NPM PCL6113, User Manual

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11-7. External stop / simultaneous stop
This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the
terminal. Set MSPE (bit 24) = 1 in the PRMD register (operation mode) to enable a stop from a
input. The axis will stop immediately or decelerate and stop when the terminal is LOW.
However, a deceleration stop is only used for a high speed start. When the axis is started at low speed, the
signal on the terminal will cause an immediate stop.
The input logic of the terminal cannot be changed.
When multiple LSIs are used to control multiple axes, connect all of the terminals from each LSI and
input the same signal so that the axes which are set to stop on a input can be stopped
simultaneously. In this case, a stop signal can also be output from the terminal.
When an axis stops because the signal is turned ON, an signal can be output. By reading the
REST register, you can determine the cause of an error interrupt. You can monitor terminal status by
reading the RSTS register (extension status).
<How to make a simultaneous stop>
Set MSPE (bit 24) = 1 in the PRMD register for each of the axes that you want to stop simultaneously.
Then start these axes.
Stop these axes using either of the following two methods.
1) By writing a simultaneous stop command, the terminal will output a one shot signal 8 reference
clock cycles in length (approx. 0.4 µsec when CLK = 19.6608 MHz).
2) Supply an external hardware signal
Supply a hardware signal using an open collector output (74LS06 or equivalent).
3) The CSTP terminal will output a one shot signal for 8 reference clock cycles (approximately 0.4 µsec
when CLK = 19.6608 MHz) when a stop caused by an error occurs on an axis that has MSPO = 1 in the
PRMD register.
Even when the terminals on LSIs are connected together, each axis can still be stopped
independently by using the stop command.
1) Connect the terminals as follows for a simultaneous stop among different LSIs.
CSTP CSTP CSTP CSTP
+3.3V
5 k to 10 k-ohm
2) To stop simultaneously using an external circuit, connect as follows.
As a stop signal, supply a one shot signal 4 reference clock cycles or more in length (approx. 0.2 µsec
when CLK = 19.6608 MHz).