Nova Electronics MCX514, Руководство пользователя

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NOVA electronics Inc. MCX514 -
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6. Register
This chapter describes the user how to access all the registers in MCX514, and what are the mapping addresses of these registers.
6.1
Register Address by 16-bit Data Bus
As shown in the table below, when 16-bit data bus is used, the access address of read / write register is 8-bit.
■
Write Register in 16-bit Data Bus
All registers are 16-bit length.
Address
A2 A1 A0
Symbol Register Name Contents
0 0 0 WR0 Command Register
・
for axis assignment and setting command
0 0 1
XWR1
YWR1
ZWR1
UWR1
X-axis Mode register 1
Y-axis Mode register 1
Z-axis Mode register 1
U-axis Mode register 1
・
for setting the valid / invalid of interrupt
0 1 0
XWR2
YWR2
ZWR2
UWR2
X-axis Mode register 2
Y-axis Mode register 2
Z-axis Mode register 2
U-axis Mode register 2
・
for setting the logical levels and enable/disable of external
decelerating stop
・
for setting the logical levels and enable/disable of servo motor
signal
・
for setting the limit signal mode and software limit mode
0 1 1
XWR3
YWR3
ZWR3
UWR3
X-axis Mode register 3
Y-axis Mode register 3
Z-axis Mode register 3
U-axis Mode register 3
・
for setting the auto and manual deceleration
・
for setting the acceleration/deceleration mode (symmetry/
non-symmetry, linear acceleration/deceleration, S-curve
acceleration/deceleration)
・
for setting the drive pulse output mode and pins
・
for setting the encoder input signal mode and pins
1 0 0
WR4 Output register 1
・
for setting the output values of X-axis general purpose input/output
signals XPIO7
～
0
・
for setting the output values of Y-axis general purpose input/output
signals YPIO7
～
0
1 0 1
WR5 Output register 2
・
for setting the output values of Z-axis general purpose input/output
signals ZPIO7
～
0
・
for setting the output values of U-axis general purpose input/output
signals UPIO7
～
0
1 1 0 WR6 Data writing register 1
・
for setting the low word 16-bit (D15
～
D0) for data writing
1 1 1 WR7 Data writing register 2
・
for setting the high word 16-bit (D31
～
D16) for data writing

As shown in the table above, each axis has WR1, WR2 and WR3 mode registers, which will be written by the same address.
The host CPU specifies which axis should be accessed depends on the axis of written command just before. Or the user can
specify the axis by writing NOP command with axis assignment.

The bits of WR1, WR2, WR3, WR4 and WR5 are cleared to 0 at reset.