 |
|
| If you can't view the Datasheet, Please click here to try to view without PDF Reader . |
|
|
|
| If you can't view the Datasheet, Please click here to try to view without PDF Reader . |
|
|
| Datasheet File OCR Text: |
| 8VHU V 0DQXDO )RU 3&/% 3XOVH &RQWURO /6, Nippon Pulse Motor Co., Ltd. [Preface] Thank you for considering our pulse control LSI, the "PCL6045B." To learn how to use the PCL6045B, read this manual to become familiar with the product. The handling precautions for installing this LSI are described at the end of this manual. Make sure to read them before installing the LSI. In addition to this manual, the PLC6045B User's Manual, Application Version, will be available. It includes programming examples. Please contact us if you need a copy. [Cautions] (1) Copying all or any part of this manual without written approval is prohibited. (2) The specifications of this LSI may be changed to improve performance or quality without prior notice. (3) Although this manual was produced with the utmost care, if you find any points that are unclear, wrong, or have inadequate descriptions, please let us know. (4) We are not responsible for any results that occur from using this LSI, regardless of item (3) above. * Explanation of the descriptions in this manual 1. The "x" "y" "z" and "u" of terminal names and bit names refer to the X axis, Y axis, Z axis and U axis, respectively. ) are negative logic. Their logic cannot be changed. 2. Terminals with a bar over the name (ex. Terminals without a bar over the name are positive logic. Their output logic can be changed. 3. When describing the bits in registers, "n" refers to the bit position. A "0" means that the bit is in position 0, and that it is prohibited to write to any bit other than the "0" bit. Finally, this bit will always return a "0" when read. -i- INDEX 1. Outline and Features ........................................................................................................................... 1 1-1. Outline......................................................................................................................................... 1 1-2. Features...................................................................................................................................... 1 2. Specifications ...................................................................................................................................... 5 3. Terminal Assignment Diagram ............................................................................................................. 6 4. Function of Terminals .......................................................................................................................... 7 5. Block Diagram................................................................................................................................... 12 6. CPU Interface.................................................................................................................................... 13 6-1. Setting up connections to a CPU ............................................................................................... 13 6-2. Precautions for designing hardware ........................................................................................... 13 6-3. CPU interface circuit block diagram ........................................................................................... 14 6-4. Address map ............................................................................................................................. 16 6-4-1. Axis arrangement map ........................................................................................................ 16 6-4-2. Internal map of each axis..................................................................................................... 16 6-5. Description of the map details.................................................................................................... 18 6-5-1. Write the command code and axis selection (COMW, COMB) ............................................. 18 6-5-2. Write to an output port (OTPW, OTPB) ................................................................................ 18 6-5-3. Write/read the input/output buffer (BUFW, BUFB) ................................................................ 18 6-5-4. Reading the main status (MSTSW, MSTSB) ........................................................................ 19 6-5-5. Reading the sub status and input/output port. (SSTSW, SSTSB, IOPB) ............................... 20 7. Commands (Operation and Control Commands)................................................................................ 21 7-1. Operation commands................................................................................................................. 21 7-1-1. Procedure for writing an operation command....................................................................... 21 7-1-2. Start command.................................................................................................................... 21 7-1-3. Speed change command..................................................................................................... 22 7-1-4. Stop command .................................................................................................................... 22 7-1-5. NOP (do nothing) command ................................................................................................ 22 7-2. General-purpose output bit control commands ........................................................................... 23 7-3. Control command ...................................................................................................................... 24 7-3-1. Software reset command..................................................................................................... 24 7-3-2. Counter reset command ...................................................................................................... 24 7-3-3. ERC output control command.............................................................................................. 24 7-3-4. Pre-register control command.............................................................................................. 24 7-3-5. PCS input command............................................................................................................ 24 7-3-6. LTCH input (counter latch) command................................................................................... 24 7-4. Register control command ......................................................................................................... 25 7-4-1. Procedure for writing data to a register ................................................................................ 25 7-4-2. Procedure for reading data from a register........................................................................... 25 7-4-3. Table of register control commands ..................................................................................... 26 7-5. General-purpose output port control command .......................................................................... 27 7-5-1. Command writing procedures .............................................................................................. 27 7-5-2. Command bit allocation ....................................................................................................... 27 - ii - 8. Registers........................................................................................................................................... 28 8-1. Table of registers ....................................................................................................................... 28 8-2. Pre-registers.............................................................................................................................. 29 8-2-1. Writing to the operation pre-registers ................................................................................... 29 8-2-2. Cancel the pre-register operations ....................................................................................... 30 8-2-3. Writing to the comparator pre-registers ................................................................................ 30 8-2-4. Cancel the comparator pre-register data .............................................................................. 30 8-3. Description of the registers......................................................................................................... 31 8-3-1. PRMV (RMV) registers (Feed amount, target position) ................................................... 31 8-3-2. PRFL (RFL) registers (Initial speed) ............................................................................. 31 8-3-3. PRFH (RFH) registers (Operation speed) ...................................................................... 31 8-3-4. PRUR (RUR) registers (Acceleration rate)...................................................................... 31 8-3-5. PRDR (RDR) registers (Deceleration rate) ..................................................................... 32 8-3-6. PRMG (RMG) registers (Speed magnification rate) ......................................................... 32 8-3-7. PRDP (RDP) registers (Ramping-down point)................................................................ 32 8-3-8. PRMD (RMD) registers (Operation mode)....................................................................... 33 8-3-9. PRIP (RIP) registers (Circular interpolation center position, master axis feed amount)........................................................... 35 8-3-10. PRUS (RUS) registers (S-curve acceleration range) ...................................................... 35 8-3-11. PRDS (RDS) registers (S-curve deceleration range) ...................................................... 35 8-3-12. RFA register (Speed at amount correction) ..................................................... 35 8-3-13. RENV1 register (Environment setting 1) .............................................................. 36 8-3-14. RENV2 register (Environment setting 2) .............................................................. 38 8-3-15. RENV3 register (Environment setting 3) .............................................................. 40 8-3-16. RENV4 register (Environment setting 4) .............................................................. 42 8-3-17. RENV5 register (Environment setting 5) .............................................................. 44 8-3-18. RENV6 register (Environment setting 6) .............................................................. 45 8-3-19. RENV7 register (Environment setting 7) .............................................................. 45 8-3-20. RCUN1 register (COUNTER1 - iii - 9. Operation Mode .............................................................................................................................. 55 9-1. Continuous operation mode using command control .................................................................. 55 9-2. Positioning operation mode........................................................................................................ 55 9-2-1. Positioning operation (specify a target position using an incremental value) ......................... 55 9-2-2. Positioning operation (specify the absolute position COUNTER1) ........................................ 56 9-2-3. Positioning operation (specify the absolute position COUNTER2) ........................................ 56 9-2-4. Command position 0 return operation .................................................................................. 56 9-2-5. Machine position 0 return operation ..................................................................................... 56 9-2-6. One pulse operation ............................................................................................................ 56 9-2-7. Timer operation ................................................................................................................... 57 9-3. Pulsar (PA/PB) input mode ........................................................................................................ 58 9-3-1. Continuous operation using a pulsar input ........................................................................... 61 9-3-2. Positioning operations using a pulsar input (specify incremental position) ............................ 61 9-3-3. Positioning operations using a pulsar input (specify absolute position to COUNTER1)..................................... 61 9-3-4. Positioning operations using a pulsar input (specify absolute position to COUNTER2)..................................... 61 9-3-5. Command position zero return operation using a pulsar input .............................................. 62 9-3-6. Mechanical position zero return operation using a pulsar input............................................. 62 9-3-7. Continuous linear interpolation 1 using a pulsar input .......................................................... 62 9-3-8. Linear interpolation 1 using pulsar input............................................................................... 62 9-3-9. Continuous linear interpolation 2 using pulsar input ............................................................. 62 9-3-10. Linear interpolation 2 using pulsar input............................................................................. 62 9-3-11. CW circular interpolation using pulsar input........................................................................ 62 9-3-12. CCW circular interpolation using pulsar input ..................................................................... 62 9-4. External switch (DR) operation mode ....................................................................................... 63 9-4-1. Continuous operation using an external switch .................................................................... 63 9-4-2. Positioning operation using an external switch ..................................................................... 64 9-5. Zero position operation mode .................................................................................................... 65 9-5-1. Zero return operation........................................................................................................... 66 9-5-2. Leaving the zero position operations.................................................................................... 74 9-5-3. Zero search operation ......................................................................................................... 74 9-6. EL or SL operation mode ........................................................................................................... 75 9-6-1. Feed until reaching an EL or SL position.............................................................................. 76 9-6-2. Leaving an EL or SL position ............................................................................................... 76 9-7. EZ count operation mode........................................................................................................... 76 9-8. Interpolation operations ............................................................................................................. 77 9-8-1.Interpolation operations ........................................................................................................ 77 9-8-2. Interpolation control axis...................................................................................................... 77 9-8-3. Constant synthesized speed control .................................................................................... 78 9-8-4. Continuous linear interpolation 1 (MOD: 60h) ...................................................................... 79 9-8-5. Linear interpolation 1 (MOD: 61h)........................................................................................ 79 9-8-6. Continuous linear interpolation 2 (MOD: 62h) ...................................................................... 80 9-8-7. Linear interpolation 2 (MOD: 63h)........................................................................................ 80 9-8-8. Circular interpolation............................................................................................................ 81 9-8-9. Circular interpolation synchronized with the U axis............................................................... 83 9-8-10. Interpolation operation synchronized with PA/ PB .............................................................. 83 9-8-11. Operation during interpolation ............................................................................................ 83 10. Speed Patterns................................................................................................................................ 85 10-1. Speed patterns....................................................................................................................... 85 10-2. Speed pattern settings ........................................................................................................... 86 10-3. Manual FH correction ............................................................................................................. 90 10-4. Example of setting up an acceleration/deceleration speed pattern .......................................... 94 10-5. Changing speed patterns while in operation ........................................................................... 95 - iv - 11. Description of the Functions............................................................................................................. 96 11-1. Reset...................................................................................................................................... 96 11-2. Position override..................................................................................................................... 97 11-2-1. Target position override 1................................................................................................ 97 11-2-2. Target position override 2 (PCS signal) ........................................................................... 98 11-3. Output pulse control ............................................................................................................... 99 11-3-1. Output pulse mode ......................................................................................................... 99 11-3-2. Control the output pulse width and operation complete timing ....................................... 100 11-4. Idling control......................................................................................................................... 101 11-5. Mechanical external input control.......................................................................................... 102 11-5-1. +EL, -EL signal ............................................................................................................. 102 11-5-2. SD signal ...................................................................................................................... 102 11-5-3. ORG, EZ signals........................................................................................................... 105 11-6. Servomotor I/F .................................................................................................................... 106 11-6-1. INP signal ..................................................................................................................... 106 11-6-2. ERC signal ................................................................................................................... 107 11-6-3. ALM signals.................................................................................................................. 108 11-7. External start, simultaneous start .......................................................................................... 109 signal ........................................................................................................... 109 11-7-1. 11-7-2. PCS signal.................................................................................................................... 110 11-8. External stop / simultaneous stop...........................................................................................111 11-9. Emergency stop ................................................................................................................... 112 11-10. Counter .............................................................................................................................. 113 11-10-1. Counter type and input method ................................................................................... 113 11-10-2. Counter reset .............................................................................................................. 115 11-10-3. Latch the counter and count condition ......................................................................... 116 11-10-4. Stop the counter ..........................................................................................................117 11-11. Comparator..........................................................................................................................118 11-11-1. Comparator types and functions...................................................................................118 11-11-2. Software limit function ................................................................................................. 122 11-11-3. Out of step stepper motor detection function................................................................ 123 11-11-4. IDX (synchronous) signal output function..................................................................... 124 11-11-5. Ring count function ..................................................................................................... 125 11-12. Backlash correction and slip correction ............................................................................... 126 11-13. Vibration restriction function................................................................................................ 127 11-14. Synchronous starting .......................................................................................................... 128 11-14-1. Start triggered by another axis stopping ...................................................................... 129 11-14-2. Starting from an internal synchronous signal ............................................................... 132 11-15. Output an interrupt signal.................................................................................................... 135 12. Electrical Characteristics................................................................................................................ 138 12-1. Absolute maximum ratings ................................................................................................... 138 12-2. Recommended operating conditions..................................................................................... 138 12-3. DC characteristics ................................................................................................................ 139 12-4. AC characteristics 1) (reference clock) ................................................................................. 139 12-5. AC characteristics 2) (CPU I/F)............................................................................................. 140 12-5-1. CPU-I/F 1) (IF1 = H, IF0 = H) Z80................................................................................. 140 12-5-2. CPU-I/F 2) (IF1 = H, IF0 = L) 8086................................................................................ 141 12-5-3. CPU-I/F 3) (IF1 = L, IF0 = L) H8.................................................................................... 142 12-5-4. CPU-I/F 4) (IF1 = L, IF0 = L) 68000 .............................................................................. 143 12-6. Operation timing................................................................................................................... 144 13. External Dimensions...................................................................................................................... 146 Appendix: List of various items ............................................................................................................ 147 Appendix 1: List of commands ........................................................................................................ 147 Appendix 2: Setting speed pattern .................................................................................................. 149 Appendix 3: Label list...................................................................................................................... 153 -v- Appendix 4: Differences between the PCL6045 and PCL6045B .......................................................162 Handling Precautions ...........................................................................................................................166 1. Design precautions ......................................................................................................................166 2. Precautions for transporting and storing LSIs ...............................................................................166 3. Precautions for installation ...........................................................................................................166 4. Other precautions ........................................................................................................................168 - vi - 1. Outline and Features 1-1. Outline The PCL6045B is a CMOS LSI designed to provide the oscillating, high-speed pulses needed to drive stepper motors and servomotors (pulse string input types). It can offer various types of control over the pulse strings and therefore the motor performance. These include continuous feeding, positioning, zero return at a constant speed, linear acceleration/deceleration, and S-curve acceleration/deceleration. The PLC6045B controls four axes. It can control the linear interpolation of two to four axes, circular interpolations between any two axes, confirm PCL operation status, and interrupt output with various conditions. It also integrates an interface for servo control drivers. These functions can be used with simple commands. The intelligent design philosophy reduces the burden on the CPU units to control motors. 1-2. Features CPU-I/F The PCL6045B contains the following CPU interface circuits. 1) 8-bit interface for Z80 CPU. 2) 16-bit interface for 8086 CPU. 3) 16-bit interface for H8 CPU. 4) 16-bit interface for 68000 CPU. Acceleration/Deceleration speed control Linear acceleration/deceleration and S-curve acceleration/deceleration are available. Linear acceleration/deceleration can be inserted in the middle of an S-curve acceleration/deceleration curve. (Specify the S-curve range.) The S-curve range can specify each acceleration and deceleration independently. Therefore, you can create an acceleration/deceleration profile that consists of linear acceleration and S-curve deceleration, or vice versa. Interpolation operation Feeding with linear interpolation of any two to four axes and circular interpolation of any two axes are both possible. Speed override The feed speed can be changed in the middle of any feed operation. However, the feed speed cannot be changed during operation when the synthesized speed constant control for linear interpolation is ON while using S-curve deceleration. Overriding target position 1) and 2) 1) The target position (feed amount) can be changed while feeding in the positioning mode. If the current position exceeds the newly entered position, the motor will decelerate, stop (immediate stop when already feeding at a low speed), and then feed in the reverse direction. 2) Starts operation the same as in the continuous mode and, when it receives an external signal, it will stop after the specified number of pulses. Triangle drive elimination (FH correction function) In the positioning mode, when there are a small number of output pulses, this function automatically lowers the maximum speed and eliminates triangle driving. Look ahead function The next two sets of data (feed amount, initial speed, feed speed, acceleration rate, deceleration rate, speed magnification rate, ramping-down point, operation mode, center of circular interpolation, S-curve range on an acceleration, S-curve range on a deceleration, number of steps for circular interpolation) can be written while executing the current data. The next set of data, and other sets of data, can be written in advance of their execution for checking by the comparator. When the current operation is complete, the system will immediately execute the next operation. -1- A variety of counter circuits The following four counters are available separately for each axis. Counter Use or purpose COUNTER1 28-bit counter for control of the command position COUNTER2 28-bit counter for mechanical position control (Can be used as general-purpose counter) Counter Input/Output Outputs pulses EA/EB input Outputs pulses PA/PB input COUNTER3 16-bit counter for controlling the deviation between Outputs pulses and EA/EB the command position and the machine's current input position Outputs pulses and PA/PB input EA/EB input and PA/PB input COUNTER4 28-bit counter used to output synchronous signals Outputs pulses (Can be used as general-purpose counter) EA/EB input PA/PB input 1/2 of reference clock All counters can be reset by writing a command or by providing a CLR signal. They can also be latched by writing a command, or by providing an LTC or ORG signal. The PCL6045B can also be set to reset automatically soon after latching these signals. The COUNTER1, COUNTER2, and COUNTER4 counters have a ring count function that repeats counting through a specified counting range. Comparator There are five comparator circuits for each axis. They can be used to compare target values and internal counter values. The counter to compare can be selected from COUNTER1 (command position counter), COUNTER2 (mechanical position counter), COUNTER3 (deflection counter), and COUNTER4 (a general-purpose counter). Comparators 1 and 2 can also be used as software limits (+SL, -SL). Software limit function You can set software limits using two of the comparator's circuits. When the mechanical position approaches the software limit range, the LSI will instruct the motors to stop immediately or to stop by deceleration. After that these axes can only be moved in the direction opposite their previous travel. Backlash correction function / Slip correction function The LSI has a backlash correction function. Each time the feed direction is changed, the LSI applies a backlash correction. However, the backlash correction cannot be applied while performing a circular interpolation. Synchronous signal output function / Slip correction function Both the backlash and slip corrections are available. Backlash correction corrects the feed amount each time the feed direction is changed. Slip correction corrects the feed amount regardless of the feed direction. Simultaneous start function Multiple axes controlled by the same LSI, or controlled by multiple sets of this LSI, can be started at the same time. Simultaneous stop function Multiple axes controlled by the same LSI, or controlled by multiple sets of this LSI, can be stopped at the same time by a command, by an external signal, or by an error stop on any axis. Vibration restriction function Specify a control constant in advance and add one pulse each for reverse and forward feed just before -2- stopping. Using this function, vibration can be decreased while stopping. Manual pulsar input function By applying manual pulse signals (PA/PB), you can rotate a motor directly. The input signals can be 90U SKDVH GLIIHUHQFH VLJQDOV [ [ RU [ RU XS DQG GRZQ VLJQDOV In addition to the magnification rates above, the PCL6045B contains an integral pulse number magnification circuit which multiplies by 1x to 32x and a pulse quantity division circuit which is divided by 1 to 2048. Software limit settings can be used, and the PCL stops the output of pulses. It can also feed in the opposite direction. Direct input of operation switch Positive and negative direction terminals (DR) are provided to drive a motor with an external operation switch. These switches turn the motor forward (+) and backward (-). Out-of-step detection function This LSI has a deflection counter which can be used to compare command pulses and encoder signals (EA/EB). It can be used to detect out-of-step operation and to confirm a position by using a comparator. Idling pulse output function This function outputs a preset number of pulses at the self start frequency (FL) before a high-speed start acceleration operation. When the initial speed is set higher during the acceleration, this function is effective in preventing out-ofstep operation. Operation mode The basic operations of this LSI are: continuous operation, positioning, zero return, linear interpolation, and circular interpolation. By setting the optional operation mode bits, you can use a variety of operations. -3- 11)Feedsathighspeed,reversesafteradecelerationstoptriggeredbytheELsignal,andstopswhen anEZsignalisreceived. Mechanicalinputsignals Thefollowingfoursignalscanbeinputforeachaxis. 1)+EL:WhenthissignalisturnedON,whilefeedinginthepositive(+)direction,movementonthisaxis stopsimmediately(withdeceleration).WhenthissignalisON,nofurthermovementoccurson theaxisinthepositive(+)direction.(Themotorcanberotatedinthenegative(-)direction.) 2)-EL:Functionsthesameasthe+ELsignalexceptthatitworksinthenegative(-)direction. 3)SD:Thissignalcanbeusedasadecelerationsignaloradecelerationstopsignal,accordingtothe softwaresetting.Whenthisisusedasadecelerationsignal,andwhenthissignalisturnedON duringahighspeedfeedoperation,themotoronthisaxiswilldeceleratetotheFLspeed.Ifthis signalisONandmovementontheaxisisstarted,themotoronthisaxiswillrunattheFLlow speed.Whenthissignalisusedasadecelerationstopsignal,andwhenthissignalisturnedON duringahighspeedfeedoperation,themotoronthisaxiswilldeceleratetotheFLspeedand thenstop. 4)ORG:Inputsignalforazeroreturnoperation. Forsafety,makesurethe+ELand-ELsignalsstayonfromtheELpositionuntiltheendofeachstroke. TheinputlogicforthesesignalscanbechangedusingtheELLterminal. Theinputlogicofthe+ELand-ELsignalscanbechangedwiththeELLterminal. TheinputlogicoftheSDandORGsignalscanbechangedusingsoftware. DigitalservomotorI/F Thefollowingthreesignalscanbeusedasaninterfaceforeachaxis 1)INP:Inputpositioningcompletesignalthatisoutputbyaservomotordriver. 2)ERC:Outputdeflectioncounterclearsignaltoaservomotordriver. 3)ALM:Regardlessofthedirectionofoperation,whenthissignalisON,movementonthisaxisstops immediately(decelerationstop).WhenthissignalisON,nomovementcanoccuronthisaxis. TheinputlogicoftheINP,ERC,andALMsignalscanbechangedusingsoftware. TheERCsignalisapulsedoutput.Thepulselengthcanbeset.(12secto104msec.Aleveloutputis alsoavailable.) Outputpulsespecifications Outputpulsescanbesettoacommonpulseor2-pulsemode.Theoutputlogiccanalsobeselected. Emergencystopsignal( )input WhenthissignalisturnedON,movementonbothaxesstopsimmediately.WhilethissignalisON,no movementisallowedoneitheraxes. Interruptsignaloutput signal(interruptrequest)canbeoutputformanyreasons. An The terminaloutputsignalcanuseORedlogicforlotsofconditionsoneachaxis. (Whenmorethanone6045BLSIisused,wiredORconnectionsarenotpossible.) -4- 2. Specifications Item Number of axes Reference clock Positioning control range Ramping-down point setting range Number of registers used for setting speeds Speed setting step range Speed magnification range Description 4 axes (X, Y, Z, and U axis) Standard: 19.6608 MHz (Max. 20 MHz) -134,217,728 to +134,217,727 (28-bit) 0 to 16,777,215 (24-bit) Three for each axis (FL, FH, and FA (speed correction)) 1 to 65,535 (16-bits) Multiply by 0.1 to 100 Multiply by 0.1 = 0.1 to 6,553.5 pps Multiply by 1 = 1 to 65,535 pps Multiply by 100 = 100 to 6,553,500 pps (When the reference clock is 19.6608 MHz) Acceleration/deceleration Selectable acceleration/deceleration pattern for both increasing and decreasing characteristics speed separately, using Linear and S-curve acceleration/deceleration. Acceleration rate setting 1 to 65,535 (16-bit) range Deceleration rate setting 1 to 65,535 (16-bit) range Ramping-down point Automatic setting within the range of (deceleration time) < (acceleration time x automatic setting 2) Feed speed automatic Automatically lowers the feed speed for short distance positioning moves. correction function Manual operation input Manual pulsar input, pushbutton switch input Counter COUNTER1: Command position counter (28-bit) COUNTER2: Mechanical position counter (28-bit) COUNTER3: Deflection counter (16-bit) COUNTER4: General-purpose counter (28-bit) Comparators 28-bits x 5 circuits / axis Interpolation functions Linear interpolation: Any 2 to 4 axes, Circular interpolation: Any 2 axes Operating temperature o -40 to +70 C range Power supply Two power supplies of +5V10% and 3.3 V10% Package 176-pin QFP -5- 3. Terminal Assignment Diagram 132 130 128 126 124 122 120 118 116 114 112 110 108 106 104 102 100 134 136 138 140 98 96 94 92 90 88 86 84 82 80 142 78 144 76 146 74 148 72 150 152 154 ( ( ) ) 156 64 158 62 160 60 162 164 166 54 168 52 170 50 172 48 174 46 176 10 12 14 16 18 2 0 22 2 4 26 28 30 32 34 36 3 8 40 4 2 44 58 56 ( ) ( ) 70 PLC6045B 68 66 -6- 4. Functions of Terminals Signal name GND Terminal No. 17, 25, 39, 56, 77, 105, 127, 163, 176 33, 61, 100,121, 149, 161, 162,165, 166,167 12, 88, 144 175 Input/ output Power source Logic Description Supply a negative power. Make sure to connect all of these terminals. VDD5 Power source Supply +5 VDC power. The allowable power supply range is +5 VDC 10%. Make sure to connect all of these terminals. VDD3 Power source Input CLK 164 Input IF0 IF1 1 2 Input Supply +3.3 VDC power. The allowable power supply range is +3.3 VDC 10%. Make sure to connect all of these terminals. Negative Input reset signal. Make sure to set this signal LOW after turning ON the power and before starting operation. Input and holding low for at least 8 cycles of the reference clock. For details about the chip's status after a reset, see section 11-1, "Reset", in this manual. Input a CMOS level reference clock signal. (Signals other than the CLK are TTL level inputs.) The reference clock frequency is 19.6608 MHz. The LSI creates output pulses based on the clock input on this terminal. Enter the CPU-I/F mode IF1 IF0 CPU CPU signal connected to the example terminal A0 68000 +5 V R/ H8 (GND) 8086 (GND) READY Z80 A0 and terminals L L H H 3 4 5 6 to 10 11 Input Input Input Input L H L H A0 to A3 Negative When the signal level on this terminal is LOW, the terminals will be valid. Negative Connect the I/F signals to the CPU. The and terminal is LOW. are valid when Positive Address control signals Negative Outputs an interrupt request signal (IRQ) to an external CPU. After this terminal is turned ON, the signal will return to OFF when a RESET (error interrupt cause) or RIST (event interrupt cause) signal is received. The output status can be checked with an MSTSW (main status) command signal. signal can be masked. The When more than one 6045B LSI is used, a wired OR connection between terminals is not allowed. 13 Output Negative Outputs a wait request signal to cause a CPU to wait. The LSI needs 4 reference clock cycles to process each signal is not used, make sure that an command. If the external CPU does not access this LSI during this interval. -7- Signalname D0toD7 D8toD15 ELLx ELLy ELLz ELLu +ELLx +ELLy +ELLz +ELLu -ELLx -ELLy -ELLz -ELLu SDx SDy SDz SDu Terminal Input/ Logic Description No. output 14 Output Negative SignalusedtoindicatethattheLSIisprocessingcommands. UsethissignaltomakeconnectionswithaCPUthatdoesnot haveawaitcontrolinputterminal. WhentheLSIreceivesawritecommandfromaCPU,thissignal willgoLOW.WhentheLSIfinishesprocessing,thissignalwill goHIGH. TheLSImakessurethatthisterminalisHIGHandthen proceedstothenextstep. 15to16, Input/ Positive Bi-directionaldatabus. 18to23 Output Whenconnectinga16-bitdatabus,connectthelower8signal lineshere. 24, Input/ Positive Bi-directionaldatabus. 26to32 Output Whenconnectinga16-bitdatabus,connecttheupper8signal lineshere. AZ80-I/F(IF1=H,IF0=H)isused.Provideapullupresistor (5kto10K-ohms)onVDD5. (Oneresistorcanbeusedforall8lines.) 168 Input/ Negative Input/Outputterminalforsimultaneousstart. Output WhenmorethanoneLSIisusedandyouwanttostartthem * simultaneously,connectthisterminaloneachLSI. TheterminalstatuscanbecheckedusinganRSTScommand signal(extensionstatus). 169 Input/ Negative Input/Outputterminalforasimultaneousstop.(SeeNote6.) Output WhenmorethanoneLSIisusedandyouwanttostopthem * simultaneously,connectthisterminaloneachLSI. TheterminalstatuscanbecheckedusinganRSTScommand signal(extensionstatus). 170 InputU Negative Inputforanemergencystop. WhilethissignalisLOW,thePCLcannotstart.Ifthissignal changestoLOWwhileinoperation,allthemotorswillstop operationimmediately. InputU SpecifytheinputlogicfortheELsignal. 171 LOW:TheinputlogiconELispositive. 172 HIGH:TheinputlogiconELisnegative. 173 174 34 InputU Negative Inputendlimitsignalinthepositive(+)direction.(SeeNote6.) WhenthissignalisONwhilefeedinginthepositive(+)direction, 66 % themotoronthataxiswillstopimmediatelyorwilldecelerate 97 andstop. 130 SpecifytheinputlogicusingtheELLterminal. TheterminalstatuscanbecheckedusinganSSTSWcommand signal(substatus). 35 InputU Negative Inputendlimitsignalinthenegative(-)direction.(SeeNote6.) WhenthissignalisONwhilefeedinginnegative(-)direction,the 67 % motoronthataxiswillstopimmediately,orwilldecelerateand 98 stop. 131 SpecifytheinputlogicusingtheELLterminal. TheterminalstatuscanbecheckedusinganSSTSWcommand signal(substatus). InputU Negative Inputdecelerationsignal. 36 # Selectstheinputmethod:LEVELorLATCHEDinputs. 68 Theinputlogiccanbeselectedusingsoftware.Theterminal 99 statuscanbecheckedusinganSSTSWcommandsignal(sub 132 status). -8- Signalname ORGx ORGy ORGz ORGu ALMx ALMy ALMz ALMu OUTx OUTy OUTz OUTu DIRx DIRy DIRz DIRu EAx,EBx EAy,EBy EAz,EBz EAu,EBu EZx EZy EZz EZu PAx,PBx PAy,PBy PAz,PBz PAu,PBu +DRx,-DRx +DRy,-DRy +DRz,-DRz +DRu,-DRu Terminal Input/ Logic Description No. output InputU Negative Inputzeropositionsignal. 37 # Usedforzeroreturnandotheroperations.(Edgedetection.) 69 Theinputlogiccanbeselectedusingsoftware.Theterminal 101 statuscanbecheckedusinganSSTSWcommandsignal(sub 133 status). 38 InputU Negative Inputalarmsignal.(SeeNote6.) 70 # WhenthissignalisON,themotoronthataxisstopsimmediately, 102 orwilldecelerateandstop. 134 Theinputlogiccanbeselectedusingsoftware. TheterminalstatuscanbecheckedusinganSSTSWcommand signal(substatus). 57 Output Negative Outputscommandpulsesforcontrollingamotor,oroutputs 78 # directionsignals. 122 WhenCommonPulsemodeisselected:Outputsadirection 145 signal. When2-pulseoutputmodeisselected:Outputspulsesinthe negative(-)direction. Theoutputlogiccanbechangedusingsoftware. 58 Output Negative Outputcommandpulsesforcontrollingamotor,oroutputs 79 # directionsignal. 123 WhenCommonPulsemodeisselected:Outputsadirection 146 signal. When2-pulseoutputmodeisselected:Outputpulsesinthe negative(-)direction. Theoutputlogiccanbechangedusingsoftware 40,41 InputU Inputthissignalwhenyouwanttocontrolthemechanical 71,72 positionusingtheencodersignal. Inputa90 phase difference 103,104 signal(1x,2x,4x)orinputpositive(+)pulsesonEAand 135,136 negative(-)pulsesonEB. Wheninputting90 phase difference signals, if the EA signal phaseisaheadoftheEBsignal,theLSIwillcountpulses. Thecountingdirectioncanbechangedusingsoftware. 42 InputU Negative Inputamarkersignal(thissignalisoutputonceforeachturnof 73 # theencoder)whenusingthemarkersignalinzeroreturnmode. 106 UseoftheEZsignalimproveszeroreturnprecision. 137 Theinputlogiccanbechangedusingsoftware.Theterminal statuscanbecheckedusinganRSTScommandsignal (extensionstatus). 43,44 InputU Inputforreceivingexternaldrivepulses,suchasmanualpulsar. 74,75 Youcaninput90 phase difference signals (1x, 2x, 4x) or 107,108 positive(+)pulses(onPA)andnegative(-)pulses(onPB). 138,139 When90 phase difference signals are used, if the signal phase ofPAisaheadofthePBsignal,theLSIwillcountup. Thecountingdirectioncanbechangedusingsoftware. InputU Negative SettingtheseterminalsLOWenablesPA/PBand+DR/-DRinput. 45 Byinputtinganaxischangeswitchsignal,onemanualpulsar 76 canbeusedalternatelyforfouraxes. 109 140 46,47 InputU Negative YoucanstartoperationofthePCLwiththesesignals,using 82,83 # externalswitches. 110,111 Specifyingthefeedlength,low-speedcontinuousfeed,andhigh141,142 speedcontinuousfeedarepossible. Theinputlogiccanbechangedusingsoftware.Theterminal statuscanbecheckedusinganRSTScommandsignal (extensionstatus). -9- Signalname PCSx PCSy PCSz PCSu INPx INPy INPz INPu CLRx CLRy CLRz CLRu LTCx LTCy LTCz LTCu ERCx ERCy ERCz ERCu P0x/FUPx P0y/FUPy P0z/FUPz P0u/FUPu P1x/FDWx P1y/FDWy P1z/FDWz P1u/FDWu P2x/MVCx P2y/MVCy P2z/MVCz P2u/MVCu P3x/CP1x(+SLx) P3y/CP1y(+SLy) P3z/CP1z(+SLz) P3u/CP1u(+SLu) Terminal Input/ Logic Description No. output InputU Negative ThePCLstartsitspositioningoperationaccordingtothisinput 48 # signal.(Override2ofthetargetposition.) 84 Theinputlogiccanbechangedusingsoftware.Theterminal 112 statuscanbecheckedusinganRSTScommandsignal 143 (extensionstatus). 49 InputU Negative Inputthepositioncompletesignalfromservodriver(in-position 85 # signal). 113 Inputlogiccanbechangedusingsoftware.Theterminalstatus 150 canbecheckedusinganRSTScommandsignal(extension status). InputU Negative ResetaspecifiedcounterfromCOUNTER1to4. 50 # Theinputlogiccanbechangedusingsoftware.Theterminal 86 statuscanbecheckedusinganRSTScommandsignal 114 (extensionstatus). 151 51 InputU Negative Latchcountervalueofspecifiedcounters(availableonmore 87 # thanone)fromCOUNTER1to4. 115 Theinputlogiccanbechangedusingsoftware.Theterminal 152 statuscanbecheckedusinganRSTScommandsignal. Output Negative Outputsadeflectioncounterclearsignaltoaservodriverasa 59 # pulse. 80 Theoutputlogicandpulsewidthcanbechangedusingsoftware. 124 ALEVELsignaloutputisalsoavailable.Theterminalstatuscan 147 becheckedusinganRSTScommandsignal. Output Negative OutputsaLOWsignalwhilefeeding. 60 81 125 148 52 Input/ Positive CommonterminalforgeneralpurposeI/OandFUP.(SeeNote 89 Output* 5.) 116 AsanFUPterminal,itoutputsaLOWsignalwhiledecelerating 153 AsageneralpurposeI/Oterminal,threepossibilitiescanbe specified:inputterminal,outputterminal,andoneshotpulse outputterminal. Theusage,outputlogicoftheFUPandoneshotpulse parameterscanbechangedusingsoftware. 53 Input/ Positive CommonterminalforgeneralpurposeI/OandFDW.(SeeNote 90 Output 5.) 117 * AsanFDWterminal,itoutputsaLOWsignalwhiledecelerating. 154 AsageneralpurposeI/Oterminal,threepossibilitiescanbe specified:inputterminal,outputterminal,andoneshotpulse outputterminal. Theusage,outputlogicoftheFDWandoneshotpulse parameterscanbechangedusingsoftware. Input/ Positive CommonterminalforgeneralpurposeI/OandMVC.(SeeNote 54 5.) Output 91 WhenusedasanMVCterminal,itoutputsasignalwhile * 118 performingalowspeedfeed. 156 Theusage,andoutputlogicoftheMVCcanbechangedusing software. Input/ Positive CommonterminalforgeneralpurposeI/OandCP1(+SL).(See 55 Note5.) Output 92 WhenusedasaCP1(+SL)terminal,itoutputsasignalwhile * 119 establishingtheconditions(within+SL)ofcomparator1. 156 TheoutputlogicofCP1(+SL)aswelltheselectionofinputor outputfunctionscanbechangedusingsoftware. -10- Terminal No. P4x/CP2x(-SLx) 62 P4y/CP2y(-SLy) 93 P4z/CP2z(-SLz) 120 P4u/CP2u(-SLu) 157 P5x/CP3x P5y/CP3y P5z/CP3z P5u/CP3u P6x/CP4x P6y/CP4y P6z/CP4z P6u/CP4u P7x/CP5x P7y/CP5y P7z/CP5z P7u/CP5u 63 94 126 158 64 95 128 159 65 96 129 160 Signalname Input/ Logic Description output Input/ Positive CommonterminalforgeneralpurposeI/OandCP2(-SL). Output WhenusedasaCP2(-SL)terminal,itoutputsasignalwhile * establishingtheconditions(within-SL)ofcomparator2. TheoutputlogicofCP2(-SL)aswellastheselectionofinputor outputfunctionscanbechangedusingsoftware.(SeeNote5.) Input/ Positive CommonterminalforgeneralpurposeI/OandCP3.(SeeNote Output 5.) * WhenusedasaCP3terminal,itoutputsasignalwhile establishingtheconditionsofcomparator3. TheoutputlogicofCP3aswellastheselectionofinputor outputfunctionscanbechangedusingsoftware. Input/ Positive CommonterminalforgeneralpurposeI/OandCP4.(SeeNote 5.) Output WhenusedasaCP4terminal,itoutputsasignalwhile * establishingtheconditionsofcomparator4. TheoutputlogicofCP4aswellastheselectionofinputor outputfunctionscanbechangedusingsoftware. Input/ Positive CommonterminalforgeneralpurposeI/OandCP5.(SeeNote Output 5.) * WhenusedasaCP5terminal,itoutputsasignalwhile establishingtheconditionsofcomparator5. TheoutputlogicofCP5aswellastheselectionofinputor outputfunctionscanbechangedusingsoftware. Note1:"InputU"referstoaninputwithapullupresistor.Theinternalpullupresistance(50Kto100K-ohms)is onlyusedtokeepaterminalfromfloating.IfyouwanttousetheLSIwithanopencollectorsystem,an externalpullupresistor(5kto10K-ohms)isrequired. Asanoisepreventionmeasure,pullupunusedterminalstoVDD5usinganexternalresistor(5kto10 K-ohms),orconnectthemdirectlytoVDD5. Note2:"Input/Output*"referstoaterminalwithapullupresistor.Theinternalpullupresistor(50Kto100Kohms)isonlyusedtokeepaterminalfromfloating.IfitisconnectedinawiredORcircuit,anexternal pullupresistor(5kto10K-ohms)isrequired. Asanoisepreventionmeasure,pullupunusedterminalstoVDD5usinganexternalresistor(5kto10Kohms). Note3:Ifanoutputterminalisnotbeingused,leaveitopen. Note4:"Positive"referstopositivelogic."Negative"referstonegativelogic."#"meansthatthelogiccanbe changedusingsoftware."%"meansthatthelogiccanbechangedbythesettingonanotherterminal. Thelogicshownrefersonlytotheinitialstatusoftheterminal.TheDIRterminalisinitiallyina2-pulse mode. Note5:UsetheRENV2registertoselectanoutputsignal. WhenP0toP7aresetupasoutputterminals,theycanbecontrolledsimultaneouslyas8bitsoronebit atatimeusingoutputbitcontrolcommands,dependingonwhatiswrittentotheoutputport(OTPB). WhenP0andP1aresetupasoneshotpulseoutputterminals,theywilloutputaoneshotsignal(T= Approx.26msec)usingtheoutputbitcontrolcommand. Note6:Whenadecelerationstopisselected,latchtheinputsignalONuntilthePCLstopsoperation. -11- 5. Block Diagram - 12 - 6. CPU Interface 6-1. Setting up connections to a CPU This LSI can be connected to four types of CPUs by changing the hardware settings. Use the IF0 and IF1 terminals to change the settings and connect the CPU signal lines as follows. Setting CPU signal to connect to the 6045B terminals status CPU type IF1 IF0 terminal terminal A0 terminal terminal L L 68000 +5V R/ L H H8 (GND) H L 8086 (GND) READY H H Z80 A0 6-2. Precautions for designing hardware * * * * Apply a CMOS level clock to the CLK terminal. To reset the LSI, hold the signal LOW, and input the CLK signal for at least 8-clock cycles. Connect unused P0 to P7 terminals to VDD5 through a pull up resistor (5 k to 10 K-ohms). When connecting a CPU with an 8-bit bus, pull up terminals D8 to D15 to VDD5 using an external resistor (5 k to 10). (Shared use of one resister for the 8 lines is available.) * Use the ELL terminal to change the EL signal input logic. * To supply and shut down the power, turn both the 5 V and 3.3 V power supplies ON and OFF simultaneously, if possible. * Turning ON only one power supply may feed current to the other side, which can shorten the life of the LSI if this condition continues over time. - 13 - 6-3.CPUinterfacecircuitblockdiagram 1)Z80interface Z80 CLK M1 A5-A7 A0-A3 INT IORQ RD WR WAIT D0-D7 RESET Systemreset PCL6045B CLK +5V CS IF1 IF0 A0-A3 INT RD WR WRQ D0-D7 RST Decode circuit 2)8086interface 8086 CLK M/IO PCL6045B Decode circuit A5-A19 A1-A19 A1-A4 CLK CS +5V ALE A16-A19 AD0-AD15 Latch IF1 IF0 A1-A4 A0 GND D0-D15 GND INTR INTA RD WR READY RESET MN/MX Systemreset Systemreset Interrupt control circuit INT RD WR WRQ +5V RST -14- 3)H8interface H8 CLK A4-A15 PCL6045B CLK CS IF0 IF1 A1-A4 A0 INT RD WR WRQ D0-D15 RST GND GND +5V Decode circuit A1-A3 IRQ RD HWR WAIT D0-D15 RESET Systemreset 4)68000interface 68000 AS A5-A23 A1-A3 D0-D15 LDS DTACK IPLO-IPL2 PCL6045B Decode circuit CLK CLK CS IF0 IF1 A1-A3 D0-D15 GND A0 WRQ Interrupt control circuit INT +5V R/W RESET Systemreset RD WR RST Note: Forthe8086,H8,and68000interfaces,onlyword(16-bit)accessisavailable.Byte(8-bit)accessis notavailable. -15- 6-4.Addressmap 6-4-1.Axisarrangementmap InthisLSI,thecontroladdressrangeforeachaxisisindependent.Itisselectedbyusingaddressinput terminalA3andA4,asshownbelow. A4 A3 Detail 0 0 Xaxiscontroladdressrange 0 1 Yaxiscontroladdressrange 1 0 Zaxiscontroladdressrange 1 1 Uaxiscontroladdressrange 6-4-2.Internalmapofeachaxis TheinternalmapofeachaxisisdefinedbyA0,A1andA2addresslineinputs. -16- -17- 6-5.Descriptionofthemapdetails 6-5-1.Writethecommandcodeandaxisselection(COMW,COMB) Writethecommandsforreadingandwritingtoregistersandthestartandstopcontrolcommandsforeach axis. COMB0: Setthecommandcode.Fordetails,see7."Command(OperationandControlcommands)." SELutox: Selectanaxisforexecutingthecommand.Ifallofthebitsare0,onlythisaxis(selectedby A4,A3)isselected.Towritethesamecommandtomorethanoneaxis,setthebitsofthe selectedaxesto1.Whenyouwritetoaregister,thedetailsoftheinput/outputbufferare writtenintotheregisterforeachaxis.Whenyoureadfromaregister,thedetailsinthe registerarewrittenintotheinput/outputbufferforeachaxis. 6-5-2.Writetoanoutputport(OTPW,OTPB) SpecifyoutputterminalstatusfromthegeneralpurposeI/OterminalsP0toP7. Bitscorrespondingtoterminalsnotsetasoutputsareignored. When writing a word, the upper 8 bits are ignored. However, they should be set to 0 for future compatibility. OTP0to7:SpecifythestatusofoutputterminalsP7ntoP0n(n=x,y,z,u). AHIGHisoutputwhenthebitissetto1. OTPW OTPB 15 0 14 0 13 0 12 0 11 0 10 0 9 0 8 0 7 6 5 4 3 2 1 0 OTP7 OTP6 OTP5 OTP4 OTP3 OTP2 OTP1 OTP0 6-5-3.Write/readtheinput/outputbuffer(BUFW,BUFB) When you want to write data into a register, after placing the data in the input/output buffer, write a "registerwritecommand"intoCOMB0.Thedataintheinput/outputbufferwillbecopiedintotheregister. When you wantto write datainto the input/output buffer, write a "register read command" into COMB0. The data in the register will be copied to the input/output buffer. Then you can read the data from the input/outputbuffer. TheorderforwritingandreadingbuffersBUFW0to1(BUFB0to3)isnotspecified.Thedatawrittenin theinput/outputbuffercanbereadatanytime. -18- 6-5-4.Readingthemainstatus(MSTSW,MSTSB) Bit 0 1 2 Bitname SSCM SRUN SENI 3 4 5 6to7 8 9 10 11 12 13 14 15 SEND SERR SINT SSC0to1 SCP1 SCP2 SCP3 SCP4 SCP5 SEOR SPRF SPDF Details Setto1bywritingastartcommand.Setto0whentheoperationisstopped. Setto1bythestartpulseoutput.Setto0whentheoperationisstopped. Stopinterruptflag WhenIENDinRENV2is1,thePCLturnsONtheINToutputwhenthestatus changesfromoperatingtostop,andtheSENIbitbecomes1.(Afterthemain statusisread,itreturnsto0.)WhenIENDissetto0,thisflagwillalwaysbe0. Setto0bywritingstartcommand.Setto1whentheoperationisstopped. Setto1whenanerrorinterruptoccurs.Setto0byreadingtheRESET. Setto1whenanerrorinterruptoccurs.Setto0byreadingtheRIST. Sequencenumberforexecutionorstopping. Setto1whentheCOMPARATOR1comparisonconditionsaremet. Setto1whentheCOMPARATOR2comparisonconditionsaremet. Setto1whentheCOMPARATOR3comparisonconditionsaremet. Setto1whentheCOMPARATOR4comparisonconditionsaremet. Setto1whentheCOMPARATOR5comparisonconditionsaremet. Whenapositioningoverridecannotbeexecuted(readingtheRMVregisterwhile stopped),thissignalchangesto1.Afterthemainstatusisread,itchangesto0. Setto1whenthepre-registerforthesubsequentoperationdataisfull. Setto1whenthepre-registerforcomparator5isfull. Statuschangetimingchart 1)Whenthecontinuousmode(MOD=00h,08h)isselected. 2)WhenthePA/PBcontinuousmode(MOD=01h)isselected. -19- 3)WhentheDRcontinuousmode(MOD=02h)isselected. 4)Whentheautostopmodeisselectedsuchaspositioningoperationmode(MOD=41h). 6-5-5.Readingthesubstatusandinput/outputport.(SSTSW,SSTSB,IOPB) SSTSW SSTSB IOPB 1514131211109876543210 SSDSORGSMELSPELSALMSFCSFDSFUIOP7IOP6IOP5IOP4IOP3IOP2IOP1IOP0 Bit Bitname Description 0to7 IOP0to7 ReadthestatusofP0to7(0:Llevel,1:Hlevel) 8 SFU Setto1whileaccelerating. 9 SFD Setto1whiledecelerating. 10 SFC Setto1whilefeedingatlowspeed. 11 SALM Setto1whentheALMinputisON. 12 SPEL Setto1whenthe+ELinputisON. 13 SMEL Setto1whenthe-ELinputisON. 14 SORG Setto1whentheORGinputisON. 15 SSD Setto1whentheSDinputisON.(LatchestheSDsignal.) Note:Whenthebacklashorslipcorrectionfunctionisused,SFU,SFD,andSFCwillallbe0.Themain statusSRUMwillbe1,evenifthiscorrectionisused. -20- 7.Commands(OperationandControlCommands) 7-1.Operationcommands AfterwritingtheaxisassignmentdatatoCOMB1(address1whenaZ80I/Fisused),writethecommandto COMB0(address0whenaZ80I/Fisused),theLSIwillstartandstop,aswellaschangethespeedofthe outputpulses. Whenan8086,H8,or68000I/Fisused,write16-bitdata,whichcombinestheaxisassignmentand operationcommanddata. 7-1-1.Procedureforwritinganoperationcommand(theaxisassignmentisomitted) WriteacommandtoCOMB0(address0whenaZ80I/Fisused).Awaitingtimeof4registerreference clockcycles(approximately0.2secwhenCLK=19.6608MHz)isrequiredfortheintervalbetween "writingacommand"and"writingthenextcommand,""writingaregister"and"writingtheI/Obuffer,"and between"readingaregister"and"readingtheI/Obuffer."WhentheWRQoutputsignalisusedby connectingittotheCPU,theCPUautomaticallyensuresthiswaitingtime. IfyouwanttouseaCPUthatdoesnothavethiswaitingfunction,arrangetheprogramsequencesothat accessisonlyallowedafterconfirmingthattheIFBoutputsignalisHIGH. 1)Whennotusing A0toA2 CS WR D0toD7 Command Secure4reference clockcyclesbythe software Command 0h Nextcommandaddress 2)Whennotusing A0toA2 CS WR WRQ D0toD7 Command Automaticallsecure4 referenceclockcycles Command 0h Nextcommandaddress 7-1-2.Startcommand 1)Startcommand Ifthiscommandiswrittenwhilestopped,themotorwillstartrotating.Ifthiscommandiswrittenwhilethe motorisoperating,itistakenasthenextstartcommand. COMB0 Symbol Description 50h STAFL FLlowspeedstart 51h STAFH FHlowspeedstart 52h STAD Highspeedstart1(FHlowspeed->decelerationstop)Note.1 53h STAUD Highspeedstart2(Acceleration->FHlowspeed->Decelerationstop)Note.1 Note1:Fordetails,seesection10-1,"Speedpatterns." -21- 2)Residualpulsesstartcommand Writethiscommandafterthemotorisstoppedonthewaytoapositioning,itwillcontinuemovementfor thenumberofpulsesleftinthedeflectioncounter. COMB0 Symbol Description 54h CNTFL ResidualpulsesFLlowspeedstart 55h CNTFH ResidualpulsesFHlowspeedstart 56h CNTD Residualpulseshighspeedstart(FHconstantspeedstartwithout acceleration,withdeceleration) 57h CNTUD Residualpulsehighspeedstart(Withaccelerationanddeceleration.) 3)Simultaneousstartcommand BysettingtheRMDregister,theLSIwillstartanaxiswhichiswaitingfor signal. COMB0 Symbol Description 06h CMSTA Outputoneshotofthestartpulsefromthe terminal. 2Ah SPSTA Onlythisaxiswillprocessthecommand,thesameaswhenthe input. 7-1-3.Speedchangecommand Writethiscommandwhilethemotorisoperating,themotoronthataxiswillchangeitsfeedspeed.Ifthis commandiswrittenwhilestoppeditwillbeignored. COMB0 Symbol Description 40h FCHGL ChangetotheFLspeedimmediately. 41h FCHGH ChangetotheFHspeedimmediately. 42h FSCHL DecelerateandchangetotheFLspeed. 43h FSCHH AccelerateandchangetotheFHspeed. 7-1-4.Stopcommand 1)Stopcommand Writethiscommandtostopfeedingwhileoperating. COMB0 Symbol Description 49h STOP Writethiscommandwhileinoperationtostopimmediately. 4Ah SDSTP WritethiscommandwhilefeedingatFHlowspeedorhighspeed,themotor onthataxiswilldeceleratetotheFLlowspeedandstop.Ifthiscommandis writtenwhiletheaxisisbeingfedatFLlowspeed,themotoronthataxiswill stopimmediately. 2)Simultaneousstopcommand Stopthemotoronanyaxiswhose inputstopfunctionhasbeenenabledbysettingtheRMD register. COMB0 Symbol Description 07h CMSTP Outputsoneshotofpulsesfromthe terminaltostopmovementonthat axis. 3)Emergencystopcommand Stopsanaxisinanemergency COMB0 Symbol 05h CMEMG Emergencystop(sameasa 7-1-5.NOP(donothing)command COMB0 Symbol 00h NOP Description Thiscommanddoesnotaffecttheoperation. signalis Description signalinput) -22- 7-2.General-purposeoutputbitcontrolcommands ThesecommandscontroltheindividualbitsofoutputterminalsP0toP7. Whentheterminalsaredesignatedasoutputs,theLSIwilloutputsignalsfromterminalsP0toP7. Commandsthathavenotbeendesignatedasoutputsareignored. ThewriteproceduresarethesameasfortheOperationcommands. Inadditiontothiscommand,bywritingtoageneral-purposeoutputport(OTPB:Address2whenaZ80I/F isused),youcanset8bitsasagroup.Seesection7-5,"General-purposeoutputportcontrol." COMB0 10h 11h 12h 13h 14h 15h 16h 17h Symbol P0RST P1RST P2RST P3RST P4RST P5RST P6RST P7RST Description MakeP0LOW. MakeP1LOW. MakeP2LOW. MakeP3LOW. MakeP4LOW. MakeP5LOW. MakeP6LOW. MakeP7LOW. COMB0 18h 19h 1Ah 1Bh 1Ch 1Dh 1Eh 1Fh Symbol P0SET P1SET P2SET P3SET P4SET P5SET P6SET P7SET Description MakeP0HIGH. MakeP1HIGH. MakeP2HIGH. MakeP3HIGH. MakeP4HIGH. MakeP5HIGH. MakeP6HIGH. MakeP7HIGH. TheP0andP1terminalscanbesetforoneshotoutput(T=approx.26msec.)usingtheRENV2 (Environmentsetting2)register,andtheoutputlogiccanbeselected. Tousethemasoneshotoutputs,settheP0terminaltoP0M(bits0and1)=11,or,settheP1terminalto P1M(bits2and3)=11.Tochangetheoutputlogic,setP0L(bit16)ontheP0terminalandP1L(bit17)on theP1terminal. Inordertoperformaone-shotoutputfromtheP0andP1terminals,abitcontrolcommandshouldbe written.However,thecommandyouneedtowritewillvary,dependingontheoutputlogicselected.See thetablebelowforthedetails. Bitcontrol Bitcontrol Terminal Logicsetting Terminal Logicsetting command command Negativelogic(P0L=0) P0RST(10h) Negativelogic(P1L=0) P1RST(11h) P0 P1 Positivelogic(P0L=1) P0SET(18h) Negativelogic(P1L=1) P1SET(19h) Whenwritingcontrolcommandstooutputports(OTPB:address2fortheZ80interface),theP0andP1 terminalswillnotchange. -23- 7-3.Controlcommand Setvariouscontrols,suchastheresetcounter. Theproceduresforwritingarethesameastheoperationcommands. 7-3-1.Softwareresetcommand UsedtoresetthisLSI. COMB0 Symbol Description 04h SRST Softwarereset.(Samefunctionasmakingthe 7-3-2.Counterresetcommand Resetcounterstozero. COMB0 Symbol Description 20h CUN1R ResetCOUNTER1(commandposition). 21h CUN2R ResetCOUNTER2(mechanicalposition). 22h CUN3R ResetCOUNTER3(deflectioncounter). 23h CUN4R ResetCOUNTER4(general-purposecounter). 7-3-3.ERCoutputcontrolcommand ControltheERCsignalusingcommands. COMB0 24h 25h Symbol Description ERCOUT OutputstheERCsignal. ERCRST ResetstheoutputwhentheERCsignaloutputisspecifiedtoaleveltypeoutput. terminalLOW.) 7-3-4.Pre-registercontrolcommand Cancelthepre-registersettingsandtransferthepre-registerdatatoaregister. Seesection"8-2.Pre-register"inthismanualfordetailsaboutthepre-register. COMB0 Symbol Description 26h PRECAN Canceltheoperationpre-register.Note1,2. 27h PCPCAN CanceltheRCMP5operationpre-register(PRCP5). 2Bh PRESHF Shifttheoperationpre-registerdata.Note3. 2Ch PCPSHF ShifttheRCMP5operationpre-registerdata. 4Fh PRSET Usethepre-registeroperationforspeedpatternchangedatausingacomparator. 7-3-5.PCSinputcommand EnteringthiscommandhasthesameresultsasinputtingasignalonthePCSterminal. COMB0 28h Symbol Description STAON AlternativetoaPCSterminalinput. 7-3-6.LTCHinput(counterlatch)command EnteringthiscommandhasthesameresultasinputtingasignalontheLTCterminal. COMB0 29h Symbol Description LTCH AlternativetoanLTC(latchcounter)terminalinput. -24- 7-4.Registercontrolcommand BywritingaRegisterControlcommandtoCOMB0(Address0whenaZ80I/Fisused),theLSIcancopy databetweenaregisterandtheI/Obuffer. WhenusingtheI/Obufferwhilerespondingtoaninterrupt,aprecautionisrequired,readingtheI/Obuffer contentsbeforeusingitandreturningittoitsoriginalvalueafteruse. 7-4-1.Procedureforwritingdatatoaregister(theaxisassignmentisomitted) 1)WritethedatathatwillbewrittentoaregisterintotheI/Obuffer(addresses4to7whenaZ80I/Fis used).Theorderinwhichthedataiswrittendoesnotmatter.However,securetworeferenceclock cyclesbetweenthesewritings. 2)Then,writea"registerwritecommand"toCOMB0(address0whenaZ80I/Fisused). Afterwritingonesetofdata,waitatleasttwocycles(approx.0.1secwhenCLK=19.6608MHz) beforewritingthenextsetofdata.Inbothcase1)andcase2),whentheWRQoutputisconnected totheCPU,theCPUwaitcontrolfunctionwillprovidethewaitingtimebetweenwriteoperations automatically. A0toA2 CS WR 4h 5h 6h 7h 0h Nextaddress D0toD7 Command Data Data Data Command Command Tworeference clockcyclesormore Fourreference clockcycles ormore 7-4-2.Procedureforreadingdatafromaregister(theaxisassignmentisomitted) 1)First,writea"registerreadoutcommand"toCOMB0(address0whenaZ80I/Fisused). 2)Waitatleastfourreferenceclockcycles(approx.0.2secwhenCLK=19.6608MHz)forthedatatobe copiedtotheI/Obuffer. 3)ReadthedatafromtheI/Obuffer(addresses4to7whenaZ80I/Fisused).Theorderforreadingdata fromtheI/Obufferdoesnotmatter.Thereisnominimumtimebetweenreadoperations. Whenthe outputisconnectedtotheCPU,theCPUwaitcontrolfunctionwillprovidethewaitingtime betweenwriteoperationsautomatically. -25- 7-4-3.Tableofregistercontrolcommands No. Detail Name RMV RFL RFH RUR RDR RMG RDP RMD RIP RUS RDS RFA RENV1 RENV2 RENV3 RENV4 RENV5 RENV6 RENV7 RCUN1 RCUN2 RCUN3 RCUN4 RCMP1 RCMP2 RCMP3 RCMP4 RCMP5 RIRQ RLTC1 RLTC2 RLTC3 RLTC4 RSTS REST RIST RPLS RSPD PSDC RCI RCIC RIPS Register Readcommand Writecommand COMB0 Symbol COMB0 Symbol D0h D1h D2h D3h D4h D5h D6h D7h D8h D9h DAh DBh DCh DDh DEh DFh E0h E1h E2h E3h E4h E5h E6h E7h E8h E9h EAh EBh ECh EDh EEh EFh F0h F1h F2h F3h F4h F5h F6h FCh FDh FFh RRMV RRFL RRFH RRUR RRDR RRMG RRDP RRMD RRIP RRUS RRDS RRFA RRENV1 RRENV2 RRENV3 RRENV4 RRENV5 RRENV6 RRENV7 RRCUN1 RRCUN2 RRCUN3 RRCUN4 RRCMP1 RRCMP2 RRCMP3 RRCMP4 RRCMP5 RRIRQ RRLTC1 RRLTC2 RRLTC3 RRLTC4 RRSTS RREST RRIST RRPLS RRSPD RPSDC RRCI RRCI RRIPS BCh WRCI PRCI CCh RPRCI 8Ch WPRCI 90h 91h 92h 93h 94h 95h 96h 97h 98h 99h 9Ah 9Bh 9Ch 9Dh 9Eh 9Fh A0h A1h A2h A3h A4h A5h A6h A7h A8h A9h AAh ABh ACh WRMV WRFL WRFH WRUR WRDR WRMG WRDP WRMD WRIP WRUS WRDS WRFA WRENV1 WRENV2 WRENV3 WRENV4 WRENV5 WRENV6 WRENV7 WRCUN1 WRCUN2 WRCUN3 WRCUN4 WRCMP1 WRCMP2 WRCMP3 WRCMP4 WRCMP5 PRCP5 WRIRQ Name PRMV PRFL PRFH PRUR PRDR PRMG PRDP PRMD PRIP PRUS PRDS 2ndpre-register Readcommand Writecommand COMB0 Symbol COMB0 Symbol C0h C1h C2h C3h C4h C5h C6h C7h C8h C9h CAh RPRMV RPRFL RPRFH RPRUR RPRDR RPRMG RPRDP RPRMD RPRIP RPRUS RPRDS 80h 81h 82h 83h 84h 85h 86h 87h 88h 89h 8Ah WPRMV WPRFL WPRFH WPRUR WPRDR WPRMG WPRDP WPRMD WPRIP WPRUS WPRDS Feedamount,target 1 position Initialspeed Operationspeed Accelerationrate Decelerationrate Speedmagnification 6 rate Ramping-downpoint 7 8 Operationmode Circularinterpolation 9 center AccelerationS-curve 10 range DecelerationS-curve 11 range Feedamount 12 correctionspeed 13 Environmentsetting1 14 Environmentsetting2 15 Environmentsetting3 16 Environmentsetting4 17 Environmentsetting5 18 Environmentsetting6 19 Environmentsetting7 COUNTER1 20 (commandposition) COUNTER2 21 (mechanicalposition) COUNTER3 22 (deflectioncounter) COUNTER4(general 23 purpose) 24 Dataforcomparator1 25 Dataforcomparator2 26 Dataforcomparator3 27 Dataforcomparator4 28 Dataforcomparator5 29 EventINTsetting COUNTER1latched 30 data COUNTER2latched 31 data COUNTER3latched 32 data COUNTER4latched 33 data 34 Extensionstatus 35 ErrorINTstatus 36 EventINTstatus 37 Positioningcounter EZcounter,speed 38 monitor 39 Ramping-downpoint Circularinterpolation 40 steppingnumber Circularinterpolation 41 steppingcounter 42 Interpolationstatus 2 3 4 5 CBh RPRCP5 8Bh WPRCP5 -26- 7-5. General-purpose output port control command By writing an output control command to the output port (OTPB: Address 2 when using a Z80 interface), the PCL will control the output of the P0 to P7 terminals. When the I/O setting for P0 to P7 is set to output, the PCL will output signals from terminals P0 to P7 to issue the command. When writing words to the port, the upper 8 bits are discarded. However, they should be set to zero to maintain future compatibility. 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. 7-5-1. Command writing procedures Write control data to output port (OTPB: Address 2h when a Z80 I/F is used). To continue with the next command, the LSI must wait for four reference clock cycles (approx. 0.2 sec terminal outputs a wait request signal. when CLK = 19.6608 MHz). The 2h Nextcommandaddress A0toA2 CS WR D0toD7 Command 4cycleof referenceclock Command 7-5-2. Command bit allocation 7 6 5 4 3 2 1 0 OTP7 OTP6 OTP5 OTP4 OTP3 OTP2 OTP1 OTP0 Output P0 Output P1 Output P2 Output P3 Output P4 Output P5 Output P6 Output P7 0: Low level 1: High level - 27 - 8.Registers 8-1.Tableofregisters Thefollowingregistersareavailableforeachaxis. Register Bit No. R/W Details name length 1 RMV 28 R/W Feedamount,targetposition 2 RFL 16 R/W Initialspeed 3 RFH 16 R/W Operationspeed 4 RUR 16 R/W Accelerationrate 5 RDR 16 R/W Decelerationrate 6 RMG 12 R/W Speedmagnificationrate 7 RDP 24 R/W Ramping-downpoint 8 RMD 28 R/W Operationmode 9 RIP 28 R/W Circularinterpolationcenterposition,masteraxisfeed amountwithlinearinterpolationandwithmultiplechips 10 RUS 15 R/W S-curveaccelerationrange 11 RDS 15 R/W S-curvedecelerationrange 12 RFA 16 R/W Speedatamountcorrection 13 RENV1 32 R/W Environmentsetting1(specifyI/Oterminaldetails) 14 RENV2 32 R/W Environmentsetting2(specifygeneral-purposeport details) 15 RENV3 32 R/W Environmentsetting3(specifyzeroreturnandcounter details) 16 RENV4 32 R/W Environmentsetting4(specifydetailsforcomparators1to 4) 17 RENV5 22 R/W Environmentsetting5(specifydetailsforcomparator5) 18 RENV6 32 R/W Environmentsetting6(specifydetailsforfeedamount correction) 19 RENV7 32 R/W Environmentsetting7(specifyvibrationreductioncontrol details) 20 RCUN1 28 R/W COUNTER1(commandposition) 21 RCUN2 28 R/W COUNTER2(mechanicalposition) 22 RCUN3 16 R/W COUNTER3(deflectioncounter) 23 RCUN4 28 R/W COUNTER4(general-purposecounter) 24 RCMP1 28 R/W Comparisondataforcomparator1 25 RCMP2 28 R/W Comparisondataforcomparator2 26 RCMP3 28 R/W Comparisondataforcomparator3 27 RCMP4 28 R/W Comparisondataforcomparator4 28 RCMP5 28 R/W Comparisondataforcomparator5 29 RIRQ 19 R/W Specifyeventinterruptioncause 30 RLTC1 28 R COUNTER1(commandposition)latchdata 31 RLTC2 28 R COUNTER2(mechanicalposition)latchdata 32 RLTC3 16 R COUNTER3(deflectioncounter)latchdata 33 RLTC4 28 R COUNTER4(general-purpose)latchdata 34 RSTS 22 R Extensionstatus 35 REST 18 R ErrorINTstatus 36 RIST 20 R EventINTstatus 37 RPLS 28 R Positioningcounter(numberofresidualpulsestofeed) 38 RSPD 23 R EZcounter,currentspeedmonitor 39 RSDC 24 R Automaticallycalculatedramping-downpoint 40 RCI 31 R/W Numberofstepsforinterpolation 41 RCIC 31 R Circularinterpolationstepcounter 42 RIPS 24 R Interpolationstatus 2ndpreregistername PRMV PRFL PRFH PRUR PRDR PRMG PRDP PRMD PRIP PRUS PRDS PRCP5 PRCI -28- 8-2.Pre-registers Thefollowingregistersandstartcommandshavepre-registers: RMV,RFL,RFH,RUR,RDR,RMG,RDP,RMD,RIP,RUS,RDS,RCI,andRCMP5. Thetermpre-registerreferstoaregisterwhichcontainsthenextsetofoperationdatawhilethecurrent stepisexecuting.ThisLSIhasthefollowing2-layerstructureandexecutesFIFOoperation. Thepre-registersconsistoftwogroups:theoperationpre-registers(PRMV,PRFL,PRFH,PRUR,PRDR, PRMG,PRDP,PRMD,PRIP,PRUS,PRDS,PRCI)andthecomparatorpre-register(PRCP5). 8-2-1.Writingtotheoperationpre-registers Thepre-registershaveatwolayerstructureandeachregistercancontainuptotwopiecesofoperation data.Writethedatatoapre-register(Pregistername).Registersthatdon'tneedtobechangeddonot needtoberewritten. WhenthePCLstopsitscurrentoperation,thedatayouwrotetothepre-registersisshiftedintotheworking registersandusedasthecurrentdata.WhenthePCLisoperating,thedataremainsstoredaspre-register data.Thedatawillbetransferredintothepre-registerswhenastartcommandisissued. Whenthecurrentoperationcompletes,thedatawillbeshiftedintotheworkingregistersandthePCL startsthenewoperationautomatically.Thestatusofthepre-registerscanbecheckedbyreadingPFMin theRSETregister.WhenthePFMisvalueis"11,"SPRFinthemainstatusregister(MSTSW)changesto "1".Writingdatawhilethepre-registerisfullisnotallowed. Tochangethecurrentoperatingstatusbeforetheoperationiscomplete,suchaswhenyouwanttochange thespeed,writethenewdatadirectlytotheworkingregister. Therelationshipbetweenthewritestatusofthepre-registersandthepossiblePFMvaluesareasfollows. Procedure 2ndpre-register 1stpre-register Workingregister PFM SPRF 0 0 0 Initialstatus 00 0 Undetermined Undetermined Undetermined Data1is Data1is Data1is WriteOperationData1 00 0 undetermined undetermined undetermined Data1is Data1is WriteaStartcommand Data1isset 01 0 undetermined undetermined WriteOperationData2anda Data2is Data2isset Data1isset 10 0 Startcommandwhileinoperation undetermined WriteOperationData3andStart Data3isset Data3isset Data1isset 11 1 commandwhileinoperation TheoperationusingOperation Data3is Data3isset Data2isset 10 0 Data1iscomplete undetermined Also,bysettinganeventinterruptcauseintheRIRQregister(IRNM),thePCLcanbesettooutputan signalasthe2ndpre-registerchangesfrom"set"to"undetermined"statuswhentheoperationiscomplete. Note:Whenyouwantthenextoperationtostartautomaticallyusingthepre-registers,settheoperation completiontimingto"cyclecompletion(METM=0onRMD)."Whenpulsecompletion(METM=1on RMD)"isset,thetimebetweenthelastpulseandnextoperationstartpulsewillbeaslittleas15x TCLK(TCKL:Referenceclockcycle). Fordetails,see11-3-2."Controltheoutputpulsewidthandoperationcompletiontiming." -29- 8-2-2.Cancelthepre-registeroperations Useapre-registerCancelcommand(26h)andaStopcommand(49h,4Ah)tocancelallthedatainthe pre-registers,andtheirstatusthenbecomesundetermined.Thepre-registerdataarealsocancelledifthe PCLstopswithanerror. 8-2-3.Writingtothecomparatorpre-registers Comparator5hasapre-register.Tooverwritethecurrentdata,writedirectlytoRCMP5.Towritetothe pre-register,writetoPRCP5. ThecomparatordatawillonlybesetbywritingtoPRCP5.Thestatusofthecomparatorpre-registercan becheckedbyreadingPFCintheRSTSregister.WhenthePFCvalueis11,SPDFinthemainstatus register(MSTSW)willbe1.Writingdatatothepre-registerwhenitisfullisnotallowed. Aftertheconditionshavebeenestablished,thecomparatordatainthepre-registerwillbeshiftedwhen theconditionchangesfromfalsetotrue. ComparatordatacanbewrittenregardlessofthePCLmode(stopped/operating). Therelationshipbetweenthepre-registerwritingstatusandthePFCvaluesareasfollows. Procedure 2ndpre-register 1stpre-register Workingregister PFC 0 0 0 Initialstatus 00 Undetermined Undetermined Undetermined Data1is Data1is WriteData1toPRCP5 Data1isset 01 undetermined undetermined Data2is WriteData2toPRCP5 Data2isset Data1isset 10 undetermined WriteData3toPRCP5 Data3isset Data2isset Data1isset 11 ComparisonresultforData Data3is Data3isset Data2isset 10 1changesfromtruetofalse undetermined SPDF 0 0 0 1 0 Also,bysettinganeventinterruptcauseintheRIRQregister(IRND),thePCLcanbesettooutputanINT signalasthe2ndpre-registerchangesfrom"set"to"undetermined"statuswhentheoperationiscomplete. 8-2-4.Cancelthecomparatorpre-registerdata Thepre-registercancelcommand(27h)willcancelthepre-registerdataanditsstatusbecomes undetermined.However,pleasenotethattheregisterwillnotchangetotheundeterminedstatus. -30- 8-3.Descriptionoftheregisters Theinitialvalueofalltheregistersandpre-registersis"0." Pleasenotethatwithsomeregisters,avalueof"0"isoutsidetheallowablesettingrange. 8-3-1.PRMV(RMV)registers Theseregistersareusedtospecifythetargetpositionforpositioningoperations.Thesetdetails changewitheachoperationmode. PMVistheregisterforPRMV. 313029282726252423222120191817161514131211109876543210 &&&& Settingrange:-134,217,728to+134,217,727. BychangingtheRMVregisterwhileinoperation,thefeedlengthcanbeoverridden. 8-3-2.PRFL(RFL)registers Thesepre-registersareusedtosettheinitialspeed(stopseed)forhighspeed(withacceleration /deceleration)operations. RFListheregisterforPRFL. 313029282726252423222120191817161514131211109876543210 &&&& Thesettingrangeis1to65,535.However,theactualspeed[pps]mayvarywiththespeedmagnification ratesettinginthePRMGregister. 8-3-3.PRFH(RFH)registers Thesepre-registersareusedtospecifytheoperationspeed. RFHistheworkingregisterforPRFH.Writetothisregistertooverridethecurrentspeed. 313029282726252423222120191817161514131211109876543210 **************** Thesettingrangeis1to65,535.However,theactualspeed[pps]mayvarywiththespeedmagnification ratesetinthePRMGregister. 8-3-4.PRUR(RUR)registers Thesepre-registersareusedtospecifytheaccelerationrate. RURistheregisterforPRUR. 313029282726252423222120191817161514131211109876543210 **************** Settingrangeis1to65,535. Note1:Bitsmarkedwithan"*"(asterisk)willbeignoredwhenwrittenandare0whenread. Note 2:Bitsmarkedwith an "&"symbol will be ignored when written and will be the same value as the uppermostbitamongthenon-markedbits.(Signextension) -31- 8-3-5. PRDR (RDR) registers These pre-registers are used to specify the deceleration rate. RDR is the register for PRDR. 313029282726252423222120191817161514131211109876543210 **************** The normal setting range is 1 to 65,535. When RDR = 0, the deceleration rate will be the value set by PRUR. 8-3-6. PRMG (RMG) registers These pre-registers are used to set the speed magnification rate. RMG is the register for PRMG. 313029282726252423222120191817161514131211109876543210 ******************** The setting range is 2 to 4,095. Sets the relationship between the speed register PRFL (RFL), PRFH (RFH), RFA values and the operation speeds. The actual operation speed [pps] is a product of the speed magnification rate and the speed register setting. [Setting example when the reference clock is 19.6608 MHz] Speed Operation speed Speed Operation speed setting Setting Setting magnification rate setting range [pps] magnification rate range [pps] 2999 0.1x 0.1 to 6,553.5 59 5x 5 to 327,675 1499 0.2x 0.2 to 13,107.0 29 10x 10 to 655,350 599 0.5x 0.5 to 32,767.5 14 20x 20 to 1,310,700 299 1x 1 to 65,535 5 50x 50 to 3,276,750 149 2x 2 to 131,070 2 100x 100 to 6,553,500 8-3-7. PRDP (RDP) registers These pre-registers are used to set a ramping-down point (deceleration start point) for positioning operations. RDP is the 2nd register for PRDP. 313029282726252423222120191817161514131211109876543210 ######## Bits marked with a "#" symbol are ignored when written and change their setting when read according to the setting of MSDP (bit 13) in the PRMD register. MSDP Setting details bit # Offset for automatically set values. When a positive value is entered, the PCL will start deceleration earlier and the Same as bit 0 FL speed range will be used longer. 23. When a negative value is entered, the PCL will start deceleration later and will not reach the FL speed. When number of pulses left drops to less than a set value, the motor on that axis 1 0 starts to decelerate. Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read. Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the upper most bit among the non-marked bits. (Sign extension.) - 32 - 8-3-8. PRMD (RMD) registers These pre-registers are used to set the operation mode. RMD is the register for PRMD. Bits Bit name Description Setting basic operation mode 0 to 6 MOD Set operation mode. 000 0000 (00h): Continuous positive rotation controlled by command control. 000 1000 (08h): Continuous negative rotation controlled by command control. 000 0001 (01h): Continuous operation controlled by pulsar (PA/PB) input. 000 0010 (02h): Continuous operation controlled by external signal (+DR/-DR) input. 001 0000 (10h): Positive rotation zero return operation. 001 1000 (18h): Negative rotation zero return operation. 001 0010 (12h): Positive feed leaving from the zero position. 001 1010 (1Ah): Negative feed leaving from the zero position. 001 0101 (15h): Zero search in the positive direction 001 1101 (1Dh): Zero search in the negative direction 010 0000 (20h): Feed to +EL or +SL position. 010 1000 (28h): Feed to -EL or -SL position. 010 0010 (22h): Move away from the -EL or -SL position. 010 1010 (2Ah): Move away from the +EL or +SL position. 010 0100 (24h): Feed in the positive direction for a specified number of EZ counts. 010 1100 (2Ch): Feed in the negative direction for a specified number of EZ counts. 100 0001 (41h): Positioning operation (specify the incremental target position) 100 0010 (42h): Positioning operation (specify the absolute position in COUNTER1) 100 0010 (43h): Positioning operation (specify the absolute position in COUNTER2) 100 0100 (44h): Zero return of command position (COUNTER1). 100 0101 (45h): Zero return of mechanical position (COUNTER2). 100 0110 (46h): Single pulse operation in the positive direction. 100 1110 (4Eh): Single pulse operation in the negative direction. 100 0111 (47h): Timer operation 101 0001 (51h): Positioning operation controlled by pulsar (PA/PB) input. 101 0010 (52h): Positioning operation is synchronized with PA/PB (specify the absolute position of COUNTER1) 101 0011 (53h): Positioning operation is synchronized with PA/PB (specify the absolute position of COUNTER2 101 0100 (54h): Zero return to the specified position controlled by pulsar (PA/PB) input. 101 0101 (55h): Zero return to a mechanical position controlled by pulsar (PA/PB) input. 101 0110 (56h): Positioning operation controlled by external signal (+DR/-DR) input. 110 0000 (60h): Continuous linear interpolation 1 (continuous operation with linear interpolation 1) 110 0001 (61h): Linear interpolation 1 110 0010 (62h): Continuous linear interpolation 2 (continuous operation with linear interpolation 2) 110 0011 (63h): Linear interpolation 2 110 0100 (64h): CW circular interpolation operation 110 0101 (65h): CCW circular interpolation operation. 110 0110 (66h): Clockwise circular interpolation, synchronized with the U axis (arc linear interpolation) 110 0111 (67h): Counter-clockwise circular interpolation, synchronized with the U axis (arc linear interpolation) - 33 - Bits Bit name 0 to 6 MOD 7 MENI Description 110 1000 (68h): Continuous linear interpolation 1, synchronized with PA/PB 110 1001 (69h): Linear interpolation 1, synchronized with PA/PB 110 1010 (6Ah): Continuous linear interpolation 2, synchronized with PA/PB. 110 1011 (6Bh): Linear interpolation 2, synchronized with PA/PB. 110 1100 (6Ch): Clockwise circular interpolation, synchronized with PA/PB 110 1101 (6Dh): Counter-clockwise circular interpolation, synchronized with PA/PB 1: When the pre-register is set, the PCL will not output an INT signal, even if IEND becomes 1. Optical setting items 8 MSDE 0: SD input will be ignored. (Checking can be done with RSTS in sub status) 1: Decelerates (deceleration stop) by turning ON the input. 9 MINP 0: 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 speed feed. (0: Linear accel/decel. 1: S-curve accel/decel.) 11 MCCE 1: Stop COUNTER1 (command position) This is used to move a mechanical part without changing the PLC control position 12 METM Specify the operation complete timing. (0: End of cycle. 1: End of pulse.) When using the vibration reduction function, select "End of pulse." 13 MSDP Specify the ramping-down point for high speed feed. (0: Automatic setting. 1: Manual setting.) Effective for positioning operations and linear interpolation feeding. 14 MPCS 1: While in automatic operation, control the number of pulses after the PCS input is turned ON. (Override 2 for the target position.) 15 MIPF 1: Make a constant, synthetic speed while performing interpolation feeding. 16 to 17 MSN0 to When you want to control an operation block, specify a sequence number using 2 1 bits. By reading the main status (MSTSW), a sequence number currently being executed (SSC0 to 1) can be checked. Setting the sequence number does not affect the operation. 18 to 19 MSY0 to 1 After writing a start command, the LSI will start an axis synchronization operation based on other timing. 00: Start immediately. input (or command 06h, 2Ah). 01: The PCL starts on a 10: Start with an internal synchronous start signal. 11: Start when a specified axis stops moving. 20 to 23 MAX 0 to Specify an axis to check for an operation stop when the value of MSY 0 to 1 is 11. 3 Setting examples 0001: Starts when the X axis stops. 0010: Starts when the Y axis stops. 0100: Starts when the Z axis stops. 1000: Starts when the U axis stops. 0101: Starts when both the X and Z axes stop. 1111: Starts when all axes stop. 24 MSPE 1:Deceleration stop or immediate stop by input. This is used for a simultaneous stop with another axis when this other axis stops with an error. 25 MSPO 1: Outputs a (simultaneous stop) signal when stopping due to an error. 26 MADJ Specify an FH correction function. (0: ON. 1: OFF.) When S-shaped deceleration is selected (MSMD = 1) and the operation is set to use linear interpolation 1 (MOD = 61h) with a constant synthesized speed control (MIPF = 1), make sure to turn this bit ON. 27 MPIE 1: After the circular interpolation operation is complete, the PCL will draw to the end point automatically. 28 to 31 Not (Always set to 0.) defined - 34 - 8-3-9.PRIP(RIP)registers Thesepre-registersareusedtosetthecenterpositionforcircularinterpolationoramasteraxisfeed amountforlinearinterpolation2. RIPistheregisterforPRIP. 313029282726252423222120191817161514131211109876543210 &&&& -WhenMOD(bits0to6)ofthePRMDregisteraresetasshownbelow,theregisterisenabled. 1100010(62h):Continuouslinearinterpolation2(continuousoperationwiththelinearinterpolation2). 1100011(63h):Linearinterpolation2. 1100100(64h):CircularinterpolationinaCWdirection. 1100101(65h):CircularinterpolationinaCCWdirection. -WithContinuouslinearinterpolation2andLinearinterpolation2,specifythefeedamountonthemaster axisusinganincrementalvalue. -Withcircularinterpolation,enteracircularcenterpositionusinganabsolutevalue. -Settingrange:-134,217,727to+134,217,727 8-3-10.PRUS(RUS)registers Thesepre-registersareusedtospecifytheS-curverangeoftheS-curveacceleration. RUSistheregisterforPRUS. 313029282726252423222120191817161514131211109876543210 ***************** Thenormalsettingrangeis1to32,767. When0isentered,thevalueof(PRFH-PRFL)/2willbecalculatedinternallyandapplied. 8-3-11.PRDS(RDS)registers Thesepre-registersareusedtospecifytheS-curverangeoftheS-curvedeceleration. RDSistheregisterforPRDS. 313029282726252423222120191817161514131211109876543210 ***************** Thenormalsettingrangeis1to32,767. When0isentered,thevalueof(PRFH-PRFL)/2willbecalculatedinternallyandapplied. 8-3-12.RFAregister Thisregisterisusedtospecifythelowspeedforbacklashcorrectionorslipcorrection. Thisisalsousedasareverselowspeedforazeroreturnoperation. 313029282726252423222120191817161514131211109876543210 **************** Althoughthesettingrangeis1to65,535,theactualspeed[pps]varieswiththespeedmagnificationrate settingintheRMGregister. Note1:Bitsmarkedwithan"*"(asterisk)willbeignoredwhenwrittenandare0whenread. Note2:Bitsmarkedwithan"&"symbolwillbeignoredwhenwrittenandwillbethesamevalueasthe uppermostbitamongthenon-markedbits.(Signextension) -35- 8-3-13. RENV1 register This register is used for Environment setting 1. This is mainly used to set the specifications for input/output terminals. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ERCL EPW2 EPW1 EPW0 EROR EROE ALML ALMM ORGL SDL SDLT SDM ELM PMD2 PMD1 PMD0 31 30 29 28 27 26 FLTR 25 DRL 24 23 22 INPL 21 20 19 18 17 16 PDTC PCSM INTM DTMF DRF PCSL LTCL CLR1 CLR0 STPM STAM ETW1 ETW0 Bits 0 to 2 Bit name PMD0 to 2 Specify OUT output pulse details PMD0 to 2 000 001 010 011 100 101 OUT DIR Description Negative direction OUT output DIR output Low Low High High High Positive direction OUT output DIR output High High Low Low High OUT DIR OUT DIR 110 OUT DIR 111 Low Low 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 occur when the SD input is turned ON. (0: Deceleration only. 1: Deceleration and stop.) 5 SDLT Specify the latch function of the SD input. (0: OFF. 1: ON.) Turns ON when the SD signal width is short. When the SD input is OFF while starting, the latch signal is reset. The latch signal is also reset when SDLT is 0. 6 SDL Specify the SD signal input logic. (0: Negative logic. 1: Positive logic.) 7 ORGL Specify the ORG signal input logic. (0: Negative logic. 1: Positive logic.) 8 ALMM Specify the process to occur when the ALM input is turned ON. (0: Immediate stop. 1: Deceleration stop.) 9 ALML Specify the ALM signal input logic. (0: Negative logic. 1: Positive logic.) 10 EROE 1: Automatically outputs an ERC signal when the axis is stopped immediately by a +EL, -EL, ALM, or input signal. However, the ERC signal is not output when a deceleration stop occurs on the axis. When the EL signal is specified for a normal stop, by setting MOD = "010X000" (feed to the EL position) in the RMD register, the ERC signal is output if an immediate stop occurs. 11 EROR 1: Automatically output the ERC signal when the axis completes a zero return. 12 to 14 EPW0 to 2 Specify the pulse width of the ERC output signal. 000: 12 sec 001: 102 sec 010: 409 sec 011:1.6 msec 100: 13 msec 101: 52 msec 110: 104 msec 111: Level output 15 ERCL Specify the ERC signal output logic. (0: Negative logic. 1: Positive logic.) 16 to 17 ETW0 to 1 Specify the ERC signal OFF timer time. 00: 0 sec 10: 1.6 msec 01: 12 sec 11: 104 msec 3 ELM - 36 - Bits 18 19 Bit name STAM Specify the STPM Description signal input type. (0: Level trigger. 1: Edge trigger.) input. (0: Immediate stop. 1: Deceleration stop.) Specify a stop method using Note 2 20 to 21 CLR0 to 1 Specify a CLR input. 00: Clear on the falling edge 10: Clear on a LOW. 01: Clear on the rising edge 11: Clear on a HIGH. 22 INPL Specify the INP signal input logic. (0: Negative logic. 1: Positive logic.) 23 LTCL Specify the operation edge for the LTC signal. (0: Falling. 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 +EL, -EL, SD, ORG, ALM, or INP inputs. When a filter is applied, signal pulses shorter than 4 sec are ignored. 27 DRF 1: Apply a filter on the +DR, -DR, or PE inputs. When a filter is applied, signals pulses shorter than 32 msec are ignored. 28 DTMF 1: Turn OFF the direction change timer (0.2 msec) function. 29 INTM 1: Mask an INT output. (Changes the interrupt circuit.) 30 PCSM 1: Only allow the PCS input on the local axis signal. 31 PDTC 1: Keep the pulse width at a 50% duty cycle. Note1: When a deceleration stop (ELM = 1) has been specified to occur when the EL input turns ON, the axis will start the deceleration when the EL input is turned ON. Therefore, the axis will stop by passing over the EL position. In this case, be careful to avoid collisions of mechanical systems. Note 2: When deceleration stop is selected, this bit remains ON until the PCL decelerates and stops. The PCL determines whether it has stopped normally or not according to the stop timing. Therefore, if an error stop signal is input while decelerating with high speed positioning, the PCL may determine whether the stop was normal. In this case, the PCL will continue to the next operation without canceling the data stored in the pre-registers. If a constant error stop signal is input, the PCL will not continue to the next operation and it will stop with an error. - 37 - 8-3-14.RENV2register ThisisaregisterfortheEnvironment2settings.Specifythefunctionofthegeneral-purposeport,EA/EB input,andPA/PBinput. 1514131211109876543210 P7M1 P7M0 P6M1 P6M0 P5M1 P5M0 P4M1 P4M0 P3M1 P3M0 P2M1 P2M0 P1M1 P1M0 P0M1 P0M0 31302928272625242322212019181716 POFF EOFF SMAX PMSK IEND PDIR PIM1 PIM0 EZL EDIR EIM1 EIM0 PINF EINF P1L P0L Bitname Description P0M0to1 SpecifytheoperationoftheP0/FUPterminals 00:General-purposeinput 01:General-purposeoutput 10:OutputtheFUP(acceleration)signal. 11:General-purposeoneshotsignaloutput(T=26msec)Note:1 2to3 P1M0to1 SpecifytheoperationoftheP1/FDWterminals 00:General-purposeinput 01:General-purposeoutput 10:OutputtheDFW(deceleration)signal. 11:General-purposeoneshotsignaloutput(T=26msec)Note:1 4to5 P2M0to1 SpecifytheoperationoftheP2/MVCterminal. 00:General-purposeinput 01:General-purposeoutput 10:OutputtheMVC(lowspeedfeeding)signalwithnegativelogic. 11:OutputtheMVC(lowspeedfeeding)signalwithpositivelogic. 6to7 P3M0to1 SpecifytheoperationoftheP3/CP1(+SL)terminals. 00:General-purposeinput 01:General-purposeoutput 10:OutputtheCP1(satisfiedtheComparator1conditions)signalwithnegativelogic. 11:OutputtheCP1(satisfiedtheComparator1conditions)signalwithpositivelogic. 8to9 P4M0to1 SpecifytheoperationoftheP4/CP2(-SL)terminals. 00:General-purposeinput 01:General-purposeoutput 10:OutputtheCP2(satisfiedtheComparator2conditions)signalwithnegativelogic. 11:OutputtheCP2(satisfiedtheComparator2conditions)signalwithpositivelogic. 10to11 P5M0to1 SpecifytheoperationoftheP5/CP3terminals. 00:General-purposeinput 01:General-purposeoutput 10:OutputtheCP3(satisfiedtheComparator3conditions)signalwithnegativelogic. 11:OutputtheCP3(satisfiedtheComparator3conditions)signalwithpositivelogic. 12to13 P6M0to1 SpecifytheoperationoftheP6/CP4/IDterminals. 00:General-purposeinput 01:General-purposeoutput 10:OutputtheCP4(satisfiedtheComparator4conditions)signalwithnegativelogic. 11:OutputtheCP4(satisfiedtheComparator4conditions)signalwithpositivelogic. 14to15 P7M0to1 SpecifytheoperationoftheP7/CP5terminals. 00:General-purposeinput 01:General-purposeoutput 10:OutputtheCP5(satisfiedtheComparator5conditions)signalwithnegativelogic. 11:OutputtheCP5(satisfiedtheComparator5conditions)signalwithpositivelogic. 16 P0L SpecifytheoutputlogicwhentheP0terminalisusedforFUPorasaoneshot. (0:Negativelogic.1:Positivelogic.) 17 P1L SpecifytheoutputlogicwhentheP1terminalisusedforFDWorasaoneshot. (0:Negativelogic.1:Positivelogic.) 18 EINF 1:ApplyanoisefiltertoEA/EBinput.Note3. Ignorespulseinputslessthan3CLKsignalcycleslong. Bits 0to1 -38- Bitname Description PINF 1:ApplyanoisefiltertoPA/PBinput.Note3. Ignorepulseinputslessthan3CLKsignalcycleslong. 20to21 EIM0to1 SpecifytheEA/EBinputoperation. 00:Multiplya90 phase difference by 1 (Count up when the EA input phase is ahead.) 01:Multiplya90 phase difference by 2 (Count up when the EA input phase is ahead.) 10:Multiplya90 phase difference by 4 (Count up when EA input phase is ahead.) 11:CountupwhentheEAsignalrises,countdownwhentheEBsignalfalls. 22 EDIR 1:ReversethecountingdirectionoftheEA/EBinputs. 23 EZL SpecifyEZsignalinputlogic.(0:Fallingedge.1:Risingedge.) 24to25 PIM0to1 SpecifythePA/PBinputoperation. 00:Multiplya90 phase difference by 1 (Count up when the PA input phase is ahead.) 01:Multiplya90 phase difference by 2 (Count up when the PA input phase is ahead.) 10:Multiplya90 phase difference by 4 (Count up when PA input phase is ahead.) 11:CountupwhentheEAsignalrises,countdownwhenthePBsignalfalls. 26 PDIR 1:ReversethecountingdirectionofthePA/PBinputs. 27 IEND 1:OutputsanINTsignalwhenstopping,regardlessofwhetherthestopwasnormal orduetoanerror. 28 PMSK 1:Masksoutputpulses. 29 SMAX 1:Enableastartoperationthatistriggeredbystoponthesameaxis. 30 EOFF 1:DisableEA/EBinput. 31 POFF 1:DisablePA/PBinput. Note1:Fordetailsaboutoutputtingageneral-purposeoneshotsignal,see7-2"General-purposeoutput bitcontrolcommands." Bits 19 -39- 8-3-15.RENV3register ThisisaregisterfortheEnvironment3settings.Zeroreturnmethodsandcounteroperation specificationsarethemainfunctionofthisregister. 1514131211109876543210 0BSYCCI41CI40CI31CI30CI21CI20EZD3EZD2EZD1EZD0ORM3ORM2ORM1ORM0 31302928272625242322212019181716 CU4HCU3HCU2H0CU4BCU3BCU2BCU1BCU4RCU3RCU2RCU1RCU4CCU3CCU2CCU1C Bit 0to3 Bitname ORM0to3 Description Specifyazeroreturnmethod. 0000:Zeroreturnoperation0 -Stopsimmediately(decelerationstopwhenfeedingathighspeed)bychanging theORGinputfromOFFtoON. -Counterresettiming:WhentheORGinputisturnedON. 0001:Zeroreturnoperation1 -Stopsimmediately(decelerationstopwhenfeedingathighspeed)bychanging theORGinputfromOFFtoON,andfeedsintheoppositedirectionatRFAlow speeduntilORGinputisturnedOFF.Then,feedsintheoriginaldirectionatRFA speed.Whiledoingso,itwillstopimmediatelywhentheORGinputisturnedON again. -COUNTERresettiming:WhenORGinputisturnedONfromOFF. 0010:Zeroreturnoperation2 -Whenfeedingatlowspeed,movementontheaxisstopsimmediatelybycounting theEZsignalaftertheORGinputisturnedON.Whenfeedingathighspeed, movementontheaxisdecelerateswhentheORGinputisturnedONandstops immediatelybycountingtheEZcounts. -COUNTERresettiming:WhencountingtheEZsignal. 0011:Zeroreturnoperation3 -Whenfeedingatlowspeed,movementontheaxisstopsimmediatelybycounting theEZsignalaftertheORGinputisturnedON.Whenfeedingathighspeed,the axiswilldecelerateandstopbycountingtheEZsignalaftertheORGinputis turnedON. -COUNTERresettiming:WhencountingtheEZsignal. 0100:Zeroreturnoperation4 -Stopsimmediately(decelerationstopwhenfeedingathighspeed)byturningthe ORGinputON,andfeedsinthereversedirectionatRFAlowspeed.Stops immediatelybycountingtheEZsignal. -COUNTERresettiming:WhencountingtheEZsignal. 0101:Zeroreturnoperation5 -Stopimmediately(decelerationstopwhenfeedingathighspeed)andreverse directionwhentheORGinputisturnedON.Then,stopimmediatelywhen countingtheEZsignal. -COUNTERresettiming:WhencountingtheEZsignal. 0110:Zeroreturnoperation6 -Stopimmediately(decelerationstopwhenELM=1)byturningONtheELinput, andreverseatRFAlowspeed.ThenstopimmediatelybyturningOFFtheEL input. -COUNTERresettiming:WhenELinputisOFF. 0111:Zeroreturnoperation7 -Stopimmediately(decelerationstopwhenELM=1)byturningONtheELinput, andreversedirectionatRFAlowspeed.Thenstopimmediatelybycountingthe ELsignal. -COUNTERresettiming:WhenstoppedbycountingtheELinput. 1000:Zeroreturnoperation8 -Stopimmediately(decelerationstopwhenELM=1)andreversedirectionby turningONtheELsignal.Thenstopimmediately(decelerationstopwhenfeeding athighspeed)whencountingtheEZsignal. -COUNTERresettiming:WhencountingtheEZsignal. 1001:Zeroreturnoperation9 -AfterexecutingaZeroreturnoperation0,movebacktothezeroposition (operateuntilCOUNTER2=0). -40- Bit 0 to 3 Bit name ORM0 to 3 Description 1010: Zero return operation 10 - After executing a Zero return operation 3, move back to the zero position (operate until COUNTER2 = 0). 1011: Zero return operation 11 - After executing a Zero return operation 5, move back to the zero position (operate until COUNTER2 = 0). 1100: Zero return operation 12 - After executing a Zero return operation 8, move back to the zero position (operate until COUNTER2 = 0). EZD0 to 3 Specify the EZ count up value that is used for zero return operations. 0000 (1st count) to 1111 (16th count) 8 to 9 CI20 to 21 Select the input count source for COUNTER2 (mechanical position). 00: EA/EB input 01: Output pulse 10: PA/PB input 10 to 11 CI30 to 31 Select the input count source for COUNTER3 (deflection counter) 00: Output pulse and EA/EB input (deflection counter) 01: Output pulse and PA/PB input (deflection counter) 10: EA/EB input and PA/PB input (deflection counter) 12 to 13 CI40 to 41 Select the input count source for COUNTER4 (general-purpose) 00: Output pulse 01: EA/EB input 10: PA/PB input 11: Divide the CLK count by 2 14 BSYC 1: Operate COUNTER4 only while LSI is operating ( is low). 15 Not defined (Always set to 0.) 16 CU1C 1: Reset COUNTER1 (command position) when the CLR input turns ON. 17 CU2C 1: Reset COUNTER2 (mechanical position) when the CLR input turns ON. 18 CU3C 1: Reset COUNTER3 (deflection counter) when the CLR input turns ON. 19 CU4C 1: Reset COUNTER4 (general-purpose) when the CLR input turns ON. 20 CU1R 1: Reset COUNTER1 (command position) when the zero return is complete. 21 CU2R 1: Reset COUNTER2 (mechanical position) when the zero return is complete. 22 CU3R 1: Reset COUNTER3 (deflection counter) when the zero return is complete. 23 CU4R 1: Reset COUNTER4 (general-purpose) when the zero return is complete. 24 CU1B 1: Operate COUNTER1 (command position) while in backlash/slip correction mode. 25 CU2B 1: Operate COUNTER2 (mechanical position) while in backlash/slip correction mode. 26 CU3B 1: Operate COUNTER3 (deflection counter) while in backlash/slip correction mode. 27 CU4B 1: Operate COUNTER4 (general-purpose) while in backlash/slip correction mode. 28 Not defined (Always set to 0.) 29 CU2H 1: Stop the counting operation on COUNTER2 (mechanical position). Note 1. 30 CU3H 1: Stop the counting operation on COUNTER3 (deflection counter). 31 CU4H 1: Stop the counting operation on COUNTER4 (general-purpose). Note 1: To stop the counting on COUNTER1 (command position), change MCCE (bit 11) in the RMD register. 4 to 7 - 41 - 8-3-16.RENV4register ThisregisterisusedforEnvironment4settings.Setupcomparators1to4. Bitname Description C1C0to1 Selectacomparisoncounterforcomparator1.Note1 00:COUNTER1(commandposition) 01:COUNTER2(mechanicalposition) 10:COUNTER3(deflectioncounter) 11:COUNTER4(general-purpose) 2to4 C1S0to2 Selectacomparisonmethodforcomparator1.Note2 001:RCMP1data=Comparisoncounter(regardlessofcountingdirection) 010:RCMP1data=Comparisoncounter(whilecountingup) 011:RCMP1data=Comparisoncounter(whilecountingdown) 100:RCMP1data>Comparisoncounterdata 101:RCMP1data Bit 0to1 -42- 18to20 C3S0to2 Selectacomparisonmethodforcomparator3.Note2 001:RCMP3data=Comparisoncounter(regardlessofcountingdirection) 010:RCMP3data=Comparisoncounter(whilecountingup) 011:RCMP3data=Comparisoncounter(whilecountingdown) 100:RCMP3data>Comparisoncounterdata 101:RCMP3data 8-3-17.RENV5register ThisisaregisterfortheEnvironment5settings.SettingsforComparator5areitsmainuse. 1514131211109876543210 LT0FLTFDLTM1LTM00IDL2IDL1IDL0C5D1C5D0C5S2C5S1C5S0C5C2C5C1C5C0 31302928272625242322212019181716 0000000000SYI1SYI0SYO3SYO2SYO1SYO0 Bit 0to2 3to5 6to7 8to10 11 12to13 14 15 16to19 20to21 22to23 24 25 26 27 28to31 Bitname Description C5C0to2 Selectacomparisoncounterforcomparator5. 000:COUNTER1(commandposition)011:COUNTER4(general-purpose) 001:COUNTER2(mechanicalposition)100:Positioningcounter 010:COUNTER3(deflectioncounter)101:Currentspeeddata C5S0to2 Selectacomparisonmethodforcomparator5. 001:RCMP5data=Comparisoncounter(regardlessofcountingdirection) 010:RCMP5data=Comparisoncounter(whilecountingup) 011:RCMP5data=Comparisoncounter(whilecountingdown) 100:RCMP5data>Comparisoncounter 101:RCMP5data 8-3-18. RENV6 register This is a register for the Environment 6 settings. It is primarily used to set feed amount correction data. Bit Bit name Description 0 to 11 BR0 to 11 Enter a backlash correction amount or a slip correction amount. (0 to 4095) 12 to 13 ADJ0 to 1 Select a feed amount correction method. 00: Turn OFF the correction function. 01: Backlash correction 10: Slip correction 14 Not defined (Always set to 0.) 15 PSTP 1: Even if a stop command is written, the PCL will operate for the number of pulses that are already input on PA/PB. Note 1. 16 to 26 PD0 to 10 Specifies the division ratio for pulses on the PA/PB input. The number of pulses are divided using the set value/2048. When 0 is entered, the division circuit will be OFF. (= 2048/2048) 27 to 31 PMG0 to 4 Specifies the magnification rate for pulses on the PA/PB input. The number of pulses are multiplied by the set value + 1. Note 1: When PSTP is 1, the Stop command will be ignored when = H (OFF), regardless of the operation mode. Before writing a Stop command, check the main status register. When SRUN = 0, change PSTP to 0 and then write a Stop command. 8-3-19. RENV7 register This is a register for the Environment 7 settings. It is primarily used to enter the time for the vibration reduction function. If both RT and FT data are other than zero, the vibration reduction function is turned ON. 1514131211109876543210 RT15RT14RT13RT12RT11RT10RT9RT8RT7RT6RT5RT4RT3RT2RT1RT0 31302928272625242322212019181716 FT15FT14FT13FT12FT11FT10FT9FT8FT7FT6FT5FT4FT3FT2FT1FT0 Bit name Description Bit 0 to 15 RT0 to 15 Enter the RT time shown in the figure below. The units are 32 ticks of the reference clock (approx. 1.6 sec). 16 to 31 FT0 to 15 Enter the FT time shown in the figure below. The units are 32 ticks of the reference clock (approx. 1.6 sec). The dotted lines in the figure below are pulses added by the vibration reduction function. - 45 - 8-3-20. RCUN1 register This is a register used for COUNTER1 (command position counter). This is a counter used exclusively for command pulses. Setting rage: -134,217,728 to +134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& 8-3-21. RCUN2 register This is a register used for COUNTER2 (mechanical position counter). It can count three types of pulses: Command pulses, encoder signals (EA/EB input), pulsar inputs (PA/PB input). Setting range: -134,217,728 to +134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& 8-3-22. RCUN3 register This is a register used for COUNTER3 (deflection counter). It can count three types of deflections: Between command pulses and encoder signals, between command pulses and pulsar signals, and between encoder signals and pulsar signals. Setting range: -32,768 to +32,767. 313029282726252423222120191817161514131211109876543210 &&&&&&&&&&&&&&&& 8-3-23. RCUN4 register This is a register used for COUNTER4 (general-purpose counter). It can count four types of signals: Command pulses, encoder signals (EA/EB input), pulsar signals (PA/PB input), and 1/2 ticks of the reference clock. Setting range: -134,217,728 to +134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& For details about the counters, see section 11-10, "Counters." Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read. Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read. (Sign extension) - 46 - 8-3-24.RCMP1register SpecifythecomparisondataforComparator1. Settingrange:-134,217,728to+134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& 8-3-25.RCMP2register SpecifythecomparisondataforComparator2. Settingrange:-134,217,728to+134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& 8-3-26.RCMP3register SpecifythecomparisondataforComparator3. Settingrange:-134,217,728to+134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& 8-3-27.RCMP4register SpecifythecomparisondataforComparator4. Settingrange:-134,217,728to+134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& 8-3-28.RCMP5(PRCP5)register SpecifythecomparisondataforComparator5. PRCP5isthe2ndpre-registerforRCMP5. Normally,useRCMP5.Tousethecomparatorpre-registerfunction,usePRCP5. Settingrange:-134,217,728to+134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& Fordetailsaboutthecomparators,seesection11-11,"Comparator." Note1: Bitsmarkedwithan"*"(asterisk)willbeignoredwhenwrittenandare0whenread. Note2: Bitsmarkedwithan"&"symbolwillbeignoredwhenwrittenandwillbethesamevalueasthe uppermostbitamongbitshavingnomarkswhenread.(Signextension) -47- 8-3-29. RIRQ register Enables event interruption cause. Bits set to 1 that will enable an event interrupt for that event. 1514131211109876543210 IROLIRLTIRCLIRC5IRC4IRC3IRC2IRC1IRDEIRDSIRUEIRUSIRNDIRNMIRNIREN 31302928272625242322212019181716 0000000000000IRSAIRDRIRSD Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 to 31 Bit name IREN IRN IRNM IRND IRUS IRUE IRDS IRDE IRC1 IRC2 IRC3 IRC4 IRC5 IRCL IRLT IROL IRSD IRDR IRSA Not defined Description Stopping normally. Starting the next operation continuously. Writing to the 2nd pre-register. Writing to the 2nd pre-register for Comparator 5. Starting acceleration. When ending acceleration. When starting deceleration. When ending deceleration. When Comparator 1 conditions are met. When Comparator 2 conditions are met. When Comparator 3 conditions are met. When Comparator 4 conditions are met. When Comparator 5 conditions are met. When resetting the count value with a CLR signal input. When latching the count value with an LTC signal input. When latching the count value with an ORG signal input. When the SD input is ON. When the DR input is changed. When the input is ON. (Always set to 0.) 8-3-30. RLTC1 register Latched data for COUNTER1 (command position). (Read only.) The contents of COUNTER1 are copied when triggered by the LTC, an ORG input, or an LTCH command. Data range: -134,217,728 to +134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& 8-3-31. RLTC2 register Latched data for COUNTER2 (mechanical position). (Read only.) The contents of COUNTER2 are copied when triggered by the LTC, an ORG input, or an LTCH command. Data range: -134,217,728 to +134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& - 48 - 8-3-32. RLTC3 register Latched data for COUNTER3 (deflection counter) or current speed. (Read only.) The contents of COUNTER3 or the current speed are copied when triggered by the LTC, an ORG input, or an LTCH command. When the LTFD in the RENV5 register is 0, the register latches the COUNTER3 data. When the LTFD is 1, the register latches the current speed. When the LTFD is 1 and movement on the axis is stopped, the latched data will be 0. Data range when LTFD is 0: -32,768 to +32,767. Data range when LTDF is 1: 0 to 65535. 313029282726252423222120191817161514131211109876543210 $$$$$$$$$$$$$$$$ Bits marked with a "$" will be the same as bit 15 when LTFD (bit 14) in the RENV5 register is 0 (sign extension), and they will be 0 when the LTFD is 1. 8-3-33. RLTC4 register Latched data for COUNTER4 (general-purpose). (Read only.) The contents of COUNTER4 are copied when triggered by the LTC, an ORG input, or an LTCH command. Data range: -134,217,728 to +134,217,727. 313029282726252423222120191817161514131211109876543210 &&&& For details about the counter data latch, see section 11-10, " Counter." Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read. Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the upper most bit among bits having no marks when read. (Sign extension) - 49 - 8-3-34.RSTSregister Theextensionstatuscanbechecked.(Readonly.) 1514131211109876543210 SDIN SLTC SCLR SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SDIR CND3 CND2 CND1 CND0 31302928272625242322212019181716 0 0 0 0 0 0 0 0 0 0 PFM1 PFM0 PFC1 PFC0 0 SINP Bitname Description CND0to3 Reportstheoperationstatus. 1000:WaitingforPA/PBinput 0000:Understoppedcondition 1001:FeedingatFAlow 0001:WaitingforDRinput speed. 0010:Waitingfor input 1010:FeedingatFLlow 0011:Waitingforaninternalsynchronous speed. signal 1011:Accelerating 0100:Waitingforanotheraxistostop. 0101:WaitingforacompletionofERCtimer 1100:FeedingatFHlow speed. 0110:Waitingforacompletionofdirection 1101:Decelerating changetimer 1110:WaitingforINPinput. 0111:Correctingbacklash 1111:Others(controllingstart) 4 SDIR Operationdirection(0:Positivedirection.1:Negativedirection.) 5 SSTA Becomes1whenthe inputsignalisturnedON. 6 SSTP Becomes1whenthe inputsignalisturnedON. 7 SEMG Becomes1whenthe inputsignalisturnedON. 8 SPCS Becomes1whenthePCSinputsignalisturnedON. 9 SERC Becomes1whentheERCinputsignalisturnedON. 10 SEZ Becomes1whentheEZinputsignalisturnedON. 11 SDRP Becomes1whenthe+DRinputsignalisturnedON. 12 SDRM Becomes1whenthe-DRinputsignalisturnedON. 13 SCLR Becomes1whentheCLRinputsignalisturnedON. 14 SLTC Becomes1whentheLTCinputsignalisturnedON. 15 SDIN Becomes1whentheSDinputsignalisturnedON.(StatusofSDinputterminal.) 16 SINP Becomes1whentheINPinputsignalisturnedON. 17 Notdefined (Alwayssetto0.) 18to19 PFC0to1 UsedtomonitortheconditionoftheRCMP5pre-register. 20to21 PFM0to1 Usedtomonitortheconditionoftheoperationpre-registers(otherthanRCMP5). 22to31 Notdefined (Alwayssetto0.) Bit 0to3 -50- 8-3-35.RESTregister Usedtochecktheerrorinterruptcause.(Readonly.) Thecorrespondingbitwillbe"1"whenthatitemhascausedanerrorinterrupt. Thisregisterisresetwhenread. 1514131211109876543210 ESAOESPOESIPESDT0ESSDESEMESSPESALESMLESPLESC5ESC4ESC3ESC2ESC1 31302928272625242322212019181716 00000000000000ESPEESEE Description StoppedwhenComparator1conditionsweremet.(+SL) StoppedwhenComparator2conditionsweremet.(-SL) StoppedwhenComparator3conditionsweremet. StoppedwhenComparator4conditionsweremet. StoppedwhenComparator5conditionsweremet. Stoppedbythe+ELinputbeingturnedON. Stoppedbythe-ELinputbeingturnedON. StoppedbytheALMinputbeingturnedON. Stoppedbythe inputbeingturnedON. Stoppedbythe inputbeingturnedON. DeceleratedandstoppedbytheSDinputbeingturnedON. (Alwayssetto0.) Stoppedbyanoperationdataerror.(Note1) Simultaneousstopwithanotheraxisduetoanerrorstopontheotheraxisduring ESIP interpolation. 14 ESPO AnoverflowoccurredinthePA/PBinputbuffercounter. 15 ESAO Anoutofrangecountoccurredinthepositioningcounterduringinterpolation. 16 ESEE AnEA/EBinputerroroccurred.(Doesnotstop) 17 ESPE APA/PBinputerroroccurred.(Doesnotstop) 18to31 Notdefined (Alwayssetto0.) Note1:Inanyofthefollowingcases,ESDTwillbe1. 1)WriteaStartcommandusinglinearinterpolation1mode(MOD=60h,61h,68h,and69h)on onlyoneaxis. 2)WriteaStartcommandusingcircularinterpolationmode(MOD=64h,65h,66h,67h,6Ch,and 6Dh)ononlyoneaxis. 3)WriteaStartcommandusingthecircularinterpolationmodeaftersettingPRIP(arccenter coordinates)to(0,0). 4)WriteaStartcommandusingcircularinterpolationmodeon3or4axes. 5)WriteaStartcommandusinglinearinterpolation2mode(MOD=62h,63h,6Ah,and6Bh)while RIPis0. 6)TriedtowriteaStartcommandusingcircularinterpolationmode(MOD=66h,67h)while synchronizedwiththeUaxis.ButtheUaxisdidnotrespond.Or,theUaxiscompletedoperation whileinarcinterpolationmode. Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 Bitname ESC1 ESC2 ESC3 ESC4 ESC5 ESPL ESML ESAL ESSP ESEM ESSD Notdefined ESDT -51- 8-3-36.RISTregister Thisregisterisusedtocheckthecauseofeventinterruption.(Readonly.) Whenaneventinterruptoccurs,thebitcorrespondingtothecausewillbesetto1. Thisregisterisresetwhenread. 1514131211109876543210 ISOLISLTISCLISC5ISC4ISC3ISC2ISC1ISDEISDSISUEISUSISNDISNMISNISEN 31302928272625242322212019181716 000000000000ISSAISMDISPDISSD Bit Bitname 0 ISEN 1 ISN 2 ISNM 3 ISND 4 ISUS 5 ISUE 6 ISDS 7 ISDE 8 ISC1 9 ISC2 10 ISC3 11 ISC4 12 ISC5 13 ISCL 14 ISLT 15 ISOL 16 ISSD 17 ISPD 18 ISMD 19 ISSA 20to31 Notdefined Description Stoppedautomatically. Thenextoperationstartscontinuously. Availabletowriteoperationtothe2ndpre-register. Availabletowriteoperationtothe2ndpre-registerforComparator5. Startingacceleration. Endingacceleration. Startingdeceleration. Endingdeceleration. Thecomparator1conditionsweremet. Thecomparator2conditionsweremet. Thecomparator3conditionsweremet. Thecomparator4conditionsweremet. Thecomparator5conditionsweremet.. ThecountvaluewasresetbyaCLRsignalinput. ThecountvaluewaslatchedbyanLTCinput. ThecountvaluewaslatchedbyanORGinput. TheSDinputturnedON. The+DRinputchanged. The-DRinputchanged. The inputturnedON. (Alwayssetto0.) 8-3-37.RPLSregister Thisregisterisusedtocheckthevalueofthepositioningcounter(numberofpulsesleftforfeeding). (Readonly.) Atthestart,thisvaluewillbetheabsolutevalueintheRMVregister.Eachpulsethatisoutputwill decreasethisvaluebyone. 313029282726252423222120191817161514131211109876543210 0000 -52- 8-3-38.RSPDregister ThisregisterisusedtochecktheEZcountvalueandthecurrentspeed.(Readonly.) 1514131211109876543210 AS15AS14AS13AS12AS11AS10AS9AS8AS7AS6AS5AS4AS3AS2AS1AS0 31302928272625242322212019181716 000000000IDC2IDC1IDC0ECZ3ECZ2ECZ1ECZ0 Description Readthecurrentspeedasastepvalue(sameunitsasforRFLandRFH). Whenstoppedthevalueis0. 16to19 ECZ0to3 ReadthecountvalueofEZinputthatisusedforazeroreturn. 20to22 IDC0to2 Readtheidlingcountvalue. 23to31 Notdefined (Alwayssetto0.) 8-3-39.RSDCregister Thisregisterisusedtochecktheautomaticallycalculatedramping-downpointvalueforthepositioning operation.(Readonly.) 313029282726252423222120191817161514131211109876543210 00000000 8-3-40.PRCI(RCI)registers Theseregistersareusedtosetcircularinterpolationsteppingnumber. RCIisthepre-registerforthePRCI. TheseregistersonlyexistfortheX,Y,andZaxes.TheydonotexistfortheUaxisbecausetheUaxisis notavailableforcircularinterpolationcontrol. Todecelerateduringacircularinterpolation,enterthenumberofsteps(numberofoperations)required forthecircularinterpolation.Enteringanumberotherthan0candeceleratethespeedbyusingan automaticramping-downpoint. Settingrange:0to2,147,483,648. Bit 0to15 Bitname AS0to15 8-3-41.RCICregister Thisregisterisusedtoreadthecountofthenumberofcircularinterpolationstepsthathavebeen completed.(Readonly.) TheRCIregistervalueisloadedwhenacircularinterpolationisstarted.Thisvalueisdecreasedbyone foreachcircularinterpolationstep.However,ifthecountervalueis0,thePCLwillnotdecreaseit further. ThecountervalueatthecompletionofacircularinterpolationisheldinthePCLmemoryuntilthestartof thenextcircularinterpolationoperation.Therangeforthisvalueis0to2,147,483,647. Thisregisterissharedbyallaxes,andthevalueissamewhenreadfromanyaxis. -53- 8-3-42.RIPSregister Thisregisterisusedtochecktheinterpolationsettingstatusandtheoperationstatus.(Readonly.) Thisregisterissharedbyallaxes,andthevalueissamewhenreadfromanyaxis. Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20to21 22to23 24to31 Description 1:Xaxisisinlinearinterpolation1mode. 1:Yaxisisinlinearinterpolation1mode. 1:Zaxisisoperatinginlinearinterpolation1mode. 1:Uaxisisoperatinginlinearinterpolation1mode. 1:Xaxisisinlinearinterpolation2mode. 1:Yaxisisinlinearinterpolation2mode. 1:Zaxisisoperatinginlinearinterpolation2mode. 1:Uaxisisoperatinginlinearinterpolation2mode. 1:Xaxisisincircularinterpolationmode. 1:Yaxisisincircularinterpolationmode. 1:Zaxisisoperatingincircularinterpolationmode. 1:Uaxisisoperatingincircularinterpolationmode. 1:Xaxisisspecifiedforconstantsyntheticspeed. 1:Yaxisisspecifiedforconstantsyntheticspeed. 1:Zaxisisoperatingataspecifiedconstantsynthesizedspeed. 1:Uaxisisoperatingataspecifiedconstantsynthesizedspeed. 1:Executinglinearinterpolation1. 1:Executinglinearinterpolation2. 1:ExecutingaCWdirectionalcircularinterpolation. 1:ExecutingaCCWdirectionalcircularinterpolation. Currentphaseofacircularinterpolation (00:1stphase,01:2ndphase,10:3rdphase,11:4thphase) SED0to1 Finalphaseinacircularinterpolation (00:1stphase,01:2ndphase,10:3rdphase,11:4thphase) Notdefined (Alwayssetto0.) Bitname IPLx IPLy IPLz IPLu IPEx IPEy IPEz IPEu IPSx IPSy IPSz IPSu IPFx IPFy IPFz IPFu IPL IPE IPCW IPCC SDM0to1 -54- 9.OperationMode SpecifythebasicoperationmodeusingtheMODarea(bits0to6)intheRMD(operationmode)register. 9-1.Continuousoperationmodeusingcommandcontrol Thisisamodeofcontinuousoperation.Astartcommandiswrittenandoperationcontinuesuntilastop commandiswritten. MOD Operationmethod Directionofmovement 00h Continuousoperationfromacommand Positivedirection 08h Continuousoperationfromacommand Negativedirection StopbyturningONtheELsignalcorrespondingtothedirectionofoperation. Whenoperationdirectionispositive,+ELcanbeused.Whenoperationdirectionisnegative,-ELisused. InordertostartoperationinthereversedirectionafterstoppingthemotionbyturningONtheELsignal,a newstartcommandmustbewritten. 9-2.Positioningoperationmode Thefollowingsevenoperationtypesareavailableforpositioningoperations. MOD Operationmethod Directionofmovement 41h Positioningoperation(specifytargetincrement PositivedirectionwhenPRMV 0 position) 42h 43h 44h 45h 46h 4Eh 47h Positioningoperation(specifytheabsolute positioninCOUNTER1) Positioningoperation(specifytheabsolute positioninCOUNTER2) Returntocommandposition0(COUNTER1) Returntomachineposition0(COUNTER2) Onepulseoperation Onepulseoperation Timeroperation NegativedirectionwhenPRMV<0 PositivedirectionwhenPRMV COUNTER1 NegativedirectionwhenPRMV 9-2-1.Positioningoperation(specifyatargetpositionusinganincrementalvalue)(MOD:41h) ThisisapositioningmodeusedbyplacingavalueinthePRMV(targetposition)register. ThefeeddirectionisdeterminedbythesignsetinthePRMVregister. Whenstarting,theRMVregistersettingisloadedintothepositioningcounter(RPLS).ThePCLinstructs tofeedrespectiveaxestozerodirection.Whenthevalueofthepositioningcounterdropsto0,movement ontheaxesstops.WhenyousetthePRMVregistervaluetozerotostartapositioningoperation,theLSI willstopoutputtingpulsesimmediately. -55- 9-2-2.Positioningoperation(specifytheabsolutepositioninCOUNTER1)(MOD:42h) ThismodeonlyusesthedifferencebetweenthePRMV(targetposition)registervalueandCOUNTER1. SincetheCOUNTER1valueisstoredwhenstartingtomove,thePCLcannotbeoverriddenbychanging theCOUNTER1value.But,thetargetpositioncanbeoverriddenbychangingtheRMVvalue. Thedirectionofmovementcanbesetautomaticallybyevaluatingtherelativerelationshipbetweenthe PRMVregistersettingandthevalueinCOUNTER1. Atstartup,thedifferencebetweentheRMVsettingandthevaluestoredinCOUNTER1isloadedintothe positioningcounter(RPLS).ThePCLmovestowardthezeroposition.Whenthepositioningcountervalue reacheszero,itstopsoperation. IfthePRMVregistervalueismadeequaltotheCOUNTER1valueandthepositioningoperationis started,thePCLwillimmediatelystopoperationwithoutoutputtinganycommandpulses. 9-2-3.Positioningoperation(specifytheabsolutepositioninCOUNTER2)(MOD:43h) ThismodeonlyusesthedifferencebetweenthePRMV(targetposition)registersettingandthevaluein COUNTER2. SincetheCOUNTER2valueisstoredwhenstartingapositioningoperation,thePCLcannotbe overriddenbychangingthevalueinCOUNTER2;however,itcanoverridethetargetpositionbychanging thevalueinRMV. ThedirectionofmovementcanbesetautomaticallybyevaluatingtherelationshipbetweenthePRMV registersettingandthevalueinCOUNTER2. Atstartup,thedifferencebetweentheRMVsettingandthevaluestoredinCOUNTER2isloadedintothe positioningcounter(RPLS).ThePCLmovesinthedirectiontothezeroposition.Whenthepositioning countervaluereacheszero,itstopsoperation. IfthePRMVregistervalueismadeequaltotheCOUNTER2valueandthepositioningoperationis started,thePCLwillimmediatelystopoperationwithoutoutputtinganycommandpulses. 9-2-4.Commandposition0returnoperation(MOD:44h) ThismodecontinuesoperationuntiltheCOUNTER1(commandposition)valuebecomeszero. ThedirectionofmovementissetautomaticallybythesignforthevalueinCOUNTER1whenstarting. Thisoperationisthesameaswhenpositioning(specifytheabsolutepositioninCOUNTER1)byentering zerointhePRMVregister;however,thereisnoneedtospecifythePRMVregister. 9-2-5.Machineposition0returnoperation(MOD:45h) ThismodeisusedtocontinueoperationsuntilthevalueinCOUNTER2(mechanicalposition)becomes zero. Thenumberofoutputpulsesandfeeddirectionaresetautomaticallybyinternalcalculationsbasedonthe COUNTER2valuewhenstarting. Thisoperationisthesameaswhenpositioning(specifytheabsolutepositioninCOUNTER2)byentering zerointhePRMVregister.However,thereisnoneedtospecifythePRMVregister. 9-2-6.Onepulseoperation(MOD:46h,4Eh) Thismodeoutputsasinglepulse. Thisoperationisidenticaltoapositioningoperation(incrementaltargetpositioning)thatwritesa"1"(or"1")totheRMVregister.However,withthisoperation,youdoneednottowritea"1"or"-1"totheRMV register. -56- 9-2-7.Timeroperation(MOD:47h) Thismodeallowstheinternaloperationtimetobeusedasatimer. Theinternaleffectofthisoperationisidenticaltothepositioningoperation.However,theLSIdoesnot outputanypulses(theyaremasked). Therefore,theinternaloperationtimeusingthelowspeedstartcommandwillbeaproductofthe frequencyoftheoutputpulsesandtheRMVregistersetting.(Ex.:Whenthefrequencyis1000ppsand theRMSregisterissetto120pulses,theinternaloperationtimewillbe120msec.) Writeapositivenumber(1to134,217,727)intotheRMVregister. TheELinputsignal,SDinputsignal,andsoftwarelimitsareignored.(ThesearealwaystreatedasOFF.) TheALMinputsignal inputsignal,and inputsignalsareeffective. Thebacklash/slipcorrection,vibrationrestrictionfunction,andwhenchangingdirection,thistimerfunction isdisabled. TheLSIstopscountingfromCOUNTER1(commandposition). RegardlessoftheMINPsetting(bit9)intheRMD(operationmode)register,anoperationcompletedelay controlledbytheINPsignalwillnotoccur. Inordertoeliminatedeviationsintheinternaloperationtime,settheMETM(bit12)inthePRMDregister tozeroandusethecyclecompletiontimingoftheoutputpulseastheoperationcompletetiming. -57- 9-3.Pulsar(PA/PB)inputmode Thismodeisusedtoallowoperationsfromapulsarinput. Inordertoenablepulsarinput,bringthe terminalLOW.SetPOFFintheRENV2registertozero. Itisalsopossibletoapplyafilteronthe input. Afterwritingastartcommand,whenapulsarsignalisinput,theLSIwilloutputpulsestotheOUTterminal. UseanFLlowspeedstart(STAFL:50h)oranFHlowspeedstart(STAFH:51h). FourmethodsareavailableforinputtingpulsarsignalsthroughthePA/PBinputterminalbysettingthe RENV2(environmentalsetting2)register. Supplya90 phase difference signal (1x, 2x, or 4x). Supplyeitherpositiveornegativepulses. Note:Thebacklashcorrectionfunctionisavailablewiththepulsarinputmode.However,reversingpulsar inputwhileinthebacklashcorrectionisunavailable. Besidestheabove1xto4xmultiplication,thePCLhasamultiplicationcircuitof1xto32xanddivision circuitof(1to2048)/2048.Forsettingthemultiplicationfrom1xto32x,specifythePMG0to4intheRENV6 andforsettingthedivisionofn/2048,specifythePD0to10intheRENV6. ThetimingoftheUP1andDOWN1signalswillbeasfollowsbysettingofthePIM0toPIM1intheRENV2. 1)Whenusing90phasedifferencesignalsand1xinput(PIM=00) 2)Whenusing90phasedifferencesignalsand2xinput(PIM=01) 3)Whenusing90phasedifferencesignalsand4xinput(PIM=10) 4)Whenusingtwopulseinput. -58- Whenthe1xto32xmultiplicationcircuitissetto3x(PMG=2ontheRENV6),operationtimingwillbeas follows. Whenthen/2048divisioncircuitissetto512/2048(PD=512ontheRENV6),operationtimingwillbeas follows. ThepulsarinputmodeistriggeredbyanFLconstantspeedstartcommand(50h)orbyanFHconstant speedstartcommand(51h). PulsarinputcausesthePCLtooutputpulseswithsomepulsesfromtheFLspeedorFHspeedpulse outputsbeingomitted.Therefore,theremaybeadifferenceinthetimingbetweenthepulsarinputand outputpulses,uptothemaximuminternalpulsefrequency. ThemaximuminputfrequencyforpulsarsignalsisrestrictedbytheFLspeedwhenanFLlowspeedstart isused,andbytheFHspeedwhenanFHlowspeedstartisused.TheLSIoutputs signalsaserrors whenboththePAandPBinputschangesimultaneously,orwhentheinputfrequencyisexceeded,orifthe input/outputbuffercounter(deflectionadjustment16-bitcounterforpulsarinputandoutputpulse) overflows.ThiscanbemonitoredbytheREST(errorinterruptfactor)register. F P<(speed)/(inputI/Fphas evalue)/( P M Gsettingvalue+1)/(PD s e ttingvalue/2048),PD s ettingvalue0 FP<(speed)/(inputI/Fphasevalue),PDsettingvalue=0 -59- [RENV2](WRITE) 31 24 ------nn [RENV2](WRITE) 31 24 -----n- [RENV2](WRITE) 31 24 n------[RENV1](WRITE) 31 24 ----n--[RSTS](READ) 7 0 ----nnnn [REST](READ) 23 16 000000n- [REST](READ) 15 8 -n------ *Inthedescriptionsintherighthandcolumn,"n"referstothebitposition."0"referstobitpositionswhere itisprohibitedtowriteanyvalueexceptzeroandthebitwillalwaysbezerowhenread. Thepulsarinputmodehasthefollowing12operationtypes. ThedirectionofmovementforcontinuousoperationcanbechangedbysettingtheRENV2register, withoutchangingthewiringconnectionsforthePA/PBinputs. MOD Operationmode Directionofmovement 01h Continuousoperationusingpulsarinput DeterminedbythePA/PBinput. Positioningoperationusingpulsarinput DeterminedbythesignofthePRMVvalue. 51h (absoluteposition) Positioningoperationusingpulsarinput DeterminedbytherelationshipoftheRMVand 52h (COUNTER1absoluteposition) COUNTER1values. Positioningoperationusingpulsarinput DeterminedbytherelationshipoftheRMVand 53h (COUNTER2absoluteposition) COUNTER2values. Specifiedposition(COUNTER1)zero Determinedbythesignofthevaluein 54h pointreturnoperationusingpulsarinput COUNTER1. Specifiedposition(COUNTER2)zero Determinedbythesignofthevaluein 55h pointreturnoperationusingpulsarinput COUNTER2. Continuouslinearinterpolation1using DeterminedbythesignofthevalueinPRMV. 68h pulsarinput 69h Linearinterpolation1usingpulsarinput DeterminedbythesignofthevalueinPRMV. Continuouslinearinterpolation2using DeterminedbythesignofthevalueinPRMV. 6Ah pulsarinput 6Bh Linearinterpolation2usingpulsarinput DeterminedbythesignofthevalueinPRMV. CWcircularinterpolationusingpulsar Determinedbythecircularinterpolation 6Ch input operation CCWcircularinterpolationusingpulsar Determinedbythecircularinterpolation 6Dh input operation -60- 9-3-1.Continuousoperationusingapulsarinput(MOD:01h) Thismodeallowscontinuousoperationusingapulsarinput. WhenPA/PBsignalsareinputafterwritingastartcommand,theLSIwilloutputpulsestotheOUT terminal. ThefeeddirectiondependsonPA/PBsignalinputmethodandthevaluesetinPDIR. PA/PBinputmethod PDIR Feeddirection PA/PBinput Positivedirection WhenthePAphaseleadsthePBphase. 0 90 phase difference Negativedirection WhenthePBphaseleadsthePAphase. signal Positivedirection WhenthePBphaseleadsthePAphase. (1x,2x,and4x) 1 Negativedirection WhenthePAphaseleadsthePBphase. Positivedirection PAinputrisingedge. 0 2pulseinputof Negativedirection PBinputrisingedge. positiveand Positivedirection PBinputrisingedge. negativepulses 1 Negativedirection PAinputrisingedge. ThePCLstopsoperationwhentheELsignalinthecurrentfeeddirectionisturnedON.ButthePCLcan beoperatedintheoppositedirectionwithoutwritingarestartcommand. output)willoccur. WhenstoppedbytheELinput,noerrorinterrupt( Toreleasetheoperationmode,writeanimmediatestopcommand(49h). Note:Whenthe"immediatestopcommand(49h)"iswrittenwhilethePCLisperformingamultiplication operation(causedbysettingPIM0to1andPMG0to4),thePCLwillstopoperationimmediately andthetotalnumberofpulsesthatareoutputwillnotbeanevenmultipleofthemagnification. WhenPSTPinRENV6issetto1,thePCLdelaysthestoptiminguntilanevenmultipleofpulses hasbeenoutput.However,afterastopcommandissentbysettingPSTPto1,checktheMSTS.If SRUNis0,setPSTPto0.(WhenSRUNis0whilePSTPis1,thePCLwilllatchthestop command.) 9-3-2.Positioningoperationsusingapulsarinput(MOD:51h) ThePCLpositioningissynchronizedwiththepulsarinputbyusingthePRMVsettingasincremental positiondata. Thismodeallowspositioningusingapulsarinput. ThefeeddirectionisdeterminedbythesigninthePMVregister. WhenPA/PBsignalsareinput,theLSIoutputspulsesandthepositioningcountercountsdown.Whenthe valueinthepositioningcounterreacheszero,movementontheaxiswillstopandanotherPA/PBinput willbeignored.SettheRMVregistervaluetozeroandstartthepositioningoperation.TheLSIwillstop movementontheaxisimmediately,withoutoutputtinganycommandpulses. 9-3-3.Positioningoperationusinga pulsarinput(specifyabsolutepositiontoCOUNTER1)(MOD:52h) ThePCLpositioningissynchronizedwiththepulsarinputbyusingthePRMVsettingastheabsolute valueforCOUNTER1. ThedirectionofmovementisdeterminedbytherelationshipbetweenthevalueinPRMVandthevaluein COUNTER1. Whenstarting,thedifferencebetweenthevaluesinRMVandCOUNTER1isloadedintothepositioning counter.WhenaPA/PBsignalisinput,thePCLoutputspulsesanddecrementsthepositioningcounter. Whenthevalueinthepositioningcounterreaches"0,"thePCLanyfurtherignoresPA/PBinput.Ifyoutry tostartwithPRMV=COUNTER1,thePCLwillnotoutputanypulsesanditwillstopimmediately. 9-3-4.Positioningoperationusinga pulsarinput(specifytheabsolutepositioninCOUNTER2)(MOD:53h) TheoperationproceduresarethesameasMOD=52h,exceptthatthisfunctionusesCOUNTER2instead ofCOUNTER1. -61- 9-3-5.Commandpositionzeroreturnoperationusingapulsarinput(MOD:54h) ThismodeisusedtofeedtheaxisusingapulsarinputuntilthevalueinCOUNTER1(commandposition) becomeszero.Thenumberofpulsesoutputandthefeeddirectionaresetautomaticallybyinternal calculation,usingtheCOUNTER1valuewhenstarting. SettheCOUNTER1valuetozeroandstartthepositioningoperation,theLSIwillstopmovementonthe axisimmediately,withoutoutputtinganycommandpulses. 9-3-6.Mechanicalpositionzeroreturnoperationusingapulsarinput(MOD:55h) ExceptforusingCOUNTER2insteadofCOUNTER1,theoperationdetailsarethesameasforMOD= 54h. 9-3-7.Continuouslinearinterpolation1usingpulsarinput(MOD:68h) Performscontinuouslinearinterpolation1,synchronizedwiththepulsarinput. Forcontinuouslinearinterpolation1operationdetails,seesection"9-8.Interpolationoperations." 9-3-8.Linearinterpolation1usingpulsarinput(MOD:69h) Performslinearinterpolation1,synchronizedwiththepulsarinput. Anypulsarinputsafteroperationiscompletewillbeignored. Forlinearinterpolation1operationdetails,seesection"9-8.Interpolationoperations." 9-3-9.Continuouslinearinterpolation2usingpulsarinput(MOD:6Ah) Performscontinuouslinearinterpolation2,synchronizedwiththepulsarinput. Forcontinuouslinearinterpolation2operationdetails,seesection"9-8.Interpolationoperations." 9-3-10.Linearinterpolation2usingpulsarinput(MOD:6Bh) Performslinearinterpolation2,synchronizedwiththepulsarinput. Anypulsarinputsafteroperationiscompletewillbeignored. Forlinearinterpolation2operationdetails,seesection"9-8.Interpolationoperations." 9-3-11.CWcircularinterpolationusingpulsarinput(MOD:6Ch) PerformsCWcircularinterpolation,synchronizedwiththepulsarinput. Anypulsarinputsafteroperationiscompletewillbeignored. ForCWcircularinterpolationoperationdetails,seesection"9-8.Interpolationoperations." 9-3-12.CCWcircularinterpolationusingpulsarinput(MOD:6Dh) PerformsCCWcircularinterpolation,synchronizedwiththepulsarinput. Anypulsarinputsafteroperationiscompletewillbeignored. ForCCWcircularinterpolationoperationdetails,seesection"9-8.Interpolationoperations." -62- 9-4.Externalswitch(DR)operationmode Thismodeallowsoperationswithinputsfromanexternalswitch. Toenableinputsfromanexternalswitch,bringthe terminalLOW. Afterwritingastartcommand,whena+DR/-DRsignalisinput,theLSIwilloutputpulsestotheOUT terminal. SettheRENVI(environment1)registertospecifytheoutputlogicoftheDRinputsignal.The signal canbesettosendanoutputwhenDRinputischanged. TheRSTS(extensionstatus)registercanbeusedtochecktheoperatingstatusandmonitortheDR input. ItisalsopossibletoapplyafiltertotheDRor inputs. Settheinputlogicofthe+DR/-DRsignals Theexternalswitchoperationmodehasthefollowingtwoforms MOD Operationmode Directionofmovement 02h Continuousoperationusinganexternalswitch. Determinedby+DB,-DRinput. 56h Positioningoperationusinganexternalswitch. Determinedby+DB,-DRinput. 9-4-1.Continuousoperationusinganexternalswitch(MOD:02h) ThismodeisusedtooperateanaxisonlywhentheDRswitchisON. Afterwritingastartcommand,turnthe+DRsignalONtofeedtheaxisinthepositivedirection,turntheDRsignalONtofeedtheaxisinthenegativedirection,usingaspecifiedspeedpattern. ByturningONanELsignalforthefeeddirection,movementontheaxiswillstop.However,theaxiscan befedinthereversedirection. Anerrorinterrupt( output)willnotoccur. Toendthisoperationmode,writeanimmediatestopcommand(49h). Iftheaxisisbeingfedwithhighspeedcommands(52h,53h),movementontheaxiswilldecelerateand stopwhentheDRinputturnsOFF.IftheDRinputforreversedirectionturnsONwhiledecelerating, movementontheaxiswilldecelerateandstop.Thenitwillresumeintheoppositedirection. [Settingexample] 1)Bringthe inputLOW. 2)SpecifyRFL,RFH,RUR,RDR,andRMG(speedsetting). 3)Enter"0000010"forMOD(bits0to6)intheRMD(operationmode)register 4)Writeastartcommand(50hto53h). CND(bits0to3)oftheRSTS(extensionstatus)registerwillwaitfor"0001:DRinput." -63- Inthiscondition,turnONthe+DRor-DRinputterminal.Theaxiswillmoveinthespecifieddirectionusing thespecifiedspeedpatternaslongastheterminaliskeptON. 9-4-2.Positioningoperationusinganexternalswitch(MOD:56h) ThismodeisusedforpositioningbasedontheDRinputrisingtiming. Whenstarted,thedataintheRMVregisterisloadedintothepositioningcounter.WhentheDRinputis ON,theLSIwilloutputpulsesandthepositioningcounterwillstartcountingdownpulses.Whenthe positioningcountervaluereacheszero,thePCLstopsoperation. EveniftheDRinputisturnedOFForONagainduringtheoperation,itwillhavenoeffectonthe operation.IfyoumaketheREMVregistervalue0andstartapositioningoperation,thePCLwillstop operationimmediatelywithoutoutputtinganycommandpulses. TurnONthe+DRsignaltofeedinthepositivedirection.TurnONthe-DRsignaltofeedinthenegative direction. ByturningONtheELsignalcorrespondingtothefeeddirection,theaxiswillstopoperationandissuean errorinterrupt( output). -64- 9-5.Zeropositionoperationmode Thefollowingsixzeropositionoperationmodesareavailable. MOD Operationmode Directionofmovement 10h Zeroreturnoperation Positivedirection 18h Zeroreturnoperation Negativedirection 12h Leavingthezeropositionoperation Positivedirection 1Ah Leavingthezeropositionoperation Negativedirection 15h Zeropositionsearchoperation Positivedirection 1Dh Zeropositionsearchoperation Negativedirection Dependingontheoperationmethod,thezeropositionoperationusestheORG,EZ,orELinputs. SpecifytheinputlogicoftheORGinputsignalintheRENV1(environment1)register.Thisregister's terminalstatuscanbemonitoredwithanSSTSW(substatus)command. SpecifytheinputlogicoftheEZinputsignalintheRENV2(environment2)register.Specifythenumberfor EZtocountuptoforazeroreturncompleteconditionintheRENV3(environment3)register.This register'sterminalstatuscanbemonitoredbyreadingtheRSTS(extensionstatus)register. SpecifythelogicfortheELinputsignalusingtheELLinputterminals.Specifytheoperationtoexecute whenthesignalturnsON(immediatestop/decelerationstop)intheRENV1register.Thisregister'sterminal statuscanbemonitoredwithanSSTSW(substatus)command. AninputfiltercanbeappliedtotheORGinputsignalandELinputsignalbysettingtheRENV1register. SettheORGsignalinputlogic SettheEZcount -65- 9-5-1.Zeroreturnoperation Afterwritingastartcommand,theaxiswillcontinuefeedinguntiltheconditionsforazeroreturncomplete aresatisfied. MOD:10hPositivedirectionzeroreturnoperation 18hNegativedirectionzeroreturnoperation Whenazeroreturniscomplete,theLSIwillresetthecounterandoutputanERC(deflectioncounter clear)signal. TheRENV3registerisusedtosetthebasiczeroreturnmethod.Thatis,whetherornottoresetthe counterwhenthezeroreturniscomplete.SpecifywhetherornottooutputtheERCsignalintheRENV1 register. FordetailsabouttheERCsignal,see11-6-2,"ERCsignal." Setthezeroreturnmethod -66- 0101:Zeroreturnoperation5 -Movementontheaxisstopsimmediatelyandisreversed(decelerates andstopswhenfeedingathighspeed)whentheORGinputisturned ON.Then,allmovementstopsimmediately(deceleratesandstopswhen feedingathighspeed)whentheEZcounterfinishescountingup. -COUNTERresettiming:WhentheEZcounterfinishescountingup. 0110:Zeroreturnoperation6 -Movementontheaxisstopsimmediately(deceleratesandstopswhen ELMis1)whentheELsignalturnsON,anditreversesatRFAlow speed.Then,allmovementstopsimmediatelywhentheELsignalis turnedOFF. -COUNTERresettiming:WhentheELsignalisturnedOFF. 0111:Zeroreturnoperation7 -Movementontheaxisstopsimmediately(deceleratesandstopswhen ELMis1)whentheELsignalturnsON,andreversesatRFAlowspeed. Then,allmovementstopsimmediatelywhentheEZcounterfinishes countingup. -COUNTERresettiming:WhentheEZcounterfinishescountingup. 1000:Zeroreturnoperation8 Movementontheaxisstopsimmediately(deceleratesandstopswhen ELMis1)whentheELsignalturnsON,andreverses.Thenitstops immediately(deceleratesandstopswhenfeedathighspeed)whentheEZ counterfinishescountingup. -COUNTERresettiming:WhentheEZcounterfinishescountingup. 1001:Zeroreturnoperation9 -Aftertheprocessinzeroreturnoperation0hasexecuted,itreturnsto zero(operatesuntilCOUNTER2=0). 1010:Zeroreturnoperation10 -Aftertheprocessinzeroreturnoperation3hasexecuted,itreturnsto zero(operatesuntilCOUNTER2=0). 1011:Zeroreturnoperation11 -Aftertheprocessinzeroreturnoperation5hasexecuted,itreturnsto zero(operatesuntilCOUNTER2=0). 1100:Zeroreturnoperation12 -Aftertheprocessinzeroreturnoperation8hasexecuted,itreturnsto zero(operatesuntilCOUNTER2=0). Settingsafterazeroreturncomplete [RENV3](WRITE) 7 0 ----nnnn [RENV3](WRITE) 23 16 nnnn---- [RENV1](WRITE) 15 8 ----n--- -67- 9-5-1-1.Zeroreturnoperation0(ORM=0000) Lowspeedoperation Operation2 Operation3 ON Emergencystop Emergencystop Highspeedoperation ORG EL Operation1 Operation2 Operation3 @ Emergencystop Emergencystop Highspeedoperation ORG EL Operation1 Operation2 Operation3 @ Emergencystop Emergencystop Highspeedoperation ORG SD EL Operation1 Operation2 Operation3 Operation4 @ @ Emergencystop Emergencystop OFF ON Note:Positionsmarkedwith"@"reflecttheERCsignaloutputtimingwhen"Automaticallyoutputan ERCsignal"isselectedforthezerostoppingposition. -68- 9-5-1-2.Zeroreturnoperation1(ORM=0001) Lowspeedoperation ORG EL Operation1 FAspeed Operation2 Operation3 @ Emergencystop Emergencystop Highspeedoperation ORG EL Operation1 FAspeed Operation2 Operation3 @ Emergencystop Emergencystop 9-5-1-3.Zeroreturnoperation2(ORM=0010) Lowspeedoperation ORG EZ EL Operation1 Operation2 Operation3 ON @ Emergencystop Emergencystop Highspeedoperation Note:Positionsmarkedwith"@"reflectERCsignaloutputtimingwhen"Automaticallyoutputan ERCsignal"isselectedforthezerostoppingposition. -69- 9-5-1-4.Zeroreturnoperation3(ORM=0011) Lowspeedoperation ORG EZ EL Operation1 @ Highspeedoperation ORG EZ EL Operation1 Operation2 Operation3 @ Emergencystop Emergencystop 9-5-1-5.Zeroreturnoperation4(ORM=0100) Lowspeedoperation ORG EZ EL Operation1 @ FAspeed Highspeedoperation ORG EZ EL Operation1 Operation2 Operation3 @ FAspeed Emergencystop Emergencystop Note:Positionsmarkedwith"@"reflecttheERCsignaloutputtimingwhen"Automaticallyoutputan ERCsignal"isselectedforthezerostoppingposition. -70- 9-5-1-6.Zeroreturnoperation5(ORM=0101) Lowspeedoperation ORG EZ EL Operation1 @ Operation2 Operation3 Highspeedoperation ORG EZ EL Operation1 Operation2 Operation3 @ Emergencystop Emergencystop Emergencystop Emergencystop 9-5-1-7.Zeroreturnoperation6(ORM=0110) Lowspeedoperation EL Operation1 * @ FAspeed (StopwhenELisOFF) Highspeedoperation EL Operation1 @ FAspeed * (StopwhenELisOFF) Note:Positionsmarkedwith"@"reflecttheERCsignaloutputtimingwhen"Automaticallyoutputan ERCsignal"isselectedforthezerostoppingposition. Also,whenEROE(bit10)is1intheRENV1registerandELM(bit3)is0,theLSIwilloutputan ERCsignalatpositionsmarkedwithanasterisk(*). -71- 9-5-1-8.Zeroreturnoperation7(ORM=0111) Lowspeedoperation EZ EL Operation1 @ FAspeed Highspeedoperation EZ EL Operation1 @ FAspeed * * 9-5-1-9.Zeroreturnoperation8(ORM=1000) Lowspeedoperation EZ EL Operation1 @ * Highspeedoperation EZ EL Operation1 * @ 9-5-1-10.Zeroreturnoperation9(ORM=1001) Highspeedoperation ORG EL Operation1 Operation2 Operation3 @ Emergencystop Emergencystop Note:Positionsmarkedwith"@"reflecttheERCsignaloutputtimingwhen"Automaticallyoutputan ERCsignal"isselectedforthezerostoppingposition. Also,whenEROE(bit10)is1intheRENV1registerandELM(bit3)is0,theLSIwilloutput anERCsignalatpositionsmarkedwithanasterisk(*). -72- 9-5-1-11.Zeroreturnoperation10(ORM=1010) Highspeedoperation ORG EZ EL Operation 1 Operation 2 Operation 3 @ Emergency stop Emergency stop 9-5-1-12.Zeroreturnoperation11(ORM=1011) Highspeedoperation ORG EZ EL Operation 1 Operation 2 Operation 3 @ Emergency stop Emergency stop 9-5-1-13.Zeroreturnoperation12(ORM=1100) Highspeedoperation EZ EL Operation1 @ * Note:Positionsmarkedwith"@"reflecttheERCsignaloutputtimingwhen"Automaticallyoutputan ERCsignal"isselectedforthezerostoppingposition. Also,whenEROE(bit10)is1intheRENV1registerandELM(bit3)is0,theLSIwilloutput anERCsignalatpositionsmarkedwithanasterisk(*). -73- 9-5-2.Leavingthezeropositionoperations Afterwritingastartcommand,theaxiswillleavethezeroposition(whentheORGinputturnsON). Makesuretousethe"Lowspeedstartcommand(50h,51h)"whenleavingthezeroposition. WhenyouwriteastartcommandwhiletheORGinputisOFF,theLSIwillstopthemovementontheaxis asanormalstop,withoutoutputtingpulses. SincetheORGinputstatusissampledwhenoutputtingpulses,ifthePCLstartsatconstantspeedwhile theORGsignalisON,itwillstopoperationafteroutputtingonepulse,sincetheORGinputisturnedOFF. (Normalstop) MOD:12hLeavethezeropositioninthepositivedirection 1AhLeavethezeropositioninthenegativedirection 9-5-3.Zerosearchoperation Thismodeisusedtoaddfunctionstoazeroreturnoperation.Itconsistsofthefollowingpossibilities. 1)A"Zeroreturnoperation"ismadeintheoppositedirectiontotheonespecified. 2)A"Leavingthezeropositionusingpositioningoperations"isexecutedintheoppositedirectiontothe onespecified. 3)A"Zeroreturnoperation"isexecutedinthespecifieddirection. Operation1:IftheORGinputisturnedONafterstarting,movementontheaxiswillstopnormally. Operation2:IftheORGinputisalreadyturnedONwhenstarting,theaxiswillleavethezeroposition usingpositioningoperations,andthenbegina"zeroreturnoperation." Operation3:IfmovementontheaxisisstoppedbyanELsignalwhileoperatinginthespecifieddirection, theaxiswillexecutea"zeroreturnoperation(ORM=0000)"anda"leavingthezeroposition bypositioning"intheoppositedirection.Thenitwillexecutea"zeroreturnoperation"inthe specifieddirection. When"leavingthezeropositionbypositioning,"theaxiswillrepeatthepositioningoperationforthe numberofpulsesspecifiedintheRMV(targetposition)register,untilthezeropositionhasbeenleft.Enter apositivenumber(1to134,217,727)intheRMVregister. MOD:15hZerosearchoperationinthepositivedirection 1DhZerosearchoperationinthenegativedirection 9-5-3-1.Zeroreturnoperation0(ORM=0000) Lowspeedoperation ORG EL Operation1 Operation2 Operation3 RMVsettingvalue -74- Highspeedoperation ORG EL Operation1 Operation2 Operation3 RMVsettingvalue 9-6.ELorSLoperationmode ThefollowingfourmodesofELorSL(softlimit)operationareavailable. MOD Operationmode Directionofmovement 20h Operateuntilreachingthe+ELor+SLposition. Positivedirection 28h Operateuntilreachingthe-ELor-SLposition. Negativedirection 22h Leavefromthe-ELor-SLpositions. Positivedirection 2Ah Leavefromthe+ELor+SLpositions. Negativedirection TospecifytheELinputsignal,settheinputlogicusingtheELLinputterminal.Selecttheoperationtype (immediatestop/decelerationstop)whentheinputfromthatterminalisONintheRENV1(Environment setting1)register.ThestatusoftheterminalcanbemonitoredusingtheSSTSW(substatus)register. FordetailsaboutsettingtheSL(softwarelimit),seesection11-11-2,"Softwarelimitfunction." SelecttheELsignalinputlogic [RENV1](WRITE) 7 0 ----n--[SSTSW](READ) 15 8 --nn---[RENV1](WRITE) 31 24 -----n-- -75- 9-6-1.FeeduntilreachinganELorSLposition ThismodeisusedtocontinuefeedinguntiltheELorSL(softlimit)signalisturnedONandthenthe operationstopsnormally. WhenastartcommandiswrittenonthepositionwheretheELorSLsignalisturnedON,theLSIwillnot outputpulsesanditwillstoptheaxisnormally.WhenastartcommandiswrittentotheaxiswhiletheEL andSLsignalsareOFF,theaxiswillstopwhentheELorSLsignalisturnedON.(Normalstop.) MOD:20hFeeduntilreachingthe+ELor+SLposition. 28hFeeduntilreachingthe-ELor-SLposition. 9-6-2.LeavinganELorSLposition ThismodeisusedtocontinuefeedinguntiltheELorSL(softwarelimit)signalisturnedOFF. WhenastartcommandiswrittenonthepositionwheretheELandSLsignalsareturnedOFF,theLSIwill notoutputpulsesanditwillstoptheaxisnormally. WhenstartinganoperationwhiletheELinputorSLsignalisON,thePCLwillstopoperationnormally whenboththeELinputandSLsignalareOFF. MOD:22hLeavefroma-ELor-SLposition 2AhLeavefroma+ELor+SLposition 9-7.EZcountoperationmode ThismodeisusedtocountEZsignalofthenumber(EZDsetvalue+1)writtenintotheRENV3register. MOD:24hFeeduntiltheEZcountiscompleteinpositivedirection. 2ChFeeduntiltheEZcountiscompleteinnegativedirection. Afterastartcommandiswritten,theaxisstopsimmediately(ordeceleratesandstopswhenfeedingathigh speed)aftertheEZcountequalsthenumberstoredintheregister. TheEZcountcanbesetfrom1to16. Usethelowspeedstartcommand(50h,51h)forthisoperation.Whenthehighspeedstartcommandis used,theaxiswillstartdeceleratingandstopwhentheEZsignalturnsON,sothatthemotionontheaxis overrunstheEZposition. SpecifylogicalinputfortheEZsignalintheRENV2(environmentsetting2)register,andtheEZnumberto counttointheRENV3(environmentsetting3)register.Theterminalstatuscanbemonitoredbyreading theRSTS(extensionstatus)register. SettingtheinputlogicoftheEZsignal [RSTS](READ) 15 8 -----n-- -76- 9-8.Interpolationoperations 9-8-1.Interpolationoperations Inadditiontoeachindependentoperation,thisLSIcanexecutethefollowinginterpolationoperations. MOD Operationmode MOD Operationmode 60h Continuouslinearinterpolation1for 67h CCWcircularinterpolation 2to4axes synchronizedwiththeUaxis. 61h Linearinterpolation1for2to4axes 68h Continuouslinearinterpolation1 synchronizedwithPA/PBinput 62h Continuouslinearinterpolation2for 69h Linearinterpolation1synchronized 1to4axes withPA/PBinput 63h Linearinterpolation2for1to4axes 6Ah Continuouslinearinterpolation2 synchronizedwithPA/PBinput. 64h Circularinterpolation(CW) 6Bh Linearinterpolation2synchronized withPA/PBinput 65h Circularinterpolation(CCW) 6Ch CWcircularinterpolationsynchronized withPA/PBinput 66h CWcircularinterpolation 6Dh CCWcircularinterpolation synchronizedwiththeUaxis synchronizedwithPA/PBinput Continuouslinearinterpolationisthesameasthelinearinterpolationusedtofeedmultipleaxesat specifiedrates,andtostartandstopfeedingusingcommandssuchasthecontinuousmodecommands. Interpolation1executesaninterpolationoperationbetweenanytwotofouraxesintheLSI. Interpolation2isusedtocontrolfiveaxesormoreusingmorethanoneLSI,andtocontrolfeedingusing linearinterpolation. Independentoperationoftheun-interpolatedaxesisalsopossible. TheinterpolationsettingsandoperationstatuscanbemonitoredbyreadingtheRIPS(interpolation status)register. TheRIPSregisterissharedbytheXandYaxes.Readingfromanyaxiswillreturntheidentical information. WritestartandstopcommandstobothaxesbysettingSELxandSELyinCOMB1. [InterpolationoperationsthatcanbecombinedwiththisLSI] 1)Linearinterpolation1oftwoaxes. 2)Linearinterpolation1ofthreeaxes. 3)Linearinterpolation1offouraxes. 4)Circularinterpolationoftwoaxes 5)Linearinterpolation1oftwoaxesandcircularinterpolationoftwoaxes Axesthatarenotinvolvedinoneoftheinterpolationoperations1)to5)above,canbeoperated independentlyorcanbeusedtoexecutealinearinterpolation2. 9-8-2.Interpolationcontrolaxis InCircularinterpolationandLinearinterpolation1,specifythespeedforoneaxisonly.Thisaxisis referredtoastheinterpolationcontrolaxis.InterpolationcontrolaxescanonlybeintheorderX,Y,Z,and Ufortheaxesthatareinterpolated. Whenyouwanttoexecutebothancircularinterpolationandalinearinterpolationsimultaneously,there willbetwointerpolationcontrolaxes. Whenlinearinterpolation2isselected,eachaxiswillbeusedtocontroltheinterpolation. [Relationshipbetweenaninterpolationoperationandtheaxesusedforinterpolationcontrol] No Interpolationoperation Interpolationcontrolaxis 1) Linearinterpolation1oftheX,Y,Z,andUaxes. Xaxis 2) Linearinterpolation1oftheX,Y,andZaxes. Xaxis 3) Linearinterpolation1oftheY,Z,andUaxes. Yaxis 4) Linearinterpolation1oftheYandUaxis Yaxis 5) CircularinterpolationoftheXandUaxis Xaxis 6) CircularinterpolationoftheXandZaxes,andlinear Circularinterpolation:Xaxis interpolation1oftheYandUaxes Linearinterpolation1:Yaxis -77- 9-8-3.Constantsynthesizedspeedcontrol Thisfunctionisusedtocreateaconstantsynthesizedspeedforlinearinterpolation1andcircular interpolationoperations.Whenlinearinterpolation2isselected,thisfunctioncannotbeused. Toenablethisfunction,settheMIPF(bit15)inthePRMD(operationmode)registerto"1"fortheaxes thatyouwanttohaveaconstantsynthesizedspeed.Whenthesameinterpolationmodeisselected,the axeswhoseMIPFbitissetto"1"willhavealongerpulseoutputinterval:multipliedbythesquarerootof )forthreeaxis )fortwoaxissimultaneousoutput,andbythesquarerootofthree( two( simultaneousoutput. Forexample,whenapplyinglinearinterpolation1totheX,Y,andZaxes,andonlytheYandZaxeshave theMIPFbit=1,theintervalbeforeapulseoutputonanotheraxisaftersimultaneouspulseoutputonthe .WhenXandY,orXandZoutputpulsesatthesametime,the YandZaxeswillbemultipliedbythe intervaluntilthenextpulseoutputwillnotchange. Thesynthesizedconstantspeedcontrolcanonlybeusedfor2or3axes.Whenapplyinglinear interpolation1tofouraxes,ifMIPE=1forallfouraxes,andifallfouraxesoutputpulsesatthesame . time,theintervalwillalsobemultipliedbythe WhenthesynthesizedconstantspeedcontrolbitisturnedON(MIPF=1),thesynthesizedspeed(while performinginterpolation)willbetheoperationspeed(PRFH)ortheinitialspeed(PRFL)ofthe interpolatedaxes. SRUN,SEND,andSERRinMSTSW(mainstatusbyte)fortheinterpolatedaxiswillchangeusingthe samepattern. TheRSPD(speedmonitor)featureisonlyavailablefortheinterpolationcontrolaxes.However,when linearinterpolation2isused,thevaluereadoutwillbethemainaxisspeed. Therefore,thefeedingintervalwhenthefeed =11.66 speedis1ppswillbe6+4 seconds. 4 3 2 Endcoordinates (10,4) Thelengthoftheidealline(dottedline)is 1 =10.77.Ifthemachinecanbefedby 0 justfollowingtheidealline,thefeedinterval 0 5 willbe10.77seconds. Pleasetakenoteoftheabovewhenusingsynthesizedconstantspeedcontrol. X(Masteraxis) 10 2)Acceleration/decelerationoperationswhenthesynthesizedconstantspeedcontrolbitisON(MIPF=1) Basically,theoperationwillhaveaconstantspeedwhenMIPF=1.(Thesynthesizedspeedwillvary withtheacceleration/deceleration.) WhenMIPF=1andyouselectlinearinterpolation1orcircularinterpolationwith acceleration/deceleration,thefollowinglimitationsapply. -Maketheaccelerationrate(PRUP)anddecelerationrate(PRDR)forthecontrolaxesequal. -DonotchangethespeedduringS-curveacceleration/deceleration. FailuretofollowtheseguidelinesmaycausethePCLtodecelerateabnormally. -78- 9-8-4. Continuous linear interpolation 1 (MOD: 60h) This is the same as linear interpolation 1, and each axis operates at a speed corresponding to the PRMV setting. However, the PCL will continue to output pulses until a stop command is received. This mode only uses the rate from the PRMV setting for all of the interpolated axes. Therefore, if the PRMV setting for the all of the interpolated axes is zero, the PCL will output pulses to all the interpolated axes at the same speed. 9-8-5. Linear interpolation 1 (MOD: 61h) Linear interpolation 1 is used to allow a single LSI to provide interpolation operations between any 2 to 4 axes. If only one axis is specified and operation is started, an error (ESDT: Stop due to operation data error) will occur. After setting the operation speed for the interpolation control axes, specify whether to use or not the synthesized constant speed control in the PRMD registers, or specify an end point position in the PRMV register for all of the interpolated axes. The direction of operation is determined by the sign of the value in the PRMV register. Automatically, the axis with the maximum feed amount (maximum absolute value in the PRMV register) will be considered the master axis. The other axis will be the slave axis. When a start command is written, the LSI will output pulses to the master axis and the slave axis will be supplied a smaller number of pulses than the master axis. Write a start command by setting either the SELx or SELy bits corresponding to the interpolation axes in COMB1 to 1. Writing any of these axes bring the same result. [Setting example] Use the settings below and write a start command (0751h). The PCL will output pulses with the timing shown in the figure below. Entering values in the blank items will not affect operation. Setting X axis Y axis Z axis MOD 61h 61h 61h MIPF 0 (OFF) 0 (OFF) 0 (OFF) RMV value 5 10 2 Operation speed 1000 pps Interpolation control axis O Master axis / slave axis Slave axis Master axis Slave axis [Precision of linear interpolation] As shown in the figure on the right, linear interpolation executes an interpolation from the current coordinates to the end coordinates. The positional precision of a specified line during linear interpolation will be 0.5 LSB throughout the interpolation range. "LSB" refers to the minimum feed unit for the PRMV register setting. It corresponds to the resolution of the mechanical system. (distance between tick marks in the figure on the right.) Y (Slave axis) 4 3 2 1 0 0 5 10 0.5 LSB max X (Master axis) End coordinates (10, 4) - 79 - 9-8-6.Continuouslinearinterpolation2(MOD:62h) SameasLinearInterpolation2:thePCLcontrolseachaxisusingspeedsthatcorrespondtotheratiosof thevaluessetinPRIPandPRMV.However,incontinuousmodethePCLwillcontinuetooutputpulses untilitreceivesastopcommand. 9-8-7.Linearinterpolation2(MOD:63h) Linearinterpolation2isusedforlinearinterpolationsbetween5ormoreaxesandusesmorethanone LSIforcontrol. Inthismode,thePCLcannotsynchronizetheacceleration/decelerationtimingbetweeninterpolatedaxes, sothismodecannotbeusedwithacceleration/deceleration. InordertoexecutealinearinterpolationusingmultipleLSIs,youmustuseasimultaneousstartsignal ( signal). Fordetailsaboutthe signal,seesection11-7,"Externalstart,simultaneousstart." Theaxiswiththemaximumamounttobefedisreferredtoasthemasteraxisduringtheinterpolationand theotheraxesareslaveaxes. EnterthePRMVregistersettingforthemasteraxisintheRIPregistersofeachaxis(includingthemaster axis). InthePRMVregistersoftheslaveaxes,enterendpointofeachaxis. Specifythespeeddata(PRFL,PRFH,PRUR,PRDR,PRMG,PRDP,PRUS,andPRDS)fortheslave axestobethesameasforthemasteraxis. ThefeeddirectionisdeterminedbythesignofthevalueinthePRMVregister. Afterwriting"01"intoMSY(bits18and19)inthePRMD(operationmode)registeroftheaxes,writea startcommandandsettheaxestowaitforthe signalinput.Byenteringa signal,allofthe axesonalloftheLSIswillstartatthesametime. Themasteraxisprovidespulsesconstantly.Theslaveaxesprovidesomeofthepulsesfedtothemaster axis,butsomeareomitted. [Settingexample] 1)Connectthe signalsbetweenLSI-AandLSI-B. input.) 2)SetuptheLSIsasshownbelow.(SetthePRMDtostartwithan 3)Writestartcommands(LSI-A:0951h,LSI-B:0651h). 4)Writea signalinputcommand(06h)totheXaxisonLSI-A. Aftercompletingsteps1)to4)above,theLSIswilloutputpulsesusingthetimingshowninthefigure below. Setting RMD RMVvalue RIPvalue Operation speed Masteraxis /slaveaxis LSI-A Xaxis Yaxis 0004 0004 0063h 0063h 8 5 10 10 1000 1000 pps pps Slave Slave axis axis LSI-B Yaxis 0004 0063h 2 10 1000 pps Slave axis Zaxis 0004 0063h 10 10 1000 pps Master axis +5V CSTA LSI-A CSTA LSI-B 5kto10k-ohm Note:Ifyoustartlinearinterpolation2whilePRIP=0,anoperationdataerror(ESDTofRESETis"1")will occur. -80- 9-8-8.Circularinterpolation ThisfunctionprovidesCWcircularinterpolation(MOD:64h)andCCWcircularinterpolation(MOD:65h) betweentheXandYaxes. Ifonlyoneaxisor3to4axisisspecifiedforcircularinterpolationandastartcommandiswritten,adata settingerrorwilloccur. Circularinterpolationtakesthecurrentpositionasthestartingpoint(coordinate0,0)regardlessofthe valuesinthecounters(COUNTER1to4). Afterspecifyingthespeedforeachaxisbeinginterpolated,specifywhetherornottoapplyconstant syntheticspeedcontrol(MIPFinthePRMDregister)foreachaxis,theendpoints(thePRMVregister value),andthecenterpoint(thePRIPregistervalue).Iftheendpointis0(thestartingpoint),bothaxes willdrawasimplecircle. Thesyntheticspeedusedinthecircularinterpolationwillbethespeedsetfortheaxesbeinginterpolated (FH/FL)iftheconstantsyntheticspeedcontrolisON(MIPF=1)forbothaxes. WriteastartcommandaftersettingSELxandSELyinCOMB1to1.Eitheraxiscanbeusedtowritea startcommand. [Settingexample] Asshowninthetablebelow,specifytheMOD,MIPF,PRMV,PRIPandoperationspeedforeachaxisand writeastartcommand(ex.0351h)thatwillbeusedbybothaxes.Theaxeswillmoveasshownonthe right. StepNo. A B C D Set X Y X Y X Y X Y axis axis axis axis axis axis axis axis value MOD 64h(CWcircularinterpolation) MIPF 1 (turn ON constant synthetic speed control) PRMVvalue 0 0 100 100 200 0 100 -100 PRIPvalue 100 0 100 0 100 0 100 0 Operation Simple o o o 90 arc 180 arc 270 arc result circle B (100, 100) 2nd phase A (0, 0) Start point (0,0) 3rd phase D (100, -100) Center (100, 0) 4th phase 1st phase C (200, 0) ThisLSIterminatesacircularinterpolationoperationwhen eitheroftheaxesreachestheendpointinthelastquadrant,andtheendpointcanbespecifiedasthe wholenumbercoordinatesnearesttotheendposition.Forthisreason,eventhoughthecircular interpolationoperationiscomplete,thePCLwillnotbeattheendcoordinatespecified.Tomovetothe coordinatesofthespecifiedendpointwhenthecircularinterpolationoperationiscomplete,settheMPIE bitinthePRMDregisterto"1"andturnONtheendpointdrawfunction. Iftheendpointofthecircularinterpolationissetwithintheshadedareas,theaxeswillnotstopmoving (perpetualcircularmotion). Y [Circularinterpolationprecision] Thecircularinterpolationfunctiondrawsacircularfromthe currentpositiontotheendcoordinatemovingCWorCCW. Thepositionaldeviationfromthespecifiedcurveis0.5LSB. Thefigureontherightisanexampleofhowtodrawasimple circlewitharadiusof11units. TheLSBreferstheminimumfeedingunitofthePRMV registersettingvalue.Itcorrespondstotheresolutionof mechanicalsystem(sizeofthecellsinthefigureright.) : Interpolation track Solid line : A circle of radius 11 Dotted line : A circle of radius 110.5 X -81- [Circularinterpolationwithacceleration/deceleration] Tousecircularinterpolationwithacceleration/deceleration,youhavetoenterthenumberofcircular interpolationpulsesrequired(circularinterpolationstepnumbers)inthePRCIregisterforthecontrolaxis. Tocalculatethenumberofpulsesrequiredforcircularinterpolation,breaktheareacoveredbytheXand Yaxesinto8(0to7)sections,usingthecentercoordinateofthecircularinterpolationasthecenterpoint. Seethefigurebelow. Theoutputpulsestatusofeachaxisineachareaisasfollows Area Xaxisoutputpulse 0 Outputaccordingtothe interpolationcalculation result 1 Alwaysoutput 2 3 4 5 6 7 Alwaysoutput Outputaccordingtothe interpolationcalculation result Outputaccordingtothe interpolationcalculation result Alwaysoutput Alwaysoutput Outputaccordingtothe interpolationcalculation result Yaxisoutputpulse Alwaysoutput Outputaccordingtothe interpolationcalculation result Outputaccordingtothe interpolationcalculation result Alwaysoutput Alwaysoutput Outputaccordingtothe interpolationcalculation result Outputaccordingtothe interpolationcalculation result Alwaysoutput ThetableaboveshowsthePCLoutputpulsesforeitheroftheaxesineacharea. Therefore,thenumberofpulsesrequiredforcircularinterpolation(thenumberofcircularinterpolation steps)isequaltothenumberofpulsestomovearoundthissideofasquarethatissurroundedbythe circleusedforthecircularinterpolation. o Forexample,todrawa90 arcwithradius"a,"thenumberofpulsesrequiredforcircularinterpolationwill )x2.EnterthisvalueinthePRCIregister. be(a Toobtainthenumberofstepsforanystartandendpoints,follow theprocedurebelow. 1) First,determinetheareathatthestartpointbelongsto(area 0to7).Then,drawahorizontal(vertical)linetofindthe contactpointwiththesquareinsidethecircle. 2) Next,determinetheareathattheendpointbelongsto(area 0to7).Then,drawavertical(horizontal)linetofindthe contactpointwiththesquareinsidethecircle. 3) Findthedistancebetweenthetwocontactpointsonthe square(from1)and2)above)andenterthisvalueinthe PRICregister. -82- Tocontinuetheendpointdrawfunction,setMPIEinthePRMDregisterto"1."Thenenterthevaluein thePRCIregisterafteraddingnumberofpulsesrequiredfortheendpointdrawfunction. Note1: ThePRCIregistervalueisusedtotriggerthestartofthedecelerationtiming.Whenasmaller valueisentered,thePCLwillstartdecelerationsoonerandtheFLconstanttimewillapply. Whenalargervalueisentered,thePCLwilldelaythebeginningofdecelerationandthenwill havetostopsuddenly. However,theinterpolationtrajectoryisequaltotheconstantspeedcircularinterpolation. Note2: Tospecifyarampdownpointmanually,thinkofthePRCIsettingasanumberofoutputpulses, sothatthePRDPcalculationformulaforthepositioningoperationcanbeused.However,this formulacannotbeusedwhenthesynthesizedconstantspeedoperationisON.Inthiscase, thereisnootherwaytoobtainarampdownpointexceptbychangingtheRICIvalueand conductingatest. 9-8-9.CircularinterpolationsynchronizedwiththeUaxis BysynchronizingwiththeUaxis,anytwoaxescanbeusedforCWcircularinterpolation(MOD:66h)or CCWcircularinterpolation(MOD:67h). Ifyouspecifycircularinterpolationforoneaxisorfor3to4axes,andtrytostarttheoperation,thePCL willdeclareadatasettingerror. WhentheUaxispositioningcounter(RPLS)reaches0whilestartingorduringancircularinterpolation, thePCLwillalsodeclareadatasettingerror. Bysimultaneouslyusinglinearinterpolation,thePCLcansynchronizeoneaxiswhileperforminga circularinterpolationontwootheraxes.Thisfunctioncanbeusedforthingslikeacircularinterpolation betweentheXandYaxesandtoadjusttheangleofajigtowardanarctangentpointwiththeZaxis. Also,inthisoperationtheUaxisoperationwillbeadummymotionanditcannotbeusedforanyother purpose. Usingtheoperationabove,settheoperationmode(RMD)fortheXandYaxesto66H(67h),andsetthe ZandUaxesto61h. EnterthenumberofcircularinterpolationstepsinthePRMVregisterfortheUaxis. Fordetailsabouthowtoobtainthenumberofcircularinterpolationsteps,seethediscussionof"circular interpolationwithacceleration/deceleration"intheprevioussection. Towriteastartorstopcommand,makeallthebitsinSELxtoSELuoftheCOMB1registerequalto"1." Anyaxiscanbeusedtowrite"1." 9-8-10.InterpolationoperationsynchronizedwithPA/PB ThisfunctionusesthePA/PBinputsignal(aftermagnificationordivision)insteadoftheinternalclock. AnyPA/PBinputaftertheinterpolationoperationiscompletewillbeignored. 9-8-11.Operationduringinterpolation Acceleration/decelerationoperations Accelerationanddeceleration(linearandS-curve)canbeusedwithLinearinterpolation1and circularinterpolationoperations. Pleasenotethefollowinglimitations. 1)SettheMSDPandMADJinthePRMDregisterthesameforalloftheinterpolatedaxes. 2)WhenMIPF=1andMSDP=0inthePRMDregister,ifthePRDPregisterissetto"-1"itwillmake asmalldeviationintherampdownpoint. 3)Duringcircularinterpolation,theFHcorrectionfunctionwillbedisabled. -83- 4)WhencircularinterpolationisselectedwithS-curveacceleration/deceleration,thePRUSand PRDSregistervaluescannotbesettozero(auto). Tocontroltherampdownpointwhileusinglinearinterpolation1,thePCLexecutesacomparisonof RPLSandRSDCforthelongestaxis.TheRSDCsettingforanyshorteraxeswillbeinvalid. However,ifmorethanoneaxishasthesamelengthandtheyarethelongestaxes,tospecifyaramp downpointmanuallyyoumustenterthesamevalueforalloftheinterpolatedaxes. Tocontroltherampdownpointwhileusingcircularinterpolation,thePCLexecutesacomparisonof CICandRSDConthecontrolaxis.Therefore,tospecifyarampdownpointmanually,writetoRSD onthecontrolaxis. Errorstop Ifanyoftheaxesstopswithanerror,alloftheaxesbeinginterpolatedwillstop(SERR=1).By readingtheREST(errorstopcause)register,youcandeterminewhichaxisactuallystoppedwithan error. SDinput WhenSDinputisenabled(MSDE(bit8)intheRMDregisterissetto1),andiftheSDinputturns ONeitheroftheaxes,bothaxeswilldecelerateordecelerateandstop. Idlingcontrol Ifanyaxisisinidlingrange,noneoftheaxesbeinginterpolatedwillaccelerate. Correctionfunction Whenphasesarechangedduringcircularinterpolation,backlashcorrectionandslipcorrection controlcannotbeused. Continuousinterpolation ThePCLcanusethepre-registertomakeacontinuouslinearinterpolationorcircularinterpolation. However,whentheaxesbeinginterpolatedchangeduringacontinuousinterpolation,requires specialcare. Anexampleofthesettingsforcontinuousinterpolationusingthepre-registerisshowninsection1114-1,"Starttriggeredbyastoponanotheraxis." -84- 10.Speedpatterns 10-1.Speedpatterns Speedpattern FLlowspeedoperation f Continuousmode 1)WriteanFLlowspeedstart command(50h). Positioningoperationmode 1)WriteanFLlowspeedstartcommand (50h). FL 1) 2) t 2)Stopfeedingbywritinganimmediate 2)Stopfeedingwhenthepositioningcounter stop(49h)ordecelerationstop reacheszero,orbywritinganimmediate (4Ah)command. stop(49h)ordecelerationstop(4Ah) command. FHlowspeedoperation f FH 1)WriteanFHlowspeedstart command(51h). 1)WriteanFHlowspeedstartcommand (51h). 2)Stopfeedingbywritinganimmediate 2)Stopfeedingwhenthepositioningcounter reacheszero,orbywritinganimmediate stopcommand(49h). stop(49h)command. t *Whenthedecelerationstopcommand(4Ah)iswrittentotheregister,thePCLstarts deceleration. 1) 2) Highspeedoperation1) f 1)Writehighspeedstartcommand1 (52h). 2)Startdecelerationbywritinga decelerationstopcommand(4Ah). 1)Writehighspeedstartcommand1(52h). 2)Startdecelerationwhenaramping-down pointisreachedorbywritinga decelerationstopcommand(4Ah). FH FL 1) 2) Highspeedoperation2) f FH *Whenthedecelerationstop command(49h)iswrittentothe *Whenpositioningwithahighspeedstart register,thePCLimmediatelystops t command1(52h),theramping-down pointisfixedtothemanualsetting, *Whenidlingpulsesareaddedby regardlessofthesettingforMSDP(bit13) settingIDLinRENV5toanon-zero inthePRMD.Iftheramping-downpoint value,afteroutputtingidlingpulses setting(PRDP)iszero,theaxiswillstop atFLspeed,thePCLwillaccelerate immediately. toFHspeed. 1)Writehighspeedcommand2(53h). 1)Writehighspeedstartcommand2(53h). 2)Startdecelerationbywritinga decelerationstopcommand(4Ah). 2)Startdecelerationwhenaramping-down pointisreachedorbywritinga decelerationstopcommand(4Ah). *Iftheramping-downpointissettomanual (MSDP=1inthePRMD),andtherampingdownvalue(PRDP)iszero,theaxiswill stopimmediately. FL 1) 2) *Whenthedecelerationstop command(49h)iswrittentothe t register,thePCLstartsdeceleration. -85- 10-2.Speedpatternsettings Specifythespeedpatternusingtheregisters(pre-registers)showninthetablebelow. Ifthenextregistersettingisthesameasthecurrentvalue,thereisnoneedtowritetotheregisteragain. Pre-register PRMV PRFL PRFH PRUR PRDR PRMG PRDP PRUS PRDS Description Positioningamount Initialspeed Operationspeed Accelerationrate DecelerationrateNote1 Speedmagnificationrate Ramping-downpoint S-curveaccelerationrange S-curvedecelerationrange Bitlength settingrange 28 16 16 16 16 12 24 15 15 Settingrange -134,217,728to134,217,727 (8000000h)(7FFFFFFh) 1to65,535(0FFFFh) 1to65,535(0FFFFh) 1to65,535(0FFFFh) 0to65,535(0FFFFh) 2to4,095(0FFFh) 0to16,777,215(0FFFFFFh) 0to32,767(7FFFh) 0to32,767(7FFFh) register RMV RFL RFH RUR RDR RMG RDP RUS RDS Note1:IfPRDRissettozero,thedecelerationratewillbethevaluesetintheRUR. [Relativepositionofeachregistersettingforaccelerationanddecelerationfactors] PRFL:FLspeedsettingregister(16-bit) SpecifythespeedforFLlowspeedoperationsandthestartspeedforhighspeedoperations (acceleration/decelerationoperations)intherangeof1to65,535(0FFFFh). ThespeedwillbecalculatedfromthevalueinPRMG. Referenceclockfrequency[Hz] FLspeed[pps]=PRFLx (RMG+1)x65536 PRFH:FHspeedsettingregister(16-bit) SpecifythespeedforFHlowspeedoperationsandthestartspeedforhighspeedoperations (acceleration/decelerationoperations)intherangeof1to65,535(0FFFFh). Whenusedforhighspeedoperations(acceleration/decelerationoperations),specifyavaluelarger thanPRFL. ThespeedwillbecalculatedfromthevalueplacedinRMG. Referenceclockfrequency[Hz] FHspeed[pps]=PRFHx (RMG+1)x65536 -86- PRUR:Accelerationratesettingregister(16-bit) Specifytheaccelerationcharacteristicforhighspeedoperations(acceleration/decelerationoperations), intherangeof1to65,535(0FFFFh) Relationshipbetweenthevalueenteredandtheaccelerationtimewillbeasfollows: 1)Linearacceleration(MSMD=0inthePRMDregister) (PRFH-PRFL)x(PRUR+1)x4 Accelerationtime[s]= Referenceclockfrequency[Hz] 2)S-curvewithoutalinearrange(MSMD=1inthePRMDregisterandPRUSregister=0) (PRFH-PRFL)x(PRUR+1)x8 Accelerationtime[s]= Referenceclockfrequency[Hz] 3)S-curvewithalinearrange(MSMD=1inthePRMDregisterandPRUSregister>0) (PRFH-PRFL+2xPRUS)x(PRUR+1)x4 Accelerationtime[s]= Referenceclockfrequency[Hz] PRDR:Decelerationratesettingregister(16-bit) Normally,specifythedecelerationcharacteristicsforhighspeedoperations(acceleration/deceleration operations)intherangeof1to65,535(0FFFFh). Eveniftheramping-downpointissettoautomatic(MSDP=0inthePRMDregister),thevalueplaced intheRDRregisterwillbeusedasthedecelerationrate. However,whenPRDR=0,thedecelerationratewillbethevalueplacedinthePRUR. Whentheramping-downpointissettoautomatic,therearethefollowingrestrictions. Whileinlinearinterpolation1orcircularinterpolationoperation,andwhensynthesizedconstantspeed operation(MIPF=1inPRMD)isselected,makethedecelerationtime=theaccelerationtime. Forotheroperations,arrange(decelerationtime)accelerationtimex2. Ifsettingotherwise,theaxismaynotdecreasethespeedtothespecifiedFLspeedwhenstopping.In thiscase,useamanualramping-downpoint(MSDP=1intheRMDregister). Therelationshipbetweenthevalueenteredandthedecelerationtimeisasfollows. 1)Lineardeceleration(MSMD=0inthePRMDregister) (PRFH-PRFL)x(PRDR+1)x4 Decelerationtime[s]= Referenceclockfrequency[Hz] -87- 2)S-curvedecelerationwithoutalinearrange(MSMD=1inthePRMDregisterandPRDSregister=0) (PRFH-PRFL)x(PRDR+1)x8 Decelerationtime[s]= Referenceclockfrequency[Hz] 3)S-curvedecelerationwithalinearrange(MSMD=1inthePRMDregisterandPRDSregister>0) (PRFH-PRFL+2xPRDS)x(PRDR+1)x4 Decelerationtime[s]= Referenceclockfrequency[Hz] PRMG:Magnificationrateregister(12-bit) SpecifytherelationshipbetweenthePRFLandPRFHsettingsandthespeed,intherangeof2to 4,095(0FFFh).Asthemagnificationrateisincreased,thespeedsettingunitswilltendtobe approximations.Normallysetthemagnificationrateaslowaspossible. Therelationshipbetweenthevalueenteredandthemagnificationrateisasfollows. Referenceclockfrequency[Hz] Magnificationrate= (PRMG+1)x65536 [Magnificationratesettingexample,whenthereferenceclock=19.6608MHz](Outputspeedunit:pps) Setting 2999(0BB7h) 1499(5DBh) 599(257h) 299(12Bh) 149(95h) Magnification rate 0.1 0.2 0.5 1 2 Outputspeed range 0.1to6,553.5 0.2to13,107.0 0.5to32,767.5 1to65,535 2to131,070 Setting 59(3Bh) 29(1Dh) 14(0Eh) 5(5h) 2(2h) Magnification rate 5 10 20 50 100 Outputspeedrange 5to327,675 10to655,350 20to1,310,700 50to3,276,750 100to6,553,500 PRDP:Ramping-downpointregister(24-bits) Specifythevalueusedtodeterminethedecelerationstartpointforpositioningoperationsthatinclude accelerationanddeceleration. ThemeaningofthevaluespecifiedinthePRDPchangeswiththe"ramping-downpointsetting method",(MSDP)inthePRMDregister. -88- 3)S-curvedecelerationwithalinearrange(MSMD=1inthePRMDregisterandthePRDSregister>0) (PRFH+PRFL)x(PRFH-PRFL+2xPRDS)x(PRDR+1) Optimumvalue[Numberofpulses]= (PRMG+1)x32768 Startdecelerationatthepointwhenthe(positioningcountervalue) (RDPsetvalue). -89- 10-3.ManualFHcorrection WhentheFHcorrectionfunctionisturnedON(MADJ=0inthePRMDregister),andwhenthefeed amountistoosmallforanormalaccelerationanddecelerationoperation,theLSIwillautomaticallylower theFHspeedtoeliminatetriangledriving. However,ifvaluesinthePRURandPRDRregistersaresetsothatthe(decelerationtime)> (accelerationtimex2),donotusetheFHcorrectionfunction. InordertoeliminatetriangledrivingwithoutusingtheFHcorrectionfunction(MADJ=1inthePRMD register),lowertheFHspeedbeforestartingtheacceleration/decelerationoperation. Whenusingidlingcontrol,enteravalueforPRMVintheequationbelowafterdeductingthenumberof idlingpulses.Thenumberofidlingpulseswillbe1to6whenIDL=2to7inRENV5. pps [FHcorrectionfunction] sec Automaticcorrectionofthemaximumspeedforchangingthefeedamount. -90- 2)S-curveaccelerationwithoutlinearacceleration(MSMD=1inthePRMDandPRDSregisters=0) 2 2 (PRFH -PRFL )x(PRUR+PRDR+2)x2 WhenPRMV (PRMG+1)x32768 PRFH (PRMG+1)x32768xPRMV 2 +PRFL (PRUR+PRDR+2)x2 3)S-curveacceleration/decelerationwithlinearacceleration/deceleration(MSMD=1inthePRMDregisterand thePRUSregister>0,PRDSregister>0) (3)-1.WhenPRUS=PRDS (i)Setupasmalllinearaccelerationrange (PRFH+PRFL)x(PRFH-PRFL+2xPRUS)x(PRUR+PRDR+2) PRMV (PRMG+1)x32768 PRMV> (PRUS+PRFL)xPRUSx(PRUR+PRDR+2)x8 (PRMG+1)x32768 2 and PRFH -PRSU+(PRUS-PRFL) + (PRMG+1)x32768xPRMV (PRUR+PRDR+2) (ii)Eliminatethelinearacceleration/decelerationrange (PRUS+PRFL)xPRUSx(PRUR+PRDR+2)x8 PRMV (PRMG+1)x32768 ChangetoS-curveacceleration/decelerationwithoutalinearacceleration/decelerationrange(PRUS=0, PRDS=0), PRFH (PRMG+1)x32768xPRMV 2 +PRFL (PRUR+PRDR+2)x2 PRMV:PositioningamountPRFL:InitialspeedPRFH:Operationspeed PRUR:OperationspeedaccelerationratePRDR:DecelerationratePRMG:Speedmagnificationrate PRUS:S-curveaccelerationrangePRDS:S-curvedecelerationrange -91- (3)-2. When PRUS < PRDS (i) Set up a small linear acceleration/deceleration range When (PRFH+PRFL) x {(PRFH-PRFL) x (PRUR + PRDR + 2) + 2 x PRUS x (PRUR+1) + 2 x PRDS x (PRDR + 1)} PRMV (PRMG + 1) x 32768 and PRMV > (PRDS+PRFL) x {PRDS x (PRUR + 2 x PRDR + 3) + PRUS x (PRUR + 1)} x 4 (PRMG + 1) x 32768 -A + A + B PRUR + PRDR + 2 2 , PRFH However, A = PRUS x (PRUR + 1) + PRDS x (PRDR + 1) 2 B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (PRUR + PRDR + 2) x PRFL } x (PRUR + PRDR + 2) (ii) Eliminate the linear acceleration/deceleration range and set up a small linear acceleration section. When (PRDS + PRFL) x {PRDS x (PRUR + 2 x PRDR + 3)} + PRUS x (PRUR +1 )} x 4 PRMV and (PRMG + 1) x 32768 PRMV > (PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8 , (PRMG + 1) x 32768 Change to S-curve acceleration/deceleration without any linear acceleration/deceleration (PRUS>0, PRDS=0) PRFH -A + A2 + B PRUR + 2 x PRDR + 3 However, A = PRUS x (PRUR + 1), 2 B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (PRUR + 2 x PRDR + 3) x PRFL } x (PRUR + 2 x PRDR + 3) (iii) Eliminate the linear acceleration/deceleration range When PRMV (PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8 (PRMG + 1) x 32768 Change to S-curve acceleration/deceleration without any linear acceleration/deceleration (PRUS=0, PRDS=0), PRFH (PRMG + 1) x 32768 x PRMV 2 + PRFL (PRUR + PRDR + 2) x 2 PRFL: Initial speed PRFH: Operation speed PRDR: Deceleration rate PRMG: Speed magnification rate PRDS: S-curve deceleration range PRMV: Positioning amount PRUR: Operation speed acceleration rate PRUS: S-curve acceleration range -92- (3)-3.WhenPRUS>PRDS (i)Setupasmalllinearacceleration/decelerationrange When (PRFH+RFL)x{(PRFH-PRFL)x(PRUR+PRDR+2)+2xPRUSx(PRUR+1)+2xPRDSx(PRDR+1)} PRMV (PRMG+1)x32768 and PRMV> PRFH (PRUS+PRFL)x{PRUSx(2xPRUR+PRDR+3)+PRDSx(PRDR+1)x4 , (PRMG+1)x32768 -A+A +B PRUR+PRDR+2 2 However,A=PRUSx(PRUR+1)+PRDSx(PRDR+1), 2 B={(PRMG+1)x32768xPRMV-2xAxPRFL+(PRUR+PRDR+2)xPRFL }x(PRUR+PRDR+2) (ii)Eliminatethelinearaccelerationsectionandsetupasmalllineardecelerationrange. When (PRUS+PRFL)x{PRUSx(2xPRUR+PRDR+3)+PRDSx(PRDR+1)}x4 PRMV (PRMG+1)x32768 PRMV> (PRDS+PRFL)xPRDSx(PRUR+PRDR+2)x8 , (PRMG+1)x32768 and ChangetoS-curveacceleration/decelerationwithoutanylinearacceleration(PRUS=0,PRDS>0) PRFH -A+A2+B 2xPRUR+PRDR+ 3 However,A=PRDSx(PRDR+1), 2 B={(PRMG+1)x32768xPRMV-2xAxPRFL+(2xPRUR+PRDR+3)xPRFL }x(2xPRUR+PRDR+3) (iii)Eliminatethelinearacceleration/decelerationrange WhenPRMV (PRDS+PRFL)xPRDSx(PRUR+PRDR+2)x8 (PRMG+1)x32768 ChangetoS-curveacceleration/decelerationwithoutanylinearacceleration/deceleration(PRUS=0,PRDS =0), PRFH (PRMG+1)x32768xPRMV 2 +PRFL (PRUR+PRDR+2)x2 PRMV:PositioningamountPRFL:InitialspeedPRFH:Operationspeed PRUR:OperationspeedaccelerationratePRDR:DecelerationratePRMG:Speedmagnificationrate PRUS:S-curveaccelerationrangePRDS:S-curvedecelerationrange -93- 10-4.Exampleofsettingupanacceleration/decelerationspeedpattern Ex.Referenceclock=19.6608MHz Whenthestartspeed=10pps,theoperationspeed=100kpps,andtheaccel/deceltime=300msec, 1)Selectthe2xmodeformultiplierrateinordertoget100kppsoutput PRMG=149(95h) 2)Sincethe2xmodeisselectedtogetanoperationspeed100kpps, PRFH=50000(C350h) 3)Inordertosetastartspeedof10pps,theratemagnificationissettothe2xmode. PRFL=5(0005h) 4)Inordertomaketheacceleration/decelerationtime300msec,setPRUR=28,494,fromtheequation fortheaccelerationtimeandtheRURvalue. (PRFH-PRFL)x(PRUR+1)x4 Accelerationtime[s]= Referenceclockfrequency[Hz] 0.3= PRUR=28.494 However,sinceonlyintegerscanbeenteredforPRUR,use28or29.Theactual acceleration/decelerationtimewillbe295msecifPRUR=28,or305msecifPRUR=29. AnexampleofthespeedpatternwhenPRUR=29 (50000-5)x(PRUR+1)x4 19.6608x106 -94- 10-5.Changingspeedpatternswhileinoperation BychangingtheRFH,RUR,RDR,RUS,orRDSregistersduringoperation,thespeedandacceleration canbechangedonthefly.However,iftheramping-downpointwassettoautomatic(MSDP=0inthe RDMregister)forthepositioningmode,donotchangethevaluesforRFL,RUR,RDR,RUS,orRDS.The automaticramping-downpointfunctionwillnotworkcorrectly. Anexampleofchangingthespeedpatternbychangingthespeed,duringalinear acceleration/decelerationoperation Speed 2) 3) 1) Time 1) UseasmallRFHwhileacceleratingordeceleratingtheaxisuntilitreachesthecorrectspeed. 2),3)ChangeRFHaftertheacceleration/decelerationiscomplete.Theaxiswillcontinueacceleratingor deceleratinguntilitreachesthenewspeed. AnexampleofchangingthespeedpatternbychangingthespeedduringS-curve acceleration/decelerationoperation Speed 4) 2) 3) 5) 1) Time UseasmallRFHandif((changespeed)<(speedbeforechange))andtheaxiswill accelerate/decelerateusinganS-curveuntilitreachesthecorrectspeed. 5) UseasmallRFHandif((changespeed) (speedbeforechange))andtheaxiswill accelerate/deceleratewithoutchangingtheS-curve'scharacteristicuntilitreachesthecorrect speed. 4) UsealargeRFHwhileacceleratingandtheaxiswillacceleratetotheoriginalspeedentered withoutchangingtheS-curve'scharacteristic.Thenitwillaccelerateagainuntilitreachesthenewly setspeed. 2),3)IfRFHischangedaftertheacceleration/decelerationiscomplete,theaxiswill accelerate/decelerateusinganS-curveuntilitreachesthecorrectspeed. 1) -95- 11.DescriptionoftheFunctions 11-1.Reset AfterturningONthepower,makesuretoresettheLSIbeforebeginningtouseit. ToresettheLSI,holdthe terminalLOWwhilesupplyingatleast8cyclesofareferenceclocksignal. Afterareset,thevariousportionsoftheLSIwillbeconfiguredasfollows. Item Internalregisters,pre-register Controlcommandbuffer Axisassignmentbuffer Input/outputbuffer terminal terminal terminal D0toD7terminals D8toD15terminals P0ntoP7nterminals terminal terminal OUTnterminal DIRnterminal ERCnterminal terminal Resetstatus(initialstatus)n=x,y,z,u 0 0 0 0 HIGH HIGH HIGH HighZ(impedance) HighZ(impedance) Inputterminal HIGH HIGH HIGH HIGH HIGH HIGH -96- 11-2. Position override This LSI can override (change) the target position freely during operation. There are two methods for overriding the target position. 11-2-1. Target position override 1 By rewriting the target position data (RMV register value), the target position can be changed. The starting position is used as a reference to change target position. 1) If the new target position is further away from the original target position during acceleration or low speed operation, the axis will maintain the operation using the same speed pattern and it will complete the positioning operation at the position specified in the new data (new RMV value). 2) If the new target position is further away from the original target position during deceleration, the axis will accelerate from the current position to FH speed and complete the positioning operation at the position specified in the new data (new RMV value). Assume that the current speed is Fu, and when RFL = Fu, a curve of next acceleration will be equal to a normal acceleration curve. 3) If the axis has already passed over the new target position, or the target position is changed to a position that is closer than the original position during deceleration, movement on the axis will decelerate and stop. Then, the movement will reverse and complete the positioning operation at the position specified in the new data (new RMV value). f f Further away f Further away Already passed position The axis accelerates/decelerates only when starting in high speed. The target position data (RMV register value) can be rewritten any number of times until the positioning operation is complete. Note1: If the ramping-down point is set to automatic and the (deceleration time) > (acceleration time x 2), it may be the case that the axis cannot reduce the speed to the FL level, as shown below. In this case, if the target position is set closer than original position and the axis is decelerating, the axis will decelerate along the deceleration curve to the new override position, and then slow to the FL speed and finally stop. Then it will start moving to the new position. Therefore, the axis will overrun the original target position during deceleration (shaded area). Speed FH FL Targetpositionchange Normally,thePCLstopsfeeding withoutdeceleratingtoFLspeed. Whenanoverrrideisspecified,the PCLwilldeceleratetoFLspeed. Time Acceleration Deceleration To avoid creating an overrun condition, make sure that the deceleration time is less than two times the acceleration time, or if the deceleration time is more than double the acceleration time, make the ramping-down point a manual setting. Note 2: The position override is only valid while feeding. When the PCL receives an override command just a little before stopping a feed, it may not respond to the override command. For this reason, check SEOR in the main status after sending an override command. If the override is ignored, the SEOR will become "1." - 97 - ThePCLwillsetSEORto"1"whenitreceivesacommandintheRMVregister(90h) whilefeedingisstopped,toallowtheoverridecommandtobeevaluated.Therefore,ifthe commandiswrittentotheRMVregisterwhilestopped,beforefeedingstarts,theSEOR willalsobecome"1." Whentheoverridecommandisignored,afterwritingtheRMVwritecommand(90h),the PCLwillsetSEORto"1"withinfiveCLKcycles.AfterreadingtheMSTS,thePCLwillset SEORto"0"withinthreeCLKcycles. Note3:APositionOverride1cannotbeexecutedwhileperforminganinterpolationoperation. 11-2-2.Targetpositionoverride2(PCSsignal) BymakingMPCSinthePRMD(operationmode)register"1,"thePCLwillperformpositioning operationsfortheamountspecifiedinthePRMVregister,basedonthetimingofthiscommandafterthe operationstart(afteritstartsoutputtinginstructionpulses)oronthe"ON"timingofthePCSinputsignal. APCSinputsignalcanchangetheinputlogic.ThePCSterminalstatuscanbemonitoredusingthe RSTSregister(extensionstatus). SettingpulsecontrolusingthePCSinput Note:APositionOverride2cannotbeexecutedwhileperforminganinterpolationoperation. -98- 11-3.Outputpulsecontrol 11-3-1.Outputpulsemode Therearefourtypesofcommoncommandpulseoutputmodesandtwotypesof2-pulsemodes. Commonpulsemode: OutputsoperationpulsesfromtheOUTterminalandoutputsthedirectionsignal fromtheDIRterminal. 2-pulsemode: OutputspositivedirectionoperationpulsesfromtheOUTterminal,andoutputs negativedirectionoperationpulsesfromtheDIRterminal. TheoutputmodeforcommandpulsesissetinPMD(bits0to2)inRENV1(environmentsetting1). Ifmotordriversusingthecommonpulsemodeneedalagtime(sincethedirectionsignalchanges,until receivingacommandpulse),useadirectionchangetimer. WhenDTMP(bit28)intheRENV1(environmentsetting1)issetto0,theoperationcanbedelayedfor onedirectionchangetimerunit(0.2msec),afterchangingthedirectionidentificationsignal. Settingthepulseoutputmode 001 High Low 010 Low High 011 Low High 100 High High 111 Low Low Settingthedirectionchangetimer(0.2msec)function [RENV1](WRITE) 31 24 ---n---- -99- 11-3-2.Controltheoutputpulsewidthandoperationcompletetiming Inordertoincreasethestoppingspeed,thisLSIcontrolstheoutputpulsewidth. Whentheoutputpulsespeedisslowerthan1/8192ofreferenceclock(approx.2.4KppswhenCLK= 19.6608MHz),thepulsewidthisconstantandis4096cyclesofthereferenceclock(approx.200sec whenCLK=19.6608MHz).Forfasterpulsespeedsthanthis,thedutycycleiskeptconstant(approx. 50%).BysettingPDTC(bit13)intheRENV1register(environmentsetting1),theoutputpulsewidthcan besettomakeaconstantdutycycle(50%). Also,whensettingMETM(operationcompletiontimingsetting)inthePRMDregister(operationmode), theoperationcompletetimingcanbechanged. 1)WhenMETM=0(thepointatwhichtheoutputfrequencycycleiscomplete)inthePRMDregister Outputpulsefrequency 10xTCLK OUT 1stpulseof thenextoperation Lastpulse BSY 2)WhenMETM=1(whentheoutputpulseisOFF)inthePRMDregister Whensetto"completewhentheoutputpulseisOFF,"thetimeinterval"Min"fromthelastpulseuntilthe nextstartingpulseoutputwillbeTMIN=15xTCLK.(TCLK:Referenceclockfrequency) Settingtheoperationcompletetiming -100- 11-4.Idlingcontrol Whenstartinganaccelerationoradecelerationoperation,itcanbestartedaftertheoutputofafew pulsesatFLspeed(idlingoutput).SetthenumberofpulsesforidlinginIDLoftheRENV5register (environmentsetting5). Ifyouwillnotbeusingthisfunction,enteravalue"n"of0or1.TheLSIwillstarttheaccelerationatthe sametimeitbeginsoutputtingpulses.Therefore,thestartspeedobtainedfromaninitial2-pulse frequencywillbefasterthantheFLspeed. Tousethisfunction,enteravalue"n"of2to7.TheLSIwillstarttheaccelerationbybeginningitsoutput onthe"n"th pulse.Therefore,thestartspeedwillbetheFLspeedandtheFLspeedcanbesettostart automaticallyatupperspeedlimit. Ifthisfunctionisusedwiththepositioningmode,thetotalfeedamountwillnotchange. [Settingidlingpulsesandtheaccelerationstarttiming] BSY When n = 0 OUT FUP Start the acceleration from the 1st pulse When n = 1 OUT FUP Start the acceleration from the 1st pulse FL speed cycle When n = 3 OUT FUP Start the acceleration from the 3rd pulse Setthenumberofidlingpulses 1 2 3 1 2 3 1 2 3 Note:Whilesettingthenumberofidlingpulses,whenyouwriteaHigh-SpeedStart1command(52hor 56h),thePCLwillacceleratetoFHspeedafteroutputtingthespecifiednumberofidlingpulsesat FLspeed.ThentheoperationwillbethesameastheHigh-SpeedStart2command. -101- 11-5.Mechanicalexternalinputcontrol 11-5-1.+EL,-ELsignal Whenanendlimitsignal(a+ELsignalwhenfeedinginthe+direction)inthefeeddirectionturnsON whileoperating,theaxiswillstopimmediatelyordecelerateandstop.Afterstopping,eveniftheEL signalisturnedOFF,theaxiswillremainstopped.Forsafety,keeptheELsignalONuntiltheaxis reachestheendofthestroke. IftheELsignalisONwhenwritingastartcommand,theaxiscannotstartmovinginthedirectionofthe particularELsignalthatisON. BysettingELMintheRENV1(environmentsetting1)register,thestoppingpatternforusewhentheEL signalisturnedONcanbesettoimmediatestopordecelerationstop(highspeedstartonly). TheminimumpulsewidthoftheELsignalis80referenceclockcycles(4sec)whentheinputfilteris ON.WhentheinputfilteristurnedOFF,theminimumpulsewidthistworeferenceclockcycles(0.1 sec). TheELsignalcanbemonitoredbyreadingSSTSW(substatus). ByreadingtheRESTregister,youcancheckforanerrorinterruptcausedbytheELsignalturningON. Wheninthetimermode,thissignalisignored.Eveninthiscase,theELsignalcanbemonitoredby readingSSTSW(substatus). TheinputlogicoftheELsignalcanbesetforeachaxisusingtheELLinputterminal. SettheinputlogicoftheELsignal [RENV1](WRITE) 7 0 ----n--- [SSTSW] (READ) 15 8 --nn---ReadingthestopcausewhentheELsignalturnson -102- [FLlowspeedoperation][FHlowspeedoperation][Highspeedoperation] 2)Latchanddecelerate 3)Decelerationstop -103- 4)Latched,decelerationstop TheinputlogicoftheSDsignalcanbechanged.IfthelatchedinputissettoacceptinputfromtheSD signal,andiftheSDsignalisOFFatthenextstart,thelatchwillbereset.Thelatchisalsoresetwhen thelatchinputissettozero. TheminimumpulsewidthoftheSDsignalis80referenceclockcycles(4.0sec)whentheinputfilter isON.WhentheinputfilteristurnedOFF,theminimumpulsewidthistworeferenceclockcycles(0.1 sec).(WhenCLK=19.6608MHz.) ThelatchsignaloftheSDsignalcanbemonitoredbyreadingSSTSW(substatus).TheSDsignal terminalstatuscanbemonitoredbyreadingRSTS(extensionstatus).ByreadingtheRESTregister, youcancheckforanerrorinterruptcausedbytheSDsignalturningON. [RMD](WRITE) Enable/disableSDsignalinput 11-5-3.ORG,EZsignals Thesesignalsareenabledinthezeroreturnmodes(zeroreturn,leavezeroposition,andzeroposition search)andintheEZcountoperationmodes.Specifytheoperationmodeandtheoperationdirection usingthePRMDregister(operationmode). SincetheORGsignalinputislatchedinternally,thereisnoneedtokeeptheexternalsignalON. TheORGlatchsignalisresetwhenstopped. TheminimumpulsewidthoftheORGsignalis80referenceclockcycles(4sec)whentheinputfilteris ON.WhentheinputfilteristurnedOFF,theminimumpulsewidthistworeferenceclockcycle(0.1sec). (WhenCLK=19.6608MHz.) TheinputlogicoftheORGsignalandEZsignalcanbechangedusingtheRENV1register(environment setting1). TheORGterminalstatuscanbemonitoredbyreadingSSTSW(substatus).TheEZterminalstatuscan bemonitoredbyreadingtheRSTSregister(extensionstatus). Fordetailsaboutthezeroreturnoperationmodes,see9-5,"Zeropositionoperationmode." ORGsignalandEZsignaltiming ORG EZ t (i)Whent 2xTCLK,counts. (ii)WhenTCLK [RENV3](WRITE) 7 0 ----nnnn [RENV1](WRITE) 7 0 n------[SSTSW](READ) 15 8 -n-----[RENV3](WRITE) 7 0 nnnn---[RENV2](WRITE) 23 16 n------[RSTS](READ) 15 8 -----n- [RENV1](WRITE) 31 24 -----n-- -105- 11-6.ServomotorI/F(Caseindigitalservo) 11-6-1.INPsignal Thepulsestringsinputacceptingservodriversystemshaveadeflectioncountertocountthedifference betweencommandpulseinputsandfeedbackpulseinputs.Thedrivercontrolstoadjustthedifferenceto zero.Inotherwords,theeffectivefunctionofservomotorsistodeletecommandpulsesand,evenafter thecommandpulsesstop,theservomotorsystemskeepfeedinguntilthecountinthedeflectioncounter reacheszero. ThisLSIcanreceiveapositioningcompletesignal(INPsignal)fromaservodriverinplaceofthepulse outputcompletetiming,todeterminewhenanoperationiscomplete. WhentheINPsignalinputisusedtoindicatethecompletionstatusofanoperation,the signalwhen anoperationiscomplete,themainstatus(bits0to5oftheMSECTSW,stopcondition),andthe extensionstatus(CND0to3,operationstatus)willalsochangewhentheINPsignalisinput. TheinputlogicoftheINPsignalcanbechanged. TheminimumpulsewidthoftheINPsignalis80referenceclockcycles(4sec)whentheinputfilteris ON.IftheinputfilterisOFF,theminimumpulsewidthwillbe2referenceclockcycles(0.1sec).(When CLK=19.6608MHz) IftheINPsignalisalreadyONwhenthePCLisfinishedoutputtingpulses,ittreatstheoperationas complete,withoutanydelay. TheINPsignalcanbemonitoredbyreadingtheRSTSregister(extensionstatus). SettheoperationcompletedelayusingtheINPsignal -106- 11-6-2. ERC signal A servomotor delays the stop until the deflection counter in the driver reaches zero, even after command pulses have stopped being delivered. In order to stop the servomotor immediately, the deflection counter in the servo driver must be cleared. This LSI can output a signal to clear the deflection counter in the servo driver. This signal is referred to as an "ERC signal." The ERC signal is output as one shot signal or a logic level signal. The output type can be selected by setting the RENV1 register (environment setting 1). If an interval is required for the servo driver to recover after turning OFF the ERC signal (HIGH) before it can receive new command pulses, the ERC signal OFF timer can be selected by setting the RENV1 register. In order to output an ERC signal at the completion of a zero return operation, set EROR (bit 11) = 1 in the RENV1 register (environment setting 1) to make the ERC signal an automatic output. For details about ERC signal output timing, see the timing waveform in section 9-5-1, "Zero return operation." In order to output an ERC signal 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 case of a deceleration stop, the ERC signal cannot be output, even when set for automatic output.) The ERC signal can be output by writing an ERC output command (24h). The output logic of the ERC signal can be changed by setting the RENV1 register. Read the RSTS (extension status) register to monitor the ERC signal. Emergency stop command - 107 - SettheERCsignaloutputwidth [RENV1](WRITE) 15 8 -nnn---[RENV1](WRITE) 15 8 n------[RENV1](WRITE) 23 16 ------nn [RENV1](WRITE) 23 16 ------nn [RSTS](READ) 15 8 0-----n- 11-6-3.ALMsignals Inputalarm(ALM)signal. WhentheALMsignalturnsONwhileinoperation,theaxiswillstopimmediatelyordecelerateandstop. Tostopusingdeceleration,keeptheALMinputONuntiltheaxisstopsoperation. However,theaxisonlydeceleratesandstopsonanALMsignalifitwasstartedwithahighspeedstart. IftheALMsignalisONwhenastartcommandiswritten,theLSIwillnotoutputanypulses. TheminimumpulsewidthoftheALMsignalis80referenceclockcycles(4sec)iftheinputfilterisON. IftheinputfilterisOFF,theminimumpulsewidthis2referenceclockcycles(0.1sec).(WhenCLK= 19.6608HMz.) TheinputlogicoftheALMsignalcanbechanged.ThesignalstatusoftheALMsignalcanbemonitored byreadingSSTSW(substatus). [RENV1](WRITE) StopmethodwhentheALMsignalisON -108- 11-7.Externalstart,simultaneousstart 11-7-1. signal ThisLSIcanstartwhentriggeredbyanexternalsignalonthe terminals.SetMSY(bits18and19) goesLOW. =01inthePRDMregister(operationmode)andtheLSIwillstartfeedingwhenthe WhenyouwanttocontrolmultipleaxesusingmorethanoneLSI,connectthe terminaloneach LSIandsettheaxesto"waitingfor input",tostartthemallatthesametime.Inthisexamplea startsignalcanbeoutputthroughthe terminal. Theinputlogiconthe terminalscannotbechanged. BysettingtheRIRQregister(eventinterruptcause),the signalcanbeoutputtogetherwitha inputisON).ByreadingtheRISTregister,thecauseofanevent simultaneousstart(whenthe interruptcanbechecked. Theoperationstatus(waitingfor input),andstatusofthe terminal(ORofthe signals) canbemonitoredbyreadingtheRISTregister,orRSTSregister(extensionstatus),respectively. +5V CSTA CSTA CSTA CSTA 5kto10k-ohm 2)Tostartsimultaneouslyfromanexternalcircuit,oruseasingleaxisasanexternalstart,connectthe LSIsasfollows. Forstartsignal,supplyaoneshotinputsignalwithapulsewidthofatleast4referenceclockcycles (approx.0.2secwhenCLK=19.6608MHz). -109- input [RMD](WRITE) 23 16 ----nn-- [RENV1](WRITE) 23 16 -----n-- [RSTS](READ) 7 0 --n----[RSTS](READ) 7 0 ----nnnn [RIRQ](WRITE) 23 16 00000n- [RIST](READ) 23 16 0000n--- [Operationcommand] Simultaneousstartcommand SettheinputlogicofthePCSsignal -110- 11-8.Externalstop/simultaneousstop ThisLSIcanexecuteanimmediatestoporadecelerationstoptriggeredbyanexternalsignalusingthe terminal.SetMSPE(bit24)=1inthePRMDregister(operationmode)toenableastopfroma input.Theaxiswillstopimmediatelyordecelerateandstopwhenthe terminalisLOW. However,adecelerationstopisonlyusedforahighspeedstart.Whentheaxisisstartedatlowspeed,the signalonthe terminalwillcauseanimmediatestop. Theinputlogicofthe terminalcannotbechanged. WhenmultipleLSIsareusedtocontrolmultipleaxes,connectallofthe terminalsfromeachLSIand inputthesamesignalsothattheaxeswhicharesettostopona inputcanbestopped terminal. simultaneously.Inthiscase,astopsignalcanalsobeoutputfromthe Whenanaxisstopsbecausethe signalisturnedON,an signalcanbeoutput.Byreadingthe RESTregister,youcandeterminethecauseofanerrorinterrupt.Youcanmonitor terminalstatusby readingtheRSTSregister(extensionstatus). +5V 5kto10k-ohm CSTP CSTP CSTP CSTP 2)Tostopsimultaneouslyusinganexternalcircuit,connectasfollows. Asastopsignal,supplyaoneshotsignal4referenceclockcyclesormoreinlength(approx.0.2sec whenCLK=19.6608MHz). Settingtoenable input -111- signalisturnedON. [RENV1](WRITE) 23 16 ----n--[RSTS](READ) 7 0 -n----- [REST](READ) 15 8 -------n [Operationcommand] 07h 11-9.Emergencystop ThisLSIhasa inputterminalforuseasanemergencystopsignal. Whileinoperation,ifthe inputgoesLOWorifyouwriteanemergencystopcommand,alltheaxes willstopimmediately.Whilethe inputremainsLOW,noaxiscanbeoperated. Thelogicalinputofthe terminalcannotbechanged. inputwasturnedON,theLSIwilloutputan signal.By Whentheaxesarestoppedbecausethe readingtheRESTregister,thecauseoftheerrorinterruptioncanbedetermined. Thestatusofthe terminalcanbemonitoredbyreadingtheRESTregister(extensionstatus). Readthe signal Note:Inanormalstopoperation,thefinalpulsewidthisnormal.However,inanemergencystop operation,thefinalpulsewidthmaynotbenormal.Itcanbetriangular.Motordriversdonot recognizetriangleshapedpulses,andthereforeonlythePCLcountermaycountthispulse. (Deviationfromtheinstructedpositioncontrol).Therefore,afteranemergencystop,youmust performazeroreturntomatchtheinstructedpositionwiththemechanicalposition. -112- 11-10. Counter 11-10-1. Counter type and input method In addition to the positioning counter, this LSI contains four other counters. These counters offer the following functions. Control command position and mechanical position Detect a stepper motor that is "out of step" using COUNTER3 (deflection counter) and a comparator. Output a synchronous signal using COUNTER4 (general-purpose) and a comparator. The positioning counter is loaded with an absolute value for the RMV register (target position) with each start command, regardless of the operation mode selected. It decreases the value with each pulse that is output. However, if MPCS (bit 14) of the RMD register (operation mode) is set to 1 and a position override 2 is executed, the counter does will not decrease until the PCS input turned ON. Input to COUNTER1 is exclusively for output pulses. However COUNTERS2 to 4 can be selected as follows by setting the RENV3 register (environment setting 3). COUNTER2 COUNTER3 COUNTER4 Mechanical Deflection General-purpose position Counter type Up/down counter Up/down counter Deflection counter Up/down counter Number of bits 28 28 16 28 Output pulse Possible Possible Possible Possible Encoder (EA/EB) input Not possible Possible Possible Possible Pulsar (PA/PB) input Not possible Possible Possible Possible 1/2 of reference clock Not possible Not possible Not possible Not possible Note: When using pulsar input, use the internal signal result after multiplying or dividing. Counter name Specify COUNTER2 (mechanical position) input The EA/EB and PA/PB input terminal, that are used as inputs for the counter, can be set for one of two signal input types by setting the RENV2 (environment setting 2) register. 1) Signal input method: Input 90U SKDVH GLIIHUHQFH VLJQDOV [ [ 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. Counter direction: Count up on the rising edge of the EA input. Count down on the falling edge of the EB input. The counter direction or EA/EB and PA/PB input signals can be reversed. The LSI can be set to sense an error when both the EA and EB input, or both the PA and PB inputs change simultaneously, and this error can be detected using the REST (error interrupt cause) register. - 113 - SettheinputsignalfilterforEA/EB/EZ [RENV2](WRITE) 23 16 -----n-[RENV2](WRITE) 23 16 --nn---[RENV2](WRITE) 23 16 -n-----[RENV2](WRITE) 31 24 -n-----[RENV2](WRITE) 23 16 ----n--[RENV2](WRITE) 31 24 ------nn [RENV2](WRITE) 31 24 -----n- [RENV2](WRITE) 31 24 n------[REST](READ) 23 16 000000nn WhenEDIRis"0,"theEA/EBinputandcounttimingwillbeasfollows. FordetailsaboutthePA/PBinput,seesection"9-3.Pulsarinputmode." 1)Whenusing90 phase difference signals and 1x input EA EB COUNTER n n+1 n 2)Whenusing90 phase difference signals and 2x input EA EB COUNTER n n+1 n+2 n+1 n -114- 3) When using 90U SKDVH GLIIHUHQFH VLJQDOV DQG [ LQSXW EA EB COUNTER n n+1 n+2 n+3 n+4 n+3 n+2 n+1 n 4) When two pulses are input (counted on the rising edge) EA EB COUNTER n n+1 n+2 n+1 n 11-10-2. Counter reset All the counters can be reset using any of the following three methods. 1) When the CLR input signal turns ON (set in RENV3). 2) When a zero return is executed (set in RENV3). 3) When a command is written. The PCL can also be specified to reset automatically, soon after latching the counter value. signal The CLR input timing can be set in RENV1 (environment setting 1). An CLR input is the cause of an event interrupt. Action when the CLR signal turns ON [RENV3] (WRITE) 23 16 nnnn---- [RENV5] (WRITE) 31 24 0000nnnn [RENV1] (WRITE) 23 16 --nn---- [RSTS] (READ) 15 8 --n----[RIRQ] (WRITE) 15 8 --n----[RIST] (READ) 15 8 --n----[Control command] 20h 21h 22h 23h Note: In order to prevent incorrect counts, when the count timing and reset timing match, the counter will be +1 or -1, never 0. Please note this operation detail when detecting 0 with the comparator function. 11-10-3. Latch the counter and count condition All the counters can latch their counts using any of the following methods. The setting is made in RENV5 (environment setting 5) register. The latched values can be output from the RLTC1 to 4 registers. 1) Turn ON the LTC signal. 2) Turn ON the ORG signal. 3) When the conditions for Comparator 4 are satisfied. 4) When the conditions for Comparator 5 are satisfied. 5) When a command is written. The current speed can also be latched instead of COUNTER3 (deflection). Items 1) to 4) above can also be latched by hardware timing. signal can be output when The LTC input timing can be set by in RENV1 (environment setting 1). An a counter value is latched by turning ON the LTC signal or the ORG signal. This allows you to identify the cause of an event interrupt. Specify the latch method for a counter (1 to 4) [RENV5] (WRITE) 15 8 -n-----[RENV5] (WRITE) 15 8 n------[RENV1] (WRITE) 23 16 n------[RIRQ] (WRITE) 15 8 nn------ [RIST] (READ) 15 8 nn-----[RSTS] (READ) 15 8 -n-----[Control command] 29h - 116 - 11-10-4.Stopthecounter COUNTER1(commandposition)stopswhenthePRMD(operationmode)registerissettostopthe counterwhileintimermodeoperation. COUNTER2(mechanicalposition),COUNTER3(deflection),andCOUNTER4(general-purpose)stop whentheRENV3(environmentsetting3)registerissettostop. BysettingtheRENV3register,youcanstopcountingpulseswhileperformingabacklashorslip correction. COUNTER4(general-purpose)canbesettocountonlyduringoperation(BSY=low)usingtheRENV3 register.Byspecifying1/2oftheCLK(referenceclock)signal,thetimeafterthestartcanbecontrolled. StoppingCOUNTER1(command) [RENV3](WRITE) 15 8 -n----- -117- 11-11.Comparator 11-11-1.Comparatortypesandfunctions ThisLSIhas5circuits/axesusing28-bitcomparators.ItcomparesthevaluessetintheRCMP1to5 registerswiththecountervalues. Comparators1to4canbeusedascomparisoncountersandcanbeassignedasCOUNTERS1to4. Comparator5canbeassignedasCOUNTER1to4,apositioningcounter,ortotrackthecurrentspeed. Therearemanycomparisonmethodsandfourprocessingmethodsthatcanbeusedwhenthe conditionsaremet. SpecifythecomparatorconditionsintheRENV4(environment4)andRENV5(environment5)registers. Byusingthesecomparators,youcanperformthefollowing. UsecomparatorsforINToutputs,externaloutputofcomparisondata,andforinternal synchronousstarts Immediatestopanddecelerationstopoperations. Changeoperationdatatopre-registerdata(usedtochangespeedwhileoperating). SoftwarelimitfunctionusingComparators1and2. RingcountfunctionusingCOUNTER1(commandposition)andComparator1. RingcountfunctionusingCOUNTER2(mechanicalposition)andComparator2. Setupasoftwarelimitfunction. DetectoutofstepsteppermotorsusingCOUNTER3(deflection)andacomparator. Outputasynchronoussignal(IDX)usingCOUNTER4(general-purpose)andacomparator. Comparator5isequippedwithapre-register.Ittoocanoutputan signalwhenthecomparator's conditionsaresatisfied. [Comparisondata] Eachcomparatorcanselectthedataforcomparisonfromtheitemsinthefollowing table. Comparator1 Comparator2 Comparator3 Comparator4 Comparator5 Comparisondata C1C0to1 C2C0to1 C3C0to1 C4C0to1 C5C0to2 COUNTER1 O "00" O "00" O "00" O "00" O "000" (commandposition) COUNTER2 (mechanical O "01" O "01" O "01" O "01" O "001" position) COUNTER3 O "10" O "10" O "10" O "10" O "010" (deflection) COUNTER4 O "11" O "11" O "11" O "11" O "011" (general-purpose) Positioningcounter O "100" Currentspeed O "101" Pre-register None None None None Yes +SL -SL Use Use IDXoutput Majorapplication COUNTER1 COUNTER1 asaring asaring counter counter -O:Comparisonpossible.Blank:Comparisonnotpossible. -+SL,-SLareusedforsoftwarelimits. -IfCOUNTER3(deflection)isselectedasthecomparisoncounter,theLSIwillcomparetheabsolute valueofthecounterwiththecomparatordata.(Absolutevaluerange:0to32,767) -Thebitassignmentsofthecomparisondatasettingsareasfollows: C1C0to1(RENV4bits0&1),C2C0to1(RENV4bits8&9),C3C0to1(RENV4bits16&17), C4C0to1(RENV4bits24&25),C5C0to2(RENV5bits0to2) -118- [Comparisonmethod]Eachcomparatorcanbeassignedacomparisonmethodfromthetablebelow. Comparisonmethod Comparator=Comparison counter(regardlessofcount direction) Comparator=Comparison counter(Countuponly) Comparator=Comparison counter(countdownonly) Comparator>Comparison counter Comparator Processingmethodwhenthe conditionsaremet Donothing Immediatestopoperation Decelerationstopoperation Changeoperationdatatopreregisterdata Comparator1 Comparator2 Comparator3 Comparator4 Comparator5 C1D0to1 C2D0to1 C3D0to1 C4D0to1 C5D0to1 "00" "00" "00" "00" "00" "01" "01" "01" "01" "01" "10" "10" "10" "10" "10" "11" "11" "11" "11" "11" -"Donothing"ismainlyusedforINToutput,externaloutputofcomparisonresult,orinternal synchronousstarts. -Tochangethespeedpatternwhileinoperation,changetheoperationdatatothevaluesstoredas pre-registerdata.ThePRMVsettingwillalsobetransferredtotheRMV.However,thisdoesnotaffect operation. -Thebitassignmentstoselectaprocessingmethodareasfollows. C1D0to1(RENV4bits5&6),C2D0to1(RENV4bits13&14),C3D0to1(RENV4bits21&22), C4D0to1(RENV4bits30&31),C5D0to1(RENV5bits6&7) -119- [HowtosettheINToutput,externaloutputofcomparisonresults,andinternalsynchronousstarting] Setaneventinterruptcause -120- [Speed change using the comparator] When the comparator conditions are met, you can use the function which changes the operation data to the values stored as pre-register data. This function is used to change the speed when a specified position is reached. Also, comparator 5 has a pre-register function, and can be specified for use in changing the speed at specified positions. In this case, use the "Pre-register set command (4Fh)," to specify several sets of speed data. If the speed change data (data used with set commands) are left in Pre-registers 1 and 2 when the current operation completes (Example 1), or if the speed change data is left in Pre-register 1 and some next operation data exists in Pre-register 2 (Example 2), the PCL will ignore the speed change data and shift the data in the pre-registers. Then, in Example 2, the PCL will start the next operation after shifting the data in the pre-registers. Example 1 Pre-register 2 Pre-register 1 Register (PFM=11) Speed change data 2 (set) Speed change data 1 (set) Current operation data (set) (PFM=00) Pre-register 2 Speed change data 2 undetermined Complete Pre-register 1 Speed change data current operation 2 undetermined Register Speed change data 1 undetermined AE Example 2 Pre-register 2 Pre-register 1 Register (PFM=11) Speed change data 2 (set) Speed change data 1 (set) Current operation data (set) (PFM=01) Pre-register 2 Speed change data 2 undetermined Pre-register 1 Speed change data 2 undetermined Register Speed change data 1 undetermined (set) Complete current operation AE Set a pre-register [Operation command] 4Fh - 121 - 11-11-2.Softwarelimitfunction Asoftwarelimitfunctioncanbesetupusingcomparators1and2. SelectCOUNTER1(commandposition)asacomparisoncounterforcomparators1and2. UseComparator1forapositivedirectionlimitandComparator2foranegativedirectionlimittostopthe axisbasedontheresultsofthecomparatorandtheoperationdirection. Whenthesoftwarelimitfunctionisusedthefollowingprocesscanbeexecuted. 1)Stoppulseoutputimmediately 2)Decelerateandthenstoppulseoutput Whileusingthesoftwarelimitfunction,ifadecelerationstopisselectedastheprocesstousewhenthe comparatorconditionsaremet(C1D,C2D),whenanaxisreachesthesoftwarelimitwhileinahigh speedstart(52h,53h),thataxiswillstopusingdeceleration.Whensomeotherprocessisspecifiedfor usewhentheconditionsaremet,orwhileinalowspeedstart,thataxiswillstopimmediately. IfasoftwarelimitisONwhilewritingastartcommand,theaxiswillnotstarttomoveinthedirectionin whichthesoftwarelimitisenabled.However,itcanstartintheoppositedirection. [Settingexample] RENV4=00003838h:UseComparator1aspositivedirectionsoftwarelimit.UseComparator2as negativedirectionsoftwarelimit. Settostopimmediatelywhenthesoftwarelimitisreached. RCMP1=100,000: Positivedirectionlimitvalue RCMP2=-100,000: Negativedirectionlimitvalue Negative direction limit position RCMP2 (-100,000) Positive direction limit position RCMP1 (100,000) Normal operation zone Unable to feed in the negative direction Able to feed in the positive direction Able to feed in the negative direction Unable to feed in the positive direction Operation from the negative direction limit position Operation from the positive direction limit position SettingthecomparisonmethodforComparator1 [RENV4](WRITE) 7 0 ---nnn-[RENV4](WRITE) 7 0 -nn----[RENV4](WRITE) 15 8 ---nnn-[RENV4](WRITE) 15 8 -nn----- -122- 11-11-3.Outofstepsteppermotordetectionfunction Ifthedeflectioncountervaluecontrolledbythemotorcommandpulsesandthefeedbackpulsesfrom anencoderonasteppermotorexceedthemaximumdeflectionvalue,theLSIwilldeclarethatthe steppermotorisoutofstep.TheLSImonitorssteppermotoroperationusingCOUNTER3(thedeflection counter)andacomparator. Theprocesswhichtakesplaceafteranoutofstepconditionisdetectedcanbeselectedfromthetable. [Processingmethodtousewhenthecomparatorconditionsaresatisfied]. Forthisfunction,useanencoderwiththesameresolutionasthesteppermotor. COUNTER3(deflection)canbeclearedbywritingasetcommandtothedeflectioncounter. Therearetwomethodsforinputtingafeedbacksignal:Input90 phase difference signals (1x, 2x, 4x) on theEA/EBterminals,inputtwosetsofpositiveandnegativepulses. IfbothEAandEBsignalschangeatthesametime,theLSIwilltreatthisasanerrorandoutputan signal. [Settingexample] RENV4=00360000h:SatisfytheconditionsofComparator3 -123- 11-11-4.IDX(synchronous)signaloutputfunction UsingComparator4andCOUNTER4,thePCLcanoutputsignalstotheP6n/CP4nterminalsat specifiedintervals.SettingC4C0andC4C1to"11"(inthegeneral-purposecounter)andsettingC4S0 thruC4S3to"1000","1001or"1010"(theIDXoutput),thePCLcanbeusedforIDX(index)operation. ThecounterrangeofCOUNTER4willbe0tothevaluesetinRCMP4.Ifcountingdownfrom0thelower limitwillbethevaluesetinRCMP4,andifcountingupfromthevaluesetinRCMP4thelimitwillbe0. TheinputforCOUNTER4canbesettoC140orC141inRENV3. BysettingIDXMinRENV4,youcanselecteitherleveloutputorcountoutput. SelectthespecificationfortheP6/CP4terminals Outputexample2(IDXM=1:Countoutput) Regardlessofthefeeddirection,thePCLwilloutputtheIDXsignalusingnegativelogicfortheoutput pulses.Countingrange0to4. Settings:RENV2=00002000h,RENV3=00000000h,RENV4=23800000h,RCMP4=4 -124- 11-11-5.Ringcountfunction COUNTER1and2havearingcountfunctionforuseincontrollingarotatingtable. SetC1PM=1,C1S0to2=000,andC1C0to1=00inRENV4andCOUNTER1willbeintheringcount mode.ThenthePCLcanperformthefollowingoperations. -Countvalue=CountupfromthevalueinPCMP1untilreaching0. -Countvalue=Countdownfrom0untilthecountequalsthevalueinPCMP1. SetC2PM=1,C2S0to2=000,andC2C0to1=01inRENV4andCOUNTER2willbeintheringcount mode.ThenthePCLcanperformthefollowingoperations. -Countvalue=CountupfromthevalueinPCMP2untilreaching0. -Countvalue=Countdownfrom0untilthecountequalsthevalueinRCMP2. SetCOUNTER1toringcounteroperation EvenifthevalueforPRMVoutsidetherangeof0tothevalueinRCMPn,thePCLwillcontinueto performpositioningoperations. Whendrivingarotatingtablewith3600pulsesperrevolution,andwhenRCMP1=3599,MOD=41h, andRMV=7200,thetablewillrotatetwiceandthevalueinCOUNTER1,whenstopped,willbethe sameasthevaluebeforestarting. Note:Tousetheringcounterfunction,setthecountvaluebetween0andthevalueinRCMPn.Ifthe valueisoutsidetherangeabove,thePCLwillnotoperatenormally.Setthecomparatorconditions (C1S0to2,C2S0to2)whenusingacounterasaringcounterto"000." Settingexample RENV4=XXXXXX80h---COUNTER1isinringcountermode(C1RM=1,C1S0to2=000, C1C0to1=00) RCMP1=4---Countrange:0to4 -125- 11-12.Backlashcorrectionandslipcorrection ThisLSIhasbacklashandslipcorrectionfunctions.Thesefunctionsoutputthenumberofcommand pulsesspecifiedforthecorrectionvalueinthespeedsettingintheRFA(correctionspeed)register. Thebacklashcorrectionisperformedeachtimethedirectionofoperationchanges.Theslipcorrection functionisperformedbeforeacommand,regardlessofthefeeddirection.Thecorrectionamountand methodisspecifiedintheRENV6(environmentsetting6)register. Theoperationofthecounter(COUNTER1to4)canbesetusingtheRENV3(environmentsetting3) register. Enterthecorrectionvalue Setthecorrectionmethod -126- 11-13.Vibrationrestrictionfunction ThisLSIhasafunctiontorestrictvibrationwhenstoppingbyaddingonepulseofreverseoperationand onepulseofforwardoperationshortlyaftercompletingacommandpulseoperation. SpecifytheoutputtimingforadditionalpulsesintheRENV7(environmentsetting7)register. Whenboththereversetiming(RT)andtheforwardtiming(FT)arenonzero,thevibrationrestriction functionisenabled. Thedottedlinesbelowarepulsesaddedbythevibrationrestrictionfunction.(Anexampleinthepositive direction) Positive pulses Final pulse Negative pulses RT/2 RT FT FT/2 Specifythereverseoperationtiming [RENV7](WRITE) 15 8 nnnnnnnn 7 0 nnnnnnnn [RENV7](WRITE) 31 24 nnnnnnnn 23 16 nnnnnnnn Note:TheoptimumvaluesforRTandFTwillvarywitheachpieceofmachineryandload.Therefore,itis besttoobtainthesevaluesbyexperiment. -127- 11-14.Synchronousstarting ThisLSIcanperformthefollowingoperationbysettingthePRMD(operationmode)registerinadvance. Starttriggeredbyanotheraxisstopping. Starttriggeredbyaninternalsynchronoussignalfromanotheraxis. Theinternalsynchronoussignaloutputisavailablewith9typesoftiming.Theycanbeselectedby settingtheRENV5(environmentsetting5)register.BysettingtheRIRQ(eventinterruptcause)register, an signalcanbeoutputatthesametimetheinternalsynchronoussignalisoutput.Youcan determinethecauseofeventinterruptbyreadingtheRISTregister.Theoperationstatuscanbe checkedbyreadingtheRSTS(extensionstatus)register. Specifythesynchronousstartingmethod [RENV2](WRITE) 31 24 --n----- [RENV5](WRITE) 23 16 ----nnnn [RENV5](WRITE) 23 16 --nn---- [RSTS](READ) 7 0 ----nnnn [RIRQ](WRITE) 7 0 nnnn---15 8 ---nnnnn -128- output)cause [RIST](READ) 7 0 nnnn--- 15 8 ---nnnnn Ifthestartconditionisspecifiedasa"Stopontwoormoreaxes",whenanyofthespecifiedaxesstops afteroperating,andtheotheraxesneverstart(remainstopped),theaxiswhichissupposedtostart whentheconditionsaremetwillstartoperation. Example1belowshowshowtospecifya"stopontwoormoreaxes".Intheexample,whiletheXaxis (orYaxis)isworking,theY(orX)axisremainsstopped.Then,theUaxisstartsoperationwhen triggeredbytheX(orY)axisstopping. [Example1] Aftersettingsteps1)to3),startandstoptheYaxisandthentheXaxiswillstart. 1)SetMSY0to1(bits18to19)inPRMDfortheUaxisto"11."(Starttriggeredbyanotheraxis stopping) 2)SetMAX0to1(bits20to23)inPRMDfortheUaxisto"0011."(WhentheYaxisandthentheX axisstops) 3)WriteastartcommandfortheUaxis. The"startwhenanotheraxisstops"functionhastwooperationmodes:oneisPCL6045compatibleand theotheristhePCL6045Bmode.SelecttheoperationmodeusingSMAXintheRENV2register.(When SMAX=0,thePCL6045compatiblemodeisselected.) [PCL6045compatiblemode] Inordertouse"Anotheraxisstops"asastartcondition,theaxisspecifyingthiscondition(Xaxis)must bereadytostartitsprocessandthenitcanwaitfortheotheraxistostop.Atthispointtheotheraxis(the Yaxis)canbestartedandstopped. Forexample,iftheXandYaxesareperformingcircularinterpolation,andif"AllYaxesstop"issetasa startconditioninthepre-registerforthenextoperation,whenXanYare"waitingforallaxestostop"(so thattheycanstartthelinearinterpolationattheendofthecircularinterpolation),sincetheyarealready stoppedthechange"fromoperationtostop"willnotoccurwhiletheyarewaiting.ThereforetheXandY axeswillneverstartthelinearinterpolation. Inotherwords,theworkingaxiscannotbespecifiedfortheMAXsettingtostartitself. [PCL6045Bmode] When"startwhenanotheraxisstops"isspecifiedasthestartconditionforthenextoperationina specificpre-register,theworkingaxiscanbecalledoutintheMAXsettingsothatitstartsitselfonthe nextoperationattheendofapreviousoperation. Example1 Settings OperationmodefortheXaxisininitialoperation: MSY0to1=00,MAX0to3=0000 OperationmodecallingfortheXaxisinthenextoperation: MSY0to1=11,MAX0to3=0011 OperationmodefortheYaxisininitialoperation: MSY0to1=00,MAX0to3=0000 OperationmodecallingfortheYaxisinthenextoperation: MSY0to1=11,MAX0to3=0011 (Xaxispositioningoperationtime)>(Yaxispositioningoperationtime) -129- 1)WhenthePCL6045compatiblemode(SMAX=0)isselected 2)WhenthePCL6045Bmode(SMAX=1)isselected Whenusingcontinuousinterpolationwithoutchangingtheinterpolationaxes,youmaysetthenext operationinthepre-register(youdon'tneedtospecifyanystopconditions)ratherusingthe"startwhen anotheraxisstops"function.ThesettingsareshowninExample2below. Theexamplebelowdescribesonlytheitemsrelatedtotheoperations.Thesettingsforspeedand accelerationareomitted. [Settingexample2] Howtosetupacontinuousinterpolation(X-YaxiscircularinterpolationfollowedbyanX-Yaxislinear interpolation) Step Register Xaxis Yaxis Description PRMV 10000 10000 XandYaxesperformancircular o PRIP 10000 0 interpolationoperationofa90 curvewitha 1 radiusof10000 PRMD 0000_0064h 0000_0064h Startcommand:Write0351h(FHlowspeedstart) XandYaxesstartcommand PRMV 10000 5000 XandYaxesperformalinearinterpolation withanendpoint(1000,5000) PRMD 0000_0061h 0000_0061h Startcommand:Write0351h(FHlowspeedstart) XandYaxesstartcommand Afterthesettingsabovearecomplete,theLSIwillexecuteacontinuousoperationintheordershown below. o 1. TheXandYaxesperformaCWcircularinterpolationoperationofa90 curvewitharadiusof 10000. 2. TheXandYaxesperformalinearinterpolation(10000,5000) Precautionsareneededforcontinuousinterpolationoperationsthatchangetheaxessubjectto interpolationusingthepre-registerfunction. Basically,tochangetheaxessubjecttointerpolation,enterdummyoperationdataforalltheaxes (positioningoperationswiththefeedamountsetto0),andthenwritetheinterpolationdataforthenew axessubjecttointerpolation. Note Whenchangingtheinterpolationaxis,failuretoenterdummyoperationdataforalltheaxesmaycausea continuousoperationtostoportheinterpolationoperationmaynotstopwhendesired. 2 -130- [Example3(PCL6045compatiblemode)] Howtoperformcontinuousinterpolationwhilechangingtheinterpolationaxes(movingfromcircular interpsolationontheXandYaxes)to(LinearinterpolationontheXandYaxes)to(Linearinterpolation ontheXandZaxes) STEP Register Xaxis Yaxis Zaxis Details o TheXandYaxesmakea90 circular PRMV 10000 10000 0 interpolationwitharadiusof100000. TheZaxisisgivenapositioningoperationwith PRIP 10000 0 0 feedamountof0. TheXandYaxesstartimmediately.TheZaxis 1 0000 0000 003C PRMD _0064h _0064h _0041h hasnothingtodoandwaitsfortheXandY axestostop. Start command: Write 0751h (FH constant TheX,Y,andZaxesStartcommand speedstart) TheXandYaxesperformlinearinterpolation1, PRMV 10000 5000 0 andtheZaxisisgivenapositioningoperation withafeedamountof0. TheXandYaxeswaitfortheZaxistostop, 004C 004C 003C 2 PRMD _0061h _0061h _0041h andtheZaxiswaitsfortheXandYaxesto stop. Start command: Write 0751h (FH constant TheX,Y,andZaxesStartcommand start) XandZaxesperformlinearinterpolation1. (Previous PRMV 10000 -5000 TheXandYaxeswaitfortheZaxistostopand value) theZaxisstartsagain,justlikeincontinuous 004C (Previous 0000 3 PRMD operation. _0061h value) _0061h Start command: Write 0551h (FH constant TheXandZaxesStartcommand(X,Zaxes start) SPRF=1). Usingthesettingsabove,thePCLwillperformsteps1to5continuously. o 1.StartaCWcircularinterpolationusinga90 angleandaradius10000ontheXandYaxes. 2.AftertheXandYaxesstop,theZaxispositioningoperationiscomplete(becausethefeedamountis 0). 3.LinearinterpolationisperformedontheXandYaxes(10000,5000) 4.AftertheXandYaxesstop,theZaxispositioningoperationiscomplete(becausethefeedamountis 0). 5.LinearinterpolationisperformedontheXandZaxes(10000,-5000). Note:InSTEP3above,thevaluefortheYaxisisleftthesameasinthepreviousstep(STEP2),inorder nottostarttheYaxis. -131- [Example4(PCL6045Bmode)] Howtoperformcontinuousinterpolationwhilechangingtheinterpolationaxes(movingfromcircular interpolationontheXandYaxes)to(LinearinterpolationontheXandYaxes)to(Linearinterpolation ontheXandZaxes) STEP Register Xaxis Yaxis Zaxis Details o TheXandYaxesperforma90 circular PRMV 10000 10000 0 interpolationwitharadiusof10000. TheZaxisisgivenapositioningoperationwitha PRIP 10000 0 0 feedamountof0. 1 0000 0000 0000 TheX,Y,andZaxesstart. PRMD _0064h _0064h _0041h Startcommand:Write0751h(FHconstant TheX,Y,andZaxesStartcommand speedstart) TheXandYaxesperformlinearinterpolation. PRMV 10000 5000 0 TheZaxisisgivenapositioningoperationwitha feedamountof0. 007C 007C 007C TheX,Y,andZaxeswaitfortheX,Y,andZ 2 PRMD _0061h _0061h _0041h axestostop. Startcommand:Write0751h(FHconstant TheX,Y,andZaxesStartcommand start) Sincetheaxessubjecttointerpolationare PRMV 0 0 0 changed,alloftheaxesaregivenadummy operation. 007C 007C 007C TheX,Y,andZaxeswaitfortheX,Y,andZ 3 PRMD _0041h _0041h _0041h axestostop Startcommand:Write0751h(FHconstant TheX,Y,andZaxesStartcommand start) TheXandZaxesperformlinearinterpolation. PRMV 10000 0 -5000 TheYaxisisgivenapositioningoperationwitha feedamountof0. 007C 007C 007C TheX,Y,andZaxeswaitfortheX,Y,andZ 4 PRMD _0061h _0041h _0061h axestostop Startcommand:Write0751h(FHconstant X,Y,andZaxisstartcommand. start) Usingthesettingsabove,thePCLwillperformsteps1to3continuously.(SpecifySTEP4afterSTEP1is complete) o 1. StartaCWcircularinterpolationof90 witharadiusof10000ontheXandYaxes.TheZaxis performsapositioningoperationwithafeedamountof0. 2. TheXandYaxesperformalinearinterpolationoperation(10000,5000).TheZaxisperformsa positioningoperationwithafeedamountof0. 3. TheXandZaxesperformalinearinterpolationoperation(10000,-5000).TheYaxisperformsa positioningoperationwithafeedamountof0. 11-14-2.Startingfromaninternalsynchronoussignal Thereare9typesofinternalsynchronoussignaloutputtiming.Theycanbeselectedbysettingthe RENV5register. Themonitorsignalfortheinternalsynchronoussignalcanbeoutput f externally. Y axis Example1belowshowshowtousetheendofanaccelerationforthe FH internalsynchronoussignal. Acceleration FL Complete [Settingexample1] Aftercompletingsteps1)to3)below,writeastartcommandtotheX andYaxes,theXaxiswillstartwhentheYaxiscompletesits f X axis acceleration. FH 1)SetMSY0to1(bits18&19)intheXaxisRMDto10.(Start withaninternalsynchronoussignal) FL 2)SetSYI0to1(bits20&21)intheXaxisto01.(Usean -132- internalsynchronoussignalfromtheYaxis.) 3)SetSYO0to3(bits16to19)intheYaxisRENV5to1001. (Outputaninternalsynchronoussignalwhentheacceleration iscomplete) Example2showshowtostartanotheraxisusingthesatisfactionofthecomparatorconditionsto generateaninternalsynchronoussignal. Becareful,sincecomparatorconditionssatisfiedbytimingandthetimingofthestartofanotheraxismay bedifferentaccordingtothecomparisonmethodusedbythecomparators. [Example2] UseCOUNTER1(commandposition)andComparator1tostarttheXaxiswhentheYaxis=1000. 1)SetMSY0to1(bits18&19)intheYaxisRMDto10.(Startfromaninternalsynchronoussignal) 2)SetSYI0to1(bits20&21)intheXaxisRENV5to01.(Useaninternalsynchronoussignalfrom theYaxis) 3)SetSYO0to3(bits16to19)intheYaxisRENV5to0001.(Outputaninternalsynchronoussignal whentheComparator1conditionsaresatisfied) 4)SetC1C0to1(bits0&1)intheYaxisRENV4to00.(Comparator1comparisoncounteris COUNTER1) 5)SetC1S0to2(bits2to4)intheYaxisRENV4to001.(Comparisonmethod:Comparator1= Comparisoncounter) 6)SetC1D0to1(bits5&6)intheYaxisRENV4to00.(DonothingwhentheComparator1 conditionaresatisfied) 7)SettheRCMP1valueoftheYaxisto1000.(ComparisoncountervalueofComparator1is1000.) 8)WritestartcommandsfortheXandYaxes. ThetimingchartbelowshowstheperiodaftertheComparator1conditionsareestablishedandtheX axisstarts. Note:Intheexampleabove,eveniftheYfeedamountissetto2000andtheXfeedamountissetto 1000,theXaxiswillbe1whentheYaxispositionequals1000.Therefore,theoperationcomplete positionwillbeonepulseoffforboththeXandYaxes.Inordertomaketheoperationcomplete timingthesame,settheRCMP1valueto1001orsetthecomparisonconditionsto"Comparator1 -133- SelecttheoutputlogicforP1(oneshot)/FDW [RENV2](WRITE) 23 16 ----00n- [RENV2](WRITE) 7 0 nn-----[RENV2](WRITE) 15 8 ------nn [RENV2](WRITE) 15 8 ----nn-[RENV2](WRITE) 15 8 --nn--- SpecifytheuseoftheP7/CP5terminal -134- 11-15.Outputaninterruptsignal ThisLSIcanoutputaninterruptsignal( signal):Thereare17typesoferrors,19typesofevents,and changefromoperatingtostopthatcancausean signaltobeoutput.Alloftheerrorcauseswill alwaysoutputan signal.EachoftheeventcausescanbesetintheRIRQregistertooutputan signalornot. Astopinterruptisasimpleinterruptfunctionwhichproducesaninterruptseparatefromanormalstopor errorstop. Foranormalstopinterrupttobeissued,theconfirmationprocessreadstheRISTregisterasdescribed intheCauseofanEventsection.Ifyoursystemneedstoprovideastopinterruptwheneverastop occurs,itiseasytousethestopinterruptfunction. Toapproximateafreecurveinterpolationusingmultiplelinearinterpolationoperations,eventinterrupts willbegeneratedattheendofeachlinearinterpolation.Whenusingthestopinterrupt,setMENI=1in theRMDregister.Youcansetittonotoutputan signalifthereisdataforthenextoperation. The signalisoutputcontinuouslyuntilallthecausesonalltheaxesthatproducedinterruptshave beencleared.Aninterruptcausedbyanerrorisclearedbywritinga"REST(errorcause)registerread command."Aninterruptcausedbyaneventisclearedbywritinga"RIST(eventcause)registerread command."AStopinterruptisclearedbywritingtothemainstatus. Todeterminewhichtypeofinterruptoccurred,onwhichaxisandthecauseoftheinterrupt,followthe proceduresbelow. 1)ReadthemainstatusoftheXaxisandcheckwhetherbits2,4,or5is"1." 2)Ifbit2(SENI)is"1,"aStopinterruptoccurs. 3)Ifbit4(SERR)is"1,"readtheRESETregistertoidentifythecauseoftheinterrupt. 4)Ifbit5(SINT)is"1,"readtheRISTregistertoidentifythecauseoftheinterrupt. 5)Repeatsteps1)to4)abovefortheY,Z,andUaxes. Thestepsabovewillallowyoutoevaluatethecauseoftheinterruptandturnthe outputOFF. Note1:Whenreadingaregisterfromtheinterruptroutine,thedetailsoftheinput/outputbufferwill signalisoutputwhilethemainroutineisreadingorwritingregisters,andthe change.Ifthe interruptroutinestarts,themainroutinemayproduceanerror.Therefore,theinterruptroutine shouldexecuteaPUSH/POPoninput/outputbuffer. Note2:Whileprocessingallaxesinsteps1)to4)above,itispossiblethatanotherinterruptmay occuronanaxiswhoseprocesshascompleted.Inthiscase,iftheCPUinterruptsreception mode,andissetforedgetriggering,thePCLwilllatchthe outputONanditwillnotallowa newinterrupttointerfere.Therefore,makesurethatafteryouhaveresettheinterruptreception statustheCPUreadsmainstatusofalltheaxesagain.Also,makesurethereisno signal outputfromthePCL.Then,endtheinterruptroutine. terminal,leaveitopen. Note3:Whennotusingthe WhenusingmorethanonePCL,the terminalscannotbewiredORed. The signaloutputcanbemaskedbysettingtheRENV1(environmentsetting1)register. Ifthe outputismasked(INTM=1inRENV1),andwhentheinterruptconditionsaresatisfied,the statuswillchange.However,the signalwillnotgoLOW,butwillremainHIGH. WhiletheinterruptconditionsaresatisfiedandiftheoutputmaskisturnedOFF(INTM=0inRENV1), the signalwillgoLOW. -135- Readtheinterruptstatus [MSTSW](READ) 7 0 --nn-n-- [RENV1](WRITE) 31 24 --n----[RENV2](WRITE) 31 24 ----n--- Selectthestopinterruptmode 2)WhenIEND=1andMENI=1 Note: EvenifIEND=1andMENI=1,ifnopre-registerhasbeenspecified(aStartcommandhasnot beenwrittenyet),thePCLwilloutputaninterruptsignal. -136- [Errorinterruptcauses] |