NOVA electronics Inc. MCX514 -
147
－
147
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[Note]
•
The maximum drive speed is 4MPPS in multichip interpolation. Set the drive speed lower than 4MPPS.
•
The setting drive speed is applied to the axis that has the maximum number of the drive pulse in all axes of multiple
axes linear interpolation. The setting speed is not necessarily applied to the main axis of the main chip.
•
When performing trapezoidal or S-curve acceleration/deceleration driving, deceleration enabling command (6Dh) must
be written to the main chip before interpolation driving command.
(3) Finish point setting of each axis
Write a finish point to all of each axis that performs interpolation with main/sub chips, by the relative value from the current
value.
The finish point range of multichip interpolation is signed 28-bit. Write the finish point data to WR6, 7 register, and then write the
command code 06h with axis assignment to WR0 register, and they will be set.
Generally, when multiple axes linear interpolation is performed, the maximum value of finish point data in all axes is required in
calculating linear interpolation for each axis. In order to enable high-speed continuous linear interpolation, this IC generates the
maximum value automatically when a finish point of each axis is set. There is no need to calculate the maximum value by CPU
and to set the maximum value to each axis.
When finish point data is written in the axis of some chip, it is transferred from the written chip to other chips through multichip
interpolation signal (MCLK, MDT3
～
0). In the receiving chip, when the finish point data is received, the data is compared with
the maximum finish point of its own chip by absolute value, and when the data is larger, the maximum finish point will be
updated.
This transfer time of finish point data
takes about 2μsec (CLK=16MHz). Therefore an interval of writing of finish point for each
axis cannot be shortened than this time. In high-speed calculation CPU, if a writing cycle of finish point data is faster than this
time, it is necessary to input delay in the software.
The maximum finish 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 can be read by the interpolation /
finish point maximum value reading command (39h), the user can confirm whether the maximum value is correctly generated after
writing finish point data of all axes.
[Note]
•
The value read by the interpolation / finish point maximum value reading command (39h) is different before and after
interpolation driving. For more details of interpolation / finish point maximum value reading command (39h), see
chapter 7.4.10.
■
Finish point data transfer error
In the receiving chip of finish point data, it checks whether there is an error in the data sum and transfer frame or not. If it is not
correctly received, an error occurs, and D7 bit (CERR) of RR2 register and D12 bit (MCERR) of RR3 register Page1 become 1. In
addition, all error bits (the corresponding bits of D7
～
4:n-ERR) of RR0 register in interpolation axes become 1. When a receiving
error occurs in the sub chip, the error is sent through multichip interpolation signal (MERR) to the main chip, and the error bit of
the main axis RR0 register in the main chip also becomes 1.
(4) Writing of interpolation command
Write the linear interpolation driving command (60h
～
63h) corresponding to the number of interpolation axis in each sub chip.
Then, write the linear interpolation driving command (60h
～
63h) corresponding to the number of interpolation axis in the main
chip. If the command is written to the main chip first, it does not work properly. When performing acceleration/deceleration
driving, the deceleration enabling command (6Dh) must be written to the main chip before the interpolation driving command.
Table 3.10-5 Multichip Interpolation Command
Interpolation Command
Code
1-axis linear interpolation driving
60h
2-axis linear interpolation driving
61h
3-axis linear interpolation driving
62h
4-axis linear interpolation driving
63h
When the linear interpolation driving command (60h
～
63h) is written to the main chip, the main chip starts immediately to output
the synchronous pulse of interpolation driving to each sub chip through MPLS signal, and then linear interpolation starts in all
axes.
