-
81
-
11-5.
Servomotor
I/F
11-5-1.
INP
signal
The
pulse
strings
input
accepting
servo
driver
systems
have
a
deflection
counter
to
count
the
difference
between
command
pulse
inputs
and
feedback
pulse
inputs.
The
driver
controls
to
adjust
the
difference
to
zero.
In
other
words,
the
effective
function
of
servomotors
is
to
delete
command
pulses
and,
even
after
the
command
pulses
stop,
the
servomotor
systems
keep
feeding
until
the
count
in
the
deflection
counter
reaches
zero.
This
LSI
can
receive
a
positioning
complete
signal
(INP
signal)
from
a
servo
driver
in
place
of
the
pulse
output
complete
timing,
to
determine
when
an
operation
is
complete.
When
the
INP
signal
input
is
used
to
indicate
the
completion
status
of
an
operation,
the
signal
when
an
operation
is
complete,
the
main
status
(bits
0
to
5
of
the
MSTSW,
stop
condition),
and
the
extension
status
(CND0
to
3,
operation
status)
will
also
change
when
the
INP
signal
is
input.
The
input
logic
of
the
INP
signal
can
be
changed.
The
minimum
pulse
width
of
the
INP
signal
is
2
cycles
of
the
reference
clock
(0.1
µ
sec)
when
the
input
filter
is
OFF.
If
the
input
filter
is
ON,
the
PCL
does
not
receive
pulses
shorter
than
the
set
length.
If
the
INP
signal
is
already
ON
when
the
PCL
is
finished
outputting
pulses,
it
treats
the
operation
as
complete,
without
any
delay.
The
INP
signal
can
be
monitored
by
reading
the
RSTS
register
(extension
status).
Set
the
operation
complete
delay
using
the
INP
signal
<Set
MINP
(bit
9)
in
PRMD>
0:
No
operation
complete
delay
waiting
for
the
INP
signal.
1:
Operation
complete
(status,
)
delay
until
the
INP
signal
turns
ON.
[PRMD]
(WRITE)
15
8
-
-
-
-
-
-
n
-
Input
logic
of
the
INP
signal
<Set
INPL
(bit
22)
in
RENV1>
0:
Negative
logic
1:
Positive
logic
[RENV1]
(WRITE)
23
16
-
n
-
-
-
-
-
-
Reading
the
INP
signal
<SINP
(bit
16)
in
RSTS>
0:
The
INP
signal
is
OFF
1:
The
INP
signal
is
ON
[RSTS]
(READ)
23
16
0
0
0
0
0
0
0
n
Set
the
INP
input
filter
<FLTR
(bit
26)
in
RENV1>
1:
Apply
a
filter
to
the
±
EL,
SD,
ORG
ALM
and
INP
input.
By
applying
a
filter,
pulses
shorter
than
the
FTM
set
value
[RENV1]
(WRITE)
31
24
-
-
-
-
-
n
-
-
Select
the
input
filter
characteristics
<Set
FTM
(bits
20,
21)
in
RENV1>
00:
3.2
µ
sec
10:
200
µ
sec
01:
25
µ
sec
11:
1.6
msec
[RENV1]
(WRITE)
23
16
-
-
n
n
-
-
-
-
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...
