Activation Factor Action Fig 2 6 1 Example 1 of Synchronous Action Example 2 Saves the current position to a specifi...

Page 73: ...ion factor occurs This linked action is performed without CPU intervention achieving high precision synchronous control One synchronous action set means that performs a specified action when a specifi...

Page 74: ...input nPIO7 input Hi and nPIO3 input 10 0 NOP 11 Description 1 MRm object changed to True It is activated when the comparative object of a multi purpose register MRm register meets the comparison cond...

Page 75: ...the nPIOm signal corresponding to 4 synchronous action sets is fixed If the input signal is already Low level when the synchronous action is enabled the synchronous action is not activated at that tim...

Page 76: ...Synchronous action set 2 SYNC2 Synchronous action set 3 SYNC3 Description 01 MR0 DV MR1 DV MR2 DV MR3 DV 02 MR0 TP MR1 TP MR2 TP MR3 TP 03 MR0 SP1 MR1 SP1 MR2 SP1 MR3 SP1 04 MR0 LP MR1 RP MR2 SV MR3 A...

Page 77: ...Saves the value of logical position counter LP into MRm register RP MRm Saves the value of real position counter RP into MRm register CT MRm Saves the current timer value into MRm register CV MR0 Sav...

Page 78: ...0 PW1 PW2 Select pulse width nPIO3 Pulse signal logic nPIO2 Pulse signal logic nPIO1 Pulse signal logic nPIO0 Pulse signal logic Specify the logical level of nPIOm signal that is used to D0 to D3 bits...

Page 79: ...interpolation axis Description 6 Drive speed increase decrease It increases decreases the current drive speed during the driving The increase decrease value must be set by speed increasing decreasing...

Page 80: ...chapter 2 6 2 Activation of other synchronous action sets This bit is used to activate simultaneously with the action of the other synchronous action set when the activation factor is activated by the...

Page 81: ...d to enable only once set it to 0 When the repeat setting is enabled the synchronous action is invoked every activation of the activation factor When it is enabled only once the synchronous action is...

Page 82: ...setting 2 Other settings command 22h when synchronous action disable setting D7 ERRDE is set to enable and after the synchronous action is activated when it is set once disable the repeat setting Enab...

Page 83: ...tion command the user must enable a specified synchronous action set by a synchronous action enable setting command Synchronous action enable disable state The state of a synchronous action set can be...

Page 84: ...ite WR0 0109h Write MR0 setting WR6 3A98h Write MR0 15000 WR7 0000h Write WR0 0110h Write Multi purpose register mode setting WR6 0000h Write D1 D0 00 M0T1 0 MR0 Comparative object Logical position co...

Page 85: ...the comparison with MR0 Delay of 2CLK Fig 2 6 7 Timing of Example 1 Synchronous Action From chapter 2 6 7 a delay from the occurrence of an activation factor is 1CLK and a delay up to the action is 1...

Page 86: ...te D1 D0 00 P0M1 0 PIO0 signal General purpose Synchronous input WR0 0121h Write Interrupt setting WR0 011Fh Write Select X axis WR1 1000h Write D12 1 SYNC0 When synchronous action SYNC0 is activated...

Page 87: ...WR0 0110h Write MR1 setting specified position B 55000 WR6 D6D8h Write MR1 55000 WR7 0000h Write WR0 0110h Write Timer value setting WR6 FFFFh Write Timer value 2147483647 maximum WR7 7FFFh Write WR0...

Page 88: ...SYNC0 1 Enable WR0 0183h Write Start driving WR0 0152h Write Starts direction continuous pulse driving SYNC1 is activated and interrupt occurs Read timer value saved in MR1 WR0 0135h Write RR6 Read RR...

Page 89: ...f the WRN signal at writing of a driving command 2 3 Start of driving at constant speed area in acceleration deceleration driving From of the CNST signal 0 Termination of driving at constant speed are...

Page 90: ...Until of the 1st driving pulse 4 Decelerating stop Until the start of deceleration 1 Instant stop Until the termination of driving 1 Drive speed increase Until drive speed increase is started toward t...

Page 91: ...idth Split pulse number Start after a split length of driving pulses is output with starting pulse Split Pulse Split length 1 2 3 4 5 without starting pulse 1 2 3 4 5 Fig 2 7 1 Example of Split Pulse...

Page 92: ...ulse Split pulse is started by start of split pulse command 75h or a synchronous action When a command is written or the action of a synchronous action is started next driving pulse is the starting dr...

Page 93: ...functions see chapter 2 6 2 7 4 Interrupt by Split Pulse An interrupt related to split pulse operation can be generated Set to D10 D11 bits of WR1 register When D10 bit SPLTP is 1 an interrupt occurs...

Page 94: ...ition counter 0 WR7 0000h Write WR0 0109h Write Split pulse setting Split length pulse width setting WR6 0009h Write Split length 9 WR7 0005h Write Pulse width 5 WR0 0117h Write Split pulse number set...

Page 95: ...g WR6 000Ah Write Split pulse number 10 WR0 0118h Write Split pulse logic starting pulse setting WR6 0800h Write D10 0 SPLL Pulse logic Positive D11 1 SPLBP With starting pulse WR0 0122h Write Multi p...

Page 96: ...FFFh Write Acceleration 536870911 maximum WR7 1FFFh Write WR0 0102h Write WR6 A048h Write Jerk 893K PPS SEC2 WR7 000Dh Write WR0 0100h Write WR6 9C40h Write Drive pulse number 40000 WR7 0000h Write WR...

Page 97: ...85h Write D3 D0 0101 PREV3 0 Activation factor Finish constant speed driving D8 D4 11000 ACT4 0 Action termination of split pulse D15 0 REP Repeat must be disabled WR0 0127h Write SYNC0 1 Enable WR0 0...

Page 98: ...cal position counter 0 WR7 0000h Write WR0 0109h Write WR6 2EE0h Write Drive pulse number 12000 WR7 0000h Write WR0 0106h Write Split pulse setting Split length pulse width setting WR6 000Ah Write Spl...

Page 99: ...nous action SYNC2 setting WR6 0030h Write D3 D0 0001 PREV3 0 Activation factor NOP D8 D4 00011 ACT4 0 Action Load MRm SP1 D11 D9 001 SNC 3 2 1 Other SYNC Activation Activate SNC 1 WR0 0127h Write SYNC...

Page 100: ...R6 D7 D6 D5 D4 H L D15 D14 D13 D12 D11 D10 D9 D8 D3 D2 D1 D0 P1M0 P0M1 P2M0 P3M0 P0M0 P1M1 P2M1 P3M1 nPIO0 Signal nPIO1 Signal nPIO2 Signal nPIO3 Signal P4M0 P5M0 P6M0 P7M0 P4M1 P5M1 P6M1 P7M1 nPIO4 S...

Page 101: ...be used as the activation factor of a synchronous action For more details of the synchronous action see chapter 2 6 Used as input signal for driving by external signals Relative position driving or co...

Page 102: ...on output signal The comparison result of MRm register can be output to nPIOm signal MR0 MR3 comparison output is output from nPIO4 nPIO7 signals For more details of the MRm register see chapter 2 4 N...

Page 103: ...put signal Bit of RR3 register Page0 in each Axis XSTOP0 74 YSTOP0 93 ZSTOP0 112 USTOP0 131 Driving stop signal D0 bit STOP0 RR3 status display 0 Low level 1 Hi level XSTOP1 73 YSTOP1 92 ZSTOP1 111 US...

Page 104: ...Constant Speed10 00msec Start Deceleration Time Fig 2 9 3 Example 3 of Timer Operation 2 9 1 Timer Operation MCX514 has a 31 bit length timer counter When a timer is started it counts up from 0 in inc...

Page 105: ...e is repeat it can be stopped by timer stop command 74h or a synchronous action 2 9 4 Timer and Synchronous Action Timer operation can be used in a synchronous action As the activation factor of a syn...

Page 106: ...05h Write WR6 E848h Write Acceleration 125K PPS SEC WR7 0001h Write WR0 0102h Write WR6 9C40h Write Drive pulse number 40000 WR7 0000h Write WR0 0106h Write Timer setting Single timer WR0 011Fh Write...

Page 107: ...r 0 WR7 0000h Write WR0 0109h Write Timer setting Repeat timer WR0 011Fh Write Select X axis WR3 4000h Write D14 1 TMMD Timer operation Repeat Timer value setting WR6 03E8h Write Timer value 1000 sec...

Page 108: ...h Write WR6 A120h Write Drive speed 500K PPS WR7 0007h Write WR0 0105h Write WR6 E848h Write Acceleration 125K PPS SEC WR7 000 h Write WR0 0102h Write Timer setting Single timer WR0 011Fh Write Select...

Page 109: ...driving D7 D END D7 D END Driving is finished D8 H END D8 H END Automatic home search is finished D9 TIMER D9 TIMER Timer expires D10 SPLTP Outputs split pulse in positive logic occurs at of split pu...

Page 110: ...signal is Low level tAR minimum is 0 and tRA minimum is 3nsec If this condition is violated and non valid address data is into the section of RDN signal is Low level the data of RR1 register will be...

Page 111: ...hich of the time constants A or B is used Enable disable of a filter and a time constant can be set by input signal filter mode setting command 25h EMGN XLMTP XLMTM XSTOP1 XINPOS XALARM T Oscillation...

Page 112: ...E7 nECA nECB Note EMGN signal is set in D0 bit of WR6 register of X axis Use D11 D 8 bits FL03 FL00 for setting the filter time constant A and D15 D12 bits FL13 FL10 for setting the filter time consta...

Page 113: ...5 D12 0000 Filter time constant B Filter delay 500nsec D11 D8 1000 Filter time constant A Filter delay 128 sec D7 0 XECA XECB signal Filter time constant B Disables the filter through D6 0 XSTOP2 sign...

Page 114: ...Signal To perform driving by external signals set nPIO4 5 signals of general purpose input output signals to nEXPP nEXPM input signals for driving by external pulses It sets D11 8 bits of PIO signal s...

Page 115: ...Drive Pulse Number 5 by External Signal Continuous Pulse Driving Mode Set D9 8 bits of PIO signal setting 2 Other settings 22h to 0 1 and set the appropriate speed parameters for continuous pulse driv...

Page 116: ...verse rotation Fig 2 12 3 Example of X axis Driving Drive Pulse Number 1 by Manual pulsar Normal rotation Reverse rotation XEXPP A phase XEXPM B phase XPP XPM Fig 2 12 4 Example of X axis Driving Driv...

Page 117: ...es and quad edge evaluation Quadrature pulses and double edge evaluatio Pulse Output Type Signal Driving in the direction Driving in the direction 0 LP 1 2 3 4 4 3 2 1 0 Pulse output type can be set b...

Page 118: ...n ECA signal does it s count down And when quad edge evaluation is set it counts Up Down at the rising edge and falling edge of both signals When double edge evaluation is set it counts Up Down at the...

Page 119: ...11 PIINV Pulse input mode Increase decrease of real position counter 0 quadrature pulses mode Count UP when the A phase is advancing Count DOWN when the B phase is advancing Up Down pulse mode Count U...

Page 120: ...lable as a servo motor driver output signal The logical level of a deviation counter clear signal nDCC and pulse width can be set by D3 6 bits of automatic home search mode setting 2 command 24h For m...

Page 121: ...register RR3 register Page1 nPIOm signal D3 0 n DRV D4 ASND D5 CNST D6 DSND nPIO0 DRIVE nPIO2 ASND nPIO3 CNST nPIO4 DSND Stop 0 0 0 0 Low Low Low Low Acceleration 1 1 0 0 Hi Hi Low Low Constant Speed...

Page 122: ...interpolation driving which should be set to the main axis that is automatically determined in order of priority X Y Z U from selected axes For instance when X Z and U axes are assigned as the interp...

Page 123: ...omes active during interpolation driving the interpolation stops If stopped by an error the error bit of the axis designated interpolation in RR0 main status register will become 1 If the bit is 1 the...

Page 124: ...speed of the drive pulse in long axis becomes the drive speed for the main axis The range for each axis is a 31 bit signed counter from 1 073 741 823 1 073 741 823 signed 31 bit 2LSB 3 1 1 Maximum Fin...

Page 125: ...interpolation axis X Y Z WR0 002Ah Write WR6 9C40h Write 40 000 PPS SEC WR7 0000h Write WR0 0102h Write set accel speed to main axis WR6 01F4h Write 500 PPS WR7 0000h Write WR0 0104h Write set initia...

Page 126: ...e will come out In Fig 3 2 2 it explains the long axis and short axis We define 8 quadrants in the X Y plane and put the number 0 7 to each quadrant As shown in the figure the absolute value of ax1 is...

Page 127: ...priority X Y Z U However the user can toggle between the two axes When the user wants to change the lower priority axis to ax1 horizontal axis and the higher priority axis to ax2 vertical axis set D4...

Page 128: ...s predetermined but it is hard to find out precisely the total number of output pulses in advance from the center and finish points for circular interpolation that is operated on the XY plane For this...

Page 129: ...to interpolation See chapter 7 3 8 and the set the appropriate values 3 3 2 Interpolation Speed Setting As the main axis of helical interpolation is X axis the user sets the speed to X axis The speed...

Page 130: ...ition When it is moved in the direction set the positive value and when in the direction set the negative value Write the value in WR6 7 registers and drive pulse number finish point setting command 0...

Page 131: ...elical rotation number the center and finish points for circular interpolation and the feed amount of Z U axis is performed again and again there is no need to execute helical calculation every interp...

Page 132: ...register when to rotate it in the CCW direction and then helical interpolation will be performed Table 3 3 5 Helical Interpolation Command Helical Interpolation Command code Helical Interpolation 69h...

Page 133: ...iodic drift is generated 0 90 180 270 360 Rotation Angle degree in XY Circular Interpolation Feed Amount Z axis Displacement 45 135 225 315 0 90 180 270 360 Rotation Angle degree in XY Circular Interp...

Page 134: ...xis X WR6 0000h Write Helical rotation number 0 WR0 001Ah Write WR6 0000h Write Circle center X 0 WR7 0000h Write WR0 0108h Write WR6 2710h Write Circle center Y 10000 WR7 0000h Write WR0 0208h Write...

Page 135: ...eed to main axis X WR6 0007h Write Helical rotation number WR0 001Ah Write WR6 0000h Write Circle center X 0 WR7 0000h Write WR0 0108h Write WR6 2710h Write Circle center Y 10000 WR7 0000h Write WR0 0...

Page 136: ...R6 0000h Write Circle center X 0 WR7 0000h Write WR0 0108h Write WR6 2710h Write Circle center Y 10000 WR7 0000h Write WR0 0208h Write WR6 F25Eh Write Circle finish point X 0 WR7 FFFFh Write WR0 0106h...

Page 137: ...tern Interpolation The operation procedures to perform bit pattern interpolation are as follows Fig 3 4 2 Operation Procedures for Bit Pattern Interpolation Set interpolation speed Write bit pattern d...

Page 138: ...ng For example of 2 axes bit pattern interpolation the host CPU must write 16 bit data 2 16 bit command 2 axes interpolation driving command in order to update BP data If it takes 100 sec output time...

Page 139: ...main axis after bit pattern data and interpolation command are written in several stages interpolation driving will be performed Note It is necessary to write bit pattern interpolation driving command...

Page 140: ...interpolation After interpolation driving starts CNEXT bit becomes 1 while the stack counter of pre buffer is from 1 to 7 And during 1 of this bit the host CPU determines that it is possible to write...

Page 141: ...03E8h Write axis main axis Set speed parameters WR7 0000h Write Initial speed 1000 PPS WR0 0104h Write WR6 03E8h Write Drive speed 1000 PPS WR7 0000h Write WR0 0105h Write m 1 Data pointer Loop WR6 X_...

Page 142: ...range 90 180 180 270 270 360 are the same a Constant vector speed disabled b 2 axis simple constant vector speed c 2 axis high accuracy constant vector speed Fig 3 5 2 Speed Deviation of Vector Speed...

Page 143: ...acy constant vector speed mode It performs linear interpolation of X and Y axes with drive speed 1000PPS at constant speed in 2 axis high accuracy constant vector speed mode and short axis pulse equal...

Page 144: ...Y 26 Short axis pulse equalization performs the interpolation calculation in the IC enhancing by several times than usual Because of that the setting range of parameters is restricted by 1 8 as shown...

Page 145: ...sets the current speed of driving and acceleration deceleration to a multi purpose register When Short axis pulse equalization is used in circular interpolation or helical interpolation and if the sta...

Page 146: ...nterpolation Operation Continuance of 2 axis linear interpolation 2 axis linear 2 axis linear 2 axis linear Continuance of 2 axis linear interpolation and circular interpolation 2 axis linear Circular...

Page 147: ...ing next interpolation data segment data to pre buffer while checking the value of the stack counter The operation procedures to perform continuous interpolation are as follows Fig 3 7 1 The Flow of C...

Page 148: ...h point to each interpolation axis and then write circular interpolation driving command When writing one segment information any of a finish point center point or interpolation axis can be written fi...

Page 149: ...e host CPU There are 2 kinds of the interruption timing that notifies the free space Interpolation interrupt setting The interruption that notifies the free space can be set by 2 bits D14 D15 of inter...

Page 150: ...terpolation The time to drive all the interpolation segments should be longer than that for error checking and the data and command setting of next segment The next interpolation segment must be loade...

Page 151: ...e WR0 0106h Write Finish point setting command WR6 0000h Write Finish point Y 0 WR7 0000h Write WR0 0206h Write WR0 0061h Write 2 axis linear interpolation command Set Segment2 CCW circular WR6 01F4h...

Page 152: ...78h Write Write Drive start holding release command to main axis Interpolation driving is started Set 9 to the segment counter SegCounter Loop Error check RR0 Read If RR0 D4 or D5 is 1 an error occurs...

Page 153: ...value will be the finish point of Z axis and so the user should set 50000 5000 45000 as the manual deceleration point of the main axis X For more details of examples of acceleration deceleration driv...

Page 154: ...WR7 FFFFh Write WR0 0108h Write WR6 0000h Write Center point Y 0 WR7 0000h Write WR0 0208h Write WR6 0000h Write Finish point X 0 WR7 0000h Write WR0 0106h Write WR6 0000h Write Finish point Y 0 WR7...

Page 155: ...ted from the start of the segment are larger than the manual deceleration point deceleration will start The deceleration can be performed across segments For instance to start the manual deceleration...

Page 156: ...e step Interpolation Single step interpolation command 6Fh is provided for single step interpolation The operating procedure is shown as follows a Set D9 bit to 1by interpolation mode setting command...

Page 157: ...re not output yet because the single step interpolation is enabled e EXPLSN input on Low level The interpolation pulse will be output after 2 5 CLK from the EXPLSN falling down The Low level pulse wid...

Page 158: ...32 Synchronous pulse of interpolation drive Main Sub PIN7 MERR 133 Error occurred Stop of main chip Main Sub PIN6 MINP 134 In position waiting Main Sub PIN5 MCLK 135 Clock of data transfer for MDT3 0...

Page 159: ...nding bit it is enabled as interpolation axis Table 3 10 3 Designation of Axis for Multichip Interpolation Bit of WR6 Interpolation Axis D0 X EN 0 Disable interpolation D1 Y EN 1 Enable interpolation...

Page 160: ...ish point is cleared to 0 when resetting or immediately after starting interpolation driving command Also it can be cleared by the maximum finish point clear command 7Ch And the maximum finish point c...

Page 161: ...an error during interpolation and at the termination of driving If the error is detected bit data 1 check the data of RR2 register register for displaying error of each interpolation axis and perform...

Page 162: ...nd Receiving error check Writing to main chip WR6 0014h Write Finish point1 X 20 WR7 0000h Write WR0 0106h Write Receiving error check of sub chip1 Handling A RR0 D4 D5 Read If D4 D5 1 jump to ERROR s...

Page 163: ...ad Error clear check of interpolation axes RR2 D7 Read Error clear check of interpolation RR3 D12 Read Error clear check of multichip interpolation transfer error ERROR handling sub chip WR0 011Fh Wri...

Page 164: ...s of main chip WR0 0177h Write Writing of finish point data and Receiving error check Seg1 Writing to main chip WR6 0014h Write Finish point1 X 20 WR7 0000h Write WR0 0106h Write Execute the handling...

Page 165: ...te WR0 0206h Write Execute the handling C Execute the handling B Writing to sub chip2 WR6 0019h Write Finish point1 X 25 WR7 0000h Write WR0 0106h Write Execute the handling C Execute the handling A W...

Page 166: ...sed in I2C Bus Mode To use MCX514 in I2 C bus mode it is necessary to connect the following pins correctly Table 4 1 1 Pins in I2 C Bus Mode Signal Pin No Description BUSMOD 32 Sets the bus mode Setti...

Page 167: ...ing Or the user can reset the I2 C control section by using RESETN signal that resets MCX514 At data transfer When I2 C communication does not work correctly such as retuning Hi from an acknowledge si...

Page 168: ...4 2 1 Slave Address Specify the address set by A2 22 A1 23 A0 24 pins of MCX514 to CA2 CA0 of chip address Low is 0 and Hi is 1 As for a register address specify the register address that the user wan...

Page 169: ...nerate start condition When SCL signal is Hi and SDA signal changes from Hi to Low it becomes start condition Whenever sending and receiving the host CPU must generate this start condition at the begi...

Page 170: ...bit slave address correctly MCX514 corresponding to the chip address returns Low open drain output is turned ON When it is not received correctly or the chip addresses do not match not return Low Rea...

Page 171: ...to INT0N signal may be cleared If the user needs to read RR0H when using interrupt please contact us When reading RR1 register be sure to read 2 bytes RR1L RR1H from RR1L If reads only 1 byte of RR1L...

Page 172: ...d To write a command the user needs to write an execution axis and command to WR0 register At this time if the low byte of WR0L is written a command will be executed immediately So the user needs to s...

Page 173: ...ed in 1 Write command a command must be written after the axis assignment Write data to WR6 7 Write axis assignment to WR0H Write data writing command to WR0L Generate start condition Generate stop co...

Page 174: ...and a command must be written after the axis assignment Write axis assignment to WR0H Write data reading command to WR0L Read from RR6 7 Generate start condition Generate stop condition Write axis ass...

Page 175: ...9 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 13...

Page 176: ...ister when WRN is up RDN 28 Input A Read Strobe its level is Low while data is being read from MCX514 Set CSN to Low and RDN to Low and while RDN is Low the read register data selected by A3 A0 addres...

Page 177: ...gnal to perform decelerating instant stop These signals can be used for HOME searching When the filter function is disabled the active pulse width must be 2CLK or more Enable disable and logical level...

Page 178: ...ant status output signal ACNST MR2 comparison output CMP2 share the same pin The signal to use can be set as commands About general purpose input output signals PIO6 it is the same as PIO7 For synchro...

Page 179: ...he input signal of an activation factor or the output signal of synchronous pulses of the action The logical level of synchronous pulses and pulse width can be set as commands Constant speed driving s...

Page 180: ...eading is the same as PIN7 When performing multichip axes interpolation connect this signal among chips and pull up to VDD 3 3V with 3 3k impedance PIN3 MDT3 136 Bi directional C Universal Input3 gene...

Page 181: ...NOVA electronics Inc MCX514 168 168 Signal Name Pin No Input Output Signal Description VDD 9 19 35 53 71 89 107 125 143 3 3V Power Terminal All of the pins must be connected to each power without fail...

Page 182: ...Note1 Bi directional B Input side is 5V tolerant LVTTL Schmitt trigger which is pulled up with 50k Typ in the IC When in Hi level output do not apply voltage more than the output voltage from outside...

Page 183: ...ake causes the output state Bi directional pins B C can be open d De coupling Capacitor Please connect VDD and GND with three or four De coupling capacitors about 0 1 F e Ringing noise by Terminal Ind...

Page 184: ...Z axis Mode register 3 U axis Mode register 3 for setting the auto and manual deceleration for setting the acceleration deceleration mode symmetry non symmetry linear acceleration deceleration S curv...

Page 185: ...nous action set acceleration deceleration status increase decrease status of acceleration deceleration status of timer and split pulse operation finish point data transfer error during multichip inter...

Page 186: ...0 1 WR2H 0 1 1 0 WR3L 0 1 1 1 WR3H 1 0 0 0 WR4L 1 0 0 1 WR4H 1 0 1 0 WR5L 1 0 1 1 WR5H 1 1 0 0 WR6L 1 1 0 1 WR6H 1 1 1 0 WR7L 1 1 1 1 WR7H Read Register in 8 bit Data Bus Address A3 A2 A1 A0 Read Reg...

Page 187: ...g assign only one axis Whenever the interpolation is commanded the bits of the assigned axis axes should be set 0 Other bits must be set to 0 otherwise the unknown situation could happen due to IC int...

Page 188: ...al nSTOPk k 2 0 0 disable 1 enable Once nSTOP2 nSTOP0 are active and then driving starts when nSTOPk signal becomes active level the decelerating stop will be performed during acceleration deceleratio...

Page 189: ...which axis should be accessed depends on the axis of written command just before Or the user can specify the axis by writing NOP command with axis assignment Mode register WR3 is used for setting 1 m...

Page 190: ...1 and pulse output type is independent 2 pulse drive pulses are output to the nPM signal during the direction driving and to the nPP signal during the direction driving In the same way output pins are...

Page 191: ...Count UP at nPMIN pulse input Count DONW at nPPIN pulse input D12 LMINV Replaces input pins of hardware limit input signals between nLMTP and nLMTM 0 initial setting 1 pin inversion When this bit is s...

Page 192: ...The low word data writing 16 bit WD15 WD0 is for register WR6 setting and the high word data writing 16 bit WD31 WD16 is for register WR7 setting D7 D6 D5 D4 H L D15 D14 D13 D12 D11 D10 D9 D8 D3 D2 D1...

Page 193: ...e 1 When an error occurs in any axis of sub chip during multichip interpolation the error bit of main axis in main chip will become 1 During driving except interpolation driving including automatic ho...

Page 194: ...arison condition D4 D STA Indicates that an interrupt occurred at the start of driving D5 C STA Indicates that an interrupt occurred when pulse output starts at constant speed area in acceleration dec...

Page 195: ...HLMT During the direction driving with hardware limit signal enabled when limit signal nLMTP is on its active level it becomes 1 and driving stops D3 HLMT During the direction driving with hardware l...

Page 196: ...tatus and automatic home search execution state Page 1 is used for displaying 1 enable disable of a synchronous action 2 acceleration deceleration status in acceleration deceleration driving 3 acceler...

Page 197: ...active To enable a synchronous action write a synchronous action enable command 8F 81h To disable a synchronous action written a synchronous action disable command 9F 91h D4 ASND It becomes 1 at accel...

Page 198: ...gnals UPIO7 0 in U axis The bit is 0 if the signal is on the Low level the bit is 1 if the signal is on the Hi level ZPIO0 D7 D6 D5 D4 H L D15 D14 D13 D12 D11 D10 D9 D8 D3 D2 D1 D0 RR5 ZPIO1 ZPIO2 ZPI...

Page 199: ...FFF FFFFh Or FFFF FFFFh 4 Real position counter maximum value setting 1 2 147 483 647 7FFF FFFFh Or FFFF FFFFh 4 Multi purpose register 0 setting 2 147 483 648 2 147 483 647 4 Multi purpose register 1...

Page 200: ...r 1 reading 2 147 483 648 2 147 483 647 4 Multi purpose register 2 reading 2 147 483 648 2 147 483 647 4 Multi purpose register 3 reading 2 147 483 648 2 147 483 647 4 Current timer value reading 0 2...

Page 201: ...tion driving 3 axis linear interpolation driving 4 axis linear interpolation driving CW circular interpolation driving CCW circular interpolation driving 2 axis bit pattern interpolation driving 3 axi...

Page 202: ...Timer stop Start of split pulse Termination of split pulse Drive start holding Drive start holding release Error Finishing status clear RR3 Page0 display RR3 Page1 display Maximum finish point clear N...

Page 203: ...ng related parameters before the driving starts The unit described in each speed parameter and timer value is for when input clock CLK is 16MHz Please see Appendix B for parameter calculation formula...

Page 204: ...al S curve acceleration deceleration driving WR3 D1 0 where acceleration and deceleration are symmetrical this acceleration setting value is also used at deceleration The value of current acceleration...

Page 205: ...d of constant speed period in trapezoidal driving In constant speed driving the drive speed is the initial speed The unit of the setting value is pps Drive speed DV pps If the drive speed is set a low...

Page 206: ...nt position with a signed 31 bit value In bit pattern interpolation driving it sets the bit data of each axis The lower 16 bits of 32 bits are used to set direction bit data and the upper 16 bits are...

Page 207: ...counter setting value can be written anytime and read by logical position counter reading command 30h anytime 7 2 11 Real Position Counter Setting Code Command Symbol Data Range Data Length byte h Re...

Page 208: ...ngth of this writing command is 2 bytes The setting value should only be written in WR6 register 7 2 15 Logical Position Counter Maximum Value Setting Code Command Symbol Data Range Data Length byte h...

Page 209: ...pose register 1 Multi purpose register is used for comparison of position speed timer value and large or small and load save of each parameter as a synchronous action Comparison result is used for out...

Page 210: ...is the parameter setting the low speed home search speed that is applied in Steps 2 and 3 The unit of the setting value is pps Home Search Speed HV pps Set a value lower than the initial speed SV to...

Page 211: ...th and pulse width can be altered during output of split pulse When split length and pulse width are newly set output of split pulse will continue at the new settings This data length is 4 bytes so ev...

Page 212: ...lly set by interpolation mode setting command 2Ah 7 2 27 Helical rotation number setting Code Command Symbol Data Range Data Length byte h Helical rotation number setting 0 65 535 HLN is the parameter...

Page 213: ...on condition MR1 comparative object MR1 comparison condition MR2 comparative object MR2 comparison condition MR3 comparative object MR3 comparison condition D1 0 M0T1 0 Setting the comparative object...

Page 214: ...kM0 bit Function 0 0 General purpose input nPIO7 0 signals become an input state The signal level of each axis can be read by the following register X axis from D7 0 of RR4 Y axis from D15 8 of RR4 Z...

Page 215: ...IO4 116 X axis RR4 D4 Y axis RR4 D12 Z axis RR5 D4 U axis RR5 D12 signal level reading X axis WR4 D4 Y axis WR4 D12 Z axis WR5 D4 U axis WR5 D12 value output Decelerating MR0 comparison output True Hi...

Page 216: ...f synchronous pulse output signal When CLK 16MHz D6 4 PW2 0 Output Pulse Width 0 125 sec 1 312 sec 2 1 sec 3 4 sec 4 16 sec 5 64 sec 6 256 sec 7 1 sec D7 ERRDE Setting for whether the enabling status...

Page 217: ...0 S1EN S1DR S1G0 S1G1 S2EN S2DR S2SG S2RC S2DC S2LC S3EN S3DR S3RC S3DC S3LC S4EN Step 1 Step 2 Step 3 Step 4 D0 S1EN Setting for whether high speed search of step 1 in the automatic home search is ex...

Page 218: ...her the logical position counter is cleared or not in nSTOP2 signal detection of step 3 0 non clear 1 clear D15 S4EN Setting for whether high speed offset drive of step 4 in the automatic home search...

Page 219: ...ut pulse width of deviation counter clear nDCC When CLK 16MHz D6 4 DCP2 0 Output Pulse Width 0 10 sec 1 20 sec 2 100 sec 3 200 sec 4 1 sec 5 2 sec 6 10 sec 7 20 sec D7 HTME Enables the timer between s...

Page 220: ...nLMTM D2 FE2 nSTOP0 nSTOP1 Filter Time Constant A D3 FE3 nINPOS nALARM D4 FE4 nPIO3 0 D5 FE5 nPIO7 4 D6 FE6 nSTOP2 Filter Time Constant B D7 FE7 nECA nECB D11 8 FL03 00 Set the time constant of the in...

Page 221: ...n factor in SYNCm 0 NOP 8 Termination of split pulse 1 MRm comparison changed to True 9 Output of split pulse 2 Timer is up A nPIOm input 3 Start of driving B nPIOm input 4 Start of driving at constan...

Page 222: ...ivation SYNC3 SYNC2 activation SYNC1 activation SYNC0 activation D14 13 AXIS3 1 It designates another axis SYNC0 activated by a synchronous action 0 disable 1 enable Own Axis D14 AXIS3 D13 AXIS2 D12 A...

Page 223: ...ion axis when circular interpolation is performed 0 not exchange the interpolation axis 1 exchange the interpolation axis D7 6 SPD1 0 Setting constant vector speed mode for interpolation driving D7 SP...

Page 224: ...upt during Interpolation 0 0 Invalid 0 1 stack counter 1 0 stack counter 1 1 stack counter stack counter When an interrupt occurs interpolation interrupt output signal INT1N becomes Low level After cl...

Page 225: ...B for parameter calculation formula when input clock CLK is other than 16MHz The axis assignment should be only 1 axis 7 4 1 Logical Position Counter Reading Code Command Symbol Data Range Data Lengt...

Page 226: ...Register 0 Reading Code Command Symbol Data Range Data Length byte h Multi purpose register 0 reading 2 147 483 648 2 147 483 647 The value of multi purpose register MR0 is set in read registers RR6 a...

Page 227: ...on Finish point maximum value Reading Code Command Symbol Data Range Data Length byte h Interpolation Finish point maximum value reading 1 1 073 741 823 The maximum value of the finish point of each a...

Page 228: ...g value cannot be read by accessing WR1 register address To check and read out the WR1 setting value use this command Read register RR7 is set to 0 7 4 14 WR2 Setting Value Reading Code Command Symbol...

Page 229: ...0 7 4 17 PIO Signal Setting 1 Reading Code Command Symbol Data Range Data Length byte h PIO signal setting 1 reading Bit data The value set by PIO signal setting 1 command 21h is set in read register...

Page 230: ...nchronous action that value will be read out 7 4 21 Drive Speed Setting Value Reading Code Command Symbol Data Range Data Length byte h Drive speed setting value reading 1 8 000 000 The value set by d...

Page 231: ...ng RR7 Lower byte PIN7 0 RR6 2 bytes D15 0 in I2C communication The axis assignment is not necessary for this command In I2 C serial interface bus mode the signal levels of D15 0 pin number 1 8 11 18...

Page 232: ...er is positive it will be output from the output signal nPP and when it is negative it will be output from the output signal nPM When the pulse output type is independent 2 pulse In driving when one p...

Page 233: ...utput the logical position counter will count down 1 Before writing the driving command the user should set the parameters for the outputting speed curve and the drive pulse number appropriately 7 5 3...

Page 234: ...g stop or instant stop command is written to the main axis interpolation driving stops Once the driving stops this command will not work 7 5 7 Instant Stop Code Command h Instant stop This command per...

Page 235: ...pulse of drive pulses will be output after 1CLK from when the direction signal is determined This command can be used to determine the direction signal in the direction when the user needs to take lo...

Page 236: ...riving is finished Note It requires 125nSEC maximum to access the command code when CLK 16MHz Please write the next command after this period of time 7 6 1 1 axis Linear Interpolation Driving Multichi...

Page 237: ...ill come out if the finish position is set 0 0 7 6 6 CCW Circular Interpolation Driving Code Command h CCW circular interpolation driving This command performs 2 axis counterclockwise circular interpo...

Page 238: ...t pattern interpolation driving This command performs 4 axis bit pattern interpolation Before driving the direction bit data of the four interpolating axes should be set and the setting bit data of ea...

Page 239: ...h Deceleration enabling This command enables the automatic or manual deceleration in interpolation In individual interpolation the user must write this command before the driving However in continuou...

Page 240: ...upt clear Single step interpolation Interpolation interrupt clear command clears the interrupt INT1N generated in continuous interpolation Single step interpolation command performs 1 pulse each step...

Page 241: ...nd executed by writing the axis assignment and command code into WR0 command register Note It requires 125 nSEC maximum to access the command code of synchronous action operation commands when CLK 16M...

Page 242: ...0 will be disabled 7 7 3 Synchronous Action Activation Code Command h h Synchronous action activation This command sets to activate each synchronous action set which is specified by the lower 4 bit of...

Page 243: ...d will be invalid even if written during acceleration deceleration Make sure to use it during constant speed driving Page1 of RR3 D5 CNST 1 The drive speed setting value DV is not updated by this comm...

Page 244: ...timer can be used repeatedly after the time is up To repeat a timer set D14 bit TMMD of WR3 register to 1 For more details of the timer see chapter 2 9 7 8 5 Timer Stop Code Command h Timer stop This...

Page 245: ...that the user wants to start simultaneously and then write the drive command to each axis Then if the drive start holding release command 78h is written all axes will start the driving simultaneously...

Page 246: ...age 1 display This command displays Page1 of RR3 register When displaying Page1 D15 bit of RR3 register becomes 1 7 8 13 Maximum finish point clear Code Command h Maximum finish point clear In linear...

Page 247: ...ser cannot access the IC for a period of 8CLK 500nsec CLK 16MHz after the command code is written Similarly in 8 bit data bus and I2C serial interface bus this command must write to the high word byte...

Page 248: ...nection with SH 4CPU and 16 bit Bus Mode Example of 16 bit Bus Mode Connection SH 4 SH7760 Examples of Waiting Control Bus Clock 66 664MHz Setup Waiting 1 cycle insert Resister set WCR3 A1S0 1 Access...

Page 249: ...3 3V 3 3V SDA 3 3k 3 3k H8SX1655 Examples of Register Setting Register Address Setting value 8 bit D7 D0 ICCRA_0 H FFEB0 10101001 D7 I2C Bus Interface Enable Setting 1 enables transfer operation D5 s...

Page 250: ...4 Pulse Output Interface Output to Motor Driver in Differential Circuit GND Twisted Pair Shield Cable Motor Driver GND CW CW CCW CCW AM26C32 AM26C31 XPP XPM MCX514 Open Collector TTL Output CW CW CCW...

Page 251: ...IC and set an appropriate time constant FL Ah Bh 3 3V 10K 4 7K 12 24V TLP281 MCX514 Limit LMTP Integral Filter Enable Disable To the internal circuit 0 25W 8 6 Connection Example for Encoder The follo...

Page 252: ...alue setting define MCX514_CMD16_TM 0x0016 Timer value setting define MCX514_CMD17_SP1 0x0017 Split pulse setting 1 define MCX514_CMD18_SP2 0x0018 Split pulse setting 2 define MCX514_CMD19_TX 0x0019 I...

Page 253: ...x0061 2 axis linear interpolation driving define MCX514_CMD62_LHK3 0x0062 3 axis linear interpolation driving define MCX514_CMD63_LHK4 0x0063 4 axis linear interpolation driving define MCX514_CMD64_CH...

Page 254: ...n define MCX514_WR0 0x00 define MCX514_WR1 0x02 define MCX514_WR2 0x04 define MCX514_WR3 0x06 define MCX514_WR4 0x08 define MCX514_WR5 0x0a define MCX514_WR6 0x0c define MCX514_WR7 0x0e define MCX514_...

Page 255: ...ort Data Reads out RR1 register WriteReg0 Axis 8 MCX514_CMD1F_NOP Axis assignment return ReadReg volatile unsigned short REG_ADDR MCX514_RR1 Data int ReadReg2 int Axis unsigned short Data Reads out RR...

Page 256: ...SetAccOfst int Axis long Data Acceleration counter offsetting return SetData MCX514_CMD0D_AO Axis Data int SetHomeSpd int Axis long Data Home search speed setting return SetData MCX514_CMD14_HV Axis...

Page 257: ...ta int SetModeFilter int Axis unsigned short Data Input signal filter mode setting return SetModeData MCX514_CMD25_FLM Axis Data int SetModeSync0 int Axis unsigned short Data Synchronous action SYNC0...

Page 258: ...F_WR3 Axis Data int GetMRM int Axis long Data Multi purpose register mode setting reading return GetData MCX514_CMD40_MRM Axis Data int GetP1M int Axis long Data PIO signal setting 1 reading return Ge...

Page 259: ...14_CMD61_LHK2 MCX514_AXIS_NONE int ExeLHK3 void 3 axis linear interpolation driving return ExeCmd MCX514_CMD62_LHK3 MCX514_AXIS_NONE int ExeLHK4 void 4 axis linear interpolation driving return ExeCmd...

Page 260: ...MCX514_CMD73_TMSTA Axis int ExeTMSTP int Axis Timer stop return ExeCmd MCX514_CMD74_TMSTP Axis int ExeSPSTA int Axis Split pulse start return ExeCmd MCX514_CMD75_SPSTA Axis int ExeSPSTP int Axis Split...

Page 261: ...nc MCX514 248 248 return 0 Common function of reading RR register I O port access The following is the example of SH microcomputer int ReadReg volatile unsigned short Adr unsigned short Data Data reg_...

Page 262: ...and into WR0 int SetModeData unsigned short Cmd int Axis unsigned short Data Writes the lower 16 bit of data into WR6 WriteReg6 Data Writes a command into WR0 WriteReg0 Axis 8 Cmd return 0 Common func...

Page 263: ...tection signal STOP1 Search direction direction SetModeHMSrch2 MCX514_AXIS_X 0x0000 Timer between steps Disable At the termination of home search LP RP clear Disable SetAcc MCX514_AXIS_X 95000 Acceler...

Page 264: ...tion factor MRm object changed to True Action Save CT MRm ExeSYNC MCX514_AXIS_X MCX514_CMD81_SYNC0EN MCX514_CMD82_SYNC1EN SYNC0 1 Enable ExeDRVRL MCX514_AXIS_X Relative position driving waitdrive MCX5...

Page 265: ...4 V D15 D0 signal I 6mA V 0 4 V Other signals except those above Low level output voltage V I L 0mA 0 1 V I L 12mA 0 4 V D15 D0 signal INT0N INT1N signal I L 6mA 0 4 V Other signals except those above...

Page 266: ...t data bus H16L8 Low the address signals shown in the figure become A3 A0 and data signals become D7 D0 Symbol Item Min Max Unit tAR Address Setup Time to RDN 0 nS tCR CSN Setup Time to RDN 0 nS tRD O...

Page 267: ...E tDE tDE tDE tDE tDE tDE Count down Count up Up Down Pulses Input Mode nPPIN nPMIN tIH tIL tIB tIH tIL tICYC tICYC a In quadrature pulses input mode when nECA nECB input pulses are changed the value...

Page 268: ...pulse When without starting pulse all the split pulses are output with 1 CLK delay from the drive pulse When with starting pulse is enabled in split pulse mode setting This is when with starting puls...

Page 269: ...k Time of falling edge 300 nS Start Stop Condition Symbol Item Min Max Unit tSSU Start Condition Setup Time 600 nS tSHD Start Condition Hold Time 600 nS tPSU Stop Condition Setup Time 600 nS Writing R...

Page 270: ...tus output signal nDRIVE is on Hi level after a maximum of 2 CLK cycles from WRN when a driving command is written And it returns to Low level after 1 CLK cycle from when the cycle of final pulse outp...

Page 271: ...Pulse 2nd Pulse a b a The first pulses nPP nPM and nPLS of each axis will be output after a maximum of 4 CLK cycles from WRN when a start driving after hold command is written b nDRIVE will become Hi...

Page 272: ...the filter 11 7 Detailed Timing of Split Pulse When with starting pulse is enabled in split pulse mode setting only the first split pulse is on the Hi level at the timing of the drive pulse The second...

Page 273: ...ht from the top end to the bottom end of package main unit b 0 17 0 27 Pin width c 0 09 0 2 Pin thickness D 21 8 22 22 2 Overall length including pin length D1 19 8 20 20 2 Length of package main unit...

Page 274: ...er and install it within seven days If the allowable storage period described above has been exceeded baking must be applied before installation of the IC 13 2 Standard Installation Conditions by Sold...

Page 275: ...ormula of pulse number for acceleration Pa when initial speed SV drive speed DV and acceleration AC are given Pulse number for acceleration AC 2 SV DV P 2 2 a Deceleration DC deceleration time td and...

Page 276: ...and jerk JK are given Pulse number for acceleration JK SV DV SV DV Pa Deceleration increasing rate DJ deceleration time td and pulse number for deceleration Pd can be calculated by replacing jerk JK...

Page 277: ...me search speed pps 6 CLK 10 16 f HV Speed increasing decreasing value pps 6 CLK 10 16 f IV Timer value sec CLK 6 f 10 16 TM Symbol SV Initial speed setting DV Drive speed setting AC Acceleration sett...

Page 278: ...ction This is a driving command corresponding to direction fixed pulse driving of MCX300 series Absolute position driving As the finish point of driving specifies logical position counter value that i...

Page 279: ...alues it is not necessary to set them again Before interpolation driving be sure to set position and speed parameters When parameters are the same as previous values it is necessary to set them again...

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