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NPM Motionnet G9006 User Manual

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TA600032-EN0/0
10
RoHS2
2011/65/EU
®
Motionnet
Function Expansion LSI
G9006
User's Manual

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Summary of Contents for NPM Motionnet G9006

  • Page 1 TA600032-EN0/0 RoHS2 2011/65/EU ® Motionnet Function Expansion LSI G9006 User’s Manual...

  • Page 2: Table Of Contents

    TA600032-EN0/0 INDEX 1. Introduction ................................1 How to use this manual ..........................1 1.1.1 Symbol description ............................1 1.1.2 Terminology ..............................3 1.1.3 Notations ..............................4 Handling the product ............................5 1.2.1 Storing ................................5 1.2.2 Unpacking ..............................5 1.2.3 Safety ................................5 Product Warranty ............................
  • Page 3 TA600032-EN0/0 4.4.6 SOEI [46] ..............................23 4.4.7 MRER [37] ..............................24 4.4.8 MSEL [38] ..............................24 4.4.9 TOUT [40] ..............................24 4.4.10 BCST [3] ..............................24 4.4.11 DMOD [47] ..............................24 4.4.12 SS [16], SCK [17], MOSI [19], MISO [14] ....................25 4.4.13 A0 [20], A1 [22] ............................
  • Page 4 TA600032-EN0/0 Device number setting ..........................69 6.3.1 Device number ............................69 6.3.2 Virtual local LSI additional count ........................ 70 6.3.3 Virtual local LSI additional count setting error .................... 71 One-shot signal output ..........................72 6.4.1 'General-purpose one-shot 0' signal (SHT0 pin) ..................72 6.4.2 'General-purpose one-shot 1' signal (SHT1 pin) ..................

  • Page 5: Introduction

    TA600032-EN0/0 Introduction ® Thank you for choosing "Motionnet " Function Expansion LSI "G9006" for your application this time. This manual describes the specifications, functions, connecting methods, and usages of "G9006". Be sure to read this manual thoroughly and keep it handy in order to use this product appropriately. 1.1 How to use this manual Reproduction of this manual in whole or in part without permission is prohibited by the Copyright Act.
  • Page 6 TA600032-EN0/0 C a u t i o n "Caution" without warning symbol indicates that the operator is not likely to be injured, but it can cause damage or result in a malfunction to this product or your instruments. In addition to the hazardous level classifications described above, the following notations are also used. I m p o r t a n c e "Importance"...

  • Page 7: Terminology

    TA600032-EN0/0 1.1.2 Terminology Terminology used in this manual is described below. Refer to the following web page for terms that are not described in this section: <https://www.pulsemotor.com/technology/terms/> [only Japanese] ® Table 1.1-1 Motionnet Product Lineup Device Type Model Product Center Center LSI G9001A Necessary...

  • Page 8: Notations

    TA600032-EN0/0 1.1.3 Notations Negative logic pin names and negative logic signal names are not decorated with overline, etc. For details on the logic, see "4.3 Pin list". "0" in bit description of registers indicates that only "0" can be written and only "0" can be read out. The specific bit of status and register are shown as "status name.

  • Page 9: Handling The Product

    TA600032-EN0/0 1.2 Handling the product 1.2.1 Storing Store the product in an environment where condensation does not occur at a temperature of -65 to +150°C. 1.2.2 Unpacking When unpacking, make sure that the ordered quantity of product and moisture-proof desiccant are included. 1.2.3 Safety This section describes basic safety precautions for safer operations.
  • Page 10 TA600032-EN0/0 1.2.3.2 Precautions for transportation and storage C a u t i o n ⚫ Handle LSIs and LSI packages with care. Do not throw or drop LSIs. Otherwise, the LSI may be damaged, or the aluminum laminate package may be broken so that the airtightness may be impaired. ⚫...
  • Page 11 TA600032-EN0/0 1.2.3.3 Precautions for handling environment C a u t i o n ⚫ Considering the moisture absorption after opening a moisture-proof packaging product, the humidity level should be 40 to 70% as a guide. Ground the device and the jig in the work area. ⚫...
  • Page 12 TA600032-EN0/0 1.2.3.4 Precautions for mounting C a u t i o n ⚫ Plastic packages absorb moisture easily. Even if they are stored indoors, they can absorb moisture as time passes. If you put the LSI in a reflow oven leaving moisture absorbed, cracks may occur in the resin or adhesion between the resin and the frame may deteriorate.

  • Page 13: Product Warranty

    The warranty period is one year from the date of delivery to an assigned place. 1.3.2 Warranty scope If any defect is found in a product during the warranty period under the normal use following this document, NPM will replace the product without charge.

  • Page 14: Overview

    TA600032-EN0/0 Overview "G9006" receives all "I/O communication" of the connected transmission line. The same data as "Port data area" of "Center LSI" is automatically saved in "Port data memory" of "G9006". 2.1 Features "G9006" has a 256-byte "Port data memory". ®...

  • Page 15: Communication Between Cpus

    TA600032-EN0/0 2.1.2 Communication between CPUs For example, assume that the "Device number" of "G9006" is set to "1". In addition, assume that all "Port attributes" of "G9006" are set to "Input attribute". At this time, the "Local CPU" can write to block "1". The "Local CPU"...

  • Page 16: General-Purpose One-Shot Signal Output

    TA600032-EN0/0 For example, suppose three "Virtual local LSIs" are added and the "Device numbers" are "1" to "4". The "Local CPU" can access to these four consecutive blocks. When all "Port attribute" of "G9006" is set to "Input attribute", the "Local CPU" can write "Port data" to these blocks. The "Center LSI"...

  • Page 17: Broadcast Command Reception

    TA600032-EN0/0 (3) Pulse width of "General-purpose one-shot" signal The pulse width of the "General-purpose one-shot" signal can be set from "Local CPU". The pulse width can be set in the range from 0 μs to 12700 μs (12.7 ms) in 100 μs steps. The logic of the "General-purpose one-shot"...

  • Page 18: Configuration

    TA600032-EN0/0 2.2 Configuration ® "G9006" can be used as "Local" (peripheral device) to participate in "Motionnet ". ® It can also be used as a "Monitor" (monitoring device) for monitoring "Motionnet ". In either case, a "Local CPU" is required. The "Local CPU"...

  • Page 19: Monitor Operation Mode (Local Information Monitor)

    TA600032-EN0/0 2.2.2 Monitor operation mode (local information monitor) ® "G9006" is connected as a "Monitor" for "Motionnet ". "Center LSI" does not recognize the connected "G9006". Center Local Local G9006 G9006 G9006 G9001A G9004A G9205A (monitor) (local) (local) Monitor Center Local Local Local...

  • Page 20: Specification

    TA600032-EN0/0 Specification This chapter shows specifications such as the performance of "G9006". 3.1 Motionnet ® specifications ® This section shows the specifications of "Motionnet ". Item Content Reference clock [MHz] 40 or 80 Transmission speed [Mbps] 2.5, 5, 10 or 20 Response speed [μs] 15.1 / Local LSI (at a transmission speed of 20 Mbps) Communication interface...

  • Page 21: G9006 Specifications

    TA600032-EN0/0 3.2 G9006 specifications This section shows the specifications of "G9006". Item Content CPU interface 4-wire serial Maximum transmission speed [MHz] General purpose input / output (GPIO) Eight general-purpose input / output pins (can be controlled by "Local CPU") Package 48-pin LQFP Package size [mm] 7 x 7 (molded part)

  • Page 22: Hardware Description

    TA600032-EN0/0 Hardware description ® This chapter shows the external dimensions and pin layout, and explains the connection between "G9006" and "Motionnet " interface as well as between "G9006" and "4-wire serial" interface. 4.1 External dimensions (P-LQFP048-0707-0.50 equivalent) G9006 JAPAN X X X X X X X X X - 18 -...
  • Page 23 TA600032-EN0/0 θ Dimension in Millimeters Symbol Minimum Nominal Maximum 6.90 7.00 7.10 6.90 7.00 7.10 1.70 0.10 0.20 1.30 1.40 1.50 0.50 0.13 0.20 0.27 0.09 0.15 0.20 θ 0° 5° 10° 0.30 0.50 0.70 0.80 1.00 1.20 8.60 9.00 9.40 8.60 9.00...

  • Page 24: Pin Layout

    TA600032-EN0/0 4.2 Pin layout MRER/RSV0 MSEL/RSV1 38 TOUT/RSV2 G9006 MOSI SOEH JAPAN X X X X X X X X X SOEI DMOD MISO I m p o r t a n c e As shown above, the first pin is at the lower left of the model name marking. - 20 -...

  • Page 25: Pin List

    TA600032-EN0/0 4.3 Pin list [I/O] column is the direction of a signal. "I" indicates input, "O" indicates output, and "B" indicates bidirectional. [Logic] column is the signal logic. "P" indicates positive logic, "N" indicates negative logic, and "#" indicates that it can be changed by software. [Unused] column is the connection destination when not in use.
  • Page 26 TA600032-EN0/0 Name Logic Unused Description 27 VDD "3.3 V" power supply pin. "General purpose input / output 2" signal. 28 PORT2/DN0 Pull-up Also serves as an input pin for the "Device number" setting. "General purpose input / output 3" signal. 29 PORT3/DN1 Pull-up Also serves as an input pin for the "Device number"...

  • Page 27: Pin Description

    TA600032-EN0/0 4.4 Pin description 4.4.1 CLK [8] This is an input pin for "Reference clock" signal. Connect a 40 MHz or 80 MHz crystal oscillator. 4.4.2 CKSL [5] This is an input pin for selecting "Reference clock selection". CKSL 40 MHz 80 MHz Set the level of the "CKSL"...

  • Page 28: Mrer [37]

    TA600032-EN0/0 4.4.7 MRER [37] ® This is an output pin for "Abnormal frame reception" signal of "Motionnet ". When an abnormal frame such as a CRC error is received, "MRER = L level" is output for 3.2 μs. Also, when an abnormal frame not addressed to "Own device" is received, "MRER = L level" is output. Communication quality can be confirmed by counting with an external counter.

  • Page 29: Ss [16], Sck [17], Mosi [19], Miso [14]

    TA600032-EN0/0 4.4.12 SS [16], SCK [17], MOSI [19], MISO [14] Input / output pins for "4-wire serial" interface. Slave selection Input pin Serial clock Input pin MOSI Master output Slave input Input pin MISO Master input Slave output Output pin For details, see "4.6 '4-wire serial' interface".

  • Page 30: Rsv0 [37], Rsv1 [38], Rsv2 [40]

    TA600032-EN0/0 4.4.17 RSV0 [37], RSV1 [38], RSV2 [40] These are the input pins for "Virtual local LSI additional count" setting. For details on the "Virtual local LSI additional count" setting, see "6.3 Device number setting". 4.4.18 SHT0 [11], SHT1 [12] These are the output pins for "General-purpose one-shot"...

  • Page 31: Motionnet ® ' Interface

    TA600032-EN0/0 4.5 'Motionnet ® ' interface ® Use a dedicated cable or LAN cable (category 5 or higher) as the communication cable for "Motionnet ". ® "Motionnet " wiring uses a line transceiver (RS-485) and a pulse transformer (about 1000 µH). Attach a terminator only at the end of the transmission line.

  • Page 32: Multi-Steps Connection Circuit

    TA600032-EN0/0 4.5.2 Multi-steps connection circuit To connect multiple "G9006" or "Local LSI" to one "Line transceiver" on the same board, connect as follows. G9006 Line transceiver Terminator SOEH 1000 μH Motionnet® line SOEI Pulse transformer 5～10 kΩ Local LSI SOEH SOEI C a u t i o n The wiring from the transmission line to the line transceiver must be shortened linearly.

  • Page 33: 4-Wire Serial' Interface

    TA600032-EN0/0 4.6 '4-wire serial' interface The connection between "G9006" and "Local CPU" uses "4-wire serial" interface. The "G9006" and the "Local CPU" are wired on the same board. "MISO" pin is pulled up to stabilize the output level. Pull-up resistance value is 5 to 10 kΩ. 4.6.1 Single connection circuit Both "Slave number"...

  • Page 34: Software Description

    TA600032-EN0/0 Software description ® This chapter describes "G9006" response for "Motionnet " access and "G9006" communication protocol for "4-wire serial" access. 5.1 'Motionnet ® ' access For the control method from the "Center CPU" to the "Center LSI", refer to the user’s manual for the "Center LSI". ®...

  • Page 35: Broadcast Communication

    TA600032-EN0/0 5.1.3 Broadcast communication "G9006" can receive a "Request frame" of "Broadcast communication" (2000h to 27FFh). The "Request frame" is composed of "Broadcast command" including "Group number" ("ggg" bit). G9006 can execute the following "Broadcast commands". Broadcast command Symbol Description 0010 0ggg 0001 0000 BCSHT Outputs "Broadcast one-shot"...

  • Page 36: 4-Wire Serial' Access

    TA600032-EN0/0 5.2 '4-wire serial' access The access method from "Local CPU" to "G9006" is "4-wire serial". 4-wire serial Center Local G9001A G9006 5.2.1 Control method "4-wire serial" access starts at the falling edge of the "SS" signal. The "SCK" signal before the "SS" signal falls is "H level". The "MOSI"...
  • Page 37 TA600032-EN0/0 5.2.1.1 Writing control with address When a "Write" control command with "Address" is output, the output data of the "MOSI" signals following the "Address" becomes the "Write-in data". "Write-in data" can be output continuously up to 32 bytes. MOSI C7 C6 C5 C4 C3 C2 C1 C0 A7 A6 A5 A4 A3 A2 A1 A0 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8 MISO...
  • Page 38 TA600032-EN0/0 5.2.1.3 Write control without address When a "Write" control command without "Address" is written, an "Operation command" can be written. MOSI C7 C6 C5 C4 C3 C2 C1 C0 O7 O6 O5 O4 O3 O2 O1 O0 MISO Hi-Z Hi-Z Write control command Operation command...

  • Page 39: Control Commands

    TA600032-EN0/0 5.2.2 Control commands "Control command" is 8 bits. "Type selection" consists of 4 bits, "Slave number" consists of 2 bits, and "0" fixed consists of 2 bits. Symbol Description Fixed to "0". Set "Slave number". Set "Type selection". 5.2.2.1 Zero fixed The 1st and 0th bits of the "Control command"...
  • Page 40 TA600032-EN0/0 5.2.2.3 Type selection Bits 7 to 4 of the "Control command" are for "Type selection" (TS). There are 13 types of "Control commands" in total. They output "Address" and "Write-in data", and input "Read-out data" respectively. Type selection Name Output data Bytes TS[7:4]...
  • Page 41 TA600032-EN0/0 5.2.2.3.1 Register writing "Write-in data" can be output to a "Register" by specifying the "Register address". Control Register Write-in Write-in MOSI Command Address Data Data (0000 ss00) (7:0) (15:8) The "ss" bit is the "Slave number" (SN) bit of a "Control command". "Register addresses"...
  • Page 42 TA600032-EN0/0 5.2.2.3.3 Operation command execution Various operations can be executed by executing "Operation command". Control Operation MOSI Command Command (0010 ss00) The "ss" bit is the "Slave number" (SN) bit of a "Control command". There are 14 "Operation commands" as follows: Operation commands Symbol Name...
  • Page 43 TA600032-EN0/0 5.2.2.3.4 Status reading "Read-out data" can be input from "Status" (MSTS). Control Dummy Dummy MOSI Command Data Data (0011 ss00) (0000 0000) (0000 0000) Read-out Read-out MISO Hi-Z data data (7:0) (15:8) The "ss" bit is the "Slave number" (SN) bit of a "Control command". "Read-out data"...
  • Page 44 TA600032-EN0/0 5.2.2.3.5 Port data writing "Write-in data" can be output to a "Port data memory" by specifying the "Memory address". The "Write-in data" can be output only to the Input ports of "Own device" and "Virtual local LSI" set to "Input" by "RADD.PMD". Control Memory Write-in...
  • Page 45 TA600032-EN0/0 5.2.2.3.6 Port data reading "Read-out data" can be input from a "Port data memory" by specifying the "Memory address". The "Read-out data" can be input from all I/O ports of all "Local LSIs". Control Memory Dummy MOSI Command Address Data (0101 ss00) (0000 0000)
  • Page 46 TA600032-EN0/0 5.2.2.3.7 Port change interrupt setting writing "Write-in data" can be output to a "Port change interrupt setting memory" by specifying the "Memory address". Control Memory Write-in MOSI Command Address Data (0110 ss00) (7:0) The "ss" bit is the "Slave number" (SN) bit of the "Control command". The "Memory address"...
  • Page 47 TA600032-EN0/0 5.2.2.3.9 Port change interrupt flag clear "Write-in data" can be output to a "Port change interrupt flag memory" by specifying the "Memory address". Control Memory Write-in MOSI Command Address Data (1000 ss00) (7:0) The "ss" bit is the "Slave number" (SN) bit of the "Control command". The "Memory address"...
  • Page 48 TA600032-EN0/0 5.2.2.3.11 Relative time latch reading "Read-out data" can be input from a "Relative time latch" (RTLT). Control Dummy Dummy Dummy Dummy MOSI Command Data Data Data Data (1011 ss00) (0000 0000) (0000 0000) (0000 0000) (0000 0000) Read-out Read-out Read-out Read-out MISO...
  • Page 49 TA600032-EN0/0 5.2.2.3.12 Port change interrupt information reading "Read-out data" can be input from a "Port change interrupt information" (PCII). Control Dummy Dummy Dummy Dummy MOSI Command Data Data Data … omission … Data (1101 ss00) (0000 0000) (0000 0000) (0000 0000) (0000 0000) Read-out Read-out...
  • Page 50 TA600032-EN0/0 When using the "Port change interrupt information reading" control command, set "RENV1.QPOV = 1" to generate a "Port change interrupt information acquisition failure event" (MSTS.IPOV) interrupt. For details on the "Port change interrupt information acquisition failure event" (MSTS.IPOV) interrupt, see "6.8.2.7 Port change interrupt information acquisition failure event".

  • Page 51: Registers

    TA600032-EN0/0 5.2.3 Registers There are 10 registers. Only the "Relative time management counter" (RTMC) is 4 bytes in size. Other registers are 2 bytes. Register address Symbol Size Name Attribute Binary Decimal [byte] 0000 0000b RADD Device setting register 0000 0010b RENV1 Environment setting 1 register 0000 0100b...
  • Page 52 TA600032-EN0/0 5.2.3.1 RADD (00h) Device setting register "Device number" and "Port attribute" of "G9006" can be set. This register cannot be written while "MSTS.SBSY = 1" is set. Write the "CDVOF" (11h) operation command and check that "MSTS.SBSY = 0" has been set. MONI Symbol Description...
  • Page 53 TA600032-EN0/0 Table 5.2-1 Port attributes Local LSI Virtual local LSI RADD.PMD DN + 1 DN + 2 DN + 3 DN + 4 DN + 5 DN + 6 DN + 7 4 3 2 1 0 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 0 0 0 0 I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O 0 0 0 0 1...
  • Page 54 TA600032-EN0/0 5.2.3.1.2 Port specifications "Port specifications" included in "Attribute information" is determined by the setting of "Port attribute". Port attributes OOOO IOOO IIOO IIIO IIII Port specifications The combinations of "Port specifications" are 32 patterns in "Table 5.2-2 Port specifications". For details on "Attribute information", see "5.1.2 System communication".
  • Page 55 TA600032-EN0/0 5.2.3.2 RENV1 (02h) Environment setting 1 register "Group number" and "Event interrupt" of "G9006" can be set. QTOT QPOV QTCO QBCS INTM FUPA FDWA LEDT Symbol Description Set the "Group number" of "Broadcast communication". The "Group number" can be set from "000b" to "111b". For details, see "5.1.3 Broadcast communication".
  • Page 56 TA600032-EN0/0 Symbol Description A "Broadcast command reception event" (MSTS.IBCS) interrupt can be generated. 0: Does not generate a "Broadcast command reception event" interrupt. QBCS 1: Generates a "Broadcast command reception event" interrupt. For details, see "6.8.2.5 Broadcast command reception event". A "Relative time management counter digit overflow event"...
  • Page 57 TA600032-EN0/0 5.2.3.3 RENV2 (04h) Environment setting 2 register "General-purpose port" attribute of "G9006" and a trigger of general-purpose one-shot signal (SHT0, SHT1 pin) can be set. PTAn Symbol Description Select the "General-purpose port" (PORTn) attribute. 0: "Input attribute". PTAn 1: "Output attribute". When the enable signal (DMOD pin) of "Device number setting pin"...
  • Page 58 TA600032-EN0/0 5.2.3.4 RPORT (06h) General-purpose port setting register The state of "General-purpose port" of "G9006" can be indicated and the output value can be set. Symbol Description Indicate the state of "General-purpose port" (PORTn pin). 0: "L level". 1: "H level". Set the output value from "General-purpose port".
  • Page 59 TA600032-EN0/0 5.2.3.7 RSH1 (14h) 'General-purpose one-shot 1' signal output delay time setting register Set the delay time until "General-purpose one-shot 1" signal (SHT1 pin) is output. RSH1 Symbol Description Set the delay time until "General-purpose one-shot 1" signal is output. "0"...
  • Page 60 TA600032-EN0/0 5.2.3.9 RBCS (18h) "Broadcast one-shot" signal output setting register Set the pulse width and output logic of "Broadcast one-shot" signal. BCSL BCSW Symbol Description Set the pulse width of "Broadcast one-shot" signal (BCST pin). "0" to "127" can be set. BCSW The pulse width is "BCSW ×...

  • Page 61: Operation Commands

    TA600032-EN0/0 5.2.4 Operation commands The "Local CPU" can operate "G9006" by writing the "Operation command" using the "Operation command execution" control command. 5.2.4.1 Software reset "G9006" can be reset from a "Local CPU" at any time. Operation Symbol Description command Perform the same operation as "Hardware reset"...
  • Page 62 TA600032-EN0/0 5.2.4.3 Interrupt clear Each interrupt bit of "Status" (MSTS) can be cleared by "Local CPU". Operation Symbol Description command Clear "Device setting change error" (MSTS.IEAR) interrupt. CCAR For details, see "6.8.2.1 Device setting change error". Clear "Port data write error" (MSTS.IWER) interrupt. CCWR For details, see "6.8.2.2 Port data write error".

  • Page 63: Status (Msts)

    TA600032-EN0/0 5.2.5 Status (MSTS) ® Interrupt factors of "G9006" and connection states of "Motionnet " can be read. There are 12 valid bits. The size of "Status" (MSTS) is 2 bytes. EAER WRED TOUT BBSY SSBY ITOT IPOV ITCO IBCS IPTC ITER IWER IAER...
  • Page 64 TA600032-EN0/0 Symbol Description ® Connection states of "Motionnet " can be read. 0: Not connected to "Motionnet ® ". SBSY 1: Connected to "Motionnet ® ". ® "Motionnet " connections can be switched using "operation commands". For details, see "5.2.4.2 Motionnet communication". Monitoring states of "Break frame send request"...

  • Page 65: Port Data Memory

    TA600032-EN0/0 5.2.6 Port data memory "Port data" of "Local LSI" can be read and "Port data" of "Own device" can be written. "Port data memory" has "Memory addresses" from address 0 to address 255. The size of one "Port number" is 1 byte. The size of one "Device number"...

  • Page 66: Port Change Interrupt Setting Memory

    TA600032-EN0/0 5.2.7 Port change interrupt setting memory Write "1" to "Port number" that monitors "Port change event" interrupt. The "Port number" of "Own device" that is set to "Input attribute" does not generate a "Port change event" (MSTS.IPTC) interrupt. "Port change interrupt setting memory" has "Memory addresses" from address 0 to address 31. The size of one "Port change interrupt setting"...

  • Page 67: Port Change Interrupt Flag Memory

    TA600032-EN0/0 The "Port change event" interrupt of "G9006" is not the same specification as the "Input change" interrupt of "Center LSI". When setting a "Port change event" interrupt for "Port number 0" of "Data device", an interrupt is generated even by a change other than the least significant bit.

  • Page 68: Feature Description

    TA600032-EN0/0 Feature Description This chapter describes the functions of "G9006". 6.1 Reset There are two ways to reset "G9006". C a u t i o n After turning on the power of "G9006", be sure to perform "Hardware reset" before starting to use. 6.1.1 Hardware reset "Hardware reset"...

  • Page 69: Operation Mode

    TA600032-EN0/0 6.2 Operation mode "G9006" can select two operation modes from "Local operation mode" or "Monitor operation mode". The operation mode can be selected with "RADD.MONI". 6.2.1 Local operation mode (message communication) When "RADD.MONI = 0" is set, "Local operation mode" is selected. In the "Local operation mode", there is a "Device number"...
  • Page 70 TA600032-EN0/0 Step 3) When "Operation mode" is ready , go to the next step. 10. "Local CPU" reads 24-bit data (for example, 12 3456h) from "ADC". (The system also can use an appropriate "ADC reading start request" as a trigger.) 11.

  • Page 71: Monitor Operation Mode (Local Information Monitor)

    TA600032-EN0/0 6.2.2 Monitor operation mode (local information monitor) When "RADD.MONI = 1" is set, "Monitor operation mode" is selected. In the "Monitor operation mode", unlike other "Local LSI" products, there is no "Device number". "Port data" of all "Local LSI" connected to "Motionnet ®...
  • Page 72 TA600032-EN0/0 Center CPU Center LSI Local LSI G9006 Local CPU RADD = 0080h ADDR(0) = F0h Port Data CDVON (10h) Port Data Port Data Port Data Chage! STATUS = 0108h ADDR(0) = 10h ADDR(0) = 00h ADDR(4) = FFh Figure 6.2-2 "Local information monitor" procedures - 68 -...

  • Page 73: Device Number Setting

    TA600032-EN0/0 6.3 Device number setting "G9006" can be used when "G9006" is in "Local operation mode". "Device number" and "Virtual local LSI additional count" can be set. 6.3.1 Device number "Device number" is a number that identifies "G9006" as a "Local LSI". The "Device number"...

  • Page 74: Virtual Local Lsi Additional Count

    TA600032-EN0/0 3.3V 10kΩ PORT2/DN0 PORT3/DN1 PORT4/DN2 PORT5/DN3 PORT6/DN4 PORT7/DN5 6.3.2 Virtual local LSI additional count "Virtual local LSI additional count" is the number of "Virtual local LSI" to be added to "G9006". The "Virtual local LSI additional count" can be set to any number from "0" to "7". The "Device number"...

  • Page 75: Virtual Local Lsi Additional Count Setting Error

    TA600032-EN0/0 Pull up the input pin of "Virtual local LSI additional count" with a resistance of about 10 kΩ. "MRER", "MSEL", and "TOUT" pins do not have built-in pull-up resistors. Connect a resistor of about 1kΩ to the switch. When driving an LED, use a CMOS buffer whose low-level input current (I ) is 10 µA or lower.

  • Page 76: One-Shot Signal Output

    TA600032-EN0/0 6.4 One-shot signal output One-shot signals can be output from "SHT0", "SHT1" and "BCST" pins. These one-shot signals can be used for such as start signals for CPU peripherals. 6.4.1 'General-purpose one-shot 0' signal (SHT0 pin) "General-purpose one-shot 0" signal can be output from "SHT0" pin by writing "Operation Command" from "Local CPU" or trigger signal input from "General-purpose input"...
  • Page 77 TA600032-EN0/0 6.4.1.2 'SHT0' signal output by general-purpose input pin Select "01b" to "11b" with "RENV2.TS0" in order to output a "General-purpose one-shot 0" signal when a trigger signal is input to "General-purpose input" pin. This trigger signal can be selected from three pins, "PORT0" pin, "PORT1" pin and "PORT2" pin, which are all "General-purpose input"...

  • Page 78: General-Purpose One-Shot 1' Signal (Sht1 Pin)

    TA600032-EN0/0 6.4.2 'General-purpose one-shot 1' signal (SHT1 pin) "General-purpose one-shot 1" signal can be output from "SHT1" pin by writing "Operation Command" from "Local CPU" or trigger signal input from "General-purpose input" pin. "Delay time" (RSH1), "Pulse width" (RSHS.SHW1), and "Output logic" (RSHS.SHL1) can be set for "General-purpose one-shot 1"...
  • Page 79 TA600032-EN0/0 6.4.2.2 'SHT1' signal output by general-purpose input pin Select "01b" to "11b" with "RENV2.TS1" in order to output a "General-purpose one-shot 1" signal when a trigger signal is input to "General-purpose input" pin. This trigger signal can be selected from three pins: "PORT0" pin, "PORT1" pin and "PORT2" pin. Those are all "General- purpose input"...

  • Page 80: Broadcast One-Shot' Signal (Bcst Pin)

    TA600032-EN0/0 6.4.3 'Broadcast one-shot' signal (BCST pin) This signal can be used when "G9006" is in "Local operation mode". When the "Group number" (g) of the "BCSHT" (2g10h) broadcast command received from the "Center LSI" matches "RENV1.GR", a "Broadcast one-shot" signal (BCST pin) can be output. Even when the "Group number" of the "BCSHT" broadcast command is "0", a "Broadcast one-shot"...

  • Page 81: General-Purpose Input / Output Pin Control

    TA600032-EN0/0 6.5 General-purpose input / output pin control "G9006" has s eight "General-purpose input / output pins" (General-purpose ports) that can be controlled from "Local CPU". The attribute of each "General-purpose port" can be selected to "Input" or "Output" by "RENV2.PTAn". "PORT0", "PORT1" and "PORT2"...

  • Page 82: Relative Time Management

    TA600032-EN0/0 6.6 Relative time management "G9006" has "Relative time management counter" (RTMC) and "Relative time latch" (RTLT) functions. "Local CPU" can use two counters to calculate the timing of "Port change event" interrupt. 6.6.1 Relative time management counter (RTMC) The "Relative time management counter" becomes "0" at "Reset" of "G9006" and increases every 1 ms. "Relative time management counter"...

  • Page 83: Interrupt Request

    TA600032-EN0/0 6.8 Interrupt request "G9006" can output "Interrupt request" signal (INT pin) to "Local CPU". 6.8.1 Interrupt request signal The logic of "Interrupt request" signal (INT pin) is negative. When the "Interrupt factor" is cleared, the "Interrupt request" signal returns to "H level". 6.8.1.1 Multiple interrupt requests When there are multiple "Interrupt factors"...

  • Page 84: Interrupt Factors

    TA600032-EN0/0 6.8.1.2 Interrupt request mask When "RENV1.INTM = 1" is set, the "Interrupt request" signal (INT pin) is not output. This function is set when "INT" pin is not used with "Local CPU". However, the "Interrupt factor" bit of "Status" (MSTS) has been changed. Perform polling by "Local CPU"...
  • Page 85 TA600032-EN0/0 6.8.2.2 Port data write error "G9006" can output the "Interrupt request" signal (INT pin) by the "Port data write error" (MSTS.IWER) interrupt. This interrupt is generated when a "Port data writing" control command is written to "G9006". In the "Port data writing" control command, the "Memory address"...
  • Page 86 TA600032-EN0/0 6.8.2.4 Port change event "G9006" can output the "Interrupt request" signal (INT pin) by the "Port change event" (MSTS.IPTC) interrupt. This interrupt is generated when there is a difference between the "Port data" of "I/O communication" and the "Port data" of "Port data memory".
  • Page 87 TA600032-EN0/0 6.8.2.5 Broadcast command reception event "G9006" can output the "interrupt request" signal (INT pin) by the "Broadcast command reception event" (MSTS.IBCS) interrupt. This interrupt is generated when the "Group number" (g) of the "BCSHT" (2g10h) broadcast command, which has been received from "Center LSI", matches "RENV1.GR".
  • Page 88 TA600032-EN0/0 6.8.2.7 Port change interrupt information acquisition failure event "G9006" can output an "Interrupt request" signal (INT pin) by the "Port change interrupt information acquisition failure event" (MSTS.IPOV) interrupt. This interrupt is generated when the "Port change event" (MSTS.IPTC) interrupt is generated and the previous "Port change event"...
  • Page 89 TA600032-EN0/0 ® 6.8.2.8 Motionnet communication timeout event ® "G9006" can output the "Interrupt request" signal (INT pin) by the "Motionnet communication timeout event" (MSTS.ITOT) interrupt. This interrupt is generated when "TOUT = L level" is set. 6.8.2.8.1 Interrupt condition setting "G9006"...

  • Page 90: Electrical Characteristics

    TA600032-EN0/0 Electrical characteristics 7.1 Absolute maximum ratings Item Symbol Rating Unit Note Power-supply voltage -0.3 to +4.0 Input voltage -0.3 to +7.0 Output voltage -0.3 to +7.0 Output current ±30 Storage temperature -65 to +150 °C 7.2 Recommended operating conditions Item Symbol Min.

  • Page 91: Dc Characteristics

    TA600032-EN0/0 7.3 DC characteristics Item Symbol Conditions Min. Max. Unit Current consumption CLK = 80 MHz, No load Input capacity Input leakage current = GND μA Input resistance leakage current = 5.5 V μA ILRF Low-level input voltage = Min. -0.3 High-level input voltage = Max.

  • Page 92: Ac Characteristics

    TA600032-EN0/0 7.4 AC characteristics 7.4.1 Reference clock When "CKSL = L level" is set Item Symbol Conditions Min. Max. Unit Frequency Period H level duration L level duration When "CKSL = H level" is set Item Symbol Conditions Min. Max. Unit Frequency Period...

  • Page 93: 4-Wire Serial' Bus

    TA600032-EN0/0 7.4.2 '4-wire serial' bus Write timing SHSL CHSL SLCH SCKH SCKL CHSH DVCH CHDX MOSI MSB IN LSB IN Hi-Z MISO Read timing SHSL Write Data MOSI Damy Data LSB IN CLQV CLQV SHQZ Hi-Z Hi-Z MISO LSB OUT Item Symbol Conditions...
  • Page 94 TA600032-EN0/0 Revision Revision Date Contents Apr. 24, 2020 New document. - 90 -...
  • Page 95 www.pulsemotor.com/global Information www.pulsemotor.com/global/contact First edition issued in Apr. 2020. Copyright 2020 Nippon Pulse Motor Co., Ltd.

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