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Melec C-875 Instruction Manual

Stepping & servo motor controller
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Stepping & Servo Motor Controller
C-875
Instructions Manual
(For designers' use)
Please ensure to read and understand this
Instructions Manual before using the Product.
Please keep this Instructions Manual at hand
so that it is always available for reference.
PR0815-1

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Summary of Contents for Melec C-875

  • Page 1 Stepping & Servo Motor Controller C-875 Instructions Manual (For designers' use) Please ensure to read and understand this Instructions Manual before using the Product. Please keep this Instructions Manual at hand so that it is always available for reference. PR0815-1...
  • Page 2 Introduction This User's Manual describes the method of dealing with "STEPPING AND SERVO MOTOR CONTROLLER C-875", which set weight in specification in order to have a product used safely correctly for the designer of the control system using the stepping motor or servo motor.
  • Page 3 Ｃｏｎｔｅｎｔｓ Page. １．ＯＶＥＲＶＩＥＷ ７ ２．ＢＡＳＩＣ ＣＯＮＦＩＧＵＲＡＴＩＯＮ 2-1. Function Block Diagram ７ 2-2. Description of Blocks ８ ３．ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ 3-1. PCI Local bus Specification ９ 3-2. Basic Functions ９ 3-3. Ratings １０ 3-4. Options １０ 3-5. Applied Functions １１ ４．Ｉ／Ｏ ＰＯＲＴＳ 4-1. I/O Port Table １３...
  • Page 4 ６．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＢＡＳＩＣ ＦＵＮＣＴＩＯＮ ＤＲＩＶＥ ＣＯＭＭＡＮＤＳ ＡＮＤ ＯＰＥＲＡＴＩＯＮ ＳＥＱＵＥＮＣＥＳ 6-1. Basic Function DRIVE Command Table ３０ 6-2. Special Command Table ３１ 6-3. NO OPERATION Command ３１ 6-4. SPEC INITIALIZE1 Command ３２ 6-5. PULSE COUNTER INITIALIZE Command ３３ 6-6. ADDRESS INITIALIZE Command ３６...
  • Page 5 ８．ＤＥＴＡＩＬＳ ＯＦ ＣＯＵＮＴＥＲ ＦＵＮＣＴＩＯＮＳ 8-1. Function Block Diagram ６１ 8-2. ADDRESS COUNTER Function ６２ 8-3. PULSE COUNTER Function ６２ 8-4. DIFFERENTIAL COUNTER Function ６３ 8-5. Details of COMPARATOR Function ６４ ９．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＰＵＬＳＥ ＣＯＵＮＴＥＲ ＡＮＤ ＤＩＦＦＥＲＥＮＴＩＡＬ ＣＯＵＮＴＥＲ ＣＯＭＭＡＮＤ 9-1. Command Table ６５...
  • Page 6 １６．ＣＯＮＴＲＯＬ ＰＲＯＧＲＡＭ ＥＸＡＭＰＬＥＳ 16-1. INITIAL Setting Example ８８ 16-2. INITIALIZE Program Example ９０ 16-3. JOG DRIVE Program Example ９１ 16-4. SCAN DRIVE Program Example ９１ 16-5. Example of INDEX DRIVE Program Specified in Absolute Value ９２ 16-6. ORIGIN DRIVE Program Example ９３...
  • Page 7 Since the C-875 are provided with the 4 independent axes, the first axis, the second axis, the third axis and the fourth axis are called X axis, Y axis, Z axis and A axis respectively.
  • Page 8 2-2. Description of Blocks (1) Bus interface block Interface block with the PCI bus. This block consists of the interface IC dedicated to PCI bus and a serial EEPROM, etc. (2) Drive control blocks These blocks output serial pulses for motor control. The blocks mount pulse generators MCC05v2 for individual 4 axes, so the 4 axes can be independently driven.
  • Page 9 Prog.I/F(00h) Revision ID(00h) BIST Header Type(00h) Latency Timer Cache Line Size Base Address Register０：Reserved(Cannot use) Base Address Register１： Base Address of C-875 Base Address Register２：Reserved Reserved Cardbus CIS Pointer Subsystem ID(00h) Subsystem Vendor ID(00h) Expansion ROM Base Address：Reserved Reserved Reserved...
  • Page 10 (2) Ambient temperature : ０℃ to ４５℃ (3) Ambient humidity : ８０％ＲＨ or less (without dew condensation) (4) Mass : Approx 0.2 kg 3-4. Options Optional functions are prepared for the C-875. For details, Please contact us. - 10 -...
  • Page 11 3-5. Applied Functions For the C-875, Applied functions are available in addition to the basic functions shown in 3-1. to order to meet the requirements of various users' specifications. For the details on these applied functions, refer to the User's Manual [Applied Functions Part].
  • Page 12 (13)Origin Drive Direction Changing Function The precondition for origin drive is that the ORG (or NORG) sensor has been installed at the -(CCW) limit side along works, but the origin drive direction changing function enables to install the ORG (or NORG) sensor on the +(CW) limit side. (14)Margin Time Function In order to prevent the origin drive from malfunctioning due to hunting, this function enables to insert a margin time between the sensor signal detection and the pulse stop.
  • Page 13 ４．Ｉ／Ｏ ＰＯＲＴＳ 4-1. I/O Port Table Axis Low-order PORT Name Axis Low-order PORT Name Address Address ００ DRIVE COMMAND GP I/O ６０ General-purpose I/O R/W Ｈ Ｈ ０１ DRIVE DATA1 ６１ I/O INT SET Ｈ Ｈ ０２ DRIVE DATA2 ６２ Using is disabled Ｈ...
  • Page 14 C-875 board numbers are assigned by the rotary switch on the board. If more than two C-875s are used, numbers must be assigned artificially. Set them by avoiding possible overlaps. When only one C-875 is used, set the rotary switch to "0". (This setting is made at the time of shipment).
  • Page 15 4-8. STATUS1 PORT Used to read the current status of each axis. This read operation is always enabled. ７ ６ ５ ４ ３ ２ １ ０ * Each of the bits becomes 1 in the active state. BUSY BIT DRIVE BIT DREND BIT ERROR BIT MAN BIT...
  • Page 16 4-9. STATUS2 PORT Used to read the input signal state of each axis. Reading is always enabled. The contents shown below are of the X axis but also applicable to another axis. ７ ６ ５ ４ ３ ２ １ ０ * Each of the bits becomes 1 in the active state.
  • Page 17 Note2: When interrupt is used, RDYINT request axis is identified by this bit. 4-13.General-purpose I/O PORT The C-875 is provided with a general-purpose I/O with 4 input points (IN0 to IN3 input signals) and 4 output points (OUT0 to OUT3 output signals). The user can freely use this general-purpose I/O.
  • Page 18 4-14.I/O INT SET PORT(Additional I/O) This product is provided with the interrupt function (IOINT) using 4 input points (IN10, IN20, IN30 and IN40 input signals) of the additional I/O. This PORT allows selection of interrupt enable/disable and interrupt generation edge (at ON/OFF). ７...
  • Page 19 4-17.IN10 PORT(Additional I/O) This is a port to read the status of the additional I/O input signals ( IN10～IN17 ７ ６ ５ ４ ３ ２ １ ０ * Each of the bits becomes 1 in the active state (at ON). IN10 IN11 IN12...
  • Page 20 4-21.OUT10 PORT(Additional I/O) This is a port to set ON/OFF of the additional I/O output signals OUT10～OUT17 It outputs the contents of the following bits to OUT10～OUT17 It also reads the current output status (previous data output to this port). ７...
  • Page 21 ５．ＤＥＴＡＩＬＳ ＯＦ ＤＲＩＶＥ ＦＵＮＣＴＩＯＮＳ 5-1. JOG DRIVE Function This function performs 1-pulse drive by the +/- JOG command. Example of X axis: ・Drive by +JOG command XCWP XCCWP ・Drive by -JOG command XCWP XCCWP There is not any data required for JOG DRIVE. 5-2.
  • Page 22 5-3. INDEX DRIVE Function Accelerating/decelerating drive is performed with the specified number of pulses by the INCREMENTAL INDEX command. (or up to the target address by ABSOLUTE INDEX command). Example of X axis: HSPD Specified number of pulses (target address) LSPD URATE DRATE...
  • Page 23 5-5. Machine Origin Detecting Function (ORIGIN DRIVE) Drive is performed up to machine origin detection by the ORIGIN command. The drive up to machine origin detection is performed by a combination of JOG DRIVE, CONSTANT SCAN DRIVE, SCAN DRIVE and ABSOLUTE INDEX DRIVE. There are 9 types of machine origin detection.
  • Page 24 5-7. S-RATE SCAN DRIVE Function S-shaped accelerating/decelerating drive is performed by the +/- S-RATE SCAN command. At the S-shaped accelerating/decelerating drive, the speed difference between SLSPD and SHSPD is divided into 3 equal parts. In the mid-speed area of the 3 equally-divided parts, linear acceleration/deceleration is performed by SRATE.
  • Page 25 5-9. S-RATE DRIVE Parameter Adjusting Function For S-RATE DRIVE, internal parameters can be adjusted. To perform S-RATE DRIVE, the 4 internal parameters of SSRATE, SERATE, SCSPD1 and SCSPD2 are required first. Usually, these parameters are automatically set to initial values when SRATE, SLSPD and SHSPD are set but can be adjusted to optional values by respective adjust commands.
  • Page 26 (3) SCSPD1 Explanation of data …… Indicates the linear rate start speed or linear rate end speed by SRATE. Between SCSPD1 and SCSPD2, the time constant indicates a linear rate characteristic because the SRATE value is fixed. Initial value …………… Set to the following value represented by the following expression by the SLSPD SET or SHSPD SET command.
  • Page 27 5-10.Slow Stop Function The pulse output can be put into a slow stop by the SLOW STOP command. After the pulse output is stopped in the above way, SSEND becomes 1. 5-11.Fast Stop Function When you use emergency stop in response to system failure, also turn off power of the ...
  • Page 28 5-15.Interrupt Request Function (1) After the termination of a command, an interrupt request (RDYINT signal) can be generated for the initiator. RDYINT signal is generated too at the stop(the termination of a command) for FSSTOP, STOP, and LIMIT, etc. There are 3 interrupt request generation patterns as shown below. One of them is selected by the SPEC INITIALIZE1 command.
  • Page 29 5-17.DRIVE TYPE Switching Function The acceleration/deceleration time constant method when the MCC05v2 is put in accelerating/decelerating drive can be roughly classified into two modes, fixed data mode and arithmetic mode. For the fixed data mode, the 3 types of L-TYPE, M-TYPE and H-TYPE are available for reasons of output frequency,acceleration/deceleration time constant setting range and speed difference at acceleration/ deceleration, etc.
  • Page 30 ６．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＢＡＳＩＣ ＦＵＮＣＴＩＯＮ ＤＲＩＶＥ ＣＯＭＭＡＮＤＳ ＡＮＤ ＯＰＥＲＡＴＩＯＮ ＳＥＱＵＥＮＣＥＳ Execute each command to the port (refer to 4-1.) of the axis to which the command is executed. In the following, a description is give about the X axis MCC05v2. The same is also applicable to the Y axis, the Z axis and A axis.
  • Page 31 6-2. Special Command Table Special commands can always be executed, except just behind not Special command executed in less than 4μs. D D D D D D D D ７ ６ ５ ４ ３ ２ １ ０ HEX C0DE COMMAND NAME Execution time 1 1 1 1 0 1 1 1 Ｆ７...
  • Page 32 6-4. SPEC INITIALIZE1 Command COMMAND……… 01 Function : Defines operation specifications. Ｈ Execution sequence Drive control specifications are defined in DRIVE DATA1. BUSY=0 in STATUS1? The contents of DRIVE DATA1 PORT is as follows. DATA1 PORT ７ ０ DATA1 PORT WRITE COMMAND 01 DRIVE TYPE...
  • Page 33 6-5. PULSE COUNTER INITIALIZE Command COMMAND……… 02 Function : Defines PULSE COUNTER operation specifications. Ｈ Execution sequence PULSE COUNTER specifications are defined in DRIVE DATA1, DRIVE DATA2 and DRIVE DATA3 PORT. BUSY=0 in The contents of DRIVE DATA1 WRITE PORT are as follows. STATUS1? DATA1 PORT ７...
  • Page 34 The contents of DRIVE DATA2 WRITE PORT are as follows. DATA2 PORT ７ ０ COUNT CLOCK TYPE COUNT PATTERN TYPE AUTO CLEAR ENABLE RELOAD ENABLE COMP1 INT ENABLE COMP1 STOP ENABLE The bit marked slash may be set 0 or 1. The details of each bit are shown below.
  • Page 35 The contents of DRIVE DATA3 WRITE PORT are as follows. DATA3 PORT ７ ０ COMP2 INT ENABLE COMP2 STOP TYPE COMP3 INT ENABLE COMP3 STOP TYPE COMP4 INT ENABLE COMP4 STOP TYPE COMP5 INT ENABLE COMP5 STOP TYPE The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET. (1) COMP2 INT ENABLE (D ) ０...
  • Page 36 6-6. ADDRESS INITIALIZE Command COMMAND……… 03 Function : Defines the current position as the specified Ｈ absolute address and stores it into memory. Execution sequence ADDRESS is specified in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT. BUSY=0 in The contents of DRIVE DATA1 to DRIVE DATA3 are as follows.
  • Page 37 6-8. SERVO RESET Command COMMAND……… 05 Function : Outputs the DRST signal to the servo driver for 10ms. Ｈ Execution sequence When STEPPING MOTOR is selected, this command becomes equal to the BUSY=0 in NO OPERATION command. STATUS1? COMMAND 05 Ｈ...
  • Page 38 6-11.HSPD SET Command COMMAND……… 08 Function : Sets HSPD (HIGH SPEED) required for drive. Ｈ Execution sequence HSPD is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT in 3-byte data in Hz. BUSY=0 in The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows. STATUS1? DATA1 PORT DATA2 PORT...
  • Page 39 6-12.DFL COUNTER INITIALIZE Command COMMAND……… 09 Function : Defines operation specification for the DIFFERENTIAL COUNTER. Ｈ Execution sequence DIFFERENTIAL COUNTER specifications are defined in DRIVE DATA1, DRIVE DATA2 and DRIVE DATA3 PORT. BUSY=0 in STATUS1? The contents of DRIVE DATA1 WRITE PORT are as follows. DATA1 PORT ７...
  • Page 40 Contents of the DRIVE DATA2 PORT are DATA2 PORT as shown to the right. ７ ０    COUNT CLOCK TYPE COUNT PATTERN TYPE COMP1 INT ENABLE COMP1 STOP ENABLE Note: 2 and 2 bits must be set to 0. ３...
  • Page 41 6-13.SET DATA READ Command COMMAND……… 0A Function : Reads SPEC DATA, speed data and other data being set on Ｈ the MCC05v2 of each axis. Execution sequence On the DRIVE DATA3 PORT (WRITE), specify a command used for reading the target set data.
  • Page 42 6-14.+/-JOG Command COMMAND……… Drive in +(CW)direction Drive in -(CCW)direction Ｈ Ｈ Execution sequence Function : Performs JOG DRIVE. BUSY=0 in STATUS1? COMMAND 10 Ｈ or 11 WRITE Ｈ 6-15.+/-SCAN Command COMMAND……… Drive in +(CW)direction Drive in -(CCW)direction Ｈ Ｈ Execution sequence Function : Performs SCAN DRIVE.
  • Page 43 6-17.ABSOLUTE INDEX Command COMMAND……… 15 Function : Performs INDEX DRIVE with absolute specified. Ｈ Execution sequence The absolute address of the target location is specified in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT. BUSY=0 in The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows. STATUS1? DATA1 PORT DATA2 PORT...
  • Page 44 6-19.OFFSET PULSE SET Command COMMAND……… 1B Function : Sets the number of OFFSET PULSES required for machine origin Ｈ detection drive. Execution sequence The number of OFFSET PULSES is set in DRIVE DATA3 PORT. The contents of DRIVE DATA3 PORT are as follows. BUSY=0 in STATUS1? DATA3 PORT...
  • Page 45 6-22.ORIGIN Command COMMAND……… 1E Function : Performs DRIVE up to machine origin detection. Ｈ Execution sequence The ORG type to be executed is specified in DRIVE DATA1 PORT. BUSY=0 in ORG-0 ………… 00 Ｈ STATUS1? ORG-1 ………… 01 Ｈ ORG-2 ………… 02 Ｈ...
  • Page 46 6-24.SLSPD SET Command COMMAND……… 61 Function : Sets SLSPD (low speed) required for S-RATE DRIVE. Ｈ Execution sequence SLSPD is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT in 3-byte data in Hz. BUSY=0 in The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows. STATUS1? DATA1 PORT DATA2 PORT...
  • Page 47 6-26.SSRATE ADJUST Command COMMAND……… 63 Function : Adjusts SSRATE (time constant at a start of acceleration Ｈ or at an end of deceleration) required for S-RATE DRIVE. Execution sequence SSRATE is set in DRIVE DATA3 PORT in No. of data table. BUSY=0 in The contents of DRIVE DATA3 PORT are as follows.
  • Page 48 6-28.SCSPD1 ADJUST Command COMMAND……… 65 Function : Adjusts SCSPD1 (linear RATE start speed or linear RATE end Ｈ speed) required for S-RATE DRIVE. Execution sequence SCSPD1 is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT in 3-byte data in Hz. BUSY=0 in The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
  • Page 49 6-30.+/-S-RATE SCAN Command COMMAND……… Drive in +(CW)direction Drive in -(CCW)direction Ｈ Ｈ Execution sequence Function : Performs S-RATE SCAN DRIVE. BUSY=0 in STATUS1? COMMAND 70 Ｈ or 71 WRITE Ｈ 6-31.S-RATE INCREMENTAL INDEX Command COMMAND……… 72 Function : Performs S-RATE INDEX DRIVE with relative specified. Ｈ...
  • Page 50 6-33.ERROR STATUS READ Command COMMAND……… E2 Function : When the STATUS1 PORT ERROR BIT is set to 1, this command Ｈ reads cause of an error. Execution sequence Cause of an error is output to the DRIVE DATA3 PORT in hexadecimal value. BUSY=0 in STATUS1? 00 ･････...
  • Page 51 6-35.INT MASK Command COMMAND……… F8 Function : Masks detection of each COMPARATOR at its output. Ｈ Execution sequence INT MASK is set on the DRIVE DATA3 PORT. DATA3 PORT WRITE Contents of the DRIVE DATA3 PORT is as follows. COMMAND F8 DATA3 PORT Ｈ...
  • Page 52 6-36.PORT SELECT Command (1) ADDRESS COUNTER PORT SELECT Command COMMAND……… F9 Function : Switches the DRIVE DATA1, 2 and 3 PORTs to the special port Ｈ for reading count data on the ADDRESS COUNTER. (2) DFL COUNTER PORT SELECT Command COMMAND………...
  • Page 53 6-39.COUNTER READ COMMAND……… None Function : Reads the count data of the PULSE COUNTER or DIFFERENTIAL COUNTER or ADDRESS COUNTER.(Note1) Execution sequence This function reads out the count data of the counter data from DRIVE READ PORT after the PORT SELECT command. (Note1) DATA1 PORT (Note2) READ The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
  • Page 54 ７．ＭＡＣＨＩＮＥ ＯＲＩＧＩＮ ＤＥＴＥＣＴＩＮＧ ＦＵＮＣＴＩＯＮ There are 9 MCC05v2 machine origin detection types in all, namely, ORG-0,ORG-1,ORG-2,ORG-3,ORG-4,ORG-5,ORG-10, ORG-11 and ORG-12. The X axis, Y axis , Z axis and A axis are provided independently with this function, so mutual interference does not occur. In each process of ORG-0 to ORG-5 and ORG-11 to ORG-12, the machine origin address once detected is stored in memory, thereby permitting machine origin detection in a short time thereafter.
  • Page 55 7-2. ORG-0 Type -(CCW)LIMIT +(CW)LIMIT ａ XORG HSPD : HIGH SPEED ← CSPD : CONSTANT SPEED ＨＳＰＤ LD : LIMIT DELAY TIME ○ " ○ ↓→ SD : SCAN DELAY TIME ＳＤ ＣＳＰＤ ○ : Detection start position ← △ △...
  • Page 56 7-4. ORG-2 Type -(CCW)LIMIT +(CW)LIMIT ａ XORG HSPD : HIGH SPEED ← CSPD : CONSTANT SPEED ＨＳＰＤ LD : LIMIT DELAY TIME ↓→ ○ ○ SD : SCAN DELAY TIME ＳＤ ＣＳＰＤ JD : JOG DELAY TIME ← ↓ ○ : Detection start position ＣＳＰＤ...
  • Page 57 7-6. ORG-4 Type The NEAR ORG process is performed first. Next, the ORG process is performed. (1) NEAR ORG process -(CCW)LIMIT +(CW)LIMIT ａ XNORG HSPD : HIGH SPEED ← CSPD : CONSTANT SPEED ＨＳＰＤ LD : LIMIT DELAY TIME ↓→ ○...
  • Page 58 (2) ORG process ・XORG＝HIGH upon detection of point a (sensor OFF) ・XORG＝LOW upon detection of point a (sensor ON) ａ ａ XNORG XNORG ｃ ｂ ｂ ｃ XORG XORG ↓ → ← ↓ ＳＤ ＣＳＰＤ ＣＳＰＤ ＳＤ ←↓ ↓→ ＣＳＰＤ ＳＤ...
  • Page 59 7-9. ORG-11 Type The drive is stopped at the Slow Stop irrespective of type of the LIMIT stop.  CAUTION So there may be a collision with the limit position of the mechanical device before stop. This may lead to machine or workpiece damage. Note that the stop point will be changed if RATE, HSPD, etc.
  • Page 60 Connect the encoder Z phase (Cφ) output signals +Z and -Z of the servo driver to the +XZORG and -XZORG of the C-875. For details, refer to Chapter １４. The pulse width of the encoder Z phase (Cφ) output shall be 10μs or more.
  • Page 61 ８．ＤＥＴＡＩＬＳ ＯＦ ＣＯＵＮＴＥＲ ＦＵＮＣＴＩＯＮＳ The following description is given about the X axis, but also applicable to the Y axis,Z axis and A axis. 8-1. Functional Block Diagram The MCC05v2 has three built-in 24-bit HARD COUNTERs each provided with different functions. COUNTER <XEA,XEB(External clock) Set data...
  • Page 62 8-2. ADDRESS COUNTER Function (1) In order to control current address, the ADDRESS COUNTER offers absolute address of the output pulse from the MCC05v2. (2) The count data can be read from the DRIVE DATA1, 2 and 3 PORTs any time you want (as long as the ADDRESS COUNTER PORT is selected).
  • Page 63 8-4. DIFFERENTIAL COUNTER function (1) Differential Count Function a. The DIFFERENTIAL COUNTER offers counting of deviation between output pulse from the MCC05v2 and external input clock, or counting of external clock alone. b. Count data can be read from the DRIVE DATA1, 2 and 3 PORTs any time as needed (as long as the DFL COUNTER PORT is selected).
  • Page 64 8-5. Detail of COMPARATOR Functions Output of the detected condition from five COMPARATORs for the PULSE COUNTER and two COMPARATORs for the DIFFERENTIAL COUNTER are connected to the following functional circuit and, thus, allows control according to the user specification. Output of ①...
  • Page 65 ９．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＰＵＬＳＥ ＣＯＵＮＴＥＲ ＡＮＤ ＤＦＬ ＣＯＵＮＴＥＲ ＣＯＭＭＡＮＤ 9-1. Command Table The HEX code is for the case where all the x bits are set to 0. ７ ６ ５ ４ ３ ２ １ ０ D D D D D D D D HEX C0DE COMMAND NAME...
  • Page 66 9-3. PULSE COUNTER COMPARE REGISTER1 SET Command COMMAND……… 01 Function : Sets a specified value in COMPARE REGISTER1. Ｈ Execution sequence COMPARE DATA is specified in COUNTER DATA1 PORT, COUNTER DATA2 PORT and COUNTER DATA3 PORT. (Note) COUNTER DATA1 PORT WRITE The contents of COUNTER DATA1 PORT to COUNTER DATA3 PORT are as follows.
  • Page 67 9-9. DFL COUNTER COMPARE REGISTER1 SET Command COMMAND……… 07 Function : Sets a value specified for the DIFFERENTIAL COUNTER COMPARE1 Ｈ REGISTER in an absolute value. Execution sequence COMPARE DATA is specified in COUNTER DATA1 PORT, COUNTER DATA2 PORT and (Note1) COUNTER DATA1 The order COUNTER DATA3 PORT.
  • Page 68 １０．ＩＮＩＴＩＡＬ ＳＰＥＣＩＦＩＣＡＴＩＯＮ ＴＡＢＬＥ The initial specifications at POWER ON/RESET are shown in the following table. The specifications related to SPEED can be switched between two types by jumpers JP1X (X axis), JP1Y (Y axis), JP1Z (Z axis) and JP1A (A axis) on the board. The specifications in which jumpers are provided are supplied at shipment.
  • Page 69 １１．ＩＮＴＥＲＲＵＰＴＳ When any one of the following interrupt request signals has occurred, the C-875 gives an interrupt request to the initiator. INTA# interrupt signal pin is used. 11-1.Interrupt Request Signals upon Termination of Command (XRDYINT,YRDYINT,ZRDYINT,ARDYINT) Use the STATUS5 PORT and STATUS1 PORT to identify the interrupt request axis.
  • Page 70 １２．ＴＩＭＩＮＧ Refer to the description of 12-16 for IOR# and IOW#. [ ] : Timing of case SOFT LIMIT function in use.(applied function) Those not in brackets remain unaffected by presence or absence of the SOFT LIMIT function. 12-1.JOG DRIVE Timing 12-2.SCAN DRIVE/S-RATE SCAN DRIVE Timing Example) Drive in +(CW)direction for Example) Drive in -(CCW)direction for...
  • Page 71 Example 2) Drive in -(CCW)direction with ABSOLUTE INDEX DRIVE (RETURN DRIVE up to the near-origin address) IOW# (1) When URATE＝DRATE is specified: Indicates that a command is written. t1＜150ns t2＜71μs XCCWP t3＜93μs DRIVE in (2) When URATE≠DRATE is specified: STATUS1 t1＜150ns t2＜1.3ms (L-TYPE) BUSY in...
  • Page 72 12-6.DEND Signal Confirmation Timing Example 1) End of DRIVE in +(CW)direction for Example 2) End of DRIVE in +(CW)direction when the a servo motor target is a servo motor and the DEND signal is active or the target is a stepping motor DEND DEND XCWP...
  • Page 73 12-9.FAST STOP Timing(2) Example) DRIVE in +(CW)direction when the target is a servo motor (Note1) IOW# (Note2) FSSTOP (Note3) XCWP XDRST XDEND DRIVE in STATUS1 BUSY in STATUS1 t1≧400μs t3≒10ms t5＜20μs t2＜26μs(Note4) t4＜15μs[24μs](DEND is assumed to be turned on while DRST is being produced.) Note1: Indicates that the FAST STOP command is written.
  • Page 74 12-11.EA/EB Clock Input Timing (1) When 90ﾟ phase difference clocks are input: PULSE COUNTER DIFFERENTIAL COUNTER t1＞(150×Ｎ)ns t1＞(200×Ｎ)ns t2＞(330×Ｎ)ns t2＞(430×Ｎ)ns ＞(660×Ｎ)ns t ＞(860×Ｎ)ns ｃｙｃ ｃｙｃ However, N is a multiplier. ｃｙｃ ＊The count timing of the PULSE COUNTER and DIFFERENTIAL COUNTER is as shown below. Each is counted at UP COUNT DOWN COUNT...
  • Page 75 ③: When the counter value is in agreement with the COMPARE REGISTER, XCNTINT is output. ④: When the counter value is not matching, XCNTINT is cleared without requiring access to the STATUS3 PORT. Example: When C-875 X axis drive pulse is used as the operation clock for the drive in +(CW) direction. XCWP IOR# Note:Indicates the STATUS3 read timing.
  • Page 76 12-14.DFLINT Timing (INTA#) (DFL COMP1: An example. Detecting condition: DIFFERENTIAL COUNTER≧COMPARE REGISTER1) The interrupt request signal(XDFLINT) and STATUS signal are produced and reset at the following timing. (1) When the DFLINT LATCH TRIGGER TYPE＝0 is specified by the DFL COUNTER INITIALIZE Command. DFL COMPARE ①...
  • Page 77 12-15.IOINT Timing (INTA#) The interrupt request signal (IOTINT) and STATUS signals (IN10INT,IN20INT,IN30INT and IN40INT) are output and reset at the following timing. The following is an example of IOINT by IN10 and IN10_20INT STATUS. IN10 ① IOR# IN10INT,IN20INT in IOINT and ②...
  • Page 78 12-17.BUS Timing "READ TIMING" ( ) denotes the internal timing. PCI CLK C/BE#[3:0] AD[31:0] I N V A L I D D A T A FRAME# IRDY# TRDY# DEVSEL# (BCLK) (CS#) (ADDRESS) (DATA) (IOR#) "WRITE TIMING" ( ) denotes the internal timing. PCI CLK C/BE#[3:0] AD[31:0]...
  • Page 79 １３．ＵＳＥＲ ＣＯＮＮＥＣＴＯＲ ＡＮＤ Ｉ／Ｏ ＣＩＲＣＵＩＴ 13-1.User Connector J1 Pin Arrangement Connector Type HDRA-E100W1LFDT1EC-SL(HONDA TSUSHIN KOGYO CO.,LTD.) Applicable outlets(not included in the accessories) HDRA-E100MA1 , HDRA-E100M1(HONDA TSUSHIN KOGYO CO.,LTD.) ◎ ◎ ◎ ◎ 13-2.J1 Signal Table If +24V are connected to pins other than EXTV, there is a possibility of damaging ...
  • Page 80 Pin Direction Signal Description Pin Direction Signal Description Name Name output +COM ※ +COMMON for XCWP,XCCWP.(+5V) output +COM ※ +COMMON for ZCWP,ZCCWP.(+5V) output XCWP ※ X axis +(CW)direction output ZCWP ※ Z axis +(CW)direction positive logic output pulse. positive logic output pulse. output XCWP ※...
  • Page 81 13-3.J2 Signal Table (for Additional I/O) Pin Direction Signal Description Pin Direction Signal Description Name Name output OUT10 Additional OUTPUT10 output OUT30 Additional OUTPUT30 output OUT11 Additional OUTPUT11 output OUT31 Additional OUTPUT31 output OUT12 Additional OUTPUT12 output OUT32 Additional OUTPUT32 output OUT13 Additional OUTPUT13...
  • Page 82 13-4.I/O Circuit (The following description is given about the X axis but also applicable to the Y axis, Z axis and A axis.) *However, SENSOR signal is prepared for Z axis and A axis. (1) J1,J2 J1,J2 +5 V EXTV(+24V) XCWLM,XCCWLM,FSSTOP XNORG,XORG HIGH level 0.8mA or less...
  • Page 83  XCWP  ○ ○ +CCW   XCCWP  ○ -CCW C-875 side Terminal base(connector) DRIVER side b. When used as differential output (line driver): Every wiring is 0.15SQ or more. XCWP  ○   XCWP  ○...
  • Page 84 ○ ＋ 24V P.S. － 2.2kΩ -XZORG  ○   C-875 side Terminal base(connector) 14-2.Connection Examples of a LIMIT Switch or Sensor (1) Connection example of the X axis when LIMIT is unused EXTV  XCWLM   XCCWLM ...

  • Page 85: Servo Driver

    EE-SX670 series EE-SX670 series Coupler power supply etc. etc. +XZORG  Never connect +XZORG and -XZORG. -XZORG  C-875 side (3) For Servo driver ORG-4 and ORG-5 types (X axis) Encoder -(CCW)direction +(CW)direction SERVO DRIVER NORG sensor +Z -Z Recommendable sensors...
  • Page 86 １５．ＢＯＡＲＤ ＥＤＧＥ ＣＯＮＮＥＣＴＯＲ ＡＮＤ ＢＯＡＲＤ ＳＨＡＰＥ 15-1.Board Edge Connector Signal Table Name Name Name Name TRST# AD[16] -12V AD[17] +12V +3.3V C/BE[2]# FRAME# IRDY# TRDY# +3.3V INTA# DEVSEL# INTC# STOP# INTB# +3.3V INTD# LOCK# reserved SDONE PRSNT1# PERR# +5V(I/O) SBO# reserved +3.3V reserved...
  • Page 87 15-2.Board Shape and Dimensions MAX２．６ １０６．７ １．６ MAX１３．５ ９８．４ JP1A JP1Y A RDY Z RDY Y RDY X RDY JP1Z JP1X (Including the thickness of a metal fitting) OUT0 OUT1 〇 OUT2 OUT3 Ｊ１・Ｊ２ Product Name Unit：mm ・S1 ……………………………… Board identifier rotary switch ・JP1X,JP1Y,JP1Z,JP1A …………...
  • Page 88 This chapter offers an example of the user program (coded in C language conformed to the ANSI standard) used for controlling the C-875. In the examples, base address of the C-875 I/O address have been asumed to be set at valiable "iobase". 16-1.INITIAL Setting Example...
  • Page 89 Although the X axis is taken as an example in the following, the same applies to the Y, Z and A axes, too. RAM area used in the program is defined as follows. /******************************/ RAM AREA /******************************/ iobase; /* C-875 I/O BASE ADDRESS */ urate; /* UP RATE No. drate; /* DOWN RATE No. lspd;...
  • Page 90 16-2.INITIALIZE Program Example Execute this program at POWER ON/RESET as needed. This program is developed based on the following specifications. (1) DRIVE Specification DRIVE TYPE＝L, LIMIT STOP TYPE＝fast stop, MOTOR TYPE＝Stepping motor and RDYINT＝Not output in any case shall be specified. (2) PULSE COUNTER and Comparator Specification The PULSE COUNTER is supposed to operate with drive pulse from the MCC05v2, and the COMPARE REGISTER1 output on the conferred matching is to output to the CNTINT.
  • Page 91 16-3.JOG DRIVE Program Example The JOG DRIVE does not need specific data, so you can directly turn on using the JOG DRIVE command. /*-----------------------------------*/ X-AXIS +JOG DRIVE /*-----------------------------------*/ void xjog( void ) xmccrdy(); /* X-AXIS MCC05v2 RDY WAIT */ outp(XMCCCOM ,0x10); /* +JOG COMMAND OUT */ 16-4.SCAN DRIVE Program Example The SCAN DRIVE requires URATE, DRATE, LSPD and HSPD data.
  • Page 92 16-5.Example of INDEX DRIVE Program Specified in Absolute Value The INDEX DRIVE specified in absolute value requires URATE, DRATE, LSPD and HSPD data. You must set these data prior to the drive. Once set, these rate and speed data remain valid until a change is needed of them. And, the target address of the drive must be set before turning on the INDEX DRIVE.
  • Page 93 16-6ORIGIN DRIVE Program Example The ORIGIN DRIVE requires data on URATE, DRATE, LSPD, HSPD, CSPD, OFFSET PULSE, LDELAY, SDELAY and JDELAY. You must set these data prior to the drive. Once set, these data remain valid until a change is needed of them.
  • Page 94 16-7.PULSE COUNTER Read Program Example The following offers an example of the function that utilizes the PULSE COUNTER counting as the return value. /*-----------------------------------*/ COUNTER READ /*-----------------------------------*/ long xcntred( void ) long outp(XMCCCOM ,0xfc); /* PULSE COUNTER PORT SELECT COMMAND OUT */ *( (UC *)&a + 2 ) = inp(XMCCDT1);...
  • Page 95 １７．ＴＲＯＵＢＬＥＳＨＯＯＴＩＮＧ This chapter describes probable types of trouble and check points for them in using the C-875. Symptom Check point １ *BUSY BIT in STATUS1 never becomes 0. *Isn't LOW LEVEL input to the RESET signal？ Or BUSY BIT in STATUS1 does not become 1 *Is I/O ADDRESS(S1 and S2) setting is correct？...
  • Page 96 Symptom Check point ７ *When the counter values of the pulse *Are the counter values read in the order of high-order ２３ １６ ７ ０ counter are always read out, some counter bytes (2 ～2 ) to low-order bytes (2 ～2 ) ? values seemed to be wrong.
  • Page 97 １８．ＤＡＴＡ ＴＡＢＬＥＳ 18-1.L-TYPE RATE DATA TABLE 18-2.M-TYPE RATE DATA TABLE 18-3.H-TYPE RATE DATA TABLE ms/1000Hz ms/1000Hz ms/1000Hz 1000 0.75 0.50 0.30 0.15 0.10 0.05 0.03 0.02 0.01 0.075 0.0075 0.05 0.005 Note: "ms/1000Hz" is the mean time required for the acceleration or deceleration of 1000Hz. 18-4.RATE CURVE GRAPH (1) Ｌ－ＴＹＰＥ...
  • Page 98 (2) Ｍ－ＴＹＰＥ (3) Ｈ－ＴＹＰＥ - 98 -...
  • Page 99 １９．ＳＡＦＥＴＹ ＤＥＳＩＧＮ ＰＲＥＣＡＵＴＩＯＮＳ In order to ensure safety of the user system employing the C-875, the users are advised to develop suitable safety measures considering vulnerability of the given system and reliability of the following possible actions. The C-875 or the system employing the C-875...
  • Page 100 ２０．Ｃ－８７０ｖ１ ＡＬＬ ＣＯＭＭＡＮＤ ＴＡＢＬＥＳ 20-1.DRIVE Command Table The mark ＊denotes a command accompanied by pulse output. The reference pages shown by are found in the User's Manual [Applied Functions Part]. Reference D D D D D D D D ７ ６ ５ ４ ３ ２ １ ０ HEX C0DE COMMAND NAME...
  • Page 101 Reference D D D D D D D D ７ ６ ５ ４ ３ ２ １ ０ HEX C0DE COMMAND NAME page ＊ 0 0 1 1 0 1 1 0 ３６ SPECIAL INCREMENTAL INDEX2 ５４ ＊ 0 0 1 1 0 1 1 1 ３７...
  • Page 102 ２１．ＭＡＩＮＴＥＮＡＣＥ You may get an electric shock in case of misoperation.  CAUTION No person other than specialist engineer is allowed to conduct inspection and replacement works. Be sure to turn off the power supply before starting inspection and replacement work of the product.
  • Page 103 Technical Service TEL.(042)664-5382 FAX.(042)666-5664 E-mail s-support@melec-inc.com Sales and Service TEL.(042)664-5384 FAX.(042)666-2031 URL:http://www.melec-inc.com Melec Inc. Control equipment marketing department 516-10,Higashiasakawa-cho,Hachioji-shi,Tokyo 193-0834,Japan This Operating Manual is subject to change without prior notice ﾛﾛﾛﾛ for the purpose of product improvement.