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119

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Label

Type

Position

Description

Reference

P4RST

Command

14h

Set

the

general-purpose

output

port

terminal

P4

LOW

P26

P4SET

Command

1Ch

Set

the

general-purpose

output

port

terminal

P4

HIGH

P26

P4u/CP2u

Terminal

name

151 General-purpose

port

4

for

the

U

axis

/

Comparator

2

output

(PCL6143)

P12

P4x/CP2x

Terminal

name

57,

58 General-purpose

port

4

for

the

X

axis

/

Comparator

2

output

(PCL6123,

6143)

P12

P4y/CP2y

Terminal

name

94,

89 General-purpose

port

4

for

the

Y

axis

/

Comparator

2

output

(PCL6123,

6143)

P12

P4z/CP2z

Terminal

name

120 General-purpose

port

4

for

the

Z

axis

/

Comparator

2

output

(PCL6143)

P12

P5

Terminal

name

57

General-purpose

port

5

(PCL6113)

P12

P5M

Register

bit

RENV2

10

Specify

the

P5

terminal

function

P40

P5RST

Command

15h

Set

the

general-purpose

output

port

terminal

P5

LOW

P26

P5SET

Command

1Dh

Set

the

general-purpose

output

port

terminal

P5

HIGH

P26

P5u

Terminal

name

152

General-purpose

port

5

for

the

U

axis.

(PCL6143) P12

P5x

Terminal

name

58,

59

General-purpose

port

5

for

the

X

axis.

(PCL6123,

6143) P12

P5y

Terminal

name

95,

90

General-purpose

port

5

for

Y

axis.

(PCL6123,

6143) P12

P5z

Terminal

name

121

General-purpose

port

5

for

the

Z

axis.

(PCL6143)

P12

P6

Terminal

name

58

General-purpose

port

6

(PCL6113)

P12

P6M

Register

bit

RENV2

11

Specify

the

P6

terminal

function

P40

P6RST

Command

16h

Set

the

general-purpose

output

port

terminal

P6

LOW

P26

P6SET

Command

1Eh

Set

the

general-purpose

output

port

terminal

P6

HIGH

P26

P6u

Terminal

name

153 General-purpose

port

6

for

the

U

axis

(PCL6143)

P12

P6x

Terminal

name

59,

60 General-purpose

port

6

for

the

X

axis

(PCL6123,

6143)

P12

P6y

Terminal

name

96,

91 General-purpose

port

6

for

the

Y

axis

(PCL6123,

6143)

P12

P6z

Terminal

name

122 General-purpose

port

6

for

the

Z

axis

(PCL6143) P12

P7

Terminal

name

59

General-purpose

port

7

(PCL6113)

P12

P7M

Register

bit

RENV2

12

Specify

the

P7

terminal

function

P40

P7RST

Command

17h

Set

the

general-purpose

output

port

terminal

P7

LOW

P26

P7SET

Command

1Fh

Set

the

general-purpose

output

port

terminal

P7

HIGH

P26

P7u

Terminal

name

154

General-purpose

port

7

for

the

U

axis

(PCL6143)

P12

P7x

Terminal

name

60,

61 General-purpose

port

7

for

the

X

axis

(PCL6123,

6143) P12

P7y

Terminal

name

97,

92 General-purpose

port

7

for

the

Y

axis

(PCL6123,

6143)

P12

P7z

Terminal

name

123

General-purpose

port

7

for

the

Z

axis

(PCL6143) P12

PA

/

+DR

Terminal

name

47

Manual

pulsar

A

phase

/

+DR

input

(PCL6113)

P11

PAu/

+DRu

Terminal

name

141 Manual

pulsar

phase

A

input

for

the

U

axis

(PCL6143)

P11

PAx/

+DRx

Terminal

name

48,

49 Manual

pulsar

phase

A

input

for

the

X

axis

(PCL6123,

6143) P11

PAy

/

+DRy

Terminal

name

85,

80 Manual

pulsar

phase

A

input

for

the

Y

axis

(PCL6123,

6143)

P11

PAz

/

+DRz

Terminal

name

111 Manual

pulsar

phase

A

input

for

the

Z

axis

(PCL6143)

P11

PB/-DR

Terminal

name

48

Manual

pulsar

B

phase

/

-DR

input

(PCL6113)

P11

PBu/

-DRu

Terminal

name

143 Manual

pulsar

phase

B

input

for

the

U

axis

(PCL6143)

P11

PBx/

-DRx

Terminal

name

49,

50 Manual

pulsar

phase

B

input

for

the

X

axis

(PCL6123,

6143) P11

PBy

/

-DRy

Terminal

name

86,

81 Manual

pulsar

phase

B

input

for

the

Y

axis

(PCL6123,

6143) P11

PBz

/

-DRz

Terminal

name

112 Manual

pulsar

phase

B

input

for

the

Z

axis

(PCL6143)

P11

PCS

Terminal

name

40

Start

positioning

control

(PCL6113)

P10

PCSL

Register

bit

RENV1

24

Set

the

input

logic

for

the

PCSn

signal

(0:

Negative

logic,

1:

Positive

logic)

P39

PCSM

Register

bit

RENV1

30

Change

PCS

input

to

self-referenced

signal

P39

PCSu

Terminal

name

135 Start

positioning

control

for

the

U

axis

(PCL6143)

P10

PCSx

Terminal

name

41,

42 Start

positioning

control

for

the

X

axis

(PCL6123,

6143)

P10

PCSy

Terminal

name

78,

73 Start

positioning

control

for

the

Y

axis

(PCL6123,

6143)

P10

PCSz

Terminal

name

104 Start

positioning

control

for

the

Z

axis

(PCL6143)

P10

PDIR

Register

bit

RENV2

23

Reverse

the

counting

direction

of

the

PA

and

PB

inputs

P41

PE

Terminal

name

49

Validate

PA,

PB,

+DR,

-DR

(PCL6113)

P11

PEu

Terminal

name

144 Enable

the

PA,

PB,

+DR,

-DR

inputs

for

U

axis

(PCL6143)

P11

PEx

Terminal

name

50,

51 Enable

the

PA,

PB,

+DR,

-DR

inputs

for

X

axis

(PCL6123,

6143) P11

PEy

Terminal

name

87,

82 Enable

the

PA,

PB,

+DR,

-DR

inputs

for

Y

axis

(PCL6123,

6143) P11

PEz

Terminal

name

113 Enable

the

PA,

PB,

+DR,

-DR

inputs

for

Z

axis

(PCL6143)

P11

PIM0

to

1

Register

bits

RENV2

20-21 Specify

the

PA

and

PB

input

details

P41

PINF

Register

bit

RENV2

22

Apply

a

noise

filter

to

the

PA/PB

inputs

P41

PMG0

to

2

Register

bits

RENV1

0-2

Specify

the

multiplication

rate

for

the

PA/PB

inputs.

P38

PMSK

Register

bit

RENV1

31

Specify

the

output

pulse

mask.

P39

POFF

Register

bit

RENV2

15

Disable

PA,

PB

inputs.

P40

PRDP

Pre-register

name

Pre-register

for

RDP

P31,

35

PRDR

Pre-register

name

Pre-register

for

RDR

P31,

35

PRDS

Pre-register

name

Pre-register

for

RDS

P31,

38

PRECAN

Command

26h

Cancel

the

pre-register.

P27,

33

PRFH

Pre-register

name

Pre-register

for

RFH

P31,

34

PRFL

Pre-register

name

Pre-register

for

RFL

P31,

34

PRIP

Pre-register

name

Pre-register

for

RIP

P31,

37

PRMD

Pre-register

name

Pre-register

for

RMD

P31,

36

PRMG

Pre-register

name

Pre-register

for

RMG

P31,

35

PRMV

Pre-register

name

Pre-register

for

RMV

P31,

34

PRUR

Pre-register

name

Pre-register

for

RUR

P31,

34

PRUS

Pre-register

name

Pre-register

for

RUS

P31,

37

RCMP1

Register

name

Comparison

data

for

Comparator

1

P31,

43

RCMP2

Register

name

Comparison

data

for

Comparator

2

P31,

43

RCUN1

Register

name

COUNTER1

P31,

43

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Содержание PCL6113

Страница 1: ...User s Manual For PCL6113 6123 6143 Pulse Control LSI Nippon Pulse Motor Co Ltd...

Страница 2: ...ming intervals in this manual are based on a reference clock of 19 6608 MHz Thank you for considering our pulse control LSI the PCL6100 series Before using the product read this manual to become famil...

Страница 3: ...ng the sub status and input output port SSTSW SSTSB IOPB 23 7 Commands Operation and Control Commands 24 7 1 Operation commands 24 7 1 1 Procedure for writing an operation command 24 7 1 2 Start comma...

Страница 4: ...register 47 8 3 27 RSDC register 47 9 Operation Mode 48 9 1 Continuous operation mode using command control 48 9 2 Positioning operation mode 48 9 2 1 Positioning operation 48 9 2 2 Timer operation 4...

Страница 5: ...Counter type and input method 88 11 9 2 Counter reset 90 11 9 3 Stop the counter 91 11 10 Comparator 92 11 10 1 Comparator types and functions 93 11 10 2 Ring count function 93 11 11 Synchronous star...

Страница 6: ...items 113 Appendix 1 List of commands 113 Appendix 2 Label list 115 Handling Precautions 123 1 Design precautions 123 2 Precautions for transporting and storing LSIs 123 3 Precautions for installation...

Страница 7: ...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 inse...

Страница 8: ...x or up and down signals When an EL signal of the feed direction is input the PCL stops the output of pulses But it can feed in the opposite direction without any command Direct input of operation swi...

Страница 9: ...SD and ORG signals can be changed using software Servomotor I F The following three signals can be used as an interface for each axis 1 INP Input positioning complete signal that is output by a servom...

Страница 10: ...will be 15 Mpps Acceleration deceleration characteristics Selectable acceleration deceleration pattern for both increasing and decreasing speed separately using Linear and S curve acceleration decele...

Страница 11: ...5 3 Terminal Assignment Diagram 3 1 PCL6113 3 2 PCL6123...

Страница 12: ...milar to an indexing mark O mark may be printed on the LSI for production reasons The model name and the position of the 1st terminal are as shown in the terminal allocation drawings You can also iden...

Страница 13: ...k to 10 k ohms Terminal No Signal name PCL 6113 PCL 6123 PCL 6143 Input output Logic Treat ment Description GND 10 19 29 43 55 65 70 80 11 20 30 44 56 66 81 93 103 114 128 12 21 31 45 57 67 83 93 107...

Страница 14: ...e determined by reading the main status Each interrupt will be reset by reading the main status REST error interrupt cause register or RIST event interrupt cause register The signal can be masked 12 1...

Страница 15: ...D is required The terminal status can be checked on the RSTS terminal extension status 75 122 168 Input Output Negative PU This is an input output terminal for simultaneous starts When performing mult...

Страница 16: ...minal status can be checked using an SSTSW command signal sub status SD SDn 37 X 38 Y 75 X 39 Y 70 Z 101 U 132 Input N V Input deceleration signal Selects the input method LEVEL or LATCHED inputs The...

Страница 17: ...unt pulses The counting direction can be changed using software EZ EZn 46 X 47 Y 84 X 48 Y 79 Z 110 U 141 Input N GN Input a marker signal this signal is output once for each turn of the encoder when...

Страница 18: ...When used as an MVC terminal it will output a signal during operation at a constant speed The MVC output logic can be set using software P3 CP1 P3n CP1n 54 X 55 Y 92 X 56 Y 87 Z 118 U 149 Input Outpu...

Страница 19: ...driver The output logic and pulse width can be changed using software The terminal status can be checked using an RSTS command signal 64 X 65 Y 102 X 66 Y 97 Z 128 U 159 Output Negative OP Outputs a L...

Страница 20: ...14 5 Block Diagram...

Страница 21: ...input The lower addresses correspond to the upper word in the I O buffer Convenient for H8 series CPUs 16 bit I F 3 A 16 bit interface with an RD input and a WR input The lower addresses correspond t...

Страница 22: ...15 A0 WRQ System reset IPL0 IPL2 R W RESET INT RD WR RST CLK GND Interrupt control circuit 3 3V Note The PCL6113 uses A1 to A2 The PCL6123 uses A1 to A3 The PCL6143 uses A1 to A4 2 16 bit I F 2 IF1 L...

Страница 23: ...A RD WR READY RESET MN MX INT RD WR WRQ RST IF1 IF0 A1 A4 A0 D0 D15 Note The PCL6113 uses A1 to A2 The PCL6123 uses A1 to A3 The PCL6143 uses A1 to A4 4 8 bit I F IF1 H IF0 H Decode circuit Z80 PCL614...

Страница 24: ...y bits assigned as outputs are effective 01 BUFW0 Write to the input output buffer bits 0 to 15 00 BUFW1 Write to the input output buffer bits 16 to 31 2 Readout cycle A1 to A2 Address signal Processi...

Страница 25: ...output buffer bits 8 to 15 110 BUFB2 Write to the input output buffer bits 16 to 23 111 BUFB3 Write to the input output buffer bits 24 to 31 2 Read cycle A0 to A2 Address signal Processing detail 000...

Страница 26: ...ple below uses the PCL6143 1 Commands and data I O are written as one set per axis and a total of up to 4 sets can be used In this case the axis specification COMB1 other than starting or stopping an...

Страница 27: ...pper 8 bits are ignored However they should be set to 0 for future compatibility OTP0 to 7 Specify the status of output terminals P7n to P0n n x y z and u A HIGH is output when the bit is set to 1 6 5...

Страница 28: ...ESET 5 SINT Set to 1 when an error interrupt occurs Set to 0 by reading the RIST 6 to 7 SSC0 to 1 Sequence number for execution or stopping 8 SCP1 Set to 1 when the COMPARATOR 1 comparison conditions...

Страница 29: ...t Bit name Description 0 to 7 IOP0 to 7 Read the status of P0 to 7 0 L level 1 H level 8 SFU Set to 1 while accelerating 9 SFD Set to 1 while decelerating 10 SFC Set to 1 while feeding at low speed 11...

Страница 30: ...eading a register and reading the I O buffer When the output signal is used by connecting it to the CPU the CPU automatically ensures this waiting time If you want to use a CPU that does not have this...

Страница 31: ...it will be ignored COMB0 Symbol Description 40h FCHGL Change to the FL speed immediately 41h FCHGH Change to the FH speed immediately 42h FSCHL Decelerate and change to the FL speed 43h FSCHH Acceler...

Страница 32: ...y writing to a general purpose output port OTPB Address 2 when an 8 bit I F is used you can set 8 bits as a group See section 7 5 General purpose output port control COMB0 Symbol Description COMB0 Sym...

Страница 33: ...uts the ERC signal 25h ERCRST Resets the output when the ERC signal output is specified to a level type output 7 3 4 Pre register control command Cancel the pre register settings See section 8 2 Pre r...

Страница 34: ...n an 8 bit I F is used After writing one set of data wait at least two cycles approx 0 2 sec when CLK 19 6608 MHz before writing the next set of data In both case 1 and case 2 when the output is conne...

Страница 35: ...s data 27 RIP D8h RRIP 98h WRIP PRIP C8h RPRIP 88h WPRIP 10 Acceleration S curve range 13 RUS D9h RRUS 99h WRUS PRUS C9h RPRUS 89h WPRUS 11 Deceleration S curve range 13 RDS DAh RRDS 9Ah WRDS PRDS CAh...

Страница 36: ...atibility The output status of terminals P0 to P7 are latched even after the I O setting is changed to input The output status for each terminal can be set individually using the bit control command 7...

Страница 37: ...RENV1 32 R W Environment setting 1 specify I O terminal details 13 RENV2 31 R W Environment setting 2 specify general purpose port details 14 RENV3 22 R W Environment setting 3 specify zero return and...

Страница 38: ...er to prevent this problem the determined not determined status is used When a start command is written the other operation data is considered to be determined and the PCL will continue its operation...

Страница 39: ...ter cancel command 26h 2 A stop ordered by using the immediate stop command 49h or deceleration stop command 4Ah While in a positioning operation when the deceleration stop command is written during a...

Страница 40: ...for high speed with acceleration deceleration operations RFL is the register for PRFL 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The setting range is 1 to 16...

Страница 41: ...003Bh 20 20 to 327 660 2399 095Fh 0 5 0 5 to 8 191 5 23 0017h 50 50 to 819 150 1199 04AFh 1 1 to 16 383 11 000Bh 100 100 to 1 638 300 599 0257h 2 2 to 32 766 5 0005h 200 200 to 3 276 600 239 00EFh 5...

Страница 42: ...Delay using an INP input will be possible Checking can be done with RSTS in sub status 1 Completes operation by turning ON the INP input 10 MSMD Specify an acceleration deceleration type for high spee...

Страница 43: ...et 0 28 MCDE 1 Decelerates when input goes LOW Set this bit to 1 to decelerate simultaneously with other axes 29 MCDO 1 Outputs a LOW on the terminal when decelerating or at FL constant speed 30 to 31...

Страница 44: ...iption 0 to 2 PMD0 to 2 Specify OUT output pulse details 3 ELM Specify the process to occur when the EL input is turned ON 0 Immediate stop 1 Deceleration stop Note 1 2 4 SDM Specify the process to oc...

Страница 45: ...ng 1 Rising 24 PCSL Specify the PCS signal input logic 0 Negative logic 1 Positive logic 25 DRL Specify the DR DR signal input logic 0 Negative logic 1 Positive logic 26 FLTR 1 Apply a filter to the E...

Страница 46: ...e input 01 General purpose output 10 Output the CP1 satisfied the Comparator 1 conditions signal with negative logic 11 Output the CP1 satisfied the Comparator 1 conditions signal with positive logic...

Страница 47: ...the PA PB inputs 24 to 27 EZD0 to 3 Specify an EZ count value to be used for zero return 0000 1st time to 1111 16th time 28 EZL Specify EZ signal input logic 0 Falling edge 1 Rising edge 29 ORM Select...

Страница 48: ...to ring counter operation using Comparator 2 12 to 13 C1S0 to 1 Select a comparison method for Comparator 1 00 Turn the comparator function off 01 RCMP1 data Comparison counter 10 RCMP1 data Comparis...

Страница 49: ...etting range 134 217 728 to 134 217 727 For details about the counters see section 11 11 Counters 8 3 18 RCMP2 register Specify the comparison data for Comparator 2 Setting range 134 217 728 to 134 21...

Страница 50: ...IROL When latching the count value with an ORG signal input 10 IRSD When the SD input is ON Even when the SD input is disabled by setting MSDE 0 in the PRMD register an interrupt will occur 11 IRDR Wh...

Страница 51: ...g at FH low speed 1101 Decelerating 1110 Waiting for INP input Others controlling start stop 4 SCD When the input signal is ON this bit becomes 1 5 SSTA Becomes 1 when the input signal is turned ON 6...

Страница 52: ...t stop 8 ESPE A PA PB input error occurred Does not stop 9 to 31 Not defined Always set to 0 8 3 24 RIST register This register is used to check the cause of event interruption Read only When an event...

Страница 53: ...the value is 0 14 to 15 Not defined Always set to 0 16 to 19 ECZ0 to 3 Read the count value of EZ input that is used for a zero return 20 to 31 Not defined Always set to 0 8 3 27 RSDC register This re...

Страница 54: ...gister absolute setting value is loaded into the positioning counter RPLS The PCL counts down pulses with operations and when the value of the positioning counter drops to 0 movement on the axes stops...

Страница 55: ...phase difference signals and 1x input PIM 00 2 When using 90 o phase difference signals and 2x input PIM 01 3 When using 90 o phase difference signals and 4x input PIM 10 4 When using two pulse input...

Страница 56: ...er Set DRF bit 27 in RENV1 1 Insert a filter on DR input and input By setting the filter the PCL ignores signals shorter than 32 msec RENV1 WRITE 31 24 n Reading operation status CND bit 0 to 3 in RST...

Страница 57: ...rising edge The PCL stops operation when the EL signal in the current feed direction is turned ON But the PCL can be operated in the opposite direction without writing a restart command When stopped...

Страница 58: ...cause ISPD bit 11 and ISMD bit 12 in RIST ISPD bit 11 1 When the DR signal input changes ISMD bit 12 1 When the DR signal input changes RIST READ 15 8 0 0 n n Read operation status CND bits 0 to 3 in...

Страница 59: ...data in the RMV register is loaded into the positioning counter When the DR input is ON the LSI will output pulses and the positioning counter will start counting down pulses When the positioning cou...

Страница 60: ...negative direction at a constant FL speed and stops immediately when the ORG input changes from OFF to ON 51h Feeds in a negative direction at a constant FH speed and stops immediately when the ORG i...

Страница 61: ...1 6 ms RENV1 WRITE 23 16 n n Reading the EZ signal SEZ bit 10 in RSTS 0 Turn OFF the EZ signal 1 Turn ON the EZ signal RSTS READ 15 8 n Set the input logic for the EZ signal EZL bit 28 in RENV2 0 Ris...

Страница 62: ...echanical position provides a reliable value High speed operation Sensor EL ELM 1 SD SDM 0 SDLT 0 ORG Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC s...

Страница 63: ...EZ EZD 0001 High speed operation Sensor EL ORG EZ EZD 0001 Note Positions marked with reflect ERC signal output timing when Automatically output an ERC signal is selected for the zero stopping positio...

Страница 64: ...required 9 6 2 Interpolation procedures 1 Enter a feed amount with a sign in the PRMV register for each axis The sign specifies the feed direction 2 Enter the absolute value of the PRMV from the axis...

Страница 65: ...ck marks in the figure on the right 9 6 3 Operation during interpolation Acceleration deceleration operations In addition to constant speed operation these axes can accelerate decelerate linear accele...

Страница 66: ...continuous linear interpolation Continuous interpolation refers to linear interpolation operations performed successively An example of the settings for continuous interpolation using the pre registe...

Страница 67: ...ation stop command 4Ah High speed operation 1 FH FL f t 1 2 When the deceleration stop command 49h is written to the register the PCL immediately stops operation 1 Write high speed start command 1 52h...

Страница 68: ...leration range 13 0 to 8 191 1FFFh RDS Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleratio...

Страница 69: ...0 in the PRMD register set the PRDR register the same as PRUR register setting or enter 0 When PRDR 0 the deceleration rate will be the value placed in the PRUR The relationship between the value ent...

Страница 70: ...rt decelerating Note In order to obtain the correct manual setting value you have to know the actual maximum speed When there is only a small feed amount and the motor would have to decelerate while s...

Страница 71: ...FL speed and FL speed SSU and between FH speed SSU and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 w...

Страница 72: ...lt However the ramp down point auto setting function can only be used when the acceleration curve and deceleration curve are symmetrical In other words if you want to make the acceleration and deceler...

Страница 73: ...gister 0 3 1 When PRUS PRDS i Set up a small linear acceleration range PRFH PRFL x PRFH PRFL 2 x PRUS x PRUR PRDR 2 PRMV PRMG 1 x 16384 and PRUS PRFL x PRUS x PRUR PRDR 2 x 4 PRMV PRMG 1 x 16384 PRMG...

Страница 74: ...PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMV PRMG 1 x 16384 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 A A2 B PRFH PRUR 2 x PRDR 3 However A PRUS...

Страница 75: ...PRDS PRFL x PRDS x PRUR PRDR 2 x 8 PRMV PRMG 1 x 16384 Change to S curve acceleration deceleration without any linear acceleration PRUS 0 PRDS 0 A A2 B PRFH 2 x PRUR PRDR 3 However A PRDS x PRDR 1 B P...

Страница 76: ...fication is set to the 10x mode PRFL 10 000Ah 4 In order to make the acceleration deceleration time 300 msec calculate from the equation for the acceleration time and the RUR value PRFH PRFL x PRUR 1...

Страница 77: ...during a linear acceleration deceleration operation 1 Use a small RFH while accelerating or decelerating the axis until it reaches the correct speed 2 3 Change RFH after the acceleration deceleration...

Страница 78: ...ions of the LSI will be configured as follows Item Reset status initial status n x y z u Internal registers pre register 0 Control command buffer 0 Axis assignment buffer 0 Input output buffer 0 termi...

Страница 79: ...e Assume that the current speed is Fu and when RFL Fu a curve of the next acceleration will be equal to a normal acceleration curve 3 If the axis has already passed over the new target position or the...

Страница 80: ...MPCS in the PRMD operation mode register 1 the PCL will perform positioning operations for the amount specified in the PRMV register based on the timing of this command after the operation start afte...

Страница 81: ...o 2 in RENV1 environment setting 1 If motor drivers using the common pulse mode need a lag time since the direction signal changes until receiving a command pulse use a direction change timer When DTM...

Страница 82: ...peration mode the operation complete timing can be changed 1 When METM 0 the point at which the output frequency cycle is complete in the PRMD register 2 When METM 1 when the output pulse is OFF in th...

Страница 83: ...al turns ON Set ELM bit 3 in RENV1 0 Immediate stop by turning ON the EL signal 1 Deceleration stop by turning ON the EL signal RENV1 WRITE 7 0 n Setting the EL input filter Set FLTR bit 26 in RENV1 1...

Страница 84: ...peed operation the axis will stop While in high speed operation the axis will decelerate to FL speed when the SD signal is turned ON and then stop If the SD signal is turned OFF during deceleration th...

Страница 85: ...7 0 n Set the operation pattern when the SD signal is turned ON Set SDM bit 4 in RENV1 0 Decelerates on receiving the SD signal and feeds at FL low speed 1 Decelerates and stops on receiving the SD si...

Страница 86: ...RG input and EZ input RENV2 WRITE 31 24 n Set the input logic for the ORG signal Set ORGL bit 7 in RENV1 0 Negative logic 1 Positive logic RENV1 WRITE 7 0 n Set the ORG input filter FLTR bit 26 in REN...

Страница 87: ...The minimum pulse width of the INP signal is 2 cycles of the reference clock 0 1 sec when the input filter is OFF If the input filter is ON the PCL does not receive pulses shorter than the set length...

Страница 88: ...for an immediate stop based on the EL signal ALM signal or signal input or on the emergency stop command 05h set EROE bit 10 1 in the RENV1 register and set automatic output for the ERC signal In the...

Страница 89: ...signal is 2 cycles of the reference clock 0 1 s if the input filter is OFF If the input filter is ON the PCL does not receive pulses shorter than the specified length The input logic of the ALM signa...

Страница 90: ...want to start Write a start command and put the LSI in the waiting for input status Then start the axes simultaneously by either of the methods described below 1 By writing a simultaneous start comma...

Страница 91: ...n command 06h Local axis only simultaneous start command SPSTA Operation command Used the same way as when a signal is supplied for a local axis only Operation command 2Ah 11 6 2 PCS signal The PCS in...

Страница 92: ...tus 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...

Страница 93: ...eive signals output from other PCLs Operation command 07h 11 8 Emergency stop This LSI has a input terminal for use as an emergency stop signal While in operation if the input goes LOW or if you write...

Страница 94: ...ence signals 1x 2x 4x Counter direction Count up when the EA input phase is leading Count down when the EB input phase is leading 2 Signal input method Input 2 sets of positive and negative pulses Cou...

Страница 95: ...nd count timing will be as follows For details about the PA PB input see section 9 3 Pulsar input mode 1 When using 90 o phase difference signals and 1x input 2 When using 90 o phase difference signal...

Страница 96: ...clear function Set CU1L bit 4 in RENV3 0 COUNTER1 is not cleared after it is latched 1 COUNTER1 is cleared soon after it is latched RENV3 WRITE 7 0 n Set the COUNTER2 latch clear function Set CU2L bi...

Страница 97: ...input is masked the input to the selected counter will be stopped A counter which is counting output pulses will stop counting if the timer mode is selected regardless of the counter stop method selec...

Страница 98: ...COUNTER1 10 RCMP1 COUNTER1 11 RCMP1 COUNTER1 RENV3 WRITE 15 8 n n Set an event interrupt factor Set IRC1 2 bits 6 7 in RIRQ IRC1 bit 6 1 Outputs an signal when Comparator 1 conditions are met IRC2 bi...

Страница 99: ...3 1 Operate COUNTER1 as a ring counter RENV2 WRITE 7 0 n Set COUNTER2 to ring count operation set C2RM bit 11 in RENV3 1 Operate COUNTER2 as a ring counter RENV2 WRITE 15 8 n Even if the value for PRM...

Страница 100: ...Y0 to 1 bits 18 19 in PRMD 11 Start triggered by specified axis stopping PRMD WRITE 23 16 n n Select an axis for confirming a stop setting example Specify the axis using MAX0 to Max3 bits 20 to 23 in...

Страница 101: ...ring the interpolation operation Linear interpolation between the X and Y axes Linear interpolation between the X and Z axes Step Register X axis Y axis Z axis Description PRMV 10000 5000 0 PRIP 10000...

Страница 102: ...NV3 WRITE 23 16 n n Reading the operation status CND bits 0 to 3 in RSTS 0011 Waiting for an internal synchronous signal RSTS WRITE 7 0 n n n n Example 1 below shows a case of using the internal synch...

Страница 103: ...period after the Comparator 1 conditions are established and the X axis starts Note In the example above even if the Y feed amount is set to 2000 and the X feed amount is set to 1000 the X axis will b...

Страница 104: ...of the interrupt 4 If bit 5 SINT is 1 read the RIST register to identify the cause of the interrupt 5 Repeat steps 1 to 4 above for the Y Z and U axes The steps above will allow you to evaluate the c...

Страница 105: ...Stopped by turning ON the EL input 0 ESPL Stopped by turning ON the EL input 1 ESML Stopped by turning ON the ALM input 2 ESAL Stopped by turning ON the input 3 ESSP Stopped by turning ON the input 4...

Страница 106: ...ark Power supply voltage VDD 0 3 to 4 0 V Input voltage VIN 0 3 to 7 0 V Output current IOUT 30 mA Storage temperature Tstg 65 to 150 o C 12 2 Recommended operating conditions Item Symbol Rating Unit...

Страница 107: ...input voltage VIH 2 0 7 0 V LOW output voltage VOL IOL 6 mA 0 4 V HIGH output voltage VOH IOH 6 mA VDD 0 4 V LOW output current IOL VOL 0 4 V 6 mA HIGH output current IOH VOH VDD 0 4 V 6 mA Internal...

Страница 108: ...ns CS hold time for TSCS 0 ns setup time for TRWS 1 ns hold time for TSRW 1 ns TSLAKR CL 40pF TCLK 4TCLK 15 ns ON delay time for TSLAKW CL 40pF TCLK 4TCLK 15 ns TSHAKR CL 40pF 17 ns OFF delay time fo...

Страница 109: ...ld time for TRWCS 0 ns ON delay time for TCSWT CL 40pF 13 ns signal LOW time TWAIT 4TCLK ns Data output delay time for TRDLD CL 40pF 21 ns Data output delay time for TWTHD CL 40pF 10 ns Data float del...

Страница 110: ...old time for TRWCS 0 ns ON delay time for TCSWT CL 40pF 13 ns signal LOW time TWAIT 4TCLK ns Data output delay time for TRDLD CL 40pF 21 ns Data output delay time for TWTHD CL 40pF 10 ns Data float de...

Страница 111: ...ld time for TRWCS 0 ns ON delay time for TCSWT CL 40pF 13 ns signal LOW time TWAIT 4TCLK ns Data output delay time for TRDLD CL 40pF 21 ns Data output delay time for TWTHD CL 40pF 10 ns Data float del...

Страница 112: ...ignal OFF timer time RENV1 ETW 11 1835009 TCLK 1966080 TCLK ns RENV1 FLTR 0 TCLK FLTR 1 FTM 00 64 TCLK FLTR 1 FTM 01 512 TCLK FLTR 1 FTM 10 4096 TCLK EL EL SD ORG ALM INP input signal length FLTR 1 FT...

Страница 113: ...in the 2 pulse mode 4 When the PA PB inputs are in the 90 o phase difference mode 5 Timing for the command mode when I M H and B H 6 Simultaneous start timing EA EB TEAB TEAB TEAB TEAB TEAB TEAB TEAB...

Страница 114: ...108 7 Deceleration start timing triggered by a command 8 Deceleration start timing triggered by the SD input 9 Stop timing by a command 10 Stop timing by normal automatic stop...

Страница 115: ...109 11 Stop timing by error...

Страница 116: ...110 13 External Dimensions 13 1 PCL6113...

Страница 117: ...111 13 2 PCL6123...

Страница 118: ...112 13 3 PCL6143...

Страница 119: ...eleration stop General purpose port control commands COMB0 Symbol Description COMB0 Symbol Description 10h P0RST Set the P0 terminal LOW 18h P0SET Set the P0 terminal HIGH 11h P1RST Set the P1 termina...

Страница 120: ...98h WRIP PRIP C8h RPRIP 88h WPRIP 10 S curve range while accelerating 13 RUS D9h RRUS 99h WRUS PRUS C9h RPRUS 89h WPRUS 11 S curve range while decelerating 13 RDS DAh RRDS 9Ah WRDS PRDS CAh RPRDS 8Ah...

Страница 121: ...to count input pulses P42 92 CLK Terminal name 69 113 163 Reference clock 19 6608 MHz as standard PCL6113 6123 6143 P7 CMEMG Command 05h Emergency stop P25 87 CMSTA Command 06h Output simultaneous st...

Страница 122: ...43 P9 ELLx Terminal name 125 171 Set the input logic of the end limit signal for the X axis PCL6123 6143 P9 ELLy Terminal name 126 172 Select the input logic of the end limit signal for the Y axis PCL...

Страница 123: ...able an INT when there is a normal stop P44 IRLT Register bit RIRQ 8 Enable an INT when the count value is latched by an LTC input P44 IRNM Register bit RIRQ 1 Enable an INT when writing to the pre re...

Страница 124: ...l P0 HIGH P26 P0u FUPu Terminal name 146 General purpose port 0 for the U axis Monitor output during acceleration PCL 6143 P11 P0x FUPx Terminal name 52 53 General purpose port 0 for the X axis Monito...

Страница 125: ...PCL6123 6143 P11 PAy DRy Terminal name 85 80 Manual pulsar phase A input for the Y axis PCL6123 6143 P11 PAz DRz Terminal name 111 Manual pulsar phase A input for the Z axis PCL6143 P11 PB DR Termina...

Страница 126: ...1 data to BUF P29 RRCUN2 Command E4h Copy RCUN2 data to BUF P29 RRDP Command D6h Copy RDP data to BUF P29 RRDR Command D4h Copy RDR data to BUF P29 RRDS Command DAh Copy RDS data to BUF P29 RRENV1 Com...

Страница 127: ...s bit MSTSW 14 Equals 1 when the next operation pre register is full P22 SPSTA Command 2Ah The same process as the input P25 SRST Command 04h Software reset P27 SRUN Main status bit MSTSW 1 Equals 1 w...

Страница 128: ...ite BUF data into the RFH register P29 WRFL Command 91h Write BUF data into the RFL register P29 WRIP Command 98h Write BUF data into the RIP register P29 WRIRQ Command ACh Write BUF data into the RIR...

Страница 129: ...c electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus...

Страница 130: ...devices Therefore do not use this method 4 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive gases or excessive amounts of dust we recommend applying a moistu...

Страница 131: ...3 Japan Phone 81 3 3813 8841 Fax 81 3 3813 7049 E mail device npm co jp http www pulsemotor com U S Office 1073 East Main Street Radford VA 24141 U S A Phone 1 540 633 1677 Fax 1 540 633 1674 E mail i...

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