-
1
-
1.
Outline
and
Features
1-1.
Outline
The
PCL6113,
PCL6123,
PCL6143
are
CMOS
LSIs
designed
to
provide
the
oscillating,
high-speed
pulses
needed
to
drive
stepper
motors
and
servomotors
(pulse
string
input
types).
It
can
offer
various
types
of
control
over
the
pulse
strings
and
therefore
the
motor
performance.
These
include
continuous
operation,
positioning,
zero
return
at
a
constant
speed,
linear
acceleration/deceleration,
and
S-curve
acceleration/deceleration.
The
number
of
control
axes
is
as
follows:
one
for
the
PCL6113,
two
for
the
PCL6123,
and
4
for
the
PCL6143.
They
offer
linear
interpolation
of
multiple
axes
(using
single
or
multiple
PCLs),
confirmation
of
a
PCL's
operation
status,
and
interrupt
output
by
a
variety
of
conditions.
In
addition,
they
are
equipped
with
servomotor
driver
control
features.
These
functions
can
be
used
with
simple
commands.
The
intelligent
design
philosophy
reduces
the
burden
on
the
CPU
units
to
control
motors.
1-2.
Features
♦
Single
voltage
power
supply
3.3
V
These
PCLs
can
be
operated
from
a
3.3
V
(
±
10%)
single
voltage
power
supply.
The
output
signal
level
range
is
0
to
3.3
V.
The
input
signal
level
range
is
0
to
3.3
V,
or
0
to
5
V.
♦
Super
high-speed
pulse
train
output
9.8
Mpps
can
be
output
when
using
a
19.6608
MHz
(standard)
reference
clock,
or
15
Mpps
when
using
a
30
MHz
(maximum)
reference
clock.
♦
CPU-I/F
These
PCLs
all
contain
integral
interface
circuits
for
four
different
CPU
types,
and
they
can
be
connected
to
a
wide
variety
of
CPUs.
Examples
of
CPU
types:
Z80,
8086,
H8,
or
68000
etc.
♦
Acceleration/deceleration
speed
control
Linear
acceleration/deceleration
and
S-curve
acceleration/deceleration
are
available.
Linear
acceleration/deceleration
can
be
inserted
in
the
middle
of
an
S-curve
acceleration/deceleration
curve.
(Specify
the
S-curve
range.)
The
S-curve
range
can
specify
each
acceleration
and
deceleration
independently.
Therefore,
you
can
create
an
acceleration/deceleration
profile
that
consists
of
linear
acceleration
and
S-curve
deceleration,
or
vice
versa.
♦
Interpolation
These
PCLs
can
perform
linear
interpolation
(offering
synchronized
operation)
of
any
number
of
axes.
♦
Speed
override
In
single
axis
operation,
the
speed
can
be
changed
during
operation
in
any
of
the
operation
modes.
However,
the
speed
cannot
be
changed
during
linear
interpolation.
♦
Overriding
target
position
1)
and
2)
1)
The
target
position
(feed
amount)
can
be
changed
while
feeding
in
the
positioning
mode.
If
the
current
position
exceeds
the
newly
entered
position,
the
motor
will
decelerate,
stop
(immediate
stop
when
already
feeding
at
a
low
speed),
and
then
feed
in
the
reverse
direction.
2)
Starts
operation
the
same
as
in
the
continuous
mode
and,
when
it
receives
an
external
signal,
it
will
stop
after
the
specified
number
of
pulses.
♦
Triangle
drive
elimination
(FH
correction
function)
In
the
positioning
mode,
when
there
are
a
small
number
of
output
pulses,
this
function
automatically
lowers
the
maximum
speed
and
eliminates
triangle
driving.
♦
Look
ahead
function
The
next
set
of
data
(feed
amount,
initial
speed,
feed
speed,
acceleration
rate,
deceleration
rate,
speed
magnification
rate,
ramping-down
point,
operation
mode,
S-curve
range
on
an
acceleration,
S-curve
range
Summary of Contents for PCL6113
Page 1: ...User s Manual For PCL6113 6123 6143 Pulse Control LSI Nippon Pulse Motor Co Ltd...
Page 11: ...5 3 Terminal Assignment Diagram 3 1 PCL6113 3 2 PCL6123...
Page 20: ...14 5 Block Diagram...
Page 115: ...109 11 Stop timing by error...
Page 116: ...110 13 External Dimensions 13 1 PCL6113...
Page 117: ...111 13 2 PCL6123...
Page 118: ...112 13 3 PCL6143...
