NPM Motionnet G9006 User Manual Download

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TA600032-EN0/0

- 3 -

1.1.2

Terminology

Terminology used in this manual is described below.
Refer to the following web page for terms that are not described in this section:
<

https://www.pulsemotor.com/technology/terms/

> [only Japanese]

Table 1.1-1 Motionnet

Product Lineup

Device

Type

Model

Product

CPU

Center

Center LSI

G9001A

Necessary

Local

Local LSI

I/O device

G9002A

Unnecessary

G9205A

Unnecessary

G9006

Necessary

Data device

G9103C

Optional

G9004A

Optional

Monitor

G9006

Necessary

Hub

HUB-LSI

G9H50A

Unnecessary

⚫

Center LSI

LSI product "G9001A".

⚫

Local LSI

LSI products such as "G9002A", "G9103C", "G9004A", and "G9205A".

⚫

Center CPU

CPU connected to "Center LSI".

⚫

Local CPU

CPU connected to "Local LSI".

⚫

Request frame

Request from "Center LSI" to "Local LSI".
This includes the "Device number" of the destination.

⚫

Response frame

Response from "Local LSI" to "Center LSI".
This includes the "Device number" of the sender.

Summary of Contents for Motionnet G9006

Page 1: ...TA600032 EN0 0 Motionnet Function Expansion LSI G9006 User s Manual RoHS2 2011 65 EU 10...

Page 2: ...tor 10 2 1 2 Communication between CPUs 11 2 1 3 General purpose one shot signal output 12 2 1 4 Broadcast command reception 13 2 1 5 Interrupt occurrence 13 2 2 Configuration 14 2 2 1 Local operation...

Page 3: ...4 wire serial interface 29 4 6 1 Single connection circuit 29 4 6 2 Multiple connection circuit 29 5 Software description 30 5 1 Motionnet access 30 5 1 1 I O communication 30 5 1 2 System communicati...

Page 4: ...oadcast one shot signal BCST pin 76 6 5 General purpose input output pin control 77 6 6 Relative time management 78 6 6 1 Relative time management counter RTMC 78 6 6 2 Relative time latch RTLT 78 6 7...

Page 5: ...e requiring hospitalization or long term outpatient treatment Minor injury Those not requiring hospitalization or long term outpatient treatment Other than serious injury above 1 1 1 2 Hazardous level...

Page 6: ...t 1 1 1 3 Warning symbol In this manual the following symbols are added along with the notations danger Warning Caution and Importance to indicate the warning contents in an easy to understand manner...

Page 7: ...LSI I O device G9002A Unnecessary G9205A Unnecessary G9006 Necessary Data device G9103C Optional G9004A Optional Monitor G9006 Necessary Hub HUB LSI G9H50A Unnecessary Center LSI LSI product G9001A Lo...

Page 8: ...escription of time the value at Internal clock frequency 40 MHz is shown unless otherwise specified 5 Regarding the signal state of ON or OFF H level or 1 indicates ON in the case of positive logic L...

Page 9: ...of time Even within a rated range the failure rates vary with the operating temperature and the voltage Take this into account when designing your equipment Do not exceed the absolute maximum rating e...

Page 10: ...ust When storing the product use an antistatic storage container to prevent pressure on the LSI Follow the shipping box precautions during transportation and storage Keep storage temperature and humid...

Page 11: ...discharged suddenly when touched When lifting LSI surface with an aspirator take an antistatic measure such as using conductive rubber at the tip of contacting area Do not allow any charged objects w...

Page 12: ...ed reflow please work under the following conditions Reflow can be done up to twice The temperature profile of an infrared reflow furnace must be within the range shown in the figure below the tempera...

Page 13: ...upplier regarding the product s warranty This warranty covers the product itself The detriments induced by the product failure etc will not be covered by the warranty 1 4 Notice This document aims to...

Page 14: ...lock corresponds to the Device number assigned to Local LSI on the transmission line G9006 receives all I O communication on the transmission line and stores Port data in each block of Port data memor...

Page 15: ...Motionnet can communicate 4 bytes of data for each Local LSI G9006 can communicate data exceeding 4 bytes by adding a Virtual local LSI The Virtual local LSI can add up to seven stations G9006 can co...

Page 16: ...er signals can be selected from Local CPU 1 Operation command execution from Local CPU 2 Signal input from external pin of general purpose port 0 3 Signal input from external pin of general purpose po...

Page 17: ...from external pin This function does not work when Monitor operation mode is set from Local CPU This function does not work even before connecting to Motionnet with Operation command from Local CPU 2...

Page 18: ...ion mode Device number and Virtual local LSI additional count can be set Device number is the number to identify G9006 as a Local LSI Virtual local LSI addition count is the number of virtual local LS...

Page 19: ...al LSI via G9006 G9006 in Monitor operation mode does not use Device number The Device number set to G9006 does not affect Motionnet G9006 can also be connected to Motionnet where 64 Local LSIs are al...

Page 20: ...e reference clock If the duty ratio is unlikely to be 50 such as when connecting multiple LSIs to a single crystal oscillator it is recommended that CLK signals of 80 MHz be input as the reference clo...

Page 21: ...d MHz 20 General purpose input output GPIO Eight general purpose input output pins can be controlled by Local CPU Package 48 pin LQFP Package size mm 7 x 7 molded part Mass g 0 18 typical Power supply...

Page 22: ...al dimensions and pin layout and explains the connection between G9006 and Motionnet interface as well as between G9006 and 4 wire serial interface 4 1 External dimensions P LQFP048 0707 0 50 equivale...

Page 23: ...meters Minimum Nominal Maximum E 6 90 7 00 7 10 D 6 90 7 00 7 10 A 1 70 A1 0 0 10 0 20 A2 1 30 1 40 1 50 e 0 50 b 0 13 0 20 0 27 c 0 09 0 15 0 20 0 5 10 L 0 30 0 50 0 70 L1 0 80 1 00 1 20 HE 8 60 9 00...

Page 24: ...46 47 48 36 35 34 33 32 31 30 29 28 27 26 25 1 2 3 4 5 6 7 8 9 10 11 12 24 23 22 21 20 19 18 17 16 15 14 13 VDD TOUT RSV2 SO GND SOEH SI VDD SOEI DMOD GND GND RST A1 VDD A0 MOSI GND SCK SS VDD MISO I...

Page 25: ...I Transmission speed setting 2 SPD1 I Transmission speed setting 3 BCST O N Open Broadcast one shot signal 4 VDD 3 3 V power supply pin 5 CKSL I Reference clock selection setting 6 GND GND power suppl...

Page 26: ...the Device number setting 35 PORT7 DN5 B P N Pull up General purpose input output 7 signal Also serves as an input pin for the Device number setting 36 GND GND power supply pin 37 MRER RSV0 B N Pull...

Page 27: ...ed of Motionnet communication Transmission speed SPD1 SPD0 20 Mbps H H 10 Mbps H L 5 Mbps L H 2 5 Mbps L L Set the level of SPD0 and SPD1 pins according to the transmission speed used 4 4 5 SI 44 SO 4...

Page 28: ...eriod of the watchdog timer can be selected in RENV1 TMD TOUT pin remains at L level until Motionnet communication is resumed so it can be used for LED display Local CPU can receive the interrupt requ...

Page 29: ...r General purpose input output signals For details on triggering the General purpose one shot signal see 5 2 3 3 RENV2 04h Environment setting 2 register For details on switching the General purpose i...

Page 30: ...These are the output pins for General purpose one shot signal For details see 6 4 One shot signal output 4 4 19 INT 13 This is the output pin for the Interrupt request signal For details see 6 8 1 In...

Page 31: ...sformer The terminating resistor must be equal to the characteristic impedance of the communication cable SO SI and SOEH pins also have a 5 V tolerant function allowing direct connection of TTL level...

Page 32: ...nsmission line to the line transceiver must be shortened linearly Long wiring can reduce communication performance When connecting multiple Local LSIs limit the number of steps to 4 or less because ou...

Page 33: ...n format Slave number bit to 00b 4 6 2 Multiple connection circuit Four G9006 units can be multidrop connected to one SS signal and controlled from one Local CPU Depending on the connection of the Sla...

Page 34: ...on 1000h 1100h 1200h to 123Fh they send an Attribute information in a Response frame The Attribute information to which G9006 and Virtual local LSI responds is 02nm 0100h In the Attribute information...

Page 35: ...t command When the Group number is 000b the Local LSI of all groups is the target of the Broadcast command The Group number of G9006 is set to RENV1 GR 5 1 4 Break communication When G9006 receives a...

Page 36: ...The MOSI and MISO signals are input at the rising edge of the SCK signal 4 wire serial access ends at the rising edge of the SS signal More than one Control commands cannot be output in one access bet...

Page 37: ...s following the Address becomes Dummy data Read out data can be input from the MISO signal in synchronization with the output of Dummy data Read out data can be input continuously without any restrict...

Page 38: ...an be input from the MISO signal in synchronization with the output of Dummy data The number of bytes of Read out data differs for each Read control command G9006 outputs Read out data to the Local CP...

Page 39: ...ixed to 0 3 2 SN Set Slave number 7 4 TS Set Type selection 5 2 2 1 Zero fixed The 1st and 0th bits of the Control command are fixed to 0 5 2 2 2 Slave number The 3rd and 2nd bit of the Control comman...

Page 40: ...rt change interrupt setting writing Memory address Write in data n 2 n 0111 Port change interrupt setting reading Memory address Dummy data n 2 n 1000 Port change interrupt flag clear Memory address W...

Page 41: ...etails on Register see 5 2 3 Registers Writing to Register is executed every time G9006 receives 1 byte data When the Write in data is an odd byte the last upper byte is not written 5 2 2 3 2 Register...

Page 42: ...rated by device setting change 21h CCWR Clear of the error interrupt generated by writing port data 22h CCTM Clear of the error interrupt generated while writing port data 23h CCBC Clear of the event...

Page 43: ...Z Read out data 7 0 Read out data 15 8 The ss bit is the Slave number SN bit of a Control command Read out data can input 2 bytes For example when inputting Read out data from Status MSTS output the...

Page 44: ...ed to other than Own device excluding Break communication when MSTS SBSY 1 connected to Motionnet 3 Immediately after receiving a Request frame of Broadcast communication addressed to Own device when...

Page 45: ...rom 0 to 255 When the Read out data is 2 bytes or more the Read out data is input while incrementing the Memory address When the Memory address is incremented from 255 it becomes 0 The Read out data c...

Page 46: ...interrupt setting memory is executed each time G9006 receives 1 byte data When the write in data exceeds 32 bytes the first data is overwritten 5 2 2 3 8 Port change interrupt setting reading Read out...

Page 47: ...ge interrupt flag memory is executed each time G9006 receives 1 byte data When the write in data exceeds 32 bytes the first data is overwritten 5 2 2 3 10 Port change interrupt flag reading Read out d...

Page 48: ...d out Data 15 8 Read out Data 23 16 Read out Data 31 24 The ss bit is the Slave number SN bit of the Control command The Read out data can input 4 bytes For example when inputting Read out data of Rel...

Page 49: ...t Symbol Description 5 0 DN The Device number is read 6 0 Fixed to 0 7 S The MSTS IPOV is read 11 8 Pn The area of Port change interrupt flag memory that matches the DN is read 15 12 RTLT The lower 4...

Page 50: ...ommand 1111 ss00 Memory Address Dummy Data 0000 0000 MISO Hi Z Hi Z Read out Data 7 0 The ss bit is the Slave number SN bit of the Control command The Memory address is from 0 to 7 When the Read out d...

Page 51: ...2 General purpose port setting register R W 0000 1000b 8 RTMC 4 Relative time management counter R 0000 1100b 12 RSH0 2 General purpose one shot 0 signal output delay setting register R W 0000 1110b...

Page 52: ...al local LSI additional count The Virtual local LSI additional count can be set from 0 to 7 For details see 6 3 2 Virtual local LSI additional count 5 2 3 1 1 Port attribute The Port attribute of I O...

Page 53: ...I I I I I O O O O O O O O O O O O O O O O 1 0 0 0 0 I I I I I I I I I I I I I I I I I O O O O O O O O O O O O O O O 1 0 0 0 1 I I I I I I I I I I I I I I I I I I O O O O O O O O O O O O O O 1 0 0 1 0...

Page 54: ...0 000 000 00111 100 100 000 000 000 000 000 000 01000 100 100 001 000 000 000 000 000 01001 100 100 010 000 000 000 000 000 01010 100 100 011 000 000 000 000 000 01011 100 100 100 000 000 000 000 000...

Page 55: ...ing memory 1 Port change event interrupt is also generated by Request frame to Local LSI not selected in Port change interrupt setting memory Port change event interrupts can be generated mainly on Ou...

Page 56: ...elative time management counter digit overflow event 14 QPOV A Port change interrupt information acquisition failure event MSTS IPOV can be generated 0 Does not generate a Port change interrupt inform...

Page 57: ...11 Selects a general purpose input signal to PORT2 pin For details see 6 4 1 General purpose one shot 0 signal SHT0 pin 11 10 TS1 Select the trigger for General purpose one shot 1 signal SHT1 pin out...

Page 58: ...gement counter can be read 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RTMC Bit Symbol Description 31 0 RTMC Read Relative time management counter Writing is...

Page 59: ...3 2 1 0 SHL1 SHW1 SHL0 SHW0 Bit Symbol Description 6 0 SHW0 Set the pulse width of General purpose one shot 0 signal SHT0 pin 0 to 127 can be set The pulse width is SHW0 100 s When SHW0 0 is set no pu...

Page 60: ...no pulse is output For details see 6 4 3 Broadcast one shot signal BCST pin 7 0 Fixed to 0 8 BCSL Select the output logic of Broadcast one shot signal BCST pin 0 Normally by H level negative logic pul...

Page 61: ...so respond to Break frame send request from the Center LSI Operation command Symbol Description 10h CDVON Connect to Motionnet When connected MSTS SBSY 1 connected to Motionnet is set Starts reception...

Page 62: ...it overflow event MSTS ITCO interrupt For details see 6 8 2 6 Relative time management counter digit overflow event 25h CCPV Clear Port change interrupt information acquisition failure event MSTS IPOV...

Page 63: ...ocal LSI can be read 0 No event has generated 1 An event has generated An Interrupt request signal INT pin can be output For details see 6 8 2 4 Port change event 4 IBCS When RENV1 QBCS 1 is set the B...

Page 64: ...ds For details see 5 2 4 2 Motionnet communication 10 TOUT Output states of the TOUT pin can be read 0 H level The watchdog timer of Motionnet communication has not timed out 1 L level The watchdog ti...

Page 65: ...is shown in Table 5 2 3 Port data memory address quick reference Table 5 2 3 Port data memory address quick reference DN ADDR DN ADDR DN ADDR DN ADDR 0 00h 00h 16 10h 40h 32 20h 80h 48 30h C0h 1 01h 0...

Page 66: ...N59 DN58 0001 1110b 30 DN61 DN60 0001 1111b 31 DN63 DN62 Device number DN and Port number P in the Port change interrupt setting area correspond as shown below 7 6 5 4 3 2 1 0 P3 P2 P1 P0 P3 P2 P1 P0...

Page 67: ...y Request frame The connection state other than the Own device and the Virtual local LSI is confirmed by Response frame The Local LSI connection state area is updated each time a Response frame of the...

Page 68: ...ignal 8 cycles or more 4 Input RST H level 5 Input CLK signal 8 cycles or more by 6 1 2 Software reset Software reset can be executed as follows 1 Write CSREN 01h operation command from the Local CPU...

Page 69: ...CPU writes the Port change event MSTS IPTC interrupt setting to G9006 In order to monitor the Request frame write RENV1 0040h from the Local CPU 3 The Local CPU writes a command to connect G9006 to Mo...

Page 70: ...zes and reads Input change interrupt of the Center LSI G9006 automatically responds with Response frame and updates the Port data of Center LSI 13 Local CPU can repeat the operation from the procedure...

Page 71: ...al CPU 3 The Local CPU instructs G9006 to connect with Motionnet Write CDVON 10h operation command from the Local CPU Step 3 When Operation mode is ready go to the next step 4 The Local CPU recognizes...

Page 72: ...2 Local information monitor procedures 1 Center LSI G9006 Local CPU RADD 0080h ADDR 0 F0h CDVON 10h Local LSI Center CPU 2 3 4 5 6 7 8 9 Port Data Port Data STATUS 0108h ADDR 0 10h Port Data ADDR 0 00...

Page 73: ...0 RADD DN Bit Symbol Description 5 0 DN Set Device number For details on RADD 00h register see 5 2 3 1 RADD 00h Device setting register 6 3 1 2 Setting by external pins Device number can be set by DN...

Page 74: ...Bit Symbol Description 15 13 RSV Set Virtual local LSI additional count For details on the RADD 00h register see 5 2 3 1 RADD 00h Device setting register 6 3 2 2 Setting by external pins Virtual loca...

Page 75: ...tual local LSI additional count setting error MSTS EAER occurs When the Virtual local LSI additional count setting error occurs G9006 sets MSTS EAER 1 The Local CPU clears the Virtual local LSI additi...

Page 76: ...ere is an error that is up to 100 s When RSH0 0 is set no pulse is output RSHS SHW0 Set the pulse width of General purpose one shot 0 signal SHT0 pin 0 to 127 can be set The pulse width is RSHS SHW0 1...

Page 77: ...rpose one shot 1 signal The input logic can be selected with RENV2 TL0 Item Description RENV1 FIL Select the PORT0 PORT1 and PORT2 pin noise filters that can be selected as triggers for general purpos...

Page 78: ...1 Set the pulse width of General purpose one shot 1 signal SHT1 pin 0 to 127 can be set The pulse width is RSHS SHW1 100 s When RSHS SHW1 0 is set no pulse is output RSHS SHL1 Select the output logic...

Page 79: ...ose one shot 0 signal The input logic can be selected with RENV2 TL1 Item Description RENV1 FIL Select the PORT0 PORT1 and PORT2 pin noise filters that can be used as triggers for general purpose one...

Page 80: ...0 s When RBCS BCSW 0 is set no pulse is output RBCS BCSL Select the output logic of Broadcast one shot signal 0 Normally by H level outputs negative logic pulse by trigger 1 Normally by L level output...

Page 81: ...vel the settings of the RENV2 PTA2 to RENV2 PTA7 are ignored Also PORT2 to PORT7 pins are set as input pins RENV2 TS0 Select the trigger for General purpose one shot 0 signal SHT0 pin output 00 Select...

Page 82: ...erflow event 6 6 2 Relative time latch RTLT Relative time latch can latch the value of Relative time management counter RTMC The latch timing is when Port change event MSTS IPTC interrupt occurs The R...

Page 83: ...r than Port change event MSTS IPTC interrupt They are cleared by writing the corresponding interrupt clear operation command 3 When MSTS IPTC 1 is set the following processing is selected depending on...

Page 84: ...Motionnet communication timeout event 7 ITOT CCTT 26h operation command 6 8 2 1 Device setting change error G9006 can output the Interrupt request signal INT pin by the Device setting change error MS...

Page 85: ...peration command is written after the SS signal rises INT H level is output 6 8 2 3 Port data write processing error G9006 can output an Interrupt request signal INT pin by a Port data write processin...

Page 86: ...polling Port data memory without using the Port change event interrupt but the load on the Local CPU increases 6 8 2 4 2 Interrupt request output G9006 sets MSTS IPTC 1 when Port change event interru...

Page 87: ...reception event interrupt with the CCBC 23h operation command When the Broadcast command reception event interrupt is cleared MSTS IBCS 0 is set At the same time INT H level is output 6 8 2 6 Relativ...

Page 88: ...ormation with the following number 1 and 2 cannot be read Port change interrupt flag memory is checked only from the first number 62 to the latest number 0 6 8 2 7 1 Interrupt condition setting G9006...

Page 89: ...1 QTOT 1 is set by Local CPU 6 8 2 8 2 Interrupt request output When G9006 generates a Motionnet communication timeout event interrupt MSTS ITOT 1 is set When changing to TOUT L level INT L level is o...

Page 90: ...4 0 V Input voltage VI 0 3 to 7 0 V Output voltage VO 0 3 to 7 0 V Output current IOUT 30 mA Storage temperature Tstg 65 to 150 C 7 2 Recommended operating conditions Item Symbol Min Typ Max Unit Not...

Page 91: ...0 4 Low level output current IOL VOL 0 4 V 1 12 mA VOL 0 4 V 2 6 High level output current IOH VOH VDD 0 4 1 12 mA VOH VDD 0 4 2 6 Rising input threshold voltage VT2 CLK SI pins 1 1 2 4 V Falling inp...

Page 92: ...onditions Min Max Unit Frequency FCLK 40 MHz Period TCLK 25 ns H level duration TCKH 10 15 ns L level duration TCKL 10 15 ns 2 When CKSL H level is set Item Symbol Conditions Min Max Unit Frequency FC...

Page 93: ...SCKL 17 ns SS active setup SLCH 10 ns SS deselect SHSL 4 TSCK ns SS active hold CHSH 10 ns SS inactive hold CHSL 10 ns Data setup DVCH 6 ns Data hold CHDX 4 ns Output disable SHQZ CL 40 pF 12 ns Outpu...

Page 94: ...TA600032 EN0 0 90 Revision Revision Date Contents 1st Apr 24 2020 New document...

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